The embodiment of the invention provides a disturbance satellite target tracking and positioning method fused with binocular data. The method comprises the following steps: initializing a target tracker based on angular point information, ID information and the like of a disturbance sub-star target collected by a camera; a group of KCF filters are adopted to construct target trackers for disturbing the child satellites, and the target trackers mainly comprise four angular point trackers and a center tracker; tracking the image in the image frame in real time based on the tracker to calculate the target responsivity, and updating the current tracker position and pyramid level at the highest response position; the target credibility is constructed based on the sub-star target tracking condition to represent the tracking stability of the target; finally, a binocular position resolving method or a target-based pose resolving method is selected and used based on the target credibility, fusion of binocular positioning and monocular target resolving is completed, and visual positioning for the disturbance sub-star target is achieved. According to the technical scheme provided by the embodiment of the invention, a reference can be provided for target tracking and positioning of the disturbance sub-star fused with binocular data.

    本发明实施例提供了一种融合双目数据的扰动卫星靶标跟踪定位方法,包括:基于相机采集到的扰动子星靶标的角点信息和ID信息等初始化靶标跟踪器;采用一组KCF滤波器构建本文扰动子星的靶标跟踪器,主要包含四个角点跟踪器和一个中心跟踪器;基于该跟踪器实时在图像帧中跟踪图像计算目标响应度,在最高响应处更新当前跟踪器位置及金字塔等级;基于子星靶标跟踪情况构建靶标可信任度,来表征靶标的跟踪稳定性;最后基于靶标可信任度选择使用双目位置解算方法或者基于靶标的位姿解算方法,完成双目定位和单目靶标解算的融合,实现针对扰动子星靶标的视觉定位。根据本发明实施例提供的技术方案,可为融合双目数据的扰动子星靶标跟踪定位提供参考。


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    Titel :

    Disturbance satellite target tracking and positioning method fusing binocular information


    Weitere Titelangaben:

    一种融合双目信息的扰动卫星靶标跟踪定位方法


    Beteiligte:
    CHEN GANG (Autor:in) / WANG HAITONG (Autor:in) / LI TONG (Autor:in) / WANG YIFAN (Autor:in) / REN YI (Autor:in) / KO HYUN-YEON (Autor:in)

    Erscheinungsdatum :

    25.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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