A Method Of Relative Pose Measurement By Single Load For Space Instability Target

The relative pose measurement of space unstable targets is one of the main technologies to realize autonomous orbit service in the future.As a non cooperative target,because of its inability to interact effectively through inter satellite links,optical measurement is the main method.The position and attitude measurement technology of linear array scanning laser radar has many characteristics such as high resolution,far distance and satisfying the requirements.It has become an important research direction in the current domestic related technology leading units.The relative position and attitude acquisition is realized by point cloud registration in the form of laser target cloud.The point cloud data in the single scanning process are not acquired at the same time point,and because of the target movement,it is different from the true topography of the target.In the study,we first assume that although the point cloud data are distorted,the distortion rules of the two scanning points at the effective time interval are the same.Once the point cloud distortion law is the same,that is to satisfy the premise of rigid registration.In the study,the linear array scanning laser radar,when measuring the spatial instability target,can not effectively obtain the target position and pose information because of the distortion of the measured point cloud data caused by the motion of the target,and puts forward a kind of laser radar's same direction scanning and point cloud.The position and posture measurement method of registration.The characteristic of acquiring target motion is mainly realized around the same point cloud distortion law.The relative position and pose increment of the target is acquired by the registration of the target point cloud in the interval time,and then the target motion characteristics are solved.The reconstructed 3D target cloud model is the reference standard for relative pose acquisition.The three-dimensional reconstruction quality evaluation system is established based on the space condition environment,and the reconstruction process is analyzed theoretically with the target motion characteristics.Finally,the real geometric position of the target in the distortion scanning line point cloud is realized.To extract the measurable location of point cloud based on vector driven mechanism,it emphasizes the effectiveness of the algorithm "Ray blurred search" developed in the study on the visible part of the target point cloud model,and uses the laser reflection intensity to realize the rough registration of point clouds.In the process,the influence factors of the space radiant source to the imaging are analyzed.And quantitative analysis is made for the imaging effect of incident angle.In view of the lack of true value as an index reference problem,using laser tracker measurement and least square based ground verification method to obtain the accurate relative position and pose value of the target relative detector(laser radar).In the face of the absence of a priori information of the spatial instability target,the motion characteristics of the target are obtained in the case of only one load(linear array laser radar)without additional scale factors,and then the three-dimensional reconstruction and relative position measurement of the target complete point cloud are realized.