Infrared and Laser Engineering, Volume. 51, Issue 10, 20211115(2022)
Semi-physical simulation ground verification system for space non-cooperative targets
Figures & Tables(27)
Fig. 1. Block diagram of the non-cooperative target semi-physical simulation ground verification system
Fig. 4. Space non-cooperative target world coordinate system and ontology coordinate system
Fig. 9. Mechanical structure and physical objects of three-axis turntable
Fig. 16. Selected position of the edge line of the target scanning result
Fig. 19. Comparison of target nutation motion control angle and measurement calculation angle and error
Table 1. Motion angle parameters of each axis
View tableView in ArticleTable 1. Motion angle parameters of each axis
Number of axes Angle range/(°) A1 ±170 A2 −190-45 A3 −120-156 A6 ±350
Table 2. M8 lidar parameter range
View tableView in ArticleTable 2. M8 lidar parameter range
Parameter Value Laser wavelength/nm 905 Measurement technology Time-of-flight method (TOF) Distance accuracy (1σ under 50 m distance)/cm <3 Number of lines 8 Field of view/(°) Horizontal perspective:360, Vertical viewing angle:20 (+3/−17) Maximum detection distance 100 m (80% reflectivity), 35 m (10% reflectivity)
Table 3. Three-axis turntable parameters
View tableView in ArticleTable 3. Three-axis turntable parameters
Shafting Azimuth axis Pitch axis Roll axis Translation axis Itinerary 360° 360° 360° 50 mm Transmission ratio 180∶1 180∶1 180∶1 1∶1 Transmission form Worm gear drive Worm gear drive Worm gear drive Fine thread screw drive Guide rail form Bearing Bearing Bearing Dovetail guide rail Motor (step angle) 42（1.8°） 42（1.8°） 42（1.8°） Resolution (theoretical value) 0.0002° 0.0002° 0.0002° 0.02 mm Repeatability 0.01° 0.01° 0.01° 0.01 mm Empty back gap 0.005° 0.005° 0.005° 0.005 mm Table beating 0.1 mm 0.1 mm 0.1 mm 0.1 mm
Table 4. Results of planar resolution
View tableView in ArticleTable 4. Results of planar resolution
Parameter Value Horizontal angle resolution width/m 0.0038 Vertical angle resolution width/m 0.0042
Table 5. Consistency between target scanning results and body model size
View tableView in ArticleTable 5. Consistency between target scanning results and body model size
Length Width Height Scanning data/m Frame 1 1.5844 0.2114 0.3344 Frame 13 1.5798 0.2100 0.3500 Frame 49 1.5804 0.2129 0.3298 Frame 67 1.5854 0.2130 0.3140 Model data/m 1.5796 0.2194 0.3453 Deviation 0.3% 3.61% 3.51%
Table 6. Edge line direction vector of target scanning result
View tableView in ArticleTable 6. Edge line direction vector of target scanning result
Straight line Direction vector La (4.286 7,−1.903 1,1) Lb (−0.192 1,0.050 2,1) Lc (4.628 2,−2.056 5,1) Ld (−0.189 8,0.042 9,1)
Table 7. Included angle of straight line at the edge of target scanning result
View tableView in ArticleTable 7. Included angle of straight line at the edge of target scanning result
Parallelism Verticality Line number La and Lc Lb and Ld La and Lb Lc and Ld Included angle/(°) 179.13 179.57 88.97 89.05 Fitting degree 99.52% 99.76% 98.85% 98.95%
Table 8. Comparison results of angle error
View tableView in ArticleTable 8. Comparison results of angle error
This article Literature [ 12 ]Literature [ 16 ]Angle mean error/(°) 2 2.5 1.7
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Ronghua Li, Jianyu Zhang, Yufeng Zheng, Yuan Deng. Semi-physical simulation ground verification system for space non-cooperative targets[J]. Infrared and Laser Engineering, 2022, 51(10): 20211115
Paper Information
Category: Lasers & Laser optics
Received: Dec. 28, 2021
Accepted: --
Published Online: Jan. 6, 2023
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