公开(公告)号：US20170008650A1

公开(公告)日：2017-01-12

申请号：US15106690

申请日：2014-09-02

Applicant: HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Tianxu ZHANG ,  Liangliang WANG ,  Gang ZHOU ,  Ming LI ,  Weidong YANG ,  Kuan LIU ,  Yayun ZHENG

IPC: B64G3/00 ,  G06K9/62 ,  G06K9/00 ,  G06K9/46 ,  G01C21/24 ,  G01C21/20

CPC classification number: B64G3/00 ,  B64G1/24 ,  B64G2001/245 ,  G01C21/20 ,  G01C21/24 ,  G06K9/00201 ,  G06K9/4604 ,  G06K9/6202 ,  G06T7/75 ,  G06T2207/10032

Abstract: An attitude estimation method for an on-orbit three-dimensional space object comprises an offline feature library construction step and an online attitude estimation step. The offline feature library construction step comprises: according to a space object three-dimensional model, acquiring multi-viewpoint characteristic views of the object, and extracting geometrical features therefrom to form a geometrical feature library, where the geometrical features comprise an object main body height-width ratio, an object longitudinal symmetry, an object horizontal symmetry, and an object main-axis inclination angle. The online attitude estimation step comprises: preprocessing an on-orbit object image to be tested and extracting features, and matching the extracted features in the geometrical feature library, where an object attitude characterized by a characteristic view corresponding to a matching result is an attitude estimation result. A dimension scale and position relationship between various components of an object are accurately acquired in a three-dimensional modeling stage, thereby ensuring subsequent relatively high matching precision. An attitude estimation system for an on-orbit three-dimensional space object is also provided.

Abstract translation: 轨道三维空间物体的姿态估计方法包括离线特征库构造步骤和在线姿态估计步骤。 离线特征库构建步骤包括：根据空间对象三维模型，获取对象的多视点特征视图，并从中提取几何特征以形成几何特征库，其中几何特征包括对象主体高度 物体纵向对称性，物体水平对称性和物体主轴倾斜角度。 在线姿态估计步骤包括：对要测试的轨道上物体图像进行预处理并提取特征，并且匹配几何特征库中提取的特征，其中以对应于匹配结果的特征视图为特征的对象姿态是姿态估计 结果。 在三维建模阶段中准确地获取对象的各个组件之间的尺度尺度和位置关系，从而确保随后的相对较高的匹配精度。 还提供了一种用于轨道上三维空间物体的姿态估计系统。