Method and system for measuring relative pose of a space payload in orbit

Abstract

The application provides a kind of space payload relative pose on-orbit measurement implementation method and system, its main technical features have: using two laser scanning measuring instruments to measure the center three-dimensional coordinates of a plurality of feature points at corner reflector, establish local coordinate system relative to two laser scanning measuring instruments, then get the relative pose relationship between the two laser scanning measuring instruments through common reference point, unify all local coordinate systems to any one laser scanning measuring instrument coordinate system, finally, through rotation matrix and translation matrix, unify all coordinate systems to reference coordinate system, get the position and attitude change relationship between payload reference and payload. It mainly solves the position and attitude change relationship of large-size space payload relative to payload reference under the on-orbit state of spacecraft, can realize the coordinate system unification between payload measurement reference and payload, has the advantages of high measurement precision, strong applicability and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of on-orbit deformation measurement of large-size space loads of a spacecraft, in particular to an on-orbit measurement implementation method and system for relative poses of a space load, and more particularly to an on-orbit measurement implementation method for relative poses of a large-size space load. BACKGROUND

[0002] The spacecraft is irradiated by the sun for a long time during on-orbit operation, and the external heat flow from the solar radiation changes very dramatically within a day. The poses of the reflecting surfaces of the antenna will be deformed on a large scale due to the dramatic change of the temperature, which seriously affects the main beam efficiency of the antenna system and further affects the on-orbit operation performance of the whole satellite. In order to effectively suppress the deformation of the antenna and improve the operation performance of the whole satellite, the relative poses of the reflecting surfaces of the antenna need to be measured during the on-orbit operation of the satellite to provide a basis for on-orbit adjustment of the antenna.

[0003] The large-size antenna of the spacecraft is usually composed of multiple reflecting surfaces, and the spatial range to be measured is above 3m x 3m x 5m. The traditional photogrammetry method, the theodolite measurement method, and the PSD measurement method cannot meet the on-orbit deformation measurement requirements. Although the two methods introduced in the patents "A method for measuring the pointing of a target space with parallel line features" (Patent No. Zl201711462286.5) and "A pointing measurement method for a high-precision optical sensitive load of a satellite" (Patent No. Zl201611076473.5) can solve the pointing change of the optical sensitive load, they cannot simultaneously solve the position change of the load, and more cannot measure the relative poses of the large-size space load on-orbit. The method introduced in the patent "A relative pose measurement method for large-size non-cooperative targets" (Patent No. Zl201410226532.7) can solve the pose relationship of the whole measured target through two cameras, but this method needs to be shot at a close distance and has a small field of view, which cannot meet the precision requirements of the measurement method for the large-size space load. Therefore, a technical solution is needed to improve the above technical problems. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the present application is to provide an on-orbit measurement implementation method and system for relative poses of a space load.

[0005] According to the on-orbit measurement implementation method for relative poses of a space load provided by the present application, the method comprises the following steps:

[0006] Step S1: using two laser scanning measuring instruments to measure the three-dimensional coordinates of the center of the corner reflector at a plurality of feature points;

[0007] Step S2: establishing a local coordinate system relative to the two laser scanning measuring instruments;

[0008] Step S3: obtaining the relative position and pose relationship between the two laser scanning measuring instruments through the common reference point;

[0009] Step S4: unifying all the local coordinate systems to the coordinate system of any one laser scanning measuring instrument;

[0010] Step S5: unifying all the coordinate systems to the reference coordinate system through the rotation matrix and the translation matrix, and obtaining the position and attitude change relationship between the load reference and the effective load.

[0011] Preferably, the corner reflector at the feature point in the step S1 refers to that four corner reflectors are arranged on each effective load, and the local coordinate system representation of the effective load in the coordinate system of the laser scanning measuring instrument is derived through the three-dimensional coordinates of the center points of the four corner reflectors.

[0012] Preferably, the relative position and pose relationship between the two laser scanning measuring instruments in the step S3 is obtained by simultaneously measuring the corner reflectors at the common reference points, establishing the local coordinate systems of the two common reference points, and then obtaining the position and pose relationship between the two laser scanning measuring instruments through the two local coordinate systems.

