A pose measurement and motion control apparatus and method for a spacecraft simulator

Abstract

The application discloses a pose measurement and motion control device for a spacecraft simulator, comprising a three-degree-of-freedom air floating table, the three-degree-of-freedom air floating table comprising an air floating table base and an air floating table mounting seat; a momentum wheel, a first inertia measurement unit and a momentum wheel unloading fan are arranged on the air floating table mounting seat; a pose adjustment fan and a second inertia measurement unit are arranged on the air floating table base; the pose measurement and motion control device further comprises an optical motion capture system for measuring the pose and linear velocity of the air floating table base and an industrial computer for controlling the running of a program algorithm and the issuing of component control instructions. The application can realize high-efficiency and high-precision control of the attitude angle, position of the three-degree-of-freedom air floating table and the rotation angular velocity of the spacecraft simulator, and can simultaneously measure and control multiple targets.

Description

Technical Field

[0001] This invention relates to the field of microgravity simulation technology for spacecraft, specifically to a device and method for attitude measurement and motion control of a spacecraft simulator. Background Technology

[0002] On-orbit maintenance and repair of spacecraft are crucial for extending their lifespan and reducing operating costs. Related maintenance and repair technologies require extensive testing and verification on the ground. Three-degree-of-freedom air-bearing platforms, used as microgravity simulation platforms for spacecraft, are widely applied in laboratories. These platforms suspend themselves on a smooth surface via an air-bearing bearing and a smooth marble support plane, simulating the frictionless and weightless operating environment of a spacecraft in orbit. By adding measurement and control devices, the on-orbit motion process can be simulated, allowing for the verification of on-orbit maintenance and repair technologies on the ground.

[0003] The on-orbit motion of a spacecraft can be decomposed into movement around its orbit and rotation around its own axis of rotation. During on-orbit maintenance and repair operations, the on-orbit maintenance and repair robot first counteracts the spacecraft's movement velocity, so that the relative motion between the spacecraft and the robot is only the spacecraft's own rotational motion. Therefore, when conducting microgravity simulation experiments on the ground, specific measurement and control devices and methods are needed to achieve the goal of realizing the spacecraft's rotational motion in a fixed position on a smooth plane.

[0004] Based on kinematic laws, control theories, and methods, spacecraft position and attitude control requires the measurement of angular and linear displacements. Traditional inertial system measurement methods necessitate integral calculations to obtain these parameters, often resulting in significant errors that fail to meet the accuracy requirements for position and attitude control of air-bearing platforms. More complex combined inertial measurement systems can achieve higher measurement accuracy, but they are more difficult to install, more complex, leading to increased economic costs, greater maintenance difficulties, and hindering the reuse of measurement devices and the standardization and widespread adoption of control methods. For example, the patent specification with publication number CN103234512B discloses a high-precision attitude angle and angular velocity measurement device for a three-axis air-bearing platform. A smart probe, gyroscope, and four-sided prism are installed on the instrument platform of the three-axis air-bearing platform, and a laser tracker is installed under the platform. Two photoelectric autocollimators are placed orthogonally under the platform. During large-angle movements, the data from the gyroscope and laser tracker are fused using Kalman filtering to obtain the angle and angular velocity information of the air-bearing platform. During small-angle movements, the data from the two photoelectric autocollimators are directly combined to obtain the angle and angular velocity information of the air-bearing platform. Although this device can achieve non-contact, high-precision, and dynamic measurement of the attitude angle and angular velocity of the three-axis air-bearing platform, it is more difficult to install and the system is more complex.

[0005] In recent years, vision-based measurement methods have been applied in spacecraft ground simulation tests. However, they often use traditional vision cameras, which require cumbersome calibration processes, coordinate transformations, and personalized image processing algorithms. Moreover, they often require one-to-one measurements, which cannot meet the requirements of simultaneous measurement of multiple moving targets in the same coordinate system in spacecraft maintenance and repair mission scenarios. Summary of the Invention

[0006] One objective of this invention is to provide a posture measurement and motion control device for a spacecraft simulator that is easy to install, has a simple system, and can achieve high-efficiency and high-precision control of the attitude angle, position, and rotational angular velocity of a three-degree-of-freedom air-bearing platform and a spacecraft simulator. It can also measure and control multiple targets simultaneously.

