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

作　　者：韩飞 刘付成 王兆龙 杜宣 刘珊珊 刘超镇 HAN Fei;LIU Fucheng;WANG Zhaolong;DU Xuan;LIU Shanshan;LIU Chaozhen(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China;Shanghai Key Laboratory of Aerospace Intelligent Control Technology,Shanghai 201109,China;Shanghai Academy of Spaceflight Technology,Shanghai 201109,China)

机构地区：[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

出　　处：《航空学报》2021年第1期309-319,共11页Acta Aeronautica et Astronautica Sinica

基　　金：国家重点研发计划(2016YFB0501003);国家自然科学基金重大项目(61690214)。

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。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.

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 

分 类 号：V448.21[航空宇航科学与技术—飞行器设计]