[0013] Preferably, the step S4 of unifying all the local coordinate systems to the coordinate system of any one laser scanning measuring instrument is to unify all the effective load coordinate systems to the same coordinate system through the relative position and pose relationship between the two laser scanning instruments.

[0014] Preferably, the reference coordinate system in the step S5 refers to the reference of the position and pose change of all the effective loads in the on-orbit measurement; and the relative position and pose relationship between the load reference and the effective load is obtained by deriving the position vector and the rotation vector between each effective load and the reference in the same coordinate system, and then obtaining the position and attitude change of the effective load relative to the reference coordinate system through vector transformation.

[0015] The application also provides a system for realizing the on-orbit measurement of the relative position and pose of a space load, and the system comprises the following modules:

[0016] Module M1: using two laser scanning measuring instruments to measure the three-dimensional coordinates of the center points of the corner reflectors at multiple feature points;

[0017] Module M2: establishing the local coordinate systems relative to the two laser scanning measuring instruments;

[0018] Module M3: obtaining the relative position and pose relationship between the two laser scanning measuring instruments through the common reference point;

[0019] Module M4: unifying all the local coordinate systems to the coordinate system of any one laser scanning measuring instrument;

[0020] Module M5: all coordinate systems are unified to the reference coordinate system through rotation matrix and translation matrix, to obtain the position and attitude change relationship between the load reference and the effective load.

[0021] Preferably, the corner reflector at the feature point in the module M1 refers to 4 corner reflectors arranged on each effective load, and the local coordinate system representation of the effective load under the laser scanning measuring instrument coordinate system is derived through the three-dimensional coordinates of the center points of the 4 corner reflectors.

[0022] Preferably, the relative position and posture relationship between the two laser scanning measuring instruments in the module M3 is established by simultaneously measuring the corner reflectors at the common reference points, establishing the local coordinate systems of the two common reference points, and then obtaining the position and posture relationship between the two laser scanning measuring instruments through the two local coordinate systems.

[0023] Preferably, the unification of all local coordinate systems to an arbitrary laser scanning measuring instrument coordinate system in the module M4 is to unify all effective load coordinate systems to the same coordinate system through the relative position and posture relationship between the two laser scanning instruments.

[0024] Preferably, the reference coordinate system in the module M5 refers to the reference for the position and posture change of all effective loads in the on-orbit measurement; and the relative position and posture relationship between the load reference and the effective load is derived through the position vector and the rotation vector between each effective load and the reference in the same coordinate system, and then the position and attitude change of the effective load relative to the reference coordinate system is obtained through vector transformation.

[0025] Compared with the prior art, the present application has the following beneficial effects:

[0026] 1. The present application uses two laser scanning measuring instruments to measure the relative position and posture of the effective load in a large-size space, which can completely describe the position and attitude change of the spacecraft effective load relative to the reference coordinate system.

[0027] 2. All calculations in the present application are algebraic calculations, and the most complex solving step is only to solve the inverse of a three-order matrix, which has the characteristics of high measurement precision, fast calculation, and simple operation.

[0028] 3. As can be seen from the formula derivation process, the position and posture change relationship of the effective load relative to the reference coordinate system is only related to the rotation matrix and the translation matrix of each effective load in the measurement coordinate system, and is independent of the position and posture change of the laser scanning measuring instrument itself, so that when the position and posture of the laser scanning measuring instrument itself changes, the method still has the advantages of high precision and high stability, and can meet the measurement precision and stability requirements of the on-orbit measurement system of the spacecraft antenna reflector. BRIEF DESCRIPTION OF DRAWINGS

[0029] Other features, objects, and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments thereof, when read in conjunction with the accompanying drawings:

[0030] Figure 1 A schematic diagram for describing a local coordinate system for calculating the central coordinates of the corner reflector of the application;

[0031] Figure 2 A schematic diagram for describing the conversion of two laser scanning measuring instruments through a common point according to the application;

[0032] Figure 3 A schematic diagram for describing the conversion of the load coordinate system relative to the reference coordinate system according to the application;

[0033] Figure 4 A schematic diagram for describing the layout of the laser scanning measuring instrument and the effective load in a large-size space according to the application;

[0034] Figure 5 A flowchart for describing the coordinate system conversion according to the application. DETAILED DESCRIPTION

[0035] The application will be described in detail below with specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These are within the scope of protection of the application.

