基于激光雷达的火箭主动漂移量测量技术

针对现有高速电视交会测量火箭漂移量受外界环境影响大和测量数据不能实时获取等问题，提出了基于激光雷达的火箭实时起飞漂移量主动测量方法。首先将激光雷达通过安装台安装在二维精密转台，在火箭发射过程中，二维精密转台带动激光雷达持续高精度跟踪扫描火箭的目标点位置，获取目标点位置对应的激光点云数据。接着，数据处理系统接收激光点云数据，拟合每一帧数据的椭圆曲线及其圆心位置，以火箭静止时椭圆圆心位置为基准位置，计算每一帧数据的椭圆圆心位置与基准位置的相对差值，确定火箭在起飞阶段的实时漂移量。最后，通过火箭发射试验验证文中提出的测量系统及测量方法，试验结果表明:在有环境干扰条件下，实时漂移量测量精度可达到3.1 cm，是目前火箭漂移量测量中精度最高的测量方法，同时可保证数据的实时性。为火箭发射的安控台提供了实时判别数据，保证了发射过程的安全。

Rocket active drift measurement technology based on lidar

In view of the problems existing in the current high-speed TV rendezvous measurement of rocket drift, such as the great influence of the external environment and the inability to obtain the measurement data in real time, an active measurement method of rocket takeoff real-time drift based on lidar is proposed. First, the lidar is installed on the two-dimensional precision turntable through the installation platform. In the process of rocket launch, the two-dimensional precision turntable drives the lidar to continuously track and scan the target point position of the rocket with high precision, and obtain the lidar point cloud data corresponding to the target point position. Then, the data processing system receives the lidar point cloud data, fits the elliptical curve and the elliptical curve center point of each frame data, takes the position of the elliptical center point when the rocket is stationary as the reference position, calculates the relative difference between the elliptical center point position of each frame data and the reference position, and determines the real-time drift of the rocket in the take-off stage. Finally, the measurement system and method are verified by the rocket launch test, and the test results show that under the condition of environmental interference, the measurement accuracy of real-time drift is 3.1 cm. It is the most accurate measurement method in the rocket drift measurement at present. At the same time, it can ensure the real-time performance of the data, provide real-time discrimination data for the rocket launch security console, and ensure the safety of the launch process.