Journal of Astronautics ›› 2021, Vol. 42 ›› Issue (8): 989-997.doi: 10.3873/j.issn.1000-1328.2021.08.007

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Fast Vision Measurement Method Used for Chang’e 5  Probe Sampling and Applications

LI Tie ying, GU Zheng, YAN Yong zhe, CHEN Li ping, WANG Tong, LI Da, LUO Guang chen   

  1. 1. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China;2. Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100101, China

  • Received:2021-03-24 Revised:2021-07-16 Online:2021-08-15 Published:2021-08-15

Abstract: To satisfy the demand that ustilises a binocular vision measurement system to get the data of the sampling area, we design a new fast visual measrement technology methodology, including a new camera calibration strategy used for the restricted time and space, a new stereo matching algorithm for the lunar weak texture feature, and accuracy acquisition method on the ground that is suitable for the restricted AIT (Assembly,Integration and Test) scenario. We give a description about the validation on the ground and performance on the lunar surface. The result realizing the fast reconstruction of sampling area within 1s and the measurement of blocks proves all the strategies designed in this paper are effective.

Key words: Chang’e 5 probe, Camera calibration, Accuracy acquisition, Fast visual measurement

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