[0036] Example 1:

[0037] According to the space load relative pose on-orbit measurement implementation method provided by the application, the method comprises the following steps:

[0038] Step S1: using two laser scanning measuring instruments to measure the three-dimensional coordinates of the corner reflector centers at a plurality of feature points; the corner reflector at the feature point refers to that four corner reflectors are arranged on each effective load, and the local coordinate system representation of the effective load under the laser scanning measuring instrument coordinate system is derived through the three-dimensional coordinates of the four corner reflector center points.

[0039] Step S2: establishing a local coordinate system relative to the two laser scanning measuring instruments;

[0040] Step S3: obtaining the relative pose relationship between the two laser scanning measuring instruments through a common reference point; the relative pose relationship between the two laser scanning measuring instruments is obtained by simultaneously measuring the corner reflector at the common reference point, establishing the local coordinate system of the two common reference points, and then obtaining the pose relationship between the two laser scanning measuring instruments through the two local coordinate systems.

[0041] Step S4: unifying all local coordinate systems to the coordinate system of any one laser scanning measurement instrument; unifying all local coordinate systems to the coordinate system of any one laser scanning measurement instrument is to unify all payload coordinate systems to the same coordinate system through the relative pose relationship between the two laser scanners.

[0042] Step S5: unifying all coordinate systems to the reference coordinate system through rotation matrix and translation matrix, to obtain the position and attitude change relationship between the payload reference and the payload; the reference coordinate system refers to the reference of the position change of all payloads in orbit measurement; the relative pose relationship between the payload reference and the payload is to derive the position vector and rotation vector between each payload and the reference through the same coordinate system, and then to obtain the position and attitude change of the payload relative to the reference coordinate system through vector transformation.

[0043] Example 2:

[0044] Embodiment 2 is a preferred example of Embodiment 1, to more specifically illustrate the present application.

[0045] The present application also provides a system for realizing the relative pose in-orbit measurement of a space payload, which comprises the following modules:

[0046] Module M1: using two laser scanning measurement instruments to measure the three-dimensional coordinates of the corner reflector centers at a plurality of feature points; the corner reflector at the feature point refers to four corner reflectors arranged on each payload, and the local coordinate system of the payload in the coordinate system of the laser scanning measurement instrument is derived through the three-dimensional coordinates of the center points of the four corner reflectors.

[0047] Module M2: establishing the local coordinate system relative to the two laser scanning measurement instruments;

[0048] Module M3: obtaining the relative pose relationship between the two laser scanning measurement instruments through a common reference point; the relative pose relationship between the two laser scanning measurement instruments is obtained by simultaneously measuring the corner reflector at the common reference point, establishing the local coordinate system of the two common reference points, and then obtaining the pose relationship between the two laser scanning measurement instruments through the two local coordinate systems.

[0049] Module M4: unifying all local coordinate systems to the coordinate system of any one laser scanning measurement instrument; unifying all local coordinate systems to the coordinate system of any one laser scanning measurement instrument is to unify all payload coordinate systems to the same coordinate system through the relative pose relationship between the two laser scanners.

[0050] Module M5: all coordinate systems are unified to the reference coordinate system through a rotation matrix and a translation matrix, to obtain the position and attitude change relationship between the load reference and the effective load; the reference coordinate system refers to the reference for the position change of all effective loads in the on-orbit measurement; the relative position relationship between the load reference and the effective load is obtained by deriving the position vector and the rotation vector between each effective load and the reference in the same coordinate system, and then the position and attitude change of the effective load relative to the reference coordinate system is obtained through vector transformation.

[0051] Example 3:

[0052] Embodiment 3 is a preferred example of Embodiment 1, to more specifically illustrate the present application.

