High Precision Pose Calculation of Space Target Based on Three Linear Array CCD

Yan Wang; Feng Yuan; Hong Jiang; Wei Chen

doi:10.3788/AOS201838.0515004

Journals >Acta Optica Sinica >Volume 38 >Issue 5 >Page 0515004 > Article

Acta Optica Sinica
Vol. 38, Issue 5, 0515004 (2018)

High Precision Pose Calculation of Space Target Based on Three Linear Array CCD

Yan Wang^1、*, Feng Yuan¹, Hong Jiang¹, and Wei Chen¹

Author Affiliations

¹ School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China

¹ The Third Section of Beijing Aerospace Automatic Control Institute, Beijing 100854, China

¹ Xingcheng Sanatorium of Strategic Support Force, Xingcheng, Liaoning 125105, China

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DOI: 10.3788/AOS201838.0515004 Cite this Article Set citation alerts

Yan Wang, Feng Yuan, Hong Jiang, Wei Chen. High Precision Pose Calculation of Space Target Based on Three Linear Array CCD[J]. Acta Optica Sinica, 2018, 38(5): 0515004 Copy Citation Text

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Fig. 1. Imaging model of linear CCD

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Fig. 2. Pose measurement system of linear CCD

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Fig. 3. Collinear principle of object space

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Fig. 4. (a) Comparison of computational efficiency of two algorithms; (b) comparison of iterative step of two algorithms with 24 feature points

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Fig. 5. Estimation error of pose at different noise levels. (a) Rotation error; (b) translation error

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Fig. 6. Estimation error of pose at different measurement distances. (a) Rotation error; (b) translation error

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Fig. 7. Three-dimensional positioning error of (a) proposed algorithm and (b) OI algorithm

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Fig. 8. Measurement experiment

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Fig. 9. Error of attitude and position. (a) Angle error; (b) position error

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Item	CCD 1	CCD 2	CCD 3
Focal length f	$\begin{matrix} f_{x}^{1} \end{matrix}$ =7446.6736	$\begin{matrix} f_{x}^{2} \end{matrix}$ =7446.1092	$\begin{matrix} f_{x}^{3} \end{matrix}$ =7449.6327
Principle point u₀	$\begin{matrix} u_{0}^{1} \end{matrix}$ =3703.5600	$\begin{matrix} u_{0}^{2} \end{matrix}$ =3711.6054	$\begin{matrix} u_{0}^{3} \end{matrix}$ =3714.0992
Distortion coefficient k₁	$\begin{matrix} k_{1}^{1} \end{matrix}$ =2.9330×10^-4	$\begin{matrix} k_{1}^{2} \end{matrix}$ =2.9075×10^-4	$\begin{matrix} k_{1}^{3} \end{matrix}$ =2.8996×10^-4

Table 1. Camera intrinsic parameters calibrated by Tsai’s calibration algorithm

CCD	Rotation matrix	Translation vector
CCD 1	R= $\begin{matrix} [\begin{matrix} 0.9921 & 0.0523 & 0.1135 \\ 0.0055 & - 0.0063 & - 0.9997 \\ - 0.1124 & 0.7708 & 0.6270 \end{matrix}] \end{matrix}$	t=[ $\begin{matrix} \begin{matrix} 1470.5313 & - 71.256 & 1834.7828 \end{matrix} \end{matrix}$ ]^T
CCD 2	$\begin{matrix} R_{i}^{2} \end{matrix}$ = $\begin{matrix} [\begin{matrix} 0.9987 & 0.0493 & - 0.0087 \\ - 0.0092 & 0.0098 & 0.9999 \\ 0.0492 & - 0.9887 & - 0.0102 \end{matrix}] \end{matrix}$	$\begin{matrix} t_{i}^{2} \end{matrix}$ =[ $\begin{matrix} \begin{matrix} 1280.7410 & - 134.1148 & 1839.1314 \end{matrix} \end{matrix}$ ]^T
CCD 3	$\begin{matrix} R_{i}^{3} \end{matrix}$ = $\begin{matrix} [\begin{matrix} 0.9777 & 0.2096 & - 0.0069 \\ 0.0020 & - 0.0096 & 0.9917 \\ 0.0296 & - 0.1708 & - 0.9848 \end{matrix}] \end{matrix}$	$\begin{matrix} t_{i}^{3} \end{matrix}$ =[ $\begin{matrix} \begin{matrix} 1030.9604 & - 146.8128 & 1843.6531 \end{matrix} \end{matrix}$ ]^T

Table 2. Extrinsic parameters of camera

Item	θ /(°)	τ /(°)	ϕ /(°)	$\begin{matrix} {t_{x}}_{} \end{matrix}$ /mm	$\begin{matrix} {t_{y}}_{} \end{matrix}$ /mm	$\begin{matrix} {t_{z}}_{} \end{matrix}$ /mm
Maximum error	0.4387	0.2039	1.2768	0.7079	0.5018	1.1360
Minimum error	0.0019	0.0028	0.0013	0.0131	0.0106	0.0417
Average error	0.1318	0.0714	0.4988	0.2395	0.1503	0.5028
RMS	0.1019	0.0559	0.3847	0.1944	0.1130	0.3585

Table 3. Error analysis

Yan Wang, Feng Yuan, Hong Jiang, Wei Chen. High Precision Pose Calculation of Space Target Based on Three Linear Array CCD[J]. Acta Optica Sinica, 2018, 38(5): 0515004

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