空间多机器人协同的多视线仅测角相对导航

doi:10.7527/S1000-6893.2020.24174

论文

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

空间多机器人协同的多视线仅测角相对导航

韩飞^1,2, 刘付成^1,2, 王兆龙^1,2, 杜宣³, 刘珊珊^1,2, 刘超镇^1,2

1. 上海航天控制技术研究所, 上海 201109;
2. 上海市空间智能控制技术重点实验室, 上海 201109;
3. 上海航天技术研究院, 上海 201109

收稿日期:2020-04-30 修回日期:2020-06-04 发布日期:2020-08-07
通讯作者: 韩飞 E-mail:shanquan_5836@163.com
基金资助:
国家重点研发计划（2016YFB0501003）；国家自然科学基金重大项目（61690214）

Multiple line-of-sight angles-only relative navigation by multiple collaborative space robots

HAN Fei^1,2, LIU Fucheng^1,2, WANG Zhaolong^1,2, DU Xuan³, LIU Shanshan^1,2, LIU Chaozhen^1,2

1. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;
2. Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China;
3. Shanghai Academy of Spaceflight Technology, Shanghai 201109, China

Received:2020-04-30 Revised:2020-06-04 Published:2020-08-07
Supported by:
National key Research and Development Program (2016YFB0501003);Major Projects of the National Natural Science Foundation of China (61690214)

摘要/Abstract

摘要： 研究了空间多机器人对非合作目标的多视线协同仅测角相对导航问题。为利用多视线信息融合提升仅测角相对导航性能，给出了一种可观测度优化的多视线仅测角相对导航方法。首先基于二阶CW方程构建了中心机器人与目标相对动力学模型和状态方程，并构建了仅包含多伴飞机器人视线角的观测方程，结合扩展卡尔曼滤波算法，形成多视线仅测角相对导航系统；然后分析推导得到可观度最优的视线间夹角条件，提出了兼顾可观测度和长期自然维持的多伴飞机器人观测构型优化方法；最后，数学仿真结果表明，提出的多视线仅测角相对导航系统、可观测度最优的视线夹角条件和观测构型优化方法，可以显著提高距离状态可观测度和估计性能，且具有较好的工程可用性。

关键词: 空间机器人, 仅测角, 相对导航, 多视线协同, 可观测度, 观测构型

Abstract: This paper focuses on multiple Line-of-Sight (LOS) angles-only relative navigation of multiple collaborative space robots for non-cooperative targets. To improve the relative navigation performance by fusing multi-LOS information, we propose a multi-LOS relative navigation method based on observability optimization. A relative dynamic model and a state equation between the center robot and the non-cooperative target as well as the observation equation of the multi-robot LOS are firstly developed, and the multi-LOS angles-only relative navigation system is then studied. After that, the angle condition of the multi-LOS with optimal observability is obtained, and a method for the observation configuration optimization of multiple space robots is proposed, considering the observability and long-term natural maintenance. Finally, the simulation results show that the method can significantly improve the range state observability and estimation performance, therefore having good application prospect in space missions.

Key words: space robots, angles-only, relative navigation, multiple line-of-sight collaboration, observability, configuration

中图分类号:

V448.21

韩飞, 刘付成, 王兆龙, 杜宣, 刘珊珊, 刘超镇. 空间多机器人协同的多视线仅测角相对导航[J]. 航空学报, 2021, 42(1): 524174-524174.

HAN Fei, LIU Fucheng, WANG Zhaolong, DU Xuan, LIU Shanshan, LIU Chaozhen. Multiple line-of-sight angles-only relative navigation by multiple collaborative space robots[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 524174-524174.

