| Citation: | CHEN Guanyu, CHENG Qunlin, ZHANG Jieyu, et al. Multi-sensor measurement based position and pose adjustment method for automatic docking of spacecraft cabins[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(6): 1232-1239. doi: 10.13700/j.bh.1001-5965.2018.0593(in Chinese)
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In view of the shortcomings of the manual operation methods commonly used in the docking of spacecraft cabins, such as low efficiency, poor precision, and difficulty in ensuring reliability, an automatic docking device for cabins based on multi-sensor measurement has been developed. The measurement and adjustment of the cabin position and pose is the key factor to ensure the quality and efficiency of the docking. Therefore, this paper proposes a six-degree-of-freedom position and pose estimation and adjustment method based on multi-sensor collaborative measurement of laser contour sensor and CCD image sensor. The specific method is as follows:the laser contour sensor is used to scan the cabin, the three-dimensional point cloud information of the position and pose is obtained, and the posture of the measured cabin is solved by the improved least squares method. On this basis, the position of the docking hole of the cabin is obtained by the image sensor, and the angular deviation is calculated by the circle fitting. The result of the solution and fitting will be fed back to the control system for posture adjustment and docking. The project uses the Gocator 2350 laser profile sensor and the Daheng MER-1810-21U3C industrial camera for cabin measurement and docking experiments. The experimental results show that the accuracy and efficiency of the cabin position adjustment meet the docking requirements. This method combines the reliability of the laser profile sensor with the flexibility of machine vision to effectively improve the efficiency, stability and consistency of the automatic docking system, which is sufficient for future military and civilian needs.
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