摘要
针对火箭垂直起飞段外部实测姿态数据获取难度大且实时性差的问题,提出了基于激光雷达的火箭垂直起飞段实时姿态测量方法。将4线激光雷达安装于跟踪架组成测量系统,在火箭发射前,激光雷达持续扫描火箭获取静态激光点云数据,采用基于多椭圆圆心拟合中轴线算法,计算并分析得到激光雷达静态与动态姿态测量精度分别为0.0188°和0.0498°。在火箭发射试验中,激光雷达高精度跟踪扫描火箭中上部位置,实时高精度获取并输出火箭姿态变化数值。与光学设备姿态测量数据进行比对,验证了基于激光雷达的火箭垂直起飞段姿态测量方法的可行性与正确性,实现了偏航角与俯仰角的实时高精度测量,将火箭姿态测量精度较光学测量设备提升了约5倍。基于激光雷达的姿态测量技术有效填补了目前火箭垂直起飞段外部实时姿态测量的空白,保证了火箭发射安全。
The attitude measurement data in the vertical take-off phase of a rocket is of great significance to analyze the running orbit,aerodynamic parameters and flight control performance of rocket. The traditional attitude measurement of rocket vertical take-off phase mainly includes telemetry,optical measurement,and radar measurement. The violent vibration has a great impact on the attitude measurement accuracy of telemetry,and once the rocket takes-off fails,it is difficult for telemetry method to obtain effective original analysis data. Although the optical measurement accuracy is high,it needs to use multi station optical equipment to interpret the rocket attitude data after rendezvous,so the real-time performance is poor,and the optical equipment is vulnerable to the interference of weather environment and tail flame during take-off phase,so there is a risk of missing rendezvous data. Although radar measurement is little affected by weather conditions,it is easy to be disturbed by ground clutter. Therefore,there is no external real-time attitude measurement data in the rocket vertical take-off phase. It is urgent to fill the data gap in this phase through new measurement methods to ensure the safety of the rocket vertical take-off phase.Aiming at the technical problems of external real-time attitude measurement in rocket vertical take-off phase,considering the advantages of Lidar,such as high precision,all-time measurement,high resolution and not easily disturbed by environment,the real-time attitude measurement method in rocket vertical take-off phase based on Lidar is proposed in this paper. Raytheon intelligent MS03-A500 four wire Lidar is adopted,and the Lidar is installed on the two-axis tracking frame to form the measurement system. Before the rocket is launched,the Lidar continues to scan the middle and upper part of the rocket to obtain the static laser point cloud data,correct the point cloud data and solve the spatial coordinates,and adopt the multi ellipse center fitting central axis algorithm. It is ca
作者
师恒
高昕
李希宇
雷呈强
胡蕾
宗永红
郑东昊
唐嘉
SHI Heng;GAO Xin;LI Xiyu;LEI Chengqiang;HU Lei;ZONG Yonghong;ZHENG Donghao;TANG Jia(Beijing Institute of Tracking and Telecommunications Technology,Beijing 100094,China;Xi'an Institute of Optics and Precision Mechanics of CAS,Xi'an 710119,China;Key Laboratory of Space Precision Measurement Technology,Chinese Academy of Sciences,Xi'an 710119,China;Pilot National Laboratory for Marine Science and Technology(Qingdao),Qingdao,Shandong 266237,China)
出处
《光子学报》
EI
CAS
CSCD
北大核心
2022年第4期231-239,共9页
Acta Photonica Sinica
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
火箭姿态测量
点云数据
椭圆圆心拟合中轴线
姿态测量精度
Lidar
Rocket attitude measurement
The point cloud data
Elliptic center fitting central axis
Attitude measurement accuracy