参考文献

[1] LORENZO O, ALESSANDRO F. Large constellations assessment and optimization in LEO space debris environment[J]. Advances in Space Research, 2020, 65:351-363.
[2] PARDINI C, ANSELMO L. Environmental sustainability of large satellite constellations in low earth orbit[J]. Acta Astronautica, 2020,170:27-36.
[3] MORIN J. Four steps to global management of space traffic[J]. Nature, 2019, 567:25-27.
[4] WOFFINDEN D C, GELLER D K. Observability criteria for angles-only navigation[J]. IEEE Transactions on Aerospace and Electronic Systems, 2009, 45(3):1194-1208.
[5] GELLER D K, KLEIN I. Angles-only navigation state observability during orbital proximity operations[J]. Journal of Guidance, Control, and Dynamics, 2014, 37(6):1976-1983.
[6] BODIN P, NOTEBORN R, LARSSON R, et al. The Prisma formation flying demonstrator:Overview and conclusions from the nominal mission[J]. Advances in the Astronautical Sciences, 2012, 144:441-460.
[7] ARDAENS J S, GAIAS G, Angles-only relative orbit determination in low earth orbit[J/OL]. Advances in Space Research, (2017-10-08)[2018-03-10]. http://doi.org/10.1016/j.asr.2018.03.016.
[8] 尤岳. 空间碎片清除仅测角相对导航与机动规划[D]. 长沙:国防科技大学, 2017:127-131. YOU Y. Study on angles-only relative navigation and maneuver planning in space debris removal[D]. Changsha:National University of Defense Technology, 2017:127-131(in Chinese).
[9] FRANQUIZ F J, MUNOZ J D,UDRE B, et al. Optimal range observability maneuvers of a spacecraft formation using angles-only navigation[J]. Acta Astronautica,2018,153:337-348.
[10] LUO J J, GONG B C, YUAN J P, et al. Angles-only relative navigation and closed-loop guidance for spacecraft proximity operations[J]. Acta Astronautica, 2016, 128:91-106.
[11] GELLER D K, PEREZ A. Initial relative orbit determination for close-in proximity operations[J]. Journal of Guidance, Control, and Dynamics, 2015, 38(9):1833-1842.
[12] GONG B C, LI W D, LI S, et al. Angles-only initial relative orbit determination algorithm for noncooperative spacecraft proximity operations[J]. Astrodynamics, 2018, 2(3):217-231.
[13] GONG B C, GELLER D K, LUO J J. Initial relative orbit determination analytical covariance and performance analysis for proximity operations[J]. Journal of Spacecraft and Rockets, 2016, 53(5):822-835.
[14] GAIAS G, D'AMICO S, ARDAENS J S. Angles-only navigation to a noncooperative satellite using relative orbital elements[J]. Journal of Guidance, Control, and Dynamics, 2014, 37(2):439-451.
[15] 韩飞, 梁彦, 郭雯婷, 等. 一种用星上视线角度信息的相对导航方法:ZL 201110011003.1[P].2015-7-15. HAN F, LIANG Y, GUO W T, et al. A method of relative navigation using line-of-sight angles on satellite:ZL 201110011003.1[P].2015-7-15(in Chinese).
[16] GARG S K. Initial relative-orbit determination using second-order dynamics and line-of-sight measurements[D]. Alabam:Auburn University, 2015:152-183.
[17] PEREZ A C, GELLER D K, LOVELL T A. Non-iterative angles-only initial relative orbit determination with J2 perturbations[J]. Acta Astronautica, 2018, 151:146-159.
[18] LI F, CAO X B, YOU Y, et al. Case study:Feasibility analysis of close-in proximity operations using angles-only navigation[J]. Transactions of the Japan Society for Aeronautical and Space Sciences, 2020, 63(2):31-41.
[19] 李松,陈琪锋,钟日进. 不完整测量下集群飞行器协同相对定位方法[J].飞控与探测, 2019, 2(6):18-25. LI S, CHEN Q F, ZHONG R J. Collaborative relative positioning method for cluster aircraft under incomplete measurement[J]. Flight Control & Detection, 2019, 2(6):18-25(in Chinese).
[20] 高学海, 梁斌, 潘乐, 等. 高轨非合作目标多视线分布式相对导航方法[J]. 宇航学报, 2015, 36(3):292-299. GAO X H, LIANG B, PAN L, et al. Distributed relative navigation of GEO non-cooperative target based on multiple line-of-sight measurements[J]. Journal of Astronautics, 2015, 36(3):292-299(in Chinese).
[21] 王楷, 陈统, 徐世杰. 基于双视线测量的相对导航方法[J]. 航空学报, 2011, 32(6):1084-1091. WANG K, CHEN T, XU S J. A method of double line-of-sight measurement relative navigation[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(6):1084-1091(in Chinese).
[22] 王楷, 徐世杰, 黎康, 等. 双视线测量相对导航方法误差分析与编队设计[J]. 航空学报, 2018, 39(9):322014. WANG K, XU S J, LI K, et al. Error analysis and formation design for double line-of-sight measuring relative navigation method[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(9):322014(in Chinese).
[23] CHEN T, XU S J. Double line-of-sight measuring relative navigation for spacecraft autonomous rendezvous[J]. Acta Astronautica, 2010, 67:122-134.
[24] MORGAN D,CHUNG S J, BLACKMORE L,et al. Swarm-keeping strategies for spacecraft under J2 and atmospheric drag perturbations[J]. Journal of Guidance Control and Dynamics, 2012, 35(5):1492-1506.
[25] JAEHWAN P I, BANG H. Trajectory design for improving observability of angles-only relative navigation between two Satellites[J]. Journal of Astronautical Science, 2015,61(4):1-22.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

