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

Abstract

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

CLC Number:

V448.21

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.

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

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