[0053] In view of the deficiencies in the prior art, the purpose of the present application is to provide a space load relative position and attitude on-orbit measurement implementation method and system, which solves the high-precision measurement requirement of the position and attitude change of the antenna reflector relative to the reference when the spacecraft carries multiple large antenna reflectors. The main technical features are: two laser scanning measuring instruments are used to measure the three-dimensional coordinates of the corner reflector centers at multiple feature points, local coordinate systems relative to the two laser scanning measuring instruments are established, the relative position and attitude relationship between the two laser scanning measuring instruments is obtained through a common reference point, all local coordinate systems are unified to the coordinate system of any one laser scanning measuring instrument, and finally all coordinate systems are unified to the reference coordinate system through a rotation matrix and a translation matrix, to obtain the position and attitude change relationship between the load reference and the effective load.

[0054] The present application provides a space load relative position and attitude on-orbit measurement implementation method, two laser scanning measuring instruments are used to measure the three-dimensional coordinates of the corner reflector centers at multiple feature points, local coordinate systems relative to the two laser scanning measuring instruments are established, the relative position and attitude relationship between the two laser scanning measuring instruments is obtained through a common reference point, all local coordinate systems are unified to the coordinate system of any one laser scanning measuring instrument, and finally all coordinate systems are unified to the reference coordinate system through a rotation matrix and a translation matrix, to obtain the position and attitude change relationship between the load reference and the effective load.

[0055] Two laser scanning measuring instruments are used because in a large size space, the field of view angle of a single laser scanning measuring instrument is limited and cannot cover all the effective loads, so two laser scanning measuring instruments are needed to measure all the effective loads. The corner reflector at the feature point refers to four corner reflectors arranged on each effective load, and through the three-dimensional coordinates of the center points of the four corner reflectors, the local coordinate system representation of the effective load in the laser scanning measuring instrument coordinate system can be derived. The relative pose relationship between the two laser scanning measuring instruments is obtained by simultaneously measuring the corner reflectors at the public reference points, establishing the local coordinate systems of the two public reference points, and then obtaining the pose relationship between the two laser scanning measuring instruments through the two local coordinate systems.

[0056] Unifying all the local coordinate systems to the coordinate system of any laser scanning measuring instrument is to unify all the effective load coordinate systems to the same coordinate system through the relative pose relationship between the two laser scanning instruments. The reference coordinate system refers to the reference for the pose change of all the effective loads in the orbit measurement, and the reference cannot be the laser scanning measuring instrument itself; the relative pose relationship between the load reference and the effective load is obtained by deriving the position vector and the rotation vector between each effective load and the reference in the same coordinate system, and then obtaining the position and attitude change of the effective load relative to the reference coordinate system through vector transformation.

[0057] Definition of the local coordinate system of the effective load:

[0058] The local coordinate system of the effective load is measured by the three-dimensional coordinates of the four corner reflectors of the laser scanning measuring instrument, and the coordinate axis direction is determined through the right-hand rule, as shown in the schematic view Figure 1 A, B, C and D are four corner reflectors arranged on the reflecting surface, and the three-dimensional coordinates of A, B, C and D can be measured by the laser scanning measuring instrument. The center point of the four measurement points is taken as the feature point J representing the target position, so the three-dimensional coordinates of the center point J relative to the laser scanning measuring instrument coordinate system are:

[0059]

[0060] Taking the center point J as the origin and according to the right-hand rule, the coordinate system definition of the effective load is further calculated as:

[0061] Z'=f(A(x,y,z),B(x,y,z),C(x,y,z),D(x,y,z))

[0062] X'=B(x,y,z)-A(x,y,z)

[0063] Y'=X'×Z'

[0064] Wherein:

[0065]

[0066] Again through normalization processing:

[0067]

[0068] Finally get the payload in the local coordinate system J-XYZ under the laser scanning measurement instrument. Any two coordinate systems can be converted by a rotation matrix R and a translation matrix T, the rotation matrix R and the translation matrix T of the local coordinate system relative to the laser scanning measurement instrument coordinate system can be expressed as:

[0069]

[0070] Wherein:

[0071] The coordinate system of the laser scanning measurement instrument is:

[0072] Because the field of view angle of a single laser scanning measurement instrument is limited, when measuring the relative pose relationship of multiple payloads in a large size space, it cannot meet the measurement requirements, so it is necessary to measure through two laser scanning measurement instruments, at this time, the measurement coordinate systems of the two laser scanners need to be unified, as shown in Figure 2 . And are the rotation matrixes of the measurement coordinate system H J1 and H J2 of the laser scanning measurement instrument to the common reference coordinate system H J , and are the translation matrixes of the measurement coordinate system H J1 and H J2 of the laser scanning measurement instrument to the common reference coordinate system H J .