[0007] A posture measurement and motion control device for a spacecraft simulator includes a three-degree-of-freedom air-bearing platform, the three-degree-of-freedom air-bearing platform including an air-bearing platform base and an air-bearing platform mounting seat suspended on the air-bearing platform base for mounting the spacecraft simulator.

[0008] The air-float mounting base is equipped with a momentum wheel for outputting torque to control the rotation of the air-float mounting base, a first inertial measurement unit for measuring the angular velocity of the air-float mounting base, and a momentum wheel unloading fan for outputting thrust to unload the speed of the momentum wheel.

[0009] The air-bearing platform base is equipped with a posture adjustment fan for outputting thrust to adjust the position and attitude angle of the air-bearing platform base, and a second inertial measurement unit for measuring the angular velocity of the air-bearing platform base.

[0010] The pose measurement and motion control device also includes an optical motion capture system for measuring the pose and linear velocity of the air-floating platform base, and an industrial control computer for controlling the operation of the program algorithm and issuing control commands to the components.

[0011] Preferably, the posture adjustment fan includes a set of position adjustment fans installed around the lower platform of the air-bearing platform base and a set of attitude angle adjustment fans installed on both sides of the upper platform of the air-bearing platform base.

[0012] Preferably, the posture measurement and motion control device further includes a remote control computer that is remotely connected to the industrial control computer.

[0013] Another object of the present invention is to provide a pose measurement and motion control method for a spacecraft simulator, employing the above-mentioned pose measurement and motion control device, wherein the pose measurement and motion control method includes the following steps:

[0014] Step 1: Input the target pose P of the air-bearing platform base, the target attitude angle θ, and the target angular velocity Ω of the spacecraft simulator;

[0015] Step 2: Enter the attitude angle control stage, obtain the attitude angle δ of the air-bearing platform base, and calculate the attitude angle error ε=|θ-δ|;

[0016] Step 3: Define the first angular error threshold ε to describe the attitude angular error. L The second angle error threshold is ε M , ε L >ε M Define the angular velocity threshold ω within the first angular error range. H The angular velocity threshold ω within the second angular error range M The angular velocity threshold ω within the third angle error range L ω H >ω M >ω L ;

[0017] Real-time acquisition of the angular velocity ω of the air-bearing platform base, based on the angular error range of the attitude angular error ε and the angular velocity ω and angular velocity threshold ω within the corresponding angular error range. H Angular velocity threshold ω M or angular velocity threshold ω L The size relationship is used to control the attitude angle and adjust the output thrust of the fan so that the air-floating platform base approaches the target attitude angle;

[0018] Step 4: Define the critical value ε0. When ε is less than the critical value ε0, enter the position control loop while maintaining the attitude angle control loop, obtain the position λ of the air-bearing platform base, and calculate the position error ζ = P - λ.

[0019] Step 5: Define the first position error threshold ζ to describe the magnitude of the position error. L The second position error threshold ζ M , ζ L >ζ M Define the linear velocity threshold ν within the first position error range. H The linear velocity threshold ν within the second position error range M The linear velocity threshold ν within the third position error range L ,ν H >ν M >ν L ;

[0020] Real-time acquisition of the linear velocity ν of the air-bearing platform base, based on the position error range of the position error ζ and the linear velocity ν and the linear velocity threshold ν within the corresponding position error range. H Linear velocity threshold ν M Or linear velocity threshold νH The size relationship is used to control the position and adjust the output thrust of the fan so that the air-floating platform base approaches the target position;

[0021] Step Six: Define the critical value ζ0. When ζ < ζ0, initiate the angular velocity control loop while maintaining the attitude angle and position control loops of the air-bearing platform base. Control the rotation of the air-bearing platform mounting base to start the spacecraft simulator rotating, and simultaneously acquire the angular velocity Ω of the spacecraft simulator. R The spacecraft simulator's angular velocity is accelerated to the target angular velocity Ω and maintained. Once the rated speed is reached, the momentum wheel is activated to unload the fan.

