Space non-cooperation target dynamics parameter identification method with binocular camera assisting

Abstract

The invention discloses a space non-cooperation target dynamics parameter identification method with binocular camera assisting. The body velocity, angular velocity, joint angular velocity and joint position velocity under a inertial reference system are obtained through integration and differentiation and based on body acceleration, angular acceleration, the joint angle and service satellite bodygeometric features. According to kinetic formulas, external forces on a service satellite at a contact point is calculated, and the external force is the reaction of the service satellite to a target. A model of the target is established, and a relation equation between force and the acceleration is constructed under an inherent reference frame of the target. Multiple sampling is conducted by circulation, and parameters of the target are obtained by the least square optimization method to complete space non-cooperation target dynamics parameter identification. The method can accurately identify non-cooperation target quality characteristic parameters in the case of relative motion of the non-cooperation target-tail end actuator contact point, can reduce influence of noise, and has the advantage of little calculation amount.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a binocular camera-assisted method for identifying dynamic parameters of space non-cooperative targets. Background technique [0002] With the development of aerospace technology, on-orbit service technology has attracted increasing attention. The most critical technology for on-orbit service is the capture of non-cooperative targets by space robots. The underlying technology for a range of tasks, including reuse. The capture of non-cooperative targets in space is divided into three stages—approaching before capture, collision, and stabilization after capture. In the third stage, the service satellite equipped with a space manipulator needs to complete the stabilization of the assembly, and the kinematics reconstruction and parameter estimation of the non-cooperative target before capture can no longer meet the requirements of precise control, so it is necessary t...

AI Technical Summary

Problems solved by technology

[0003] The general capture mechanism designed for the capture of non-cooperative targets in space is difficult to achieve a complete and stable capture of unknown capture points, especially when using a single-arm space robot, it is very easy for the non-cooperative target to be opposite after capture. The sliding phenomenon of the space robot end effector

The conventional parameter identification method assumes that the contact point is firm. If the conventional parameter identification method continues to be used when the contact point slips, there will be a huge error in the estimated parameters, which will lead to the failure of the stable controller and finally produce a combination Body Rolling Phenomenon

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