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In the guidance and control of the first-stage recovery of rocket, the carrier pose measurement is very important. Inertial navigation, satellite navigation, LiDAR are usually used to measure the pose in engineering, while there is no precedent for visual measurement. Visual measurement has the advantages of no cumulative error and high update rate, and has the potential to be applied to rocket recovery. In this paper, the dynamics model of rocket recovery is analyzed and trajectory simulation is carried out, and the Falcon9 rocket is taken as the simulation object and the optimal trajectory is obtained by a convex optimization method. Four cameras were installed in the first stage of the rocket, and the visual pose measurement was realized through the multi-vision sensor measurement model, image target recognition and feature picking. The calculation results show that the visual measurement technology proposed in this paper has a high position accuracy and has the prospect of engineering application.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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