一种翻滚火箭箭体的运动参数估计方法  

Measurement Method of Motion Parameters for Tumbling Rocket Body

作　　者：赵高鹏[1] 范佳杰 梁维奎 ZHAO Gao-peng;FAN Jia-jie;LIANG Wei-kui(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China;Aerospace System Engineering Shanghai,Shanghai 201108,China)

机构地区：[1]南京理工大学自动化学院,南京210094 [2]上海宇航系统工程研究所,上海201108

出　　处：《宇航学报》2021年第4期477-486,共10页Journal of Astronautics

基　　金：国家自然科学基金(61473153)。

摘　　要：针对处于自由翻滚运动状态的火箭箭体,其呈回转体结构,运动参数估计难的问题,提出了一种翻滚火箭箭体的运动参数估计方法。采用激光成像雷达获取目标的三维点云数据,通过点云法向量估计和随机采样一致性算法计算得到自旋轴;然后结合序列各帧的自旋轴估计结果,采用最小二乘法求解得到翻滚火箭箭体的翻滚轴;进而利用相邻两帧的自旋轴和翻滚轴估计结果求解得到章动角和空间章动角速率。基于仿真数据对方法进行了实验及分析,结果表明该方法能够有效地估计自由翻滚状态的火箭箭体的翻滚轴、章动角和空间章动角速率。Considering a space free tumbling rocket body is axisymmetric,how to estimate its motion parameters is very challenging.A measurement method of motion parameters for tumbling rocket body is proposed in this paper.Firstly,a LiDAR sensor is adopted to obtain the point cloud of the target,and the spin axis of the rocket body is estimated by using the point cloud normal vector estimation algorithm and the random sample consensus algorithm.Then,the tumbling axis parameters are computed based on the least square algorithm by using the spin axis value in sequence frame.Finally,the nutation angle and the spatial nutation angular rate of the tumbling rocket body is obtained by using the two adjacent spin axis value and tumbling axis value.The proposed method is validated by simulated data.The experiment results show that the proposed method can effectively estimate the motion parameters of the free tumbling rocket bodies including the tumbling axis,the nutation angle and the spatial nutation angular rate.

关 键 词：火箭箭体 运动参数估计 自由翻滚运动 激光成像雷达 点云数据 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]