Laser imaging radar-based non-cooperative aircraft relative position posture measuring method

Abstract

The invention provides a laser imaging radar-based non-cooperative aircraft relative position posture measuring method. A laser imaging radar is used as a measuring device to realize measurement of the relative posture of a non-cooperative aircraft having no obvious features. The method mainly comprises the following steps: 1, establishing a precise point cloud model library; 2, acquiring visible position cloud data by using the laser imaging radar; 3, preprocessing the visible cloud data; 4, carrying out coarse registration on the visible position cloud data and precise point cloud model data; and 5, carrying out point cloud precise registration by adopting an ICP algorithm to determine an optimal relative position posture. The method realizes measurement of the relative position posture of the non-cooperative aircraft with any configuration, and has the advantages of strong anti-interfere ability, good algorithm robustness, high relative position posture measurement precision and meeting of relative navigation task requirements of a short-distance non-cooperative target in space operation by establishing the point cloud database and reasonably selecting a point cloud to be registered.

Description

technical field [0001] The invention relates to a method for measuring the relative pose of a non-cooperative spacecraft based on laser imaging radar, in particular to a method for measuring the relative pose of a non-cooperative spacecraft without obvious features. Background technique [0002] With the continuous development of space technology, the structure of various spacecraft is becoming more and more complex, and the cost is becoming more and more expensive. In order to save the cost of space missions, prolong the working life of spacecraft, and improve the ability to flexibly perform missions, NASA, the European Space Agency and other departments have successively carried out manipulation tasks for space vehicles, especially those that have failed and have non-cooperative characteristics. , in order to realize the on-orbit service technology of reusable space. The traditional measurement system based on two-dimensional imaging sensors restricts the flexibility of t...

AI Technical Summary

Problems solved by technology

The invention can solve the problems of poor environmental adaptability and short working distance in the traditional measurement system based on two-dimensional imaging sensors, and can realize the position and attitude measurement of non-cooperative spacecraft in space with any configuration, and meet the requirements of short-distance non-cooperative targets in space manipulation. Navigation Task Requirements

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