Research On The Error Theory Of Binocular Vision Measurement System On Non-cooperative Target

It is the foundation of realization and measurement of non-cooperate target toachieve the topics like near field operations of space rendezvous and docking,service of satellite on orbitand the space junk removal. Binocular stereo vision is thekey to implement the recognition and measurement of closed non-cooperative target.Two images of the same target are obtained by two cameras from different anglessimultaneously or by a single camera at different times from different angles.Through calculating the parallax of the corresponding point of two images, afterprojection transformation, recovering3D geometry information of the target featurepoints, and then confirming the pose of object. At present, it has been the key anddifficulties to study about high-accuracy relative pose measurement of thenon-cooperative target abroad, it has been achieved rendezvous and dockingtechnology about cooperative target internal, however vision measurementtechnology which points at non-cooperative target is still in the initial development.In order to improve the accuracy of non-cooperative target, the theory of erroranalysis about binocular measurement system is particularly important.In this paper, the research on the related data about binocular visionmeasurement system on non-cooperative target has been carried out. Theoretically,we study the measurement process of vision measurement system deeply, after thatthe internal parameters of cameras and the external parameters of measurementsystem are calibrated and verified in experiment, and then theoretical analysis andexperimental verification about the influence on the accuracy of target pose of the errors which produce in the measuring of the system is carried out. The maincontents are as follows:1. Establish the mathematical modeling of the target3D reconstruction whichwas based on binocular measurement system, make sure the measuring equation ofattitude target. Build precision mode of the system, confirm the influence ofstructural parameters on resolving the location and pose of target.2.In this paper, internal parameters of camera are calibrated using the method ofprecision angle measuring, the internal parametersf, u0,v0and distortion coefficientsof two cameras both sides are determined respectively. Based on determining theinner parameters, determine the outer parameters the coordinate relationshipsbetween left camera and right camera of binocular measurement system using themeasuring system which based on theodolites.3.The error terms are confirmed which influence resolving the location and poseof the target, build the error measurement equation between error term and thecoordinate of the imaging point. Through simulation，to verify the error effected onthe coordinate of imaging point. By analyzing the deviation of image pointcoordinate which has the influence on the solution accuracy of the pose of target,determine the error terms has the influence in the position and attitude solution oftarget, then the components and system structure parameters are reasonably chosenand experiment proving.