基于點(diǎn)云的非合作航天器超近距離位姿測(cè)量技術(shù)研究.pdf

1、聲明本學(xué)位論文是我在導(dǎo)師的指導(dǎo)下取得的研究成果，盡我所知，在本學(xué)位論文中，除了加以標(biāo)注和致謝的部分外，不包含其他人已經(jīng)發(fā)表或公布過的研究成果，也不包含我為獲得任何教育機(jī)構(gòu)的學(xué)位或?qū)W歷而使用過的材料。與我一同工作的同事對(duì)本學(xué)位論文做出的貢獻(xiàn)均己在論文中作了明確的說明。研究生簽名：磕丕呈重!蘭矽7年弓月；／日學(xué)位論文使用授權(quán)聲明南京理工大學(xué)有權(quán)保存本學(xué)位論文的電子和紙質(zhì)文檔，可以借閱或上網(wǎng)公布本學(xué)位論文的部分或全部?jī)?nèi)容，可以向有關(guān)部門或機(jī)構(gòu)

2、送交并授權(quán)其保存、借閱或上網(wǎng)公布本學(xué)位論文的部分或全部?jī)?nèi)容。對(duì)于保密論文，按保密的有關(guān)規(guī)定和程序處理。研究生簽名：盔丕!室笠沙f7年；月；舊Abstract碩士學(xué)位論文AbstI甚ct111recentyears，theapplicationsbasedonthetech∞bg)，ofspatialnoncooperativetargptcaptⅧIe，suchasspacecm丘onorb證manenance，abandonedsat

3、ellites’cleanIp，spacea仕ackanddef’eIlseandautoImticrendezvOusanddockill島haVebecomeanewdeVelOpmerItdirectionmthe蠡eldofspaceonorbitserViceNoncooperativetargetrelatiVepositionanda仕itudemeaSⅦ^ememisthekeytothe缸a1stageofnOn_co

4、operatiVetargetc印tlⅡetechnobgyInordertoproVjdeatechnicalrebrence旬rs01Vingtheproblemoftherelativeposemeasurementofclose∞ncooperatiVetargets，aresearch11asbeenmadeontherehtiveposeIIleas眥memoveracbse曲伽1ceofnoncooperatiVespac

5、ecmRbasedonpo打畦clouddata缸也isdiSsertati。ILFirstly，thiSpaperpresentsamethodofrehtiVeposeestimationbasedonobjectInodeland910balrnatchmg，ailI]【i119atthesituationtl】attheobjectmodell】asbeenknownand危at世en】atch協(xié)gmethodhaslowpre

6、cisionandpoors詘ilityThismetbod南cuSesonthe910balautomaticmatchiIlgproblemofthecamerapo血tcloudi11theobservationcoordi工latesystemandthe詛rgetmodelpointcloudGetthetargetdatapointcloudwiththedepthcaH】era，est硫atethetrallslation

7、矗eldbe鉚eenthedatapointcloudandH的del，s仃uctWesoh硅ionspaceSearchtheglobalregis廿ationresultinthesolutionspacewithgloballCPalgorith瑪obtajnthetargetinjtialposeInthesequence丘an鹼s，getconti工luousposeresultwntheiⅡproVedICPalgorith

8、mbasedonpo商cbudedgeandRANSACalgOrithmbe觚eenthe艦nsfbmedca勰rapointcloudarldmOdelsThesiI工1ulationandgroundtestrcs吐sshow乜1att11ea】印血hm11ashi曲precisionand900drobuS仃1essSecondly，a111ethodbasedonmtuml南aturesofthe2D／3Ddataf弧ioni

9、sproposed，ailllingatthes證uationthattheobjectn的delisu血nownThisImthod南cuSesonhowtouse也ed印thcameraaIIplitudeirnage白raidingthemturalfeatuIesdetectionoftargetdatapomtcloud，a11des協(xié)blishtargetcoordinatesystem白rposeestiI】1ationD

10、etectcornerrespectively舶mcaII】eraamplitude血ageandponcbudusillg2Dharrisand3Dha仃iscornerdetectionalgorith瑚ThengetseVeral南aturepo衄sw曲bidnctiomlmatchillgbe觚een2D／3DcomersAccordingtothesef色atⅢepojnts，establisht11etargetcoordi

11、mtesystemWiththe允atwepoilltscoord協(xié)atesmthetargetandcameracoord協(xié)atesysten：1，or垮i11alposeiscalculatedIntheseqwnce療ames，uSeiIllproVedICPalgorithmofthisartickbe觚eenpreViousandcu玎ent丘ame南rcontinuouSposemeasⅢemeI】tThesi工!nulat