在轨服务航天器的制导、导航与控制关键技术  

Key technologies of guidance,navigation and control for on orbit service spacecraft

作　　者：刘付成[1,3] 韩飞 孙玥 武海雷 曹姝清 LIU Fucheng;HAN Fei;SUN Yue;WU Hailei;CAO Shuqing(Shanghai Academy of Spaceflight Technology,Shanghai 201109,China;Shanghai Aerospace Control Technology Institute,Shanghai 201109,China;Shanghai Key Laboratory of Space Intelligent Control Technology,Shanghai 201109,China)

机构地区：[1]上海航天技术研究院,上海201109 [2]上海航天控制技术研究所,上海201109 [3]上海市空间智能控制技术重点实验室,上海201109

出　　处：《中国惯性技术学报》2023年第9期849-860,869,共13页Journal of Chinese Inertial Technology

基　　金：科工局民用航天(D030309);科技部重点研发计划(SQ2022AAA010033);上海市军民融合发展专项资金科技创新支持项目(2020-jmrh1-kj25)。

摘　　要：在轨服务航天器的制导、导航与控制是保障任务完成的核心关键,根据其典型核心任务流程,梳理出了翻滚目标超近立体视觉测量、翻滚目标姿轨耦合逼近路径规划与控制、非合作目标柔顺捕获控制、组合体稳定控制四项关键技术。提出了基于深度学习的目标典型部位精细感知、基于虚拟域逆动力学的优化轨迹、间接估计辅助的图像视觉伺服控制、基于位置控制内环的阻抗控制等方法,实现了组合体航天器精确导航、制导与控制,利用气浮平台、六自由度运动模拟器进行了地面试验验证,组合体三轴控制精度为0.2°。最后对在轨服务航天器未来发展进行了展望,以期为该方向的后续研究提供参考。Guidance,navigation and control of on orbit service spacecraft is the key to ensure mission success.According to its typical core task process,four key technologies have been identified,including the key technical problems such as the ultra-close stereo vision measurement of the rolling target,the planning and control of the attitude and orbit coupling approach path of the rolling target,the compliance capture of non-cooperative target,and the stability control of the combination.Methods such as precise perception of typical parts based on deep learning,optimization trajectory based on virtual domain inverse dynamics,indirect estimation assisted image visual servo control,and impedance control based on position control inner loop are proposed.The precise navigation,guidance and control of the combined spacecraft are realized.Ground tests are verified by using the air floating platform and six degrees of freedom motion simulator.The three-axis control accuracy of the combined spacecraft is 0.2°.Finally,the future development of on orbit service spacecraft is prospected in order to play a reference role for the follow-up research in this direction.

关 键 词：在轨服务 立体视觉测量 姿轨耦合 非合作目标柔顺捕获 组合体控制 

分 类 号：V19[航空宇航科学与技术—人机与环境工程] TP79[自动化与计算机技术—检测技术与自动化装置]