Research On Binocular Vision Image Acquisition And Processing System Based On Orbit Spacecraft

With the increasing of space activities, the rendezvous and docking technology of spacecraft in-orbit has been widely used.As one of the key technologies of space rendezvous and docking, the technology of position and attitude measurement based on stereo vision has become the focus of domestic and foreign scholars. This paper aims at developing a high real-time binocular vision image acquisition and processing system which used for tracking the relative pose between the spacecra ft and the target spacecraft in view of the non-cooperative target binocular visio n relative navigation and particularity.In order to receive the relative position and relative attitude measurements between track spacecraft and target spacecraft in a specific range,For optical sensor Camera Link interface CMV4000 camera,this system using FPGA + DSP architecture design patterns complete image acquisition and processing system, Wherein the FPGA mainly responsible for power sequencing control, global reset logic and part of the control logic to achieve complete image processing and output of non-cooperative target feature point coordinates; DSP is responsible for the relative pose solver and PC display solver resultsConsidering the particularity of the aerospace engineering environment, to meet the conditions of low power and miniaturization, the thesis selecting the appropriate key devices for CMV4000 optical sensor,, designing reasonable hardware circuit to meet the binocular visual image acquisition, pro cessing, storage and transmission in the whole process and the power supply circuit to ensure the normal operation of each device. In the logic design, this thesis mainly to meet FPGA hardware logic design of large amounts of data to meet the real-time processing and DSP design and communications, to achieve the image acquisition, storage, and edge point extraction operations. Finally, FPGA and DSP through online debugging,verify the correctness of the camera capture and extract the image edge point coordinates transmission, through on-site hardware simulation and verification entire edge extraction and refining system effects.The binocular vision image acquisition and processing system meets the requirements of miniaturization and the low-power consumption, which Aerospace Engineering requires has a good application prospect.