宇航学报 ›› 2020, Vol. 41 ›› Issue (2): 224-233.doi: 10.3873/j.issn.1000-1328.2020.02.012

• 制导、导航、控制与电子 • 上一篇    下一篇

空间失稳目标线阵成像畸变分析与三维重建

李荣华,王振宇,陈凤,肖余之,薛豪鹏   

  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:2019-01-02 修回日期:2019-03-15 出版日期:2020-02-15 发布日期:2020-02-25
  • 基金资助:
    国家重点研发计划(2018YF1107805);辽宁省自然科学基金(20180520015);大连市支持高层次人才创新创业项目(2017RQ134)

Distortion Analysis and 3D Reconstruction of Space Instability Target Line Array Imaging

LI Rong hua, WANG Zhen yu, CHEN Feng, XIAO Yu zhi, XUE Hao peng   

  1. 1. School of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028, China; 2. Shanghai Institute of Aerospace Systems, Shanghai 201109, China
  • Received:2019-01-02 Revised:2019-03-15 Online:2020-02-15 Published:2020-02-25

摘要: 针对线阵扫描型激光雷达在非合作失稳航天器三维模型重建过程中,存在运动目标线扫数据畸变且目标因失稳导致运动特性难以准确估计问题,提出一种带畸变自修正式三维重建方法,并进行畸变容忍度临界值分析。该方法基于测量系统的角精度与测距精度设计畸变容忍度临界值判定条件,首先根据实际工况与判定条件进行比对,判定是否对线扫数据进行初始畸变恢复;其次,对相邻扫描带畸变点云依次进行配准获取目标运动增量、解算目标瞬时运动参数;然后对目标运动参数进行自修正式处理,去除特征突变点干扰;同时依次恢复点云到初始几何位置,完成初始目标三维重建;最后,通过系统进一步迭代,位姿增量自收敛直至最终满足重建精度要求。仿真结果表明,该方法在缺失非合作目标先验信息的情况下,能够有效避免因线扫描导致的畸变问题,并较为快速地实现满足精度要求的目标三维重建,有较强的鲁棒性。

关键词: 三维重建, 线阵成像, 带畸变自修正, 畸变容忍度

Abstract: In the process of linear array scanning laser radar reconstruction for the 3D model of non-cooperative unstable spacecraft, there is a problem that the moving target line scan data is distorted and it is difficult to accurately estimate the target’s motion characteristics due to instability. Therefore, distortion tolerance analysis is needed and a self-correcting three-dimensional reconstruction method with distortion is proposed. The method is based on the angular precision and ranging accuracy of the measuring condition to design the distortion tolerance threshold value judgment system. Firstly, according to the actual working conditions and the judgment condition, it is determined whether the initial distortion recovery is performed on the line scan data; secondly, the adjacent scanning band distortion point cloud is sequentially registered to obtain the target motion increment and solve the target instantaneous motion parameter; then, the target motion parameters are self-corrected to remove the characteristic mutation point interference; at the same time, the point cloud is sequentially restored to the initial geometric position, and the initial target three-dimensional reconstruction is completed; finally, through further iteration of the system, the pose increment self-converges until it finally meets the reconstruction accuracy requirements. The simulation results show that the proposed method can effectively avoid the distortion caused by line scan in the absence of non-cooperative target prior information, and achieve the target 3D reconstruction that meets the accuracy requirements quickly, which has strong robustness.

Key words: 3D reconstruction, Line array imaging, Self-correction with distortion, Distortion tolerance

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