关键词: 失效卫星, 双目视觉, 运动测量, 接触消旋

Abstract: Based on the detumbling of a rotating failed satellite, a feature point motion tracking recognition method with dual optical flow constraints is proposed. By using binocular vision, this method can observe the motion of the non cooperative rotating failed satellite, and provide a contact scheme for the detumbling operation of the manipulator. Firstly, the feature points that can be stably tracked in the sequence images are identified, and their trajectories are recorded. The change frequency of the feature point trajectory is detected by the frequency domain analysis method, so as to obtain the target rotation angular velocity. The effectiveness of the proposed target motion observation method is verified by the ground physical experiments. Then, according to the trajectories of the tracked feature points, the motion envelope of the target and the appropriate contact area of the target surface are analyzed. According to the motion characteristics of the target and the time constraints for the detumbling operation, the contact strength constraints to complete the detumbling are given, and then the operational performance requirements of the manipulator are obtained, which provides a reference for the engineering application of contact detumbling.

Key words: Failed satellite, Binocular vision, Motion observation, Contact detumbling