[0022] Preferably, step three specifically involves:

[0023] When ε>ε L At this time, the attitude angle adjustment fan outputs thrust at output level H to bring the air-float platform base close to the target attitude angle. When ω > ω H At this time, the attitude angle adjustment fan output stops, and the air-floating platform base continues to rotate under the action of inertia;

[0024] When ε L >ε>ε M At this time, the attitude angle adjustment fan outputs thrust at output setting M to bring the air-float platform base close to the target attitude angle. When ω > ω M At this time, the attitude angle adjustment fan output stops, and the air-floating platform base continues to rotate under the action of inertia;

[0025] When ε M When ε>0, the attitude angle adjustment fan outputs thrust at output level L, bringing the air-float platform base closer to the target attitude angle. When ω>ω L At this time, the attitude angle adjustment fan output stops, and the air-floating platform base continues to rotate under the action of inertia.

[0026] Preferably, in step three, the threshold ω for the angular velocity when the fan is turned on is further defined within the third angle error range to reverse the attitude angle. F ω L <ω F When ω > ω F At that time, the reverse attitude angle adjustment fan outputs thrust at output level L.

[0027] Preferably, step five specifically includes:

[0028] When ζ>ζ L At that time, the position adjustment fan outputs thrust at output setting A to bring the air-floating platform base close to the target position. When ν>ν H When the fan output is adjusted to the stop position, the air-floating platform base continues to move under the influence of inertia;

[0029] When ζ L >ζ>ζM At that time, the position adjustment fan outputs thrust at output level B, bringing the air-floating platform base close to the target position. When ν>ν M When the fan output is adjusted to the stop position, the air-floating platform base continues to move under the influence of inertia;

[0030] When ζ M When >ζ>0, the position adjustment fan outputs thrust at output level C, bringing the air-floating platform base closer to the target position. When ν>ν L At this point, the fan output is adjusted to stop position, and the air-floating platform base continues to move under inertia.

[0031] Preferably, in step five, the linear velocity threshold ν when the fan is turned on is further defined within the third position error range by reverse calculation. F ,ν L <ν F When ν>ν F At that time, the fan is adjusted to output thrust at output level C by reversing the position.

[0032] The beneficial effects of this invention are:

[0033] (1) The attitude control of the air-floating platform base and the rotation control of the spacecraft simulator adopt independent control devices and methods, with no coupling relationship. This makes it easy to transplant and promote the control devices and methods to other spacecraft simulator ground tests, especially multi-target mission scenarios such as spacecraft on-orbit maintenance and repair.

[0034] (2) The method of the present invention adopts a “three-stage” control and propulsion to perform position and attitude angle servo control, and introduces a fan back-thrust strategy in the third stage, which takes into account both system convergence time and control accuracy.

[0035] (3) It can achieve high-precision measurement of attitude angle, position and linear velocity of the three-degree-of-freedom air-floating platform base; among them, the attitude angle and position are directly measured by the optical motion capture system, which are direct measurement values ​​without the introduction of error by the integral and differential links, and the measurement accuracy is higher than that of traditional visual camera measurement and the addition of inertial measurement unit.

[0036] (4) The optical motion capture system can simultaneously measure the position and attitude angles of multiple independent targets, and the measurement results have a unified coordinate system, eliminating the need for coordinate transformation. This facilitates the technical verification of multi-target mission scenarios such as on-orbit maintenance and repair of spacecraft. Furthermore, the entire measurement system only needs to be calibrated once and can be used for a long time. The relevant measurement algorithms have been solidified and do not require repeated development and adaptation. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the posture measurement and motion control device of the present invention;

[0038] Figure 2 This is a schematic diagram of the pose measurement and motion control method of the present invention;

[0039] Figure 3 A schematic diagram of the attitude angle control process for the air-bearing platform base;

[0040] Figure 4 This is a schematic diagram of the working process for controlling the position of the air flotation platform base.