[0073] In the world coordinate system, let the measurement coordinate system of the laser scanning measurement instrument 1 be H J1 , the measurement coordinate system of the laser scanning measurement instrument 2 be H J2 , and the common reference coordinate system be H J . From the attitude relationship shown in Figure 2 , we can get:

[0074]

[0075]

[0076] Wherein, is the rotation matrix of the measurement coordinate system H J1 of the laser scanning measurement instrument 1 to the common reference coordinate system H J ; measurement coordinate system H of the laser scanning measuring instrument 2 J2 to the common reference coordinate system H J ;

[0077] Therefore, the rotation matrix of the measurement coordinate system H J2 of the laser scanning measuring instrument 2 relative to the measurement coordinate system H J1 of the laser scanning measuring instrument 1 may be expressed as:

[0078]

[0079] The translation matrix may be expressed as:

[0080]

[0081] is described under the spacecraft reference coordinate system:

[0082] H B is the reference coordinate system of the spacecraft, and the relative pose relationship of the measurement coordinate system of the laser scanning measuring instrument 1 and the local coordinate system of the reflecting surface 1 is as shown in Figure 3 H B and the local coordinate system of the reflecting surface 1 H F1 are described under the measurement coordinate system H J1 of the laser scanning measuring instrument 1, and the rotation matrix for converting the local coordinate system of the reflecting surface 1 H F1 to the spacecraft reference coordinate system H B is calculated as:

[0083]

[0084] Solving:

[0085]

[0086] Therefore, the rotation matrix of the local coordinate system of the reflecting surface 1 H F1 relative to the spacecraft reference coordinate system H B may be expressed as:

[0087]

[0088] The translation matrix may be expressed as:

[0089]

[0090] The specific algorithm is described as follows:

[0091] ​The payload on the spacecraft is three reflectors and a payload reference, the pose vectors of the payload are measured by two laser scanning measuring instruments respectively, H Ji is the measuring coordinate system of the i-th laser scanning measuring instrument (i = 1, 2), H J is the common reference coordinate system, H Fj is the j-th payload local coordinate system (j = 1, 2, 3), H B is the reference coordinate system of the spacecraft payload, the positional relationship of each coordinate system is shown in Figure 4 .

[0092] (1) The measurable parameters in the measuring coordinate system of the laser scanning measuring instrument 1 are:

[0093] The rotation matrix and translation matrix of the measuring coordinate system to the payload 1 local coordinate system:

[0094] The rotation matrix and translation matrix of the measuring coordinate system to the payload reference local coordinate system:

[0095] The rotation matrix and translation matrix of the measuring coordinate system to the common reference local coordinate system:

[0096] (2) The measurable parameters in the measuring coordinate system of the laser scanning measuring instrument 2 are:

[0097] The rotation matrix and translation matrix of the measuring coordinate system to the payload 2 local coordinate system:

[0098] The rotation matrix and translation matrix of the measuring coordinate system to the payload 3 local coordinate system:

[0099] The rotation matrix and translation matrix of the measuring coordinate system to the common reference local coordinate system:

[0100] (3) Unite all the measuring coordinate systems to the measuring coordinate system of the laser scanning measuring instrument 1:

[0101] The rotation matrix and the translation matrix of the measuring coordinate system of the laser scanning measuring instrument 1 to the measuring coordinate system of the laser scanning measuring instrument 2 are:

[0102]

[0103]

[0104] The rotation matrix of the measuring coordinate system of the laser scanning measuring instrument 1 to the payload 2 local coordinate system and translation matrix is:

[0105]

[0106]

[0107] Rotation matrix of the measurement coordinate system of the laser scanning measuring instrument 1 to the local coordinate system of the payload 3 and translation matrix is:

[0108]

[0109]

[0110] (4) Unify all payload local coordinate systems to the spacecraft reference coordinate system under:

