空间非合作目标半物理仿真地面验证系统

针对非合作目标线阵雷达成像点云数据获取过程中在轨验证试验成本高、空间环境复杂和控制难等问题，以非合作目标三维重建数值模拟为基础，研制模拟空间服务航天器绕飞采集过程半物理仿真地面验证系统。采用KUKA六轴机械臂搭载缩比卫星模型，还原非合作目标的运动状态，并利用三轴精密转台搭载线阵扫描雷达实现非合作目标可测部位数据采集，通过综合控制系统完成目标扫描及数据处理。利用该半物理地面验证系统，开展缩比比例为1∶10的非合作目标多视角数据采集试验；通过建立分辨率精度评估、吻合度评估和实际运动与控制运动的误差分析准则，进行评估试验。试验结果表明:该系统可以有效获取多视角状态下非合作目标的点云数据，根据点云数据测量计算的目标章动运动角度与目标真实运动角度误差在4%以内，可为未来空间在轨操控与三维重建技术提供真实的技术数据参考。

Semi-physical simulation ground verification system for space non-cooperative targets

In the process of acquiring point cloud data from non-cooperative target linear array lidar imaging, in-orbit verification test costs are high, the space environment is complex, and control is difficult. Based on the numerical simulation of 3D reconstruction of non-cooperative targets, a semi-physical simulation ground verification system is developed to simulate the acquisition process of spacecraft orbiting spacecraft. The KUKA six-axis robotic arm is equipped with a scaled-down satellite model to restore the motion state of the non-cooperative target, and the three-axis precision turntable is equipped with a linear scanning lidar to realize the data collection of the measurable parts of the non-cooperative target. The target scanning and data processing are completed through the integrated control system. This semi-physical ground verification system is used to carry out multi-view data acquisition experiments of non-cooperative targets with a scale ratio of 1∶10, conduct evaluation experiments by establishing resolution accuracy evaluation, fit evaluation, and error analysis criteria of actual motion and control motion. The experimental results show that the experimental system can effectively obtain the point cloud data of non-cooperative targets in the multi-view state, and the error between the target nutation motion angle calculated based on the point cloud data measurement and the target's true motion angle is within 4%. It can provide real technical data reference for future space on-orbit manipulation and 3D recon-struction technology.