Research On The Photographic Measurement Method Of Rendezvous And Docking

Space rendezvous and docking technology is basis for spacecraft to transport goodsand supplies to the space platform, as well as personnel and material exchanges betweenspacecrafts. Technology of the relative pose measurements during rendezvous anddocking between the two spacecrafts is a core issue. This paper summarizes therendezvous and docking technology, photogrammetry methods and equipment,simulation methods development and research status, and also the related keytechniques. In this paper, we design and implement a system with high measurementaccuracy, which can dynamically and automatically calibrate the vision measurementwhile space rendezvous and docking. This system comprises a light source and targetsystems, imaging systems, image processing and analysis (relative pose estimation)system and error analysis system. The system can meansure the relative position andattitude angle between the tracker and the target, and it also have a stronger ability toadapt to the space environment, the target device in the sunlight as well as other spacestray light environment. The calibration of the system is able to detect target position,accurate extraction of target coordinates and remains great system performance. Thispaper describes the process of the system design and the model of various components,and points out the various parts of the technical indicators, parameters and performance.And it describs the method used to meansure the relative position and attitude in detail.This article details the camera calibration methods and processes as well asexperimental results. The application of simulation calibration of the measurementsystem’s performance has been verified. Finally, this paper analysis the measurementerror so that we know that the error of the system is sensitive to some direction andaccuracy range.