The invention provides a space spinning non-cooperative target capturing method and system, and the method comprises the steps: carrying out the preprocessing of a current image, and adjusting the gray average value of the image to be within a preset range; collecting point cloud data of a target satellite in real time; performing point cloud matching on the point cloud data frame; state estimation: obtaining the final position and attitude of the target object; and the tail end speed and the joint angle are adjusted through visual servo control. The invention solves the technical problems of dependence on magnetic characteristics of a target material, susceptibility to interference of factors such as a magnetic field, strong radiation and high temperature difference, and low control precision at the initial stage of training.
本发明提供空间自旋非合作目标抓捕方法及系统,方法包括:对当前图像预处理,将图像灰度均值调整至预设范围内;实时采集目标星的点云数据;对点云数据帧进行点云匹配;状态估计,获取目标物的最终位置和姿态;通过视觉伺服控制,调整末端速度以及关节角。本发明解决了依赖目标材料的磁性特性,易受磁场、强辐射、高温差等因素干扰以及训练初期控制精度低的技术问题。
Space spinning non-cooperative target capturing method and system
空间自旋非合作目标抓捕方法及系统
25.04.2025
Patent
Elektronische Ressource
Chinesisch
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