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

A technology of non-cooperative targets and dynamic parameters, which is applied in the field of estimating the dynamic parameters of non-cooperative targets in space, can solve the problems of inability to measure target dynamic parameters and detect whether there is relative sliding, and achieve strong engineering application prospects and overall thinking Novel and highly innovative effects

Active Publication Date: 2019-10-18
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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 a

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

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Embodiment Construction

[0035] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0036] A method for estimating the dynamic parameters of a space non-cooperative target under a unilateral constraint situation of the present invention comprises the following steps:

[0037] Step 1: Create as figure 1 As shown in the simulation scene, the left side of the figure is the top view of the simulation scene, the right side is the main view of the simulation scene, and the lower right corner of the figure is the enlarged view of the connection position between the end of the manipulator and the captured target; the satellite solar panel of the manipulator 1 provides the power source for the manipulator mechanism, the manipulator base satellite 2 provides support for the manipulat...

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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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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/15G06F2119/06G06F30/20Y02T90/00
Inventor 李爽佘宇琛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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