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Space multi-motion-body relative motion scaling semi-physical simulation system

A technology of relative motion and motion simulation, applied in the field of simulation, can solve problems such as lack of research results and methods, lack of complete description, etc., and achieve the effect of reducing funding and test space requirements

Inactive Publication Date: 2013-08-28
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The above-mentioned methods are all about the simulation methods of space rendezvous and docking, but none of them fully describe how to realize the scale-down simulation device and the scale-down simulation method in the semi-physical simulation environment, and after searching the literature, it is found that there is no similar Research Results and Methods

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  • Space multi-motion-body relative motion scaling semi-physical simulation system
  • Space multi-motion-body relative motion scaling semi-physical simulation system
  • Space multi-motion-body relative motion scaling semi-physical simulation system

Examples

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Effect test

Embodiment 1

[0026] A semi-physical simulation system for the relative motion of multiple moving bodies in space, including a target motion simulator, the system also includes a relative motion controller, a dynamics simulation module, a motion simulator, a scaled motion simulation module, an optical sensor, an optical Scaled simulation module, relative pose calculation module and scaled target model, wherein the optical sensor is installed on the motion simulator, and the moving body simulated by the motion simulator is called the observed moving body;

[0027] The scaled target model is made in proportion according to the shape optical characteristics of the simulated moving body and the current scaled simulation coefficient k, and the scaled target model is installed on the target motion simulator;

[0028] The relative motion controller calculates the error e=r-f according to the relative position and attitude data f fed back by the optical sensor and the expected relative position and ...

Embodiment 2

[0037] Space rendezvous near-distance semi-physical scale simulation system, including motion simulator 1 of active spacecraft (observing moving body), target motion simulator 2 corresponding to passive spacecraft (observing moving body), scaled target model 3, optical The sensor installation platform 4, the optical sensor 5 and the computer 6 are composed. Among them, the motion simulator of the active spacecraft consists of a high-precision three-dimensional translational motion simulator and a three-dimensional rotational motion simulator, which jointly realize high-precision three-dimensional position and attitude motion simulation. The target motion simulator 2 of the passive spacecraft uses a three-axis turntable to realize motion simulation, on which a scaled target model 3 designed according to the scaled simulation coefficient k is installed. The computer 6 can realize the motion control of the active and passive spacecraft motion simulators, the digital simulation of...

Embodiment 3

[0039] The scaling motion simulation system in the simulation system of Embodiment 2 meets the following requirements:

[0040] a) Corresponding to the same simulation distance, the stroke of the motion simulator is shortened to the original 1 / k;

[0041] b) The dynamics simulation and control links of the original simulation system remain unchanged.

[0042] In order to achieve the above requirements, the position of the target point relative to the camera coordinate system should be scaled by k times year-on-year, that is, k c p'= c p, the imaging remains unchanged at this time. Since the target is reduced by k times year-on-year, that is, kp'=p, there are:

[0043] c R r r Rp+ c R r r t+ c t r = c R r r R'p+k( c R r r t'+ c t r ) (1)

[0044] In the formula, p: coordinates of optical feature points in conventional simulation (k=1) passive spacecraft coordinate system;

[0045] p': coordinates of optical feature points in the passive spacecraft...

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Abstract

The invention relates to a space multi-motion-body relative motion scaling semi-physical simulation system. The space multi-motion-body relative motion scaling semi-physical simulation system comprises a target motion simulator, a relative motion controller, a kinetics simulation module, a motion simulator and an optical sensor, and further comprises a scaling motion simulation module, an optical scaling simulation module, a relative pose resolving module and a scaling target model. Corresponding scaling conversion is carried out on the output of the kinetics simulation module. The scaling target model is proportionally manufactured according to appearance optical characteristics of a simulated motion body and a current scaling simulation coefficient k. The scaling target model is installed on the target motion simulator. The optical scaling simulation module carries out pre-processing on images collected by the sensor by means of an image correction method according to the current scaling simulation coefficient k and parameters of the optical sensor to obtain an image consistent with the corresponding true simulation distance. According to the space multi-motion-body relative motion scaling semi-physical simulation system, within a smaller motion range, the motion during a true rendezvous and docking process is simulated and represented, and expenses and test space requirements are reduced.

Description

technical field [0001] The invention relates to simulation technology, in particular to a semi-physical simulation system for relative motion reduction of multiple moving bodies in space. Background technique [0002] The relative navigation and control of space multi-moving bodies is a key technology in the development of space science, and it is widely used in space rendezvous and docking, multi-satellite formation, on-orbit maintenance and other tasks. The relative movement of multi-moving bodies can be divided into long-distance, mid-distance and short-distance approach according to the distance. The short-distance approach is closely connected with the final docking and space operation due to its short working distance, which will directly determine the success or failure of the final mission. The space multi-moving body system is huge and complex, involves the movement and control of multiple space objects, and requires high reliability. Therefore, it is necessary to c...

Claims

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Application Information

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IPC IPC(8): G05B17/02
Inventor 屈桢深解伟男史书琴马广程王常虹
Owner HARBIN INST OF TECH
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