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Middle-distance and long-distance approximate position estimation method of space tethered robot

A technology of space tethering, robotics, applied in the field of spacecraft navigation

Active Publication Date: 2014-07-02
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

The above-mentioned methods are short-distance pose determination methods based on binocular vision, which are not suitable for long-distance position estimation in space tethered robots.

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  • Middle-distance and long-distance approximate position estimation method of space tethered robot
  • Middle-distance and long-distance approximate position estimation method of space tethered robot
  • Middle-distance and long-distance approximate position estimation method of space tethered robot

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Embodiment Construction

[0030] Describe the present invention below in conjunction with specific embodiment:

[0031] In this embodiment, aiming at the navigation problem in the process of the space tethered robot approaching the target, a mid-to-long distance space tethered robot position estimation method of "monocular vision measurement + tether length measurement" is designed, and the camera is used to measure the target azimuth angle, combined with the space The tether length information of the tethered robot is used to estimate the position of the tethered robot in space using the UKF filter algorithm.

[0032] Measuring device: The camera for target azimuth measurement needs to use a camera with a narrow field of view, so as to ensure a more accurate azimuth measurement of the target at a medium or long distance from the target. The tether release mechanism of the space tethered robot needs to have a tether length measuring device, which can provide real-time tether length information.

[003...

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Abstract

The invention provides a middle-distance and long-distance approximate position estimation method of a space tethered robot. According to the middle-distance and long-distance approximate position estimation method, a camera is used for measuring a target azimuth angle to obtain an azimuth angle of a target relative space tethered robot; a space tethering and rope releasing mechanism of the space tethered robot is combined to obtain tethering length information of the space tethered robot; a lossless Kalman filtering method is used for realizing position estimation of the space tethered robot. According to the middle-distance and long-distance approximate position estimation method of the space tethered robot provided by the invention, the tethering length information of the space tethered robot is sufficiently utilized and field angle information of a monocular camera is combined, so as to realize real-time estimation of the position of the space tethered robot.

Description

technical field [0001] The invention relates to the technical field of spacecraft navigation, in particular to a method for estimating the long-distance approach position of a space tether robot, which can be applied to the target approach process to estimate the position of the space tether robot. Background technique [0002] Due to its flexibility, safety, and low fuel consumption, space tethered robots play a wide range of roles in space on-orbit services, among which the rescue of failed satellites and the removal of space junk are its main applications. After being launched from the space platform, the space tethered robot needs to control its own position in real time in the process of approaching the target, so as to ensure that it approaches the target along the predetermined trajectory. In this process, the measurement and acquisition of position information required for control is very important, which directly affects the success or failure of the space tethered ...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C11/00
CPCG01C1/00G01C11/00G01C21/005
Inventor 黄攀峰王东科蔡佳孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV
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