基于多空间机器人系统的非合作目标联合定位技术

Co-localization of Non-cooperative Targets Based on Multiple Space Robot System

针对测量设备在多空间机器人在轨服务系统中的配置特点,提出了基于分布式滤波的非合作目标联合定位方法.首先定义了基于多空间机器人的非合作目标联合定位任务,随后建立了联合相对测量模型,推导了多空间机器人相对动力学的一般形式;设计了集中式联合定位滤波算法;在此基础上,为减少滤波迭代过程中的计算量,进一步提出了基于分布式滤波的联合定位算法;采用线性系统能观性理论,对滤波算法的稳定性进行了评估.最后,搭建了半物理实时仿真系统,对基于分布式滤波的联合定位算法进行了仿真验证,仿真结果表明联合定位算法具有较好的稳定性和较高的精度.

According to the characteristics of relative measurement elements in the on-orbit servicing system with multiple space robots, a non-cooperative target co-localization strategy based on distributed filters is proposed. Firstly, the mission of non-cooperative target co-localization based on multiple space robots is defined, and a co-measurement model is also established. After that, a general expression of relative dynamics of multiple space robots is derived, and a centralized co-localization filter is designed. In order to reduce the computation load of iteration process in filtering, a co-localization method based on distributed filters is proposed. The stabilities of both filters are evaluated with linear system observability theory. Finally, a real-time semi-physical simulation system is established, and the co-location strategy based on distributed filters is simulated. The high stability and accuracy of the co-localization strategy are demonstrated by simulations.