Vision measurement, path planning and GNC integrated simulation system for space robot

Abstract

The invention relates to a vision measurement, path planning and GNC integrated simulation system for a space robot, which comprises an image processing and pose measuring module 1, a space robot planning and control module 2, a target controller module 3, a system dynamic model module 4, a system 3D geometric model module 7, a binocular camera simulation imaging module 6, a three-dimensional calibration module 5 and the like. The system integrates image processing and pose measurement, GNC algorithm, path planning, control, dynamics and the like, so that the closed-loop simulation and verification of all key algorithms in the process of tracking, approaching and capturing non-cooperative targets by the space robot can be performed on an independent PC. The system does not need to adopt real measurement equipment, a space robot system and targets, and is low in cost, good in safety and flexibility and easy to implement; and the system is good in expandability, and the closed-loop simulation and verification of cameras (installation positions and viewing angles) and space robots (kinematic and dynamic parameters) with different parameters can be implemented by modifying the parameters.

Description

technical field [0001] The invention relates to a space robot vision measurement, path planning, and GNC integrated simulation system, which can be used for closed-loop simulation and verification of all key algorithms in the process of space robot tracking, approaching, and capturing non-cooperative targets. Background technique [0002] With the advancement of technology, human activities are constantly expanding into space. According to statistics, the world launches an average of 80-130 satellites per year, but 2-3 satellites fail to enter the orbit correctly, and among the satellites correctly entered orbit, 5-10 satellites are in the early stages of life (the first 30 days after orbiting) ) is failure, among which, the failure of satellites caused by mechanical failure accounts for a considerable proportion. A typical example is my country's Xinnuo-2 satellite, which was launched on October 29, 2006. Although the satellite's orbit was successfully determined, and the ...

AI Technical Summary

Problems solved by technology

However, the previous simulation systems often only considered the simulation verification of a certain aspect, while other related parts were often simplified. So far, there is no reference that can simultaneously carry out image processing and pose measurement, spacecraft GNC algorithm, space robot Dynamic closed-loop simulation verification of path planning and control

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