[0111] Rotation matrix of the reference coordinate system to the local coordinate system of the payload 1 and translation matrix is:

[0112]

[0113]

[0114] Rotation matrix of the reference coordinate system to the local coordinate system of the payload 2 and translation matrix is:

[0115]

[0116]

[0117] Rotation matrix of the reference coordinate system to the local coordinate system of the payload 3 and translation matrix is:

[0118]

[0119]

[0120] The present application provides a kind of relative pose of space load on-orbit measurement implementation method, comprising the following steps:

[0121] Step 1: establish laser scanning measuring instrument measurement system, define the measurement coordinate system H of laser scanning measuring instrument Ji (i=1,2), the three-dimensional coordinates of the center of corner reflector are measured in a short time by two laser scanning measuring instruments;The local coordinate system H of payload is established by the center coordinates of corner reflector Fi(j = 1, 2, 3), common reference coordinate system H J and the reference coordinate system H of the spacecraft load B .

[0122] Step 2: Obtain the rotation matrix and translation matrix of the payload 1, the payload reference and the common reference in the measurement coordinate system of the laser scanning measuring instrument 1: The rotation matrix and translation matrix of the payload 2, the payload 3 and the common reference in the measurement coordinate system of the laser scanning measuring instrument 2:

[0123] Step 3: Convert the coordinate system of the payload and the common reference under the laser scanning measuring instrument 2 to the laser scanning measuring instrument 1, that is, calculate the rotation matrix and translation matrix of the laser scanning measuring instrument 1 to the payload 2, the payload 3 and the common reference:

[0124] Step 4: Convert the local coordinate system of the payload 1, 2, 3 to the common reference coordinate system, that is, calculate the rotation matrix and translation matrix of the payload reference to the payload 1, 2, 3:

[0125] Step 5: The position and attitude of the payload relative to the payload reference can be obtained through the above steps, and by setting a time interval, the position and attitude change of the payload relative to the payload reference can be obtained by repeating the above steps, which provides data input for subsequent adjustment.

[0126] The application also provides a space load relative position and attitude on-orbit measurement implementation system, the system comprising the following modules:

[0127] Module M1: two laser scanning measuring instruments are used to measure the three-dimensional coordinates of the corner reflector centers at a plurality of feature points; the corner reflector at the feature point refers to four corner reflectors arranged on each payload, and the local coordinate system of the payload under the laser scanning measuring instrument is derived through the three-dimensional coordinates of the four corner reflector center points.

[0128] Module M2: establish a local coordinate system relative to the two laser scanning measuring instruments.

[0129] Module M3: obtain the relative position and attitude relationship between the two laser scanning measuring instruments through the common reference point; the relative position and attitude relationship between the two laser scanning measuring instruments is obtained by simultaneously measuring the corner reflector at the common reference point, establishing the local coordinate system of the two common reference points, and then obtaining the position and attitude relationship between the two laser scanning measuring instruments through the two local coordinate systems.

[0130] Module M4: unifies all local coordinate systems to the coordinate system of any one laser scanning measuring instrument; unifying all local coordinate systems to the coordinate system of any one laser scanning measuring instrument is to unify all payload coordinate systems through the relative pose relationship between the two laser scanners to the same coordinate system.

[0131] Module M5: unifies all coordinate systems to the reference coordinate system through rotation matrix and translation matrix, to obtain the position and attitude change relationship between the payload reference and the payload; the reference coordinate system refers to the reference of the position change of all payloads in orbit measurement; the relative pose relationship between the payload reference and the payload is to derive the position vector and rotation vector between each payload and the reference through the same coordinate system, and then to obtain the position and attitude change of the payload relative to the reference coordinate system through vector transformation.

[0132] Those skilled in the art know that, in addition to implementing the system provided by the present application and each device, module and unit thereof in the form of pure computer readable program code, the system provided by the present application and each device, module and unit thereof can also be implemented in the form of logic gate, switch, application specific integrated circuit, programmable logic controller and embedded microcontroller, etc. to achieve the same function by logically programming the method steps. Therefore, the system provided by the present application and each device, module and unit thereof can be considered as a hardware component, and the devices, modules and units included therein for achieving various functions can also be considered as structures within the hardware component; the devices, modules and units for achieving various functions can also be considered as both software modules for implementing the method and structures within the hardware component.

