Flexible On-Orbit Calibration for Monocular Camera and Laser Rangefinder Integrated Pose Measurement System

Owing to its low cost and ease of manufacture, integrated monocular space camera and laser rangefinders are commonly used in many space applications (i.e., pose measurement of non-cooperative targets). This and other composite systems estimate poses with high precision using a combination of high-re...

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Bibliographic Details
Published in:	IEEE transactions on instrumentation and measurement Vol. 72; p. 1
Main Authors:	Zhang, Guangdong, Zhang, Gaopeng, Yang, Hongtao, Wang, Changqing, Bao, Wenfan, Chen, Weining, Cao, Jianzhong, Du, Hubing, Zhao, Zixin, Liu, Chang
Format:	Journal Article
Language:	English
Published:	New York IEEE 01-01-2023 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerospace environments Calibration Cameras Distance measurement Extraterrestrial measurements Field of view integrated sensor Iterative algorithms Iterative methods Laser range finders Laser rangefinder Laser theory Lasers Measurement by laser beam Military applications on-orbit calibration pose matrix Space applications space camera Space vehicles
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Summary:	Owing to its low cost and ease of manufacture, integrated monocular space camera and laser rangefinders are commonly used in many space applications (i.e., pose measurement of non-cooperative targets). This and other composite systems estimate poses with high precision using a combination of high-resolution lateral visual and high-precision distance information. Notably, any system that is tested on ground must again receive precise on-orbit calibration because the accompanying spaceborne turntables and arms must be frequently manipulated to meet field-of-view and distance measurement requirements and require complicated realignments. To accommodate flexible multiple target calibration, this study proposed an on-orbit model that obtains accurate pose relationships jointly using the monocular camera and laser rangefinder. First, we invented a robust calibration model and derive its pose transformation matrix based on the given component positions. We then provided an improved (simplified) orthogonal iteration algorithm that optimizes the given matrix for calibration. The influences of different factors on calibration accuracy are quantitatively analyzed via simulations, and the new method's performance is verified with real-world experiments. This system enables several novel and significant space and military applications.
ISSN:	0018-9456 1557-9662
DOI:	10.1109/TIM.2023.3265638