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Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector

A laser three-dimensional, pose estimation technology, applied in the field of space science, achieves the effect of realizing redundant output, balancing operation speed and accuracy requirements, and high accuracy of the method

Pending Publication Date: 2021-12-03
SHANGHAI AEROSPACE SYST ENG INST
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Problems solved by technology

[0008] The purpose of the present invention is to provide a method for estimating the autonomous position and attitude of the soft landing stage of the detector based on the laser three-dimensional point cloud, so as to solve the problem of autonomous position estimation of the final stage of the soft landing stage of the detector based on the laser radar carried by itself without the support of external navigation information. Problems with Pose Estimation

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  • Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector
  • Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector
  • Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector

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Embodiment Construction

[0029] The following will combine Figure 1 to Figure 7 The method for estimating the autonomous pose and orientation of the soft landing stage of the detector based on the laser three-dimensional point cloud of the present invention will be further described in detail.

[0030] figure 1 Shown is a flow chart of the method for estimating the autonomous pose of the detector at the end of soft landing based on the laser three-dimensional point cloud of the present invention.

[0031] see figure 1 , the method for estimating the autonomous pose and attitude of the detector based on the laser three-dimensional point cloud at the end of the soft landing of the present invention, including:

[0032] 1) Receive the point cloud data packet output by the lidar, and perform frame division;

[0033] 2) Preprocessing each frame of point cloud to obtain a sequence of point cloud frames;

[0034] 3) Utilize the first frame of the point cloud frame sequence to select the best landing point...

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Abstract

The invention discloses a laser three-dimensional point cloud-based autonomous pose estimation method for a soft landing end segment of a detector, and the method comprises the steps: 1), receiving a point cloud data package outputted by a laser radar, and carrying out frame division; 2) preprocessing each frame of point cloud to obtain a point cloud frame sequence; 3) selecting an optimal drop point by using the first frame of the point cloud frame sequence and selecting an optimal drop point and adopting a point cloud segmentation + neighborhood radius search algorithm; 4) performing 3D SIFT feature point-based matching on non-first frames of the point cloud frame sequence to realize pose estimation; and 5) calculating relative navigation information according to the pose estimation. According to the invention, the problem of autonomous position and pose estimation according to the self-carried laser radar at the soft landing end segment of the detector without the support of external navigation information is solved.

Description

technical field [0001] The invention relates to the field of space science and technology, in particular to a laser three-dimensional point cloud-based autonomous pose estimation method at the end of soft landing of a detector. Background technique [0002] In the field of space detection, landing patrol detection is an important means of detection. In the soft landing stage of planetary exploration, in the absence of external navigation information input such as satellite navigation, autonomous navigation is a necessary condition for safe landing, and the determination of the detector's own position and orientation information is a prerequisite for autonomous navigation. [0003] The autonomous pose estimation of the detector refers to calculating the position and attitude angle of the detector in real time according to the navigation sensor carried by the detector itself without relying on the support of external navigation information. At the end of the soft landing miss...

Claims

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Application Information

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IPC IPC(8): G01S17/06G01C21/20
CPCG01S17/06G01C21/206Y02A90/10
Inventor 黄兴颜晓明金益辉王良军闫峰于欢
Owner SHANGHAI AEROSPACE SYST ENG INST
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