Binocular Ccd Optical Imaging Measurement System

This paper is arranged under the application of spacecraft rendezvous and docking (RVD) technologies. Our purpose is to solve the real-time measurement of relative position and relative attitude between objective and tracking devices, when they are nearby.In the dissertation, we firstly elaborate the optical measurement principium based on binocular stereo vision system, then prove the feasibility of this method in theory. Secondly, the theoretical derivation of relative position and relative attitude will be presented.When discussing the settlement of projection matrix in position and attitude measurement, we define five coordinate systems and describe their relationship, then obtain the projection matrix from camera's internal and external parameters. Before that procedure, we analyze and compare several camera calibration technologies, and choose a most appropriate one for use. Its algorithm core and calibration procedure is presented as following. With the help of Image Grabber SDK, we program the utilities to complete the function of image capture and its pretreatment. Using the method of cluster in pattern recognition, the feature area of camera calibration module board image and objective image can be tagged, and their effective information can be calculated and recorded, which is crucial for the following computation. At the end, we emulate the algorithm for the measurement of relative position and relative attitude by using C++ language in this experiment.Last, factors which are essential to the whole visual system have been obtained by analyzing imaging measurement system. Then, the principle sample machine has been established and put use to measuring different distance. Consequently, correct results have been obtained and the feasibility of method is proved. This method is able to measure and satisfied to the expected assume of space docking measurement by experiments.