大型航天器表面巡检相对导航算法研究  

Relative Navigation Algorithm for Surface Inspection of Large Spacecraft

作　　者：王润[1,2] 郁丰 刘方武[3] 周士兵[3] Wang Run;Yu Feng;Liu Fangwu;Zhou Shibing(Key Laboratory of Space Photoelectric Detection and Perception(Nanjing University of Aeronautics and Astronautics),Ministry of Industry and Information Technology,Nanjing 210016,China;College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;Shanghai Institute of Technical Physics,Shanghai 200083,China)

机构地区：[1]南京航空航天大学空间光电探测与感知工业和信息化部重点实验室,南京210016 [2]南京航空航天大学航天学院,南京210016 [3]中国科学院上海技术物理研究所,上海200083

出　　处：《航天控制》2020年第5期31-37,共7页Aerospace Control

基　　金：国家自然科学基金(61673212);上海技术物理研究所创新专项项目基金(CX-199)。

摘　　要：在空间站表面自主巡检的背景下,提出了一种大型航天器表面巡检的相对导航算法。将加速度计测得的巡检器本体系下的加速度与Hill方程相结合得到两航天器质心间的相对位置运动模型;由陀螺仪测得巡检器的角速度,将轨道角速度去除后推导出巡检器相对于导航系的姿态运动模型;运用深度相机测量空间站表面结构点云数据,以其配准计算后的值为观测量设计了扩展卡尔曼滤波器,估计了巡检器与空间站间的相对位置、相对姿态以及惯性测量单元的漂移误差,并分析了影响导航系统精度的主要因素。仿真结果表明:相对位置的估计精度优于0.01m,相对姿态精度优于0.03°。A relative navigation algorithm for surface inspection of large spacecraft is proposed under the background of space station inspection. The acceleration under the native system of the inspection device is measured by an accelerometer,and the relative position motion model between the centroids of the two spacecraft is obtained by combining with the Hill equation. The angular velocity of the inspection device is measured by the gyro,and by the removal of orbit angular velocity,the attitude motion model of the inspection device relative to the navigation system is derived. The point cloud data of the surface structure of the space station is measured by the depth camera,and the extended Kalman filter is designed with the registration value as the observation. The relative position,relative attitude and the drift error of the inertial measurement unit are estimated. And the main factors affecting the accuracy of the navigation system are analyzed.The simulation results show that the estimation precision of the relative position is better than 0. 01 m,and precision of the relative attitude reaches 0. 03°.

关 键 词：大型航天器 相对导航 深度相机 扩展卡尔曼滤波器 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]