Attitude measurement of non-cooperative spacecraft based on LiDAR
Attitude measurement of non-cooperative target is a key technology in space rendezvous and docking.Aiming at the problem of low attitude calculating precision caused by target self-occlusion,a spatial non-cooperative target attitude estimation method based on LiDAR point cloud is proposed.In the initial pose acquisition stage,the target features are segmented by the RANSAC algorithm and the curvature clustering segmentation algorithm,and match with the template features to obtain a rough registration transformation matrix,and the iterative closest point(ICP)algorithm is used for fine registration to solve the initial pose.In the attitude tracking stage,the relative attitude is calculated by fast point cloud registration,and the target attitude measurement is completed by frame-by-frame point cloud attitude transfer.The satellite model is used to build an experimental platform for attitude measurement experiments.The experimental results show that the proposed method can stably complete the attitude calculation.The precision and feasibility of the proposed method are verified.
万方数据
维普
