CN115951339B - Precision evaluation method for laser radar non-cooperative target relative pose measurement system - Google Patents
Precision evaluation method for laser radar non-cooperative target relative pose measurement system Download PDFInfo
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Abstract
本发明专利公开了一种激光雷达非合作目标相对位姿测量系统精度评估方法，具体涉及空间目标相对导航测量技术领域。包括如下步骤：S1、对激光雷达和高精度地面三维激光扫描仪的相对关系进行标定；S2、目标相对位姿精度评估试验；S3、比较位姿基准值和激光雷达位姿测量结果，统计并分析其精度和准确度。采用本发明技术方案为激光雷达空间非合作目标相对导航测量系统的系统设计与研制提供评估方案和技术支撑。
The present invention patent discloses a method for evaluating the accuracy of a laser radar non-cooperative target relative posture measurement system, which specifically relates to the field of space target relative navigation measurement technology. It includes the following steps: S1, calibrating the relative relationship between the laser radar and the high-precision ground three-dimensional laser scanner; S2, target relative posture accuracy evaluation test; S3, comparing the posture reference value and the laser radar posture measurement result, and statistically analyzing their precision and accuracy. The technical solution of the present invention provides an evaluation solution and technical support for the system design and development of the laser radar space non-cooperative target relative navigation measurement system.
Description
Technical Field
The invention relates to the technical field of relative navigation measurement of space targets, in particular to a method for evaluating accuracy of a laser radar non-cooperative target relative pose measurement system.
Background
The process of target pose estimation using lidar is related to a specific use scenario, varying with the scene. If the applicable conditions and the application scene of the system are not determined first, the system cannot be evaluated. The performance of the laser radar relative pose measurement system depends on the quality of sensor data, processing algorithms, viewing angles and environmental conditions, and also depends on the geometric characteristics of the measured target in the laser radar field of view. Measuring performance metrics of a particular system by external methods is becoming increasingly important in order to evaluate its performance. When the laser radar relative pose measuring system applied to the non-cooperative targets is designed, a performance evaluation technical framework of the laser radar system aiming at the non-cooperative target relative navigation needs to be established, and an evaluation scheme and technical support are provided for the system design and development of the laser radar spatial non-cooperative target relative navigation measuring system.
Disclosure of Invention
The invention aims to provide a method for evaluating the precision of a laser radar non-cooperative target relative pose measurement system, which provides an evaluation scheme and technical support for the system design and development of a laser radar space non-cooperative target relative navigation measurement system.
In order to achieve the purpose, the technical scheme of the invention is as follows, the method for evaluating the precision of the laser radar non-cooperative target relative pose measurement system comprises the following steps:
s1, calibrating the relative relation between a laser radar and a high-precision ground three-dimensional laser scanner;
S2, evaluating and testing the precision of the relative pose of the target;
S3, comparing the pose reference value with a laser radar pose measurement result, and counting and analyzing the precision and accuracy of the pose reference value and the laser radar pose measurement result.
Further, the calibration method in step S1 is as follows:
S1.1, uniformly distributing more than three target markers in overlapping fields of view of a laser radar and a ground three-dimensional laser scanner, acquiring three-dimensional point cloud data of the target markers in the laser radar and the ground three-dimensional laser scanner, manually extracting target marker point cloud and fitting a marker center;
S1.2, obtaining a relative relation rotation matrix between two devices through a seven-parameter coordinate conversion method according to three-dimensional coordinates P LRF and P SRF of the marker in the measurement coordinate system of the two devices And shifting the matrix T.