[0041] Figure 5 This is a schematic diagram of the angular velocity control process for a spacecraft simulator. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figure 1 As shown, a posture measurement and motion control device for a spacecraft simulator includes a three-degree-of-freedom air-bearing platform. The three-degree-of-freedom air-bearing platform includes an air-bearing platform base 1 and an air-bearing platform mounting seat 2 suspended on the air-bearing platform base 1 via air bearings 3. The air-bearing platform base 1 specifically includes a lower platform 101, an upper platform 102, and a column connecting the lower platform 101 and the upper platform 102. The air bearings 3 are specifically located at the center of the top of the upper platform 102. An air bearing is installed at the bottom of the lower platform 101 of the air-bearing platform mounting seat 2. During operation, the air-bearing platform mounting seat 2 is suspended on the marble platform via the air bearings. It can achieve rotation around the Z-axis and movement around the X and Y axes; the air-bearing platform mounting base 2 specifically includes a spacecraft simulator rotating base 201, a spacecraft simulator mounting surface 202, and a column connecting the spacecraft simulator rotating base 201 and the spacecraft simulator mounting surface 202; the spacecraft simulator mounting surface 202 is used for the installation of the spacecraft simulator. The spacecraft simulator has its own air bearing and is suspended on the spacecraft simulator mounting surface 202 through the air bearing. It can rotate on the spacecraft simulator mounting surface 202 through the air bearing, or it can remain relatively stationary with the air-bearing platform mounting base 2.

[0044] The air-bearing platform mounting base 2 is equipped with a momentum wheel 4 for outputting torque to realize the rotation control of the air-bearing platform mounting base 2, a first inertial measurement unit (IMU) 5 for measuring the angular velocity of the air-bearing platform mounting base 2, and a momentum wheel unloading fan 6 for outputting thrust to unload the speed of the momentum wheel.

[0045] In this embodiment, the spacecraft simulator equipment layer is located between the spacecraft simulator rotating base 201 and the spacecraft simulator mounting surface 202. The momentum wheel 4 and the first inertial measurement unit (IMU) 5 are located within this spacecraft simulator equipment layer. The momentum wheel 4 is a reaction flywheel that controls the high-precision rotation speed of the spacecraft simulator. The spacecraft simulator equipment layer is also equipped with related accessories for driving the momentum wheel 4 to rotate. The momentum wheel unloading fan 6 is located around the spacecraft simulator mounting surface 202.

[0046] The air-bearing platform base 1 is equipped with a position adjustment fan for adjusting the position and attitude angle of the air-bearing platform base 1 by outputting thrust, and a second inertial measurement unit (IMU7) for measuring the angular velocity of the air-bearing platform base 1.

[0047] In this embodiment, the space between the lower platform 101 and the upper platform 102 is an air-bearing stage equipment layer, and the second inertial measurement unit (IMU7) is located within this air-bearing stage equipment layer. The attitude adjustment fan specifically includes a set of position adjustment fans 8 installed around the lower platform 101 and a set of attitude angle adjustment fans 9 installed on both sides of the upper platform 102. Each position adjustment fan 8 and attitude angle adjustment fan 9 has a corresponding position of a reverse thrust position adjustment fan and a reverse thrust attitude angle adjustment fan.

[0048] The momentum wheel unloading fan 6, the position adjustment fan 8, and the attitude angle adjustment fan 9 all use ducted fans.

[0049] The pose measurement and motion control device also includes an optical motion capture system, an industrial computer 10, and a remote control computer.

