Objective  Monocular vision measurement technology has the advantages of simple structure, low cost, convenient and flexible operation, and there are two types of monocular vision measurement technology in general. One is the combination of monocular camera and measured object, but it needs to design a suitable cooperative target, which has certain limitations. The other is the combination of monocular camera and active sensor, but the adjustment or calibration process of the pose relationship between the camera and the active sensor is more complicated. Aiming at how to quickly measure the pose of space objects, this paper studies a monocular visual spatial pose measurement method based on two-dimensional active pose guidance. This method only requires a camera and a precision two-dimensional carrier to collect one image before and after the carrier rotates, which can complete the rapid attitude measurement of space objects. The attitude measurement method has the advantages of low cost, simple operation and large measuring range, which is less dependent on equipment.

  Methods  A monocular attitude measurement system composed of monocular camera, precision two-dimensional platform and measured object is established. And an attitude measurement model of monocular camera, precision two-dimensional platform and tilt meter is designed. A precision checkerboard image and two angles of the two-dimensional platform under different image positions were taken by the camera for multiple times to carry out joint visual calibration of the camera and the two-dimensional platform (Fig.2). The pose relationship between the camera and the platform was obtained, and the pose relationship between the checkerboard and the initial camera coordinate system was calculated. Based on the coordinate system of the geodetic inclinometer, the pose relationship between the inclinometer and the attitude measuring system was calibrated according to the coordinate system relationship between the inclinometer and the checker (Fig.3), and the measured values were converted to the coordinate system of the inclinometer, realizing the rapid measurement of monocular vision.

  Results and Discussions  A monocular visual spatial pose measurement method based on 2D active pose guidance is studied. Through the acquisition of precision checkerboard images for many times, the pose relationship between the camera and the two-dimensional platform, the inclinometer and the measuring attitude system was obtained, and the calibration errors of pitch angle and roll angle were both < 0.31° (Fig.7). Taking the checkerboard as the measured object, combined with the calibrated parameters, the measurement error is the largest when the pitch angle is about 15°, and the measurement error is 0.82°. When the roll angle is about −15°, the maximum measurement error is −0.43° (Fig.10).

  Conclusions  In this paper, a monocular visual spatial pose measurement method based on 2D active pose guidance is studied, and the attitude measurement model of monocular camera, precision 2D pedestal and inclinometer is established. This method uses only one camera, and does not need to consider the baseline distance under binocular setting. Moreover, this method can realize the rapid measurement of the object's attitude after calibration, and realize the measurement of the object's attitude under fixed-axis dual-angle photography. The experimental results show that the proposed method can be used to measure the attitude of space objects quickly.