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Space Rendezvousand Docking Vision Measuring System Based on TMS320DM642

Author: LiuXiangJun
Tutor: SongShenMin
School: Harbin Institute of Technology
Course: Control Science and Engineering
Keywords: rendezvous and docking feature points extraction OPENCV transplantation TMS320DM642
CLC: TP274
Type: Master's thesis
Year: 2011
Downloads: 40
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Abstract


Space rendezvous and docking of spacecraft is to achieve connectivity between the docking structure. As aerospace technology and rapid development of semiconductor technology, the spacecraft relative position and orientation measurement techniques is very important. At the same time the fast electronic devices and products of and stability are improved, and the application of space technology more widely. The key technologies include vision measurement system, the docking structure principle and so on. In this dissertation, hardware and software system achieve rendezvous and docking using TMS320DM642, focuses on the visual measurement of the camera calibration position and attitude measurements, and DM642 used key technologies pose measurement. This application is verified by experimental platform DSP to achieve the position and orientation in space docking feasibility of solving implementation and on the associated camera calibration, position and attitude solution method and other related content has been described in detail. In this paper, as follows:This paper describes the vision measurement system, the camera imaging and calibration problems. According to principles of linear imaging camera, the camera calibration determines the vision measurement system in an important foundation. This paper describes the calibration method described in the specific self-calibration between the traditional methods of calibration and calibration Zhang Zhengyou. Zhang Zhengyou calibration method using calibration plate was calibrated by the merits of the two sets of comparative data for the entire vision measurement system to better achieve its function to provide an accurate basis.In this paper, an efficient seed filling algorithm, and the target coordinates of the center coordinates of the dot were extracted, and finally in the DSP using OPENCV transplantation POSIT function implementation in the attitude of the measurement and-calculation. Above algorithm is implemented on the TMS320DM642. Finally, binocular vision was introduced and implemented in the DSP environment, binocular image acquisition as the foundation of binocular vision for the following measurement.

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