A navigation device and method for patrolling the surface of a spacecraft

Abstract

The embodiments of the invention disclose a navigation apparatus and a method for the surface inspection of a spacecraft and relates to the technical field of the aerospace on-orbit-servicing technology, wherein the relative navigation of an inspection device and the surface structure detection of a target spacecraft are multiplexed. According to the invention, the orbital coordinate system of the target spacecraft is adopted as a navigation coordinate system. The acceleration and angular velocity information outputted by an inertial measurement unit is adopted for the pure inertial navigation integral calculation, so that the navigation parameters of the target spacecraft relative to the navigation coordinate system, including the attitude, the position, the speed and the like, are calculated. Moreover, the point cloud data of the profile of the spacecraft are measured based on the triangle method. The obtained point cloud data of the profile of the spacecraft are converted to be data in a geodetic coordinate system based on the short-time and high-accuracy features of the inertial navigation and the installation parameters of a linear laser triangulation survey meter. In addition, the known structural data of the profile of the target spacecraft is rectified according to the actually measured point cloud data of the profile of the spacecraft, so that the attitude and the position of the inspection device relative to the navigation coordinate system are calculated. Meanwhile, the attitude and the position, measured by a Kalman filter, are integrated with the navigation information calculated by the inertial navigation system. As a result, accurate navigation parameters can be obtained.

Description

Technical field [0001] The invention relates to the technical field of aerospace on-orbit service, in particular to a navigation device and method for patrolling the surface of a spacecraft. Background technique [0002] With the development of aerospace technology, space stations, large satellites, and other large spacecraft in orbit are increasing. Due to the long operating time of large spacecraft in orbit, it is prone to damage caused by the impact of space objects such as micro meteors. In order to reduce the operation risk of large spacecraft, it is necessary to quickly and timely discover the external surface abnormalities of large spacecraft and carry out maintenance. [0003] At present, the maintenance and inspection of the outer shell of a large spacecraft is mainly carried out by a miniature extravehicular robot camera, which uses a nitrogen propulsion as a power to move on the surface of the spacecraft, so as to help astronauts and ground personnel observe the spacecra...

AI Technical Summary

Problems solved by technology

However, in the process of differential GPS positioning, due to factors such as multipath reflection, the positioning accuracy can only be guaranteed at the meter level, and this positioning method cannot be used on orbits such as GEO without GPS signal coverage, which limits the miniature extravehicular robot. available tracks for the camera

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