Further, the seven-parameter coordinate conversion method in step S1.2 has the following model formula:
Wherein, (X 1,Y1,Z1) is the coordinate of the marker point in the laser radar measurement coordinate system, (X 2,Y2,Z2) is the coordinate of the marker point in the ground laser scanner measurement coordinate system, the formula comprises three translation parameters (delta X, delta Y, delta Z), three rotation parameters (epsilon x,εy,εz) and one scale parameter m, the three parameters belong to one of similar transformation, at least 3 pairs of common points are needed for solving 7 parameters, and a Gaussian least square method is adopted for solving:
T=[ΔX ΔY ΔZ]T。
further, the specific steps of step S2 are as follows:
S2.1, after the step S1 is completed, keeping the positions and the postures of the laser radar and the ground three-dimensional laser scanner motionless. Placing the target model on a six-degree-of-freedom movable platform at the front of the sight line direction of the laser radar, and pasting a special mark paste of a ground laser three-dimensional scanner;
s2.2, designing different relative positions and postures of the target model, adopting a laser radar to perform multi-frame repeated posture resetting measurement on the target model under the condition of each group of posture parameters, and recording the posture measurement results, namely
S2.3, precisely scanning the marking point of the target model under the current pose condition by adopting a ground three-dimensional laser scanner, and recording the central coordinate of the marking point, wherein as the three-dimensional coordinate of the marking point in the target model coordinate system is known, the coordinate conversion parameters between the laser three-dimensional scanner and the target body coordinate system are also carried out by adopting a seven-parameter coordinate conversion methodSolving;
S2.4, calculating pose reference values, and after calibrating through the relative relation, converting the pose results into a laser radar measurement coordinate system, wherein the pose reference values are as follows
Compared with the prior art, the beneficial effect of this scheme:
1. According to the scheme, an accurate external azimuth element of the laser radar is established through calibration field three-dimensional point cloud matching by using a high-precision high-density ground laser scanner, and then pose measurement is carried out on the same target, so that a high-precision target relative pose reference value is provided, and the precision evaluation of a laser radar pose measurement system is realized. The method of the scheme is simple to realize, and can provide an evaluation scheme and technical support for the system design and development of the laser radar space non-cooperative target relative navigation measurement system.
2. The scheme provides a cooperative target pose measurement technology based on a high-precision ground laser three-dimensional scanner, which is used as a reference standard of a laser imaging radar pose measurement technology. And arranging a special target mark point of the laser three-dimensional scanner on the surface of the target, automatically and precisely scanning by the high-precision laser three-dimensional scanner, extracting the central coordinate of the mark point, and calculating the relative pose parameter of the target based on the mark point coordinate. And combining a relative relation matrix between the laser radar and the ground three-dimensional laser scanner to unify measurement references, and forming an evaluation reference value of the relative pose measurement value.
Drawings
FIG. 1 is a flow chart of a method for evaluating the accuracy of a laser radar non-cooperative target relative pose measurement system according to the present invention;
FIG. 2 is a schematic diagram of the integrated test field in this embodiment;
FIG. 3 is a graph showing the measurement results of the relative position of the laser radar to the target model in the present embodiment;
fig. 4 is a graph showing the measurement result of the relative attitude of the laser radar to the target model in the present embodiment.
Detailed Description
The invention is described in further detail below by way of specific embodiments:
Examples
The invention takes a common artificial satellite configuration as an embodiment, and the implementation effect of the invention is illustrated by constructing a comprehensive evaluation test field (shown in figure 2) comprising a 64-line laser radar, a ground three-dimensional laser scanner, a target model and other devices.
As shown in fig. 1, the method for evaluating the precision of the laser radar non-cooperative target relative pose measurement system comprises the following steps:
s1, firstly, building a comprehensive evaluation test field with reference to FIG. 2, and calibrating the relative relation between a laser radar and a high-precision ground three-dimensional laser scanner, so as to solve a relative relation rotation matrix and a translation matrix. The calibration method comprises the following steps:
S1.1, uniformly distributing more than three disc-shaped target markers in overlapping fields of view of a laser radar and a ground three-dimensional laser scanner, acquiring three-dimensional point cloud data of the target markers in the laser radar and the ground three-dimensional laser scanner, manually extracting point cloud of the target markers, and fitting the centers of the markers.
S1.2, obtaining a relative relation rotation matrix between two devices through a seven-parameter coordinate conversion method according to three-dimensional coordinates P LRF and P SRF of the marker in the measurement coordinate system of the two devicesAnd shifting the matrix T.
