Pose measurement method of space target based on Zynq platform

Abstract

With the continuous deepening of human exploration of space, space control technology is receiving increasing attention. In space in orbit missions, both autonomous approach and close range operations require measuring the relative pose between targets. At present, there have been a large number of research results and applications of visual pose measurement methods in engineering both domestically and internationally. However, research on visual pose measurement for non-cooperative targets is relatively weak. Not only is there a lack of systematic and complete target pose measurement methods, but the response speed and accuracy in engineering applications also need to be further improved.This article proposes a new spatial object pose measurement method based on the Zynq platform, which utilizes the control algorithm and operating system advantages of the processor, as well as the parallel computing and dynamic configuration advantages of FPGA. Through software and hardware collaborative design, highquality data and image acquisition and precise pose calculation are carried out for non-cooperative targets. The algorithm in this paper is optimized and improved in data format, time sequence control, distortion correction, corner detection, feature extraction, stereo matching, Iterative reconstruction, pose calculation, etc. Finally, the target pose measurement method with clear data flow, hardware and software combination, and industrial application is realized. The experimental results show that the proposed method has fast response and accurate calculation results in visual pose measurement of non-cooperative targets.