Position and pose measurement technology of space combination ground experiment based on machine vision
                                             FAN Xing xing1, WANG Ban1,2, ZHOU Wei hua1, GUO Ji feng1
（1.College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China;2.School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China）

Abstract: Aiming at the problem that space combination, such as the tethered system can not be measured in real time because of the characteristics of complex and fast response in spatial operations.The measurement and control methods of object position and pose in the ground simulation experiment system were studied.The machine vision technology of non contact measurement was applied to the ground measurement system.An improved multiple template matching algorithm was proposed to constitute a measurement system combined with rigid plane motion position and pose algorithm in the perspective of reducing the computational complexity of the image search location and each location.The moving target images and the coordinates of the targets on the markers were dynamically acquired. The motion position and pose of the plane rigid body was calculated in real time by coordinate transformation. The experiment of linear motion, rotation motion and rigid plane motion were carried out by using the developed ground simulation detection system.The results indicate that the maximum measurement error of the position and pose measurement system is less than 5%, and the sampling time is 0.2 s, which can meet the requirements of measurement and control of space tethered combination and other combinations.

Key words: machine vision; tethered combination; motion pose; measurement and control; air floating platform