The seven-parameter coordinate conversion method in step S1.2 has the following model formula:
Wherein, (X 1,Y1,Z1) is the coordinate of the marker point in the laser radar measurement coordinate system, (X 2,Y2,Z2) is the coordinate of the marker point in the ground laser scanner measurement coordinate system, the formula comprises three translation parameters (delta X, delta Y, delta Z), three rotation parameters (epsilon x,εy,εz) and one scale parameter m, the three parameters belong to one of similar transformation, at least 3 pairs of common points are needed for solving 7 parameters, and a Gaussian least square method is adopted for solving:
Y=[ΔX ΔY ΔZ]T。
s2, a target relative pose precision evaluation test, which comprises the following specific steps:
S2.1, after the step S1 is completed, keeping the positions and the postures of the laser radar and the ground three-dimensional laser scanner motionless. And placing the target model on a six-degree-of-freedom movable platform at the front of the sight line direction of the laser radar, and pasting a special mark paste for the ground laser three-dimensional scanner.
S2.2, designing different relative positions and postures of the target model, adopting a laser radar to perform multi-frame repeated posture resetting measurement on the target model under the condition of each group of posture parameters, and recording the posture measurement results, namelyIn this embodiment, a target is placed at a position about 13 meters in front of the line of sight of the laser radar, first 80 frames of repeated pose measurement are performed on the target by the laser radar, and 80 sets of pose measurement results are recorded.
S2.3, precisely scanning the marking point of the target model under the current pose condition by adopting a ground three-dimensional laser scanner, and recording the central coordinate of the marking point, wherein as the three-dimensional coordinate of the marking point in the target model coordinate system is known, the coordinate conversion parameters between the laser three-dimensional scanner and the target body coordinate system are also carried out by adopting a seven-parameter coordinate conversion methodAnd (5) solving.
S2.4, calculating pose reference values, and after calibrating through the relative relation, converting the pose results into a laser radar measurement coordinate system, wherein the pose reference values are as followsThe position reference value in this embodiment is x=12.873m, y=0.035m, z= -0.053m, the posture reference value x= 93.847 °, y= -0.908 °, and z= -1.743 °.
S3, pose accuracy assessment is carried out, and 80-frame pose measurement results of the laser radar are obtainedIn comparison with the reference value R, and counting the precision and accuracy of the method. As shown in fig. 3 and 4, (1) in fig. 3 is an X-axis position result, (2) is a Y-axis position result, (3) is a Z-axis position result, (4) is an X-axis attitude angle result, (2) is a Y-axis attitude angle result, and (3) is a Z-axis attitude angle result. As compared with the reference value, the accuracy and precision of the relative position measurement of the laser radar in the embodiment are 1.8cm plus or minus 1mm on the X axis, 0.5cm plus or minus 2mm on the Y axis, 0.5cm plus or minus 4mm on the Z axis, and 0.243 degrees plus or minus 0.060 degrees on the X axis, 0.156 degrees plus or minus 0.074 degrees on the Y axis and 0.810 degrees plus or minus 0.086 degrees on the Z axis.
The foregoing is merely exemplary of the present application and the details of construction and/or the general knowledge of the structures and/or characteristics of the present application as it is known in the art will not be described in any detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101655344A (en) * | 2008-08-18 | 2010-02-24 | 北京航天计量测试技术研究所 | Method for calibrating spatial coordinate measuring system of electronic theodolite |
| CN108489496A (en) * | 2018-04-28 | 2018-09-04 | 北京空间飞行器总体设计部 | Noncooperative target Relative Navigation method for estimating based on Multi-source Information Fusion and system |
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| CA2113454A1 (en) * | 1992-05-18 | 1993-11-25 | Werner Sieprath | Process for monitoring a zone |
| US5892575A (en) * | 1996-05-10 | 1999-04-06 | Massachusetts Institute Of Technology | Method and apparatus for imaging a scene using a light detector operating in non-linear geiger-mode |
| CN110716194B (en) * | 2019-09-10 | 2022-09-16 | 中国科学院上海技术物理研究所 | Calibration method of multi-beam 3D laser imaging system with simultaneous reference to sphere and surface |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101655344A (en) * | 2008-08-18 | 2010-02-24 | 北京航天计量测试技术研究所 | Method for calibrating spatial coordinate measuring system of electronic theodolite |
| CN108489496A (en) * | 2018-04-28 | 2018-09-04 | 北京空间飞行器总体设计部 | Noncooperative target Relative Navigation method for estimating based on Multi-source Information Fusion and system |
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