| Precise measurement method of carrier motion state in microgravity environment |
| Liu, Mingyue; Zhu, Huizhong; Xu, Xinchao; Ma, Youqing; Zhang, Shuo; Wang JB(王俊表)
|
| Corresponding Author | Zhu, Huizhong(zhuhuizhong@whu.edu.cn)
|
| Source Publication | MEASUREMENT
(IF:2.791[JCR-2018],2.826[5-Year]) |
| 2023-11-30
|
| Volume | 222Pages:17 |
| ISSN | 0263-2241
|
| Abstract | 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. |
| Keyword | Multi-camera calibration
Stereo vision
Extraction of homonymous points
Random Sample Consensus (RANSAC)
Carrier motion state
|
| DOI | 10.1016/j.measurement.2023.113500
|
| Indexed By | SCI
; EI
|
| Language | 英语
|
| WOS ID | WOS:001089843600001
|
| WOS Keyword | STEREO VISION SYSTEM
; POSE ESTIMATION
; SELF-CALIBRATION
; POINTS
|
| WOS Research Area | Engineering
; Instruments & Instrumentation
|
| WOS Subject | Engineering, Multidisciplinary
; Instruments & Instrumentation
|
| Classification | 一类
|
| Ranking | 3+
|
| Contributor | Zhu, Huizhong
|
| Citation statistics |
|
| Document Type | 期刊论文
|
| Identifier | http://dspace.imech.ac.cn/handle/311007/93229
|
| Collection | 微重力重点实验室
|
Recommended Citation
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.Rp_Au:Zhu, Huizhong
|
| APA |
Liu, Mingyue,Zhu, Huizhong,Xu, Xinchao,Ma, Youqing,Zhang, Shuo,&王俊表.(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.
|
Edit Comment