Spatial non-cooperative target laser-point cloud ICP pose matching correctness judging method and system

Abstract

The invention provides a spatial non-cooperative target laser-point cloud ICP pose matching correctness judging method and system. The method comprises the following steps: developing ground physicalsimulation test, and acquiring a measurement point cloud of a spatial non-cooperative target drone and a known model point cloud of a spatial non-cooperative target drone; carrying out ICP pose matching to obtain an ICP matched laser point cloud which is close to a standard laser point cloud of a real spatial non-cooperative target in space; acquiring three-dimensional Euclid spatial distances ofeach group of corresponding points on the ICP matched laser point cloud and the standard laser point cloud of the real spatial non-cooperative target in the space; carrying out histogram distributionstatistics to obtain a standard histogram distribution H2 of the point cloud distance; and judging whether two histogram distribution trends are consistent or not. The algorithm is simple in data processing and low in calculation complexity, and adapts to engineering application of spatial non-cooperative target pose matching, influences of point cloud measurement noises are considered fully, whether ICP pose matching reaches consistency pose matching or not can be judged in real time, and the measurement precision of pose matching is improved effectively.

Description

technical field [0001] The present invention relates to a laser point cloud ICP (Iterative Closest Point, closest point iteration) pose matching correctness judgment method and system of a non-cooperative target in space, which is suitable for using the measured laser point cloud as an input in the case of measurement noise. In the process of spatial non-cooperative target pose calculation, it is judged whether the ICP algorithm has achieved the best pose matching between the measurement point cloud and the model point cloud. Background technique [0002] With the advancement of aerospace technology and the diversification of space missions, the demand for measuring the position and attitude of space non-cooperative targets is becoming more and more urgent. The use of lasers to obtain point clouds of non-cooperative targets has the characteristics of long range, high ranging accuracy, little influence from external lighting environments, and the ability to work around the cl...

AI Technical Summary

Problems solved by technology

[0005] The technical problem of the present invention is: to overcome the deficiencies of the existing technology, adapt to the engineering application of spatial non-cooperative target pose matching, and provide a method and system for judging the correctness of spatial non-cooperative target laser point cloud ICP pose matching, the method can After the ICP matching calculation, it can be judged whether the measured noisy point cloud and the model point cloud have reached the correct consistent matching, and the engineering application effect is good.

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