Method for estimating kinetic parameters of spatial non-cooperative target under unilateral constraint condition

Abstract

The invention discloses a method for estimating kinetic parameters of a spatial non-cooperative target under a unilateral constraint condition. The method comprises the following steps of regarding the relative motion of a target and the tail end of a mechanical arm as the newly-added freedom degree of a Lagrange kinetic system, on the basis of the assumption, using an extended freedom degree model for describing the relative motion between the mechanical arm and the target, and establishing a kinetic model; analyzing the combination kinetic matrix line by line, separating different parametersaccording to parameter correlation, and writing a kinetic model into a compact form about unknown parameters; and iterating the guessed value error to construct a least square model so as to realizemeasurement and extraction of non-cooperative target kinetic parameters. The defects that when an existing mechanical arm system grabs an unknown target, whether relative sliding occurs or not cannotbe detected, and target kinetic parameters cannot be accurately measured under the sliding condition are overcome.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a method for estimating dynamic parameters of space non-cooperative targets under the condition of unilateral constraints. Background technique [0002] Space non-cooperative target capture technology is the basis for various mission requirements such as space assembly, space debris removal, and on-orbit maintenance services. It is a key technology that space powers are eager to develop and must break through. The United States, Europe, Russia, Japan and other countries and regions have carried out a large number of theoretical research and model mission experiments on this technology, such as ESA's eDeorbit satellite, the United States' OctArm and Japan's TAKO, etc. In addition, it also includes European EPOS and the United States. Research on ground manipulator verification system conducted by DEOS et al. [0003] It is difficult and risky to actually capture no...

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Problems solved by technology

[0006] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a method for estimating the dynamic parameters of space non-cooperative targets under the condition of unilateral constraints, so as to solve the problem that the mechanical arm system in the prior art cannot detect when grasping unknown targets Whether there is a problem of relative sliding, and the target dynamic parameters cannot be accurately measured in the case of sliding

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