摘要
针对运载火箭一子级回收过程中实时高精度的空间坐标和运动姿态测量需求,提出了基于激光雷达的火箭垂直回收段实时空间坐标及姿态测量方法。将多线激光雷达安装于跟踪转台组成测量系统,采用空间坐标融合、椭圆圆心拟合以及中轴线拟合算法,实时获取并输出火箭的空间坐标和运动姿态。通过火箭静态测量试验,并进行了动态测量精度的分析与计算,结果表明:在考虑火箭回落过程中强振动、尾焰干扰和跟踪误差的情况下,动态运动姿态测量精度优于005°,动态空间坐标测量精度优于5cm,可实现运载火箭回落段实时高精度的空间坐标与运动姿态的测量与数据输出,为火箭控制系统提供高精度的控制输入数据,保证火箭回收时的平稳与精确着陆。
In order to meet the requirements of real-time high-precision space coordinate and motion attitude measurement during the recovery of the first sub stage of the carrier rocket,a real-time space coordinate and attitude measurement method for the vertical recovery of carrier rockets based on lidar is proposed.The multi-line lidar is installed on the tracking turntable to form a measurement system.The space coordinates and motion attitude of the rocket are acquired and output in real time by using spatial coordinate fusion,ellipse center fitting and central axis fitting algorithms.Through the static measurement test of the rocket,and the analysis of the dynamic measurement accuracy,the results show that the dynamic motion attitude measurement accuracy is better than 0.05°and the dynamic space coordinate measurement accuracy is better than 5 cm under the condition of strong vibration,tail flame and tracking error interference during the rocket falling back,which can achieve real-time high-precision space coordination,motion attitude measurement and data output during the carrier rocket falling period.It can provide high-precision control input data for the control system of the rocket to ensure the smooth and accurate landing for the carrier rocket recovery.
作者
师恒
高昕
李希宇
宗永红
郑东昊
胡蕾
SHI Heng;GAO Xin;LI Xiyu;ZONG Yonghong;ZHENG Donghao;HU Lei(Beijing Institute of Tracking and Telecommunications Technology,Beijing 100094;Xi\an Institute of Optics and Preci-sion Mechanics,Chinese Academy of Sciences,Xi\an,Shaanxi 710119;Key Laboratory of Space Precision Measurement Technology,Chinese Academy of Sciences,Xi\an,Shaanxi 710119;Pilot National Laboratory for Marine Science and Technology(Qingdao),Qingdao,Shandong 266237)
基金
中国科学院青年创新促进会基金项目(No.2021406),中国科学院空间精密测量技术重点实验室基金项目(No.29J21-063-Ⅲ)。
关键词
激光雷达
运载火箭回收
空间坐标
运动姿态
椭圆圆心拟合
中轴线拟合
lidar
carrier rocket recovery
space coordinate
motion attitude
ellipse center fitting
central axis fitting
作者简介
第一作者:师恒(1989-),男,博士,副研究员,主要研究方向为光学精密测量技术,E-mail:15249280968@163.com;通信作者:高昕(1973-),男,博士,研究员,主要研究方向为光学测控设备总体技术,E-mail:gaoxin526@126.com。