[0050] An optical motion capture system is suspended above the laboratory room and is used to measure the pose and linear velocity of the air-bearing platform base 1. An industrial control computer 10 is set up inside the air-bearing platform equipment layer and is used to control the operation of the program algorithm and issue control commands to the execution components. A remote control computer is remotely connected to the industrial control computer 10 via a wireless network and is used to acquire measurement parameters and execute control algorithms.

[0051] A method for attitude measurement and motion control for a spacecraft simulator, wherein before implementation, a remote control computer is connected to an industrial control computer via a wireless network; the air-bearing function of the air-bearing platform base is enabled, and the control functions of the air-bearing platform base and the spacecraft simulator are started;

[0052] In this example, the control of the three-degree-of-freedom air-bearing platform includes three control functions: position control, attitude angle control, and angular velocity control. These three control functions are executed sequentially and superimposed to achieve simultaneous control. The schematic diagram is shown below. Figure 2 As shown.

[0053] like Figure 3As shown, the attitude angle control process begins first. The target attitude angle is defined as θ, the currently measured attitude angle as δ, and the attitude angle error ε = θ - δ. Two thresholds are defined to describe the magnitude of the attitude angle error: the large angle error threshold ε. L =10°, median angle error threshold ε M =3°, when the angle error is less than ε M This means it is within a small angular error range close to the target attitude angle; define angular velocity thresholds corresponding to three attitude angle error ranges: angular velocity threshold ω within the large angular error range. H =1° / s, angular velocity threshold ω within the medium angular error range M = 0.6° / s, the angular velocity threshold ω within a small angular error range L = 0.2° / s; Additionally, ω is defined as... F =0.4° / s is the threshold value for the angular velocity when the fan is turned on, which is calculated by reverse-engineering the attitude angle within a small angular error range.

[0054] The angular velocity ω of the air-bearing platform base is acquired in real time using a high-precision inertial measurement unit. When ε > 10°, the attitude angle adjustment fan outputs thrust at its high output setting (H), causing the air-bearing platform base to rapidly approach the target attitude angle with a large angular velocity. When ω > 1° / s, the attitude angle adjustment fan output stops, and the air-bearing platform base continues to rotate under inertia to avoid excessive angular velocity. When 10° > ε > 3°, the attitude angle adjustment fan outputs thrust at its medium output setting (M), causing the air-bearing platform base to approach the target attitude angle with a medium angular velocity. When ω > 0.6° / s, the attitude angle adjustment fan output stops, and the air-bearing platform base continues to rotate under inertia to avoid excessive angular velocity. The platform base continues to rotate under inertia to avoid excessive angular velocity. When 3° > ε > 0, the attitude angle adjustment fan outputs thrust at low output level L, causing the air-floating platform base to approach the attitude angle with a low angular velocity. When 2° > ε > 1°, if ω > 0.2° / s, the attitude angle adjustment fan output stops, and the air-floating platform base continues to rotate under inertia to avoid excessive angular velocity. When ω > 0.4° / s, the reverse thrust attitude angle adjustment fan is activated and outputs thrust at output level L. When ε < 1°, the angle control program completes this cycle and enters the next control cycle. When ε is less than the critical value, ε... 0＝ At 2°, the position control phase begins, while the attitude angle control phase is maintained.

[0055] like Figure 4 As shown, the target position is defined as P, the current measurement position as λ, and the position error ζ = P - λ. Two thresholds are defined to describe the magnitude of the position error: the large position error threshold ζ. L =100mm, mid-position error threshold ζ M =30mm, when the position error is less than ζ MThis refers to the small position error range close to the target position; define three linear velocity thresholds corresponding to the three position error ranges: the linear velocity threshold ν in the large position error range. H =5mm / s, linear velocity threshold ν within the position error range M =3mm / s, the linear velocity threshold ν within the small position error range L =2mm / s; Additionally, ν is defined. F =3mm / s is the threshold angular velocity for adjusting the fan's starting position within a small angular error range.

