Research on pose measurement system of space container based on multi-line structured light

In the on-orbit space scenario, the accurate measurement of the position and attitude information of the space container is related to whether the spacecraft can accurately capture it. In view of the problem that the existing attitude measurement methods in the current space scenario are not good enough in the measurement of the attitude of the space container, a space container attitude measurement system based on multi-line structured light is designed. The system projects multi-line structured light onto the surface of the space container, combines laser triangulation to obtain the point cloud information of the surface of the space container, and then obtains the attitude information of the space container through point cloud fitting. In addition, in view of the difficulty in identifying the multi-line structured light on the surface of the measured object during measurement, this paper introduces an additional line structured light on the basis of the original multi-line structured light system to assist in the identification of the multi-line structured light. Experimental verification shows that the maximum distance measurement error of the measurement system is less than 0.6mm, and the maximum attitude measurement error is less than 1°, which meets the requirements of the working scenario and proves the feasibility of the measurement system.