宇航学报

宇航学报 ›› 2017, Vol. 38 ›› Issue (10): 1105-1113.doi: 10.3873/j.issn.1000-1328.2017.10.011

• 制导、导航、控制与电子 • 上一篇    下一篇

高轨失稳目标单载荷相对位姿测量方法

李荣华，李金明，陈凤，肖余之   

  1. 1. 大连交通大学机械工程学院，大连 116028；2. 上海宇航系统工程研究所，上海 201109
  • 收稿日期:2017-06-12 修回日期:2017-08-21 出版日期:2017-10-15 发布日期:2017-10-25
  • 基金资助:

    国家自然科学基金（51505059）；辽宁省自然科学基金（201602121）；上海航天科技创新基金（SAST2016016）

A Method of Relative Pose Measurement by Single Load for GEO Instability Target

LI Rong hua, LI Jin ming, Chen Feng, Xiao Yu zhi   

  1. 1. School of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028, China;
     2. Shanghai Institute of Aerospace Systems, Shanghai 201109, China
  • Received:2017-06-12 Revised:2017-08-21 Online:2017-10-15 Published:2017-10-25

PDF

332

摘要：

针对线阵扫描型激光雷达在探测高轨失稳目标过程中，发生时空非定常点云数据畸变，而需多载荷协同方式测量相对位姿问题，提出一种激光雷达同向差分扫描测量方法。该方法基于运动目标畸变点云信息瞬时拓扑结构不变性，首先对相邻两次扫描的畸变点云进行配准来获取目标运动增量、解算目标瞬时运动参数。其次，逐条恢复畸变扫描线点云所处目标真实几何位置、完成目标三维重建。然后以目标三维模型为初始位姿基准，通过设定增量次数阈值不断更新位姿基准实现误差自标定。最后通过叠加位姿增量获取目标相对位姿。该方法在缺失非合作目标先验信息的情况下，仅使用单一载荷，不仅实现了目标三维点云模型的重建，而且精确测量了空间非合作目标相对位姿。

关键词: 同向差分扫描, 畸变恢复, 自标定, 位姿增量

Abstract:

Considering the distortion of point cloud data during the detection of high orbit instability target by linear array scanning Lidar, a method for co-rotating differential scanning is described in this paper. The method is not to rely on multiple sensors to recover the distorted point cloud information, and finally to measure the relative position and orientation of a target. It bases on the topological instantaneous invariance of the distorted point cloud information of a moving target. Firstly, in this method, the motion increment and instantaneous motion parameters of the target are obtained by registration of the distorted point cloud in the adjacent scanning time. Secondly, restore the real geometric position of the distorted scanning line point cloud so as to complete the three-dimensional reconstruction of the target. Then take the target 3D model as the initial pose datum, which is updated continuously by setting the increment frequency threshold. Finally, the relative pose of the target is obtained through superimposing the motion increment. Under the condition of missing the prior information of the non-cooperative target, this method, by only using a single load, not only realizes the reconstruction of the target 3D point cloud model, but also measures the relative pose of the spatial non cooperative target accurately and efficiently.

Key words: Co rotating differential scanning, Distortion recovery, Self calibration, Pose increment

中图分类号: