A capture point positioning method for target satellite star-rocket docking ring based on dual-manipulator capture

A dual robotic arm and docking ring technology, which is applied to space navigation equipment, instruments, and measurement devices, can solve problems that depend on image feature point matching capabilities, and achieve stable and easy-to-implement measurement processes, low image resolution requirements, and method flow clear effect

Active Publication Date: 2022-04-22
BEIJING INST OF CONTROL ENG
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem solved by the present invention is: in view of the current existing technology, the traditional method identifies multiple feature points of the target satellite through the image feature point matching method, which leads to the problem of relying too much on the image feature point matching ability, and proposes a method based on dual Method for locating the capture point of the target satellite captured by the robotic arm with the star-arrow docking ring

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  • A capture point positioning method for target satellite star-rocket docking ring based on dual-manipulator capture
  • A capture point positioning method for target satellite star-rocket docking ring based on dual-manipulator capture
  • A capture point positioning method for target satellite star-rocket docking ring based on dual-manipulator capture

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Embodiment

[0077] Take the capture of the target satellite by a satellite with two arms as an example, assuming that in the coordinate system of the target satellite body, the coordinates of the origin of the coordinate system of the control satellite body are (0,-0.25,-1), and the coordinates of the capture point of the robotic arm 1 are ( -0.3535,-0.3535,0), the capture point coordinates of robotic arm 2 are (0,-0.5,0), and the coordinate axis of the control satellite system is parallel to the coordinate axis of the target satellite system, such as figure 1 Shown, the concrete steps of the present invention are as follows:

[0078] (1) For the manipulative satellites that have completed the dual-arm capture of the target satellite's star-rocket docking ring, establish a satellite motion reference coordinate system, and record the positions of the two capture points;

[0079] In the coordinate system of the manipulator satellite body, the coordinates of the capture point of the robot ar...

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Abstract

A method for locating the capture point of the target satellite star-arrow docking ring based on dual-manipulator capture. The target satellite is captured stably by controlling the dual-manipulator arms of the target satellite, and the capture is obtained by changing the capture position of a robot arm. The three capture points of the target satellite’s star-rocket docking ring are used to solve the plane and center of the star-rocket docking ring, and then the frame information is extracted through image edge detection to obtain the projection line of the captured target satellite in the plane of the star-rocket docking ring. After the target satellite coordinate system is established, the position coordinates of each capture point are obtained in the coordinate system to complete the capture point positioning.

Description

technical field [0001] The invention relates to a capture point positioning method for a target satellite star-arrow docking ring based on double-manipulator capture, and belongs to the technical field. Background technique [0002] When a space manipulation satellite performs a contact space manipulation task on a target satellite, it must first complete the connection with the target satellite. For the serviced satellites that have been designed for service, there are generally dedicated docking or capture interfaces; for non-cooperative target satellites in orbit, manipulating the satellite manipulator usually requires capturing the target satellite's star-rocket docking ring. [0003] After the control satellite completes the capture of the target satellite's star-rocket docking ring, it is necessary to locate the capture point in the coordinate system of the target satellite, so as to use this as the base point for further work. Usually, the target satellite can be ima...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/00B64G4/00
CPCG01B11/002B64G4/00B64G2004/005
Inventor 宁宇曾海波邓雅邹奎肖帅黎飞张德明
Owner BEIJING INST OF CONTROL ENG
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