[0133] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other in any way without conflict.

Claims

1. A method for measuring relative pose of a space payload in orbit, characterized in that, The method comprises the following steps: Step S1: using two laser scanning measuring instruments to measure the three-dimensional coordinates of the corner reflector centers at a plurality of feature points; the corner reflector at the feature point refers to that four corner reflectors are arranged on each payload, and the local coordinate system of the payload under the laser scanning measuring instrument coordinate system is derived through the three-dimensional coordinates of the four corner reflector center points; Step S2: establishing the local coordinate system relative to the two laser scanning measuring instruments; Step S3: obtaining the relative pose relationship between the two laser scanning measuring instruments through a common reference point; Step S4: unifying all local coordinate systems to the coordinate system of any one laser scanning measuring instrument; Step S5: unifying all coordinate systems to the reference coordinate system through a rotation matrix and a translation matrix, and obtaining the position and attitude change relationship between the payload reference and the payload; The payload on the spacecraft is three reflectors and a payload reference, and two laser scanning measuring instruments are used to measure the pose vector of the payload respectively, is the measurement coordinate system of the i-th laser scanning measuring instrument (i = 1, 2), is the common reference coordinate system, is the j-th payload local coordinate system (j = 1, 2, 3), is the reference coordinate system of the spacecraft payload; (1) the measurable parameters in the measurement coordinate system of the laser scanning measuring instrument 1 include: Rotation matrix and translation matrix of the measurement coordinate system to the payload 1 local coordinate system: ; measuring a rotation matrix and a translation matrix of the coordinate system to the load reference local coordinate system: ; a rotation matrix and a translation matrix of the measurement coordinate system to the local coordinate system of the common reference: ; (2) the measurable parameters in the measurement coordinate system of the laser scanning measuring instrument 2 include: Rotation matrix and translation matrix of the measurement coordinate system to the payload 2 local coordinate system: ; Rotation matrix and translation matrix of the measurement coordinate system to the payload 3 local coordinate system: ; a rotation matrix and a translation matrix of the measurement coordinate system to the local coordinate system of the common reference: ; (3) unifying all measurement coordinate systems to the measurement coordinate system of the laser scanning measuring instrument 1: Rotation matrix of the measurement coordinate system of the laser scanning measuring instrument 1 to the measurement coordinate system of the laser scanning measuring instrument 2 and a translation matrix is: Rotation matrix of the measurement coordinate system of the laser scanning measuring instrument 1 to the payload 2 local coordinate system and translation matrix is: Rotation matrix of the measurement coordinate system of the laser scanning measuring instrument 1 to the payload 3 local coordinate system and translation matrix is: (4) unifying all payload local coordinate systems to the spacecraft reference coordinate system: Rotation matrix from the reference coordinate system to the payload 1 local coordinate system and translation matrix is: Rotation matrix from the reference coordinate system to the payload 2 local coordinate system and translation matrix is: Rotation matrix of the reference coordinate system to the payload 3 local coordinate system and translation matrix is: 。 2. The method of claim 1, wherein, The relative pose relationship between the two laser scanning measuring instruments in the step S3 is obtained by simultaneously measuring the corner reflectors at the common reference points, establishing the local coordinate systems of the two common reference points, and then obtaining the pose relationship between the two laser scanning measuring instruments through the two local coordinate systems.

3. The method of claim 1, wherein, In the step S4, all local coordinate systems are unified to the coordinate system of any one laser scanning measuring instrument, and all payload coordinate systems are unified to the same coordinate system through the relative pose relationship between the two laser scanning instruments.

4. The method of claim 1, wherein, In the step S5, the reference coordinate system refers to the reference for the position and attitude change of all payloads in the on-orbit measurement; and the relative pose relationship between the payload reference and the payload is obtained by deriving the position vector and the rotation vector between each payload and the reference in the same coordinate system, and then obtaining the position and attitude change of the payload relative to the reference coordinate system through vector transformation.

