一种翻滚火箭箭体的运动参数估计方法

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。

Measurement Method of Motion Parameters for Tumbling Rocket Body

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.