Precise measurement method of carrier motion state in microgravity environment

doi:10.1016/j.measurement.2023.113500

	Precise measurement method of carrier motion state in microgravity environment
	Liu, Mingyue 3; Zhu, Huizhong 3; Xu, Xinchao 2,3; Ma, Youqing 2; Zhang, Shuo 2; Wang, Junbiao 1
刊名	MEASUREMENT
	2023-11-30
卷号	222 页码:17
关键词	Multi-camera calibration Stereo vision Extraction of homonymous points Random Sample Consensus (RANSAC) Carrier motion state
ISSN号	0263-2241
DOI	10.1016/j.measurement.2023.113500
通讯作者	Zhu, Huizhong(zhuhuizhong@whu.edu.cn)
英文摘要	In the field of aerospace and planetary science, precise measurement of the motion state of a moving carrier represents an important part of scientific exploration missions. the paper presents a fusion of the stereo vision and IMU to measure the velocity, angle, and angular velocity of a moving carrier precisely. First, a stereo camera self-calibration model with additional geometric constraints is developed, which accuracy of better than 0.379 pixels is achieved. Then, a three-dimensional reconstruction with accuracy of better than 0.727 pixels is achieved. Finally, the spatial relationship between the carrier, the stereo camera, and the IMU is used to determine the absolute pose change of the moving carrier relative to the center of the Earth. The proposed method ensures high measurement accuracy of the velocity, angle, and angular velocity of the moving carrier of better than 0.19 mm/s, 0.09 degrees, and 0.127 degrees /s, respectively, which can provide reliable technical support for the motion state estimation of deep space moving vehicles.
WOS关键词	STEREO VISION SYSTEM ; POSE ESTIMATION ; SELF-CALIBRATION ; POINTS
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
WOS记录号	WOS:001089843600001
内容类型	期刊论文
源URL	[http://dspace.imech.ac.cn/handle/311007/93228]
专题	力学研究所_国家微重力实验室
通讯作者	Zhu, Huizhong
作者单位	1.Chinese Acad Sci, Natl Micrograv Lab, Inst Mech, Beijing 100190, Peoples R China 2.Chinese Acad Sci, Aerosp Informat Res lnst, Beijing 100094, Peoples R China 3.Liaoning Tech Univ, Sch Geomat, Fuxin 123000, Peoples R China
推荐引用方式 GB/T 7714	Liu, Mingyue,Zhu, Huizhong,Xu, Xinchao,et al. Precise measurement method of carrier motion state in microgravity environment[J]. MEASUREMENT,2023,222:17.
APA	Liu, Mingyue,Zhu, Huizhong,Xu, Xinchao,Ma, Youqing,Zhang, Shuo,&Wang, Junbiao.(2023).Precise measurement method of carrier motion state in microgravity environment.MEASUREMENT,222,17.
MLA	Liu, Mingyue,et al."Precise measurement method of carrier motion state in microgravity environment".MEASUREMENT 222(2023):17.