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

A space robot and path planning technology, applied in the direction of measuring devices, instruments, integrated navigators, etc., can solve the problems of closed-loop simulation verification of space robot path planning dynamics without consulting
CN101726296BInactive Publication Date: 2013-10-09HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN INST OF TECH
Publication Date
2013-10-09
Estimated Expiration
Not applicable Β· inactive patent

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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.
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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 ...

Claims

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