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High-Fidelity Orbital Reconstruction: A Physics-Grounded Simulation and Two-Phase Progressive Strategy for Space Objects 高保真軌道重建：面向太空目標的物理仿真與兩階段漸進策略

論文 · 2026

發表國際制導、導航與控制學術會議（ICGNC 2026）· Springer LNEE 論文集 · 已錄用

作者Jiaqing Chen, Xinyun Chen, Tianshu Wang, Yonghe Zhang, Linzheng Tang, Zibing Qin, Chengyu Ma

署名說明第一作者

關鍵詞On-orbit servicing, 3D reconstruction, Sensor fusion, Physics-based simulation, Non-cooperative targets, Orbital perception

具體工作內容

  1. 非合作目標在軌重建缺乏真值標定，受熱漂移與太陽飽和影響嚴重。主導建置整合 Gemini 435Le 深度相機、Robosense E1R 固態 LiDAR 與 IMU 之高保真模擬平台，細化感測器物理誤差模型以重現典型在軌退化場景，為策略對比提供統一實驗基準。
  2. 針對單次掃描難以兼顧完備性與精度之矛盾，推行「流形到點」兩階段流程：第一階段球面掃描實現 100% 拓撲覆蓋；第二階段經主動接近精細化，使 Chamfer Distance 提升 7.4%。配合雙重統計去噪抑制軌道偽影，最終確保局部重建精度達到 1.15cm 級別，支撐 OOS 任務之可度量性。
  3. 重建流水線需於擁擠軌道場景下對接近操作與機械手臂任務可解釋、可度量。參與拓撲完備性與幾何誤差等評價指標設計，組織對比實驗驗證兩階段策略相對基線之優勢，形成可重現框架與量化依據，支撐論文中 OOS 感知模擬結論。

摘要

Safe On-Orbit Servicing (OOS) demands high-precision 3D reconstruction of non-cooperative targets. We develop a simulation platform incorporating detailed error models for LiDAR, depth cameras, and IMUs, accounting for thermal drift, solar saturation, and multi-path interference. A proposed two-phase “manifold-to-point” strategy integrates global spherical scanning for topological completeness with an active approach for local refinement. After suppressing orbital artifacts via edge-preserving statistical denoising, experiments demonstrate nearly 100% topological coverage and centimeter-level accuracy. This framework facilitates autonomous proximity operations and robotic manipulation in congested orbits.