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Method of master-slave object cooperation positioning for cluster space robots

A space robot and robot master technology, applied in the field of spacecraft navigation, can solve the unmentioned and rare problems of cooperative navigation and positioning

Inactive Publication Date: 2013-03-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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Problems solved by technology

However, the related research on multi-spacecraft cooperative relative navigation and positioning is very rare. Even in the field of satellite formation technology, the research content is limited to dynamics and cooperative control problems, but the cooperative navigation and positioning problem as the basis of formation cooperative control but did not mention

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  • Method of master-slave object cooperation positioning for cluster space robots
  • Method of master-slave object cooperation positioning for cluster space robots
  • Method of master-slave object cooperation positioning for cluster space robots

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Embodiment Construction

[0053] In order to describe the purpose and advantages of the present invention in detail, further description will now be made in conjunction with the accompanying drawings and implementation examples.

[0054] [implementation example initial conditions]

[0055] The target spacecraft runs on a circular orbit with an altitude of 600km. The cluster space robot consists of a master space robot M and multiple slave space robots Ci, where the master space robot M is equipped with microwave radar, visible light camera, and GPS receiver;

[0056] The main space robot M can use microwave radar to measure the relative position of the target spacecraft within the range of 500-10000m;

[0057] The main space robot M can use GPS to locate itself in the geocentric inertial coordinate system;

[0058] The master space robot M can exchange data with other slave space robots through the inter-satellite link in the cluster;

[0059] The initial position of the main space robot is [-400m, 0...

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Abstract

The invention relates to a method of master-slave object cooperation positioning for cluster space robots, and belongs to the technical field of spacecraft navigation. The method comprises the steps that geometrical relationships among members in a cluster and an object spacecraft are taken full advantage of to establish an indirect measuring equation of relative positions of the members without measuring functions to the object spacecraft; and a master space robot M provides relative position information to a slave space robot Ci at a long-distance stage according to the relative position information of the object spacecraft and the slave space robot Ci to the master space robot M, and adopts a Kalman filtering theory to achieve the cooperation positioning. With the adoption of the method of the master-slave object cooperation positioning for the cluster space robots, the quantity of relative measurement equipment in the cluster can be decreased obviously; the complexity of systems of the members is reduced; and the reliability of the method is improved.

Description

technical field [0001] The invention relates to a master-slave target cooperative positioning method of cluster space robots, which belongs to the technical field of spacecraft navigation. technical background [0002] Technologies such as on-orbit assembly and on-orbit maintenance for large-scale spacecraft in space are important development directions in the field of on-orbit service in the future. The on-orbit operation tasks of large-scale spacecraft are extremely complicated, and it is difficult for a single space robot system to complete the task independently. Cooperative operation of a cluster space robot composed of multiple members is an effective way to complete such tasks. The co-location of the target spacecraft is a prerequisite for the realization of co-operation. Co-localization of target spacecraft means that the cluster space robot provides the relative position information of the target for the member space robots that do not have the target measurement f...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/42
Inventor 翟光张景瑞张尧
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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