5. A system for implementing on-orbit measurement of relative pose of a space payload, characterized in that, The system comprises the following modules: Module M1: using two laser scanning measuring instruments to measure the three-dimensional coordinates of the corner reflector centers at a plurality of feature points; the corner reflector at the feature point refers to that four corner reflectors are arranged on each payload, and the local coordinate system of the payload under the laser scanning measuring instrument coordinate system is derived through the three-dimensional coordinates of the four corner reflector center points; Module M2: establishing the local coordinate system relative to the two laser scanning measuring instruments; Module M3: obtaining the relative pose relationship between the two laser scanning measuring instruments through a common reference point; Module M4: unifying all local coordinate systems to the coordinate system of any one laser scanning measuring instrument; Module M5: unifying all coordinate systems to the reference coordinate system through a rotation matrix and a translation matrix, and obtaining the position and attitude change relationship between the payload reference and the payload; The payload on the spacecraft is three reflectors and a payload reference, and two laser scanning measuring instruments are used to measure the pose vector of the payload respectively, is the measurement coordinate system of the i-th laser scanning measuring instrument (i = 1, 2), is the common reference coordinate system, is the j-th payload local coordinate system (j = 1, 2, 3), is the reference coordinate system of the spacecraft load; (1) the measurable parameters in the measurement coordinate system of the laser scanning measuring instrument 1 include: Rotation matrix and translation matrix of the measurement coordinate system to the payload 1 local coordinate system: ; measuring a rotation matrix and a translation matrix of the coordinate system to the load reference local coordinate system: ; a rotation matrix and a translation matrix of the measurement coordinate system to the local coordinate system of the common reference: ; (2) the measurable parameters in the measurement coordinate system of the laser scanning measuring instrument 2 include: (3) unifying all measurement coordinate systems to the measurement coordinate system of the laser scanning measuring instrument 1: (4) unifying all payload local coordinate systems to the spacecraft reference coordinate system: Rotation matrix and translation matrix of the measurement coordinate system to the payload 2 local coordinate system: ; Rotation matrix and translation matrix of the measurement coordinate system to the payload 3 local coordinate system: ; a rotation matrix and a translation matrix of the measurement coordinate system to the local coordinate system of the common reference: ; (3) Unify all the measurement coordinate systems to the measurement coordinate system of the first laser scanning measurement: Rotation matrix of the measurement coordinate system of the laser scanning measuring instrument 1 to the measurement coordinate system of the laser scanning measuring instrument 2 and a translation matrix is: Rotation matrix of the measurement coordinate system of the laser scanning measuring instrument 1 to the payload 2 local coordinate system and translation matrix is: Rotation matrix of the measurement coordinate system of the laser scanning measuring instrument 1 to the payload 3 local coordinate system and translation matrix is: (4) Unify all the payload local coordinate systems to the spacecraft reference coordinate system: Rotation matrix from the reference coordinate system to the payload 1 local coordinate system and translation matrix is: Rotation matrix from the reference coordinate system to the payload 2 local coordinate system and translation matrix is: Rotation matrix of the reference coordinate system to the payload 3 local coordinate system and translation matrix is: 。 6. The system of claim 5, wherein the system is implemented by a space payload relative pose in-orbit measurement system. The relative pose relationship between the two laser scanning measurement instruments in the module M3 is established by simultaneously measuring the corner reflectors at the common reference points, establishing the local coordinate systems of the two common reference points, and then obtaining the pose relationship between the two laser scanning measurement instruments through the two local coordinate systems.

7. The system of claim 5, wherein the system is implemented by a space payload relative pose in-orbit measurement system. The module M4 is to unify all the local coordinate systems to the coordinate system of any one laser scanning measurement instrument, which is to unify all the payload coordinate systems to the same coordinate system through the relative pose relationship between the two laser scanning instruments.

8. The system of claim 5, wherein the system is implemented by a space payload relative pose in-orbit measurement system. The reference coordinate system in the module M5 is a reference for the pose change of all the payloads in the on-orbit measurement; the relative pose relationship between the payload reference and the payload is obtained by deducing the position vector and the rotation vector between each payload and the reference in the same coordinate system, and then obtaining the position and attitude change of the payload relative to the reference coordinate system through vector transformation.

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