Design And Realization Of Ground Test Verification System For 3D Model Of Asteroid

The 3D modeling method of small celestial bodies is very important for the field of deep space exploration.In tasks such as celestial orbit observation and landing sampling,the accuracy of the 3D model is an important factor that affects the accuracy of the task.Therefore,it is indispensable to conduct ground tests on the 3D modeling method to evaluate the accuracy.This paper designs a 3D model ground test verification system based on the SFS and SPC 3D modeling methods studied by this research group to provide support for the 3D model test.The main research work is as follows:First,Design small celestial bodies to simulate the observation environment.First,analyze the principles of SPC and SFS three-dimensional modeling methods,and summarize the requirements of these two three-dimensional modeling methods using images,and then design a small pebble stacking model for the SPC three-dimensional modeling method to express the rich topographic features of the surface of small celestial bodies,and The SFS three-dimensional modeling method designs wall models to express the topographic contour characteristics of the surface of small celestial bodies.Finally,a UWB positioning system was established in the simulated observation environment,which provided experimental environment support for positioning and flight in surveying and mapping tasks.Second,design and implement UAV surveying and mapping flight control.First,according to the requirements of the SPC and SFS three-dimensional modeling methods for the image,the constraint conditions of the shooting reference point are designed,and then the mathematical model of the photometric camera is established to calculate the coordinates of the reference point,and then through the Windows Universal Application Platform(Universal Windows Platform,UWP)framework application program realizes the control of UAV surveying and mapping flight.This paper proposes a UAV surveying and mapping flight planning algorithm,which can correct the flight path during the flight of the UAV to ensure that the UAV will fly on the planned route.Finally,propose the management method of UAV surveying and mapping data.First,design the data transmission system between the drone and the control terminal.Second,add a response post-processing module to the data transmission system to establish a file list download event,data transmission event,and response end event commission,in the commission parameter list The results of the above events returned to the control terminal can be parsed to obtain information at different levels of the event,so that user-defined response processing solutions can be implemented through the event delegation mechanism.Next,through an application based on the UWP framework,image loading and image transmission are realized on the data transmission system platform,and the data related to surveying and mapping is stored and managed through the database.Then correct the images taken by the drone and update the database.Finally,the surveying and mapping data are analyzed to verify the effectiveness of the UAV surveying and mapping flight control method proposed in this paper.