空间控制技术与应用（中英文）2026，Vol.52Issue(4)：101-111,11.DOI:10.3969/j.issn.1674-1579.2026.04.010
面向LINS点云的迭代特征扩展椭球滤波算法
Iterative Feature Extension Ellipsoid Filtering Algorithm for LINS Point Clouds
摘要
Abstract
To address the challenges of severe noise aliasing in single-photon point clouds acquired by the laser integrated navigation sensor(LINS)in the Tianwen-2 mission,this paper proposes an iterative feature extension ellipsoid filtering algorithm based on manifold evolution.By leveraging the geometric structural differences between signal points(local 2D manifolds)and background noise(3D random distribution),the algorithm constructs an adaptive ellipsoidal neighborhood evolution model with volume constraints.This mechanism drives the filtering neighborhood to evolve from isotropic to anisotropic,enabling precise separation of background noise adhering to the terrain surface.Validation using LINS ground test data demonstrates that the proposed algorithm achieves a root mean square error(RMSE)as low as 0.061 m in scenarios with low SNR and drastic photon density variations.Compared with the statistical outlier removal(SOR)and density-based spatial clustering of applications with noise(DBSCAN)algorithms,the proposed algonithm achieves Hausdorff distance(HD)reductions of 67.2%and 70.1%,respectively,effectively eliminating diffuse outlier noise within the field of view.The results verify the algorithm's capability for terrain recovery under strong background light interference,providing reliable data preprocessing support for high-precision relative navigation in asteroid exploration missions.关键词
单光子激光雷达/点云去噪/流形演化/小行星探测Key words
single-photon LiDAR/point cloud denoising/manifold evolution/asteroid exploration分类
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李媛,张振羽,朱飞虎,马月超,李林,张吴明..面向LINS点云的迭代特征扩展椭球滤波算法[J].空间控制技术与应用（中英文）,2026,52(4):101-111,11.基金项目
空间光电测量与感知实验室开放基金(LabSOMP-2024-09)、国家自然科学基金资助项目(52275083)和广东省自然科学基金(2024A1515012079) Open Fund of Space Optoelectronic Measurement and Perception Laboratory(LabSOMP-2024-09),National Natural Science Foundation of China(52275083),and Guangdong Basic and Applied Basic Research Foundation(2024A1515012079) （LabSOMP-2024-09）
