The KURS radio engineering system for measuring motion parameters during rendezvous and docking has some disadvantages:
the accuracy of measurement with multiple reflections of the wave can drop, the technical equipment is available on both
docking vehicles (active and passive parts), it is expensive both in terms of energy resources and in terms of cost. An
analysis of existing visual systems has shown that such systems successfully solve the problems of visual odometry on
UAVs, robots, and similar devices. However, to use such systems, it is necessary to know the internal parameters of the
camera (calibration). Classical calibration using a checkerboard pattern is difficult to perform in outer space. In
connection with all of the above, this paper proposes methods for estimating the focal length of the camera, based on
the analysis of the available video sequence with the footage of the process of rendezvous of spacecraft. The proposed
approaches are based on the maximum likelihood method (MLE) and maximum a posteriori estimation (MAP) of the functional
depending on the Euler angles and focal length. The results of these methods are compared, showing the advantages of MAP
over MLE and the possibility of their practical application.
Key words:
focal length, camera estimation, spacecraft docking, automatic docking, maximum likelihood estimation, maximum a
posteriori probability
DOI: 10.31857/S0235009223010092
EDN: AULKIC
Cite:
Zinov V. A., Konovalenko I. A.
Avtomaticheskaya otsenka fokusnogo rasstoyaniya bortovoi kamery kosmicheskogo apparata po videodannym stykovki s mks
[Automatic evaluation of the internal parameters of the onboard camera of a spacecraft from video data of dockings with the iss].
Sensornye sistemy [Sensory systems].
2023.
V. 37(1).
P. 78–88 (in Russian). doi: 10.31857/S0235009223010092
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