空间多机器人协同的多视线仅测角相对导航

Multiple line-of-sight angles-only relative navigation by multiple collaborative space robots

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	贾庆轩, 段嘉琪, 陈钢. 机器人在轨装配无标定视觉伺服对准方法[J]. 航空学报, 2021, 42(6): 424063-424063.
[2]	孙博文, 王大轶, 王炯琦, 周海银, 葛东明, 董天舒. 基于序列图像的航天器自主导航降维滤波方法[J]. 航空学报, 2021, 42(4): 524971-524971.
[3]	王润, 郁丰, 周士兵, 刘方武. 基于3D Zernike矩的巡检器与空间站的相对导航算法[J]. 航空学报, 2021, 42(2): 324298-324298.
[4]	叶子鹏, 周庆瑞, 王辉. 日地L2点航天器编队的分布式自主相对导航[J]. 航空学报, 2021, 42(2): 324145-324145.
[5]	初未萌, 杨今朝, 邬树楠, 吴志刚. 基于LSTM的空间机器人系统惯性张量在轨辨识[J]. 航空学报, 2021, 42(11): 524615-524615.
[6]	孟光, 韩亮亮, 张崇峰. 空间机器人研究进展及技术挑战[J]. 航空学报, 2021, 42(1): 523963-523963.
[7]	刘璟龙, 张崇峰, 邹怀武, 李宁, 吴琳娜. 基于干扰观测器的柔性空间机器人在轨精细操作控制方法[J]. 航空学报, 2021, 42(1): 523899-523899.
[8]	李文皓, 张珩, 冯冠华. 复杂大时延的多主多从共享遥操作方法[J]. 航空学报, 2021, 42(1): 523896-523896.
[9]	周逸群, 罗建军, 王明明. 空间机器人抓捕目标后的载荷分配[J]. 航空学报, 2021, 42(1): 523915-523915.
[10]	葛佳昊, 刘莉, 董欣心, 田维勇, 陆天和. 基于动力学RRT^*的自由漂浮空间机器人轨迹规划[J]. 航空学报, 2021, 42(1): 523877-523877.
[11]	王明明, 罗建军, 袁建平, 王嘉文, 刘聪. 空间在轨装配技术综述[J]. 航空学报, 2021, 42(1): 523913-523913.
[12]	朱云峰, 孙永荣, 赵伟, 黄斌, 吴玲. 包含乘性噪声自适应修正的非合作目标相对导航算法[J]. 航空学报, 2019, 40(7): 322884-322884.
[13]	吴昊, 孙晟昕, 魏承, 张海博, 赵阳. 基于机器人柔性毛刷的空间翻滚目标消旋[J]. 航空学报, 2019, 40(5): 422587-422587.
[14]	羊帆, 张国良, 张合新, 宋海涛. 自由漂浮空间机器人点到点避奇异运动控制方法[J]. 航空学报, 2018, 39(9): 422040-422050.
[15]	王楷, 徐世杰, 黎康, 汤亮. 双视线测量相对导航方法误差分析与编队设计[J]. 航空学报, 2018, 39(9): 322014-322028.