[0056] The linear velocity ν of the air-bearing platform base is acquired in real time using an optical motion capture system. When ζ > 100mm, the position adjustment fan outputs thrust at high output level A, causing the air-bearing platform base to approach the target position with a high linear velocity. When ν > 5mm / s, the position adjustment fan output stops, and the air-bearing platform base continues to move under inertia to avoid excessive linear velocity. When 100mm > ζ > 30mm, the position adjustment fan outputs thrust at medium output level B, causing the air-bearing platform base to approach the target position with a medium linear velocity. When ν > 3mm / s, the position adjustment fan output stops, and the air-bearing platform base... The platform continues to move under inertia to avoid excessive linear velocity. When 30mm > ζ > 0, the position adjustment fan outputs thrust at low output level C, causing the air-bearing platform base to approach the target position at a low linear velocity. When 10mm > ζ > 6mm, if ν > 2mm / s, the position adjustment fan output stops, and the air-bearing platform base continues to move under inertia to avoid excessive linear velocity. When ν > 3mm / s, the reverse position adjustment fan is activated and outputs thrust at output level C. When ζ < 6mm, the position control program completes this cycle and enters the next control cycle. When ζ < 10mm, the angular velocity control stage is entered, while maintaining the air-bearing platform base's attitude angle and position control stage.

[0057] like Figure 5 As shown, the motor drive is turned on, causing the momentum wheel to rotate, which in turn makes the spacecraft simulator start to rotate. At the same time, the angular velocity Ω of the spacecraft simulator is obtained through the high-precision inertial measurement unit. R The momentum wheel is controlled to accelerate the spacecraft simulator's angular velocity to the target angular velocity Ω = 1° / s. The acceleration and deceleration of the momentum wheel are adjusted to maintain the spacecraft simulator's angular velocity at the target angular velocity of 1° / s. When the momentum wheel reaches the rated speed of 4000 rpm, the control computer sends a command to start the momentum wheel to unload the fan.

[0058] It should be noted that the determination of the two thresholds describing the magnitude of the attitude angle error and the angular velocity thresholds corresponding to the three attitude angle error ranges are related to the inertia of the air-bearing platform and the output thrust of the attitude angle adjustment fan at the high, medium, and low speeds; the determination of the two thresholds describing the magnitude of the position error and the linear velocity thresholds corresponding to the three position error ranges are related to the mass of the air-bearing platform and the thrust of the position adjustment fan at the high, medium, and low speeds.

[0059] Through the above steps, the goal of simultaneously controlling the position and attitude angle of the air-bearing platform base, as well as the angular velocity of the satellite simulator, can be achieved.

[0060] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pose measurement and motion control device for a spacecraft simulator, characterized in that, The system includes a three-degree-of-freedom air-bearing platform, which includes an air-bearing platform base and an air-bearing platform mounting seat suspended on the air-bearing platform base for installing a spacecraft simulator. The air-float mounting base is equipped with a momentum wheel for outputting torque to control the rotation of the air-float mounting base, a first inertial measurement unit for measuring the angular velocity of the air-float mounting base, and a momentum wheel unloading fan for outputting thrust to unload the speed of the momentum wheel. The air-bearing platform base is equipped with a position adjustment fan for adjusting the position and attitude angle of the air-bearing platform base by outputting thrust, and a second inertial measurement unit for measuring the angular velocity of the air-bearing platform base. The position adjustment fan includes a set of position adjustment fans installed around the lower platform of the air-bearing platform base and a set of attitude angle adjustment fans installed on both sides of the upper platform of the air-bearing platform base. Each position adjustment fan and attitude angle adjustment fan is equipped with a reverse thrust position adjustment fan and a reverse thrust attitude angle adjustment fan at the corresponding positions. The pose measurement and motion control device also includes an optical motion capture system for measuring the pose and linear velocity of the air-floating platform base and an industrial control computer for controlling the operation of the program algorithm and issuing control commands to the execution components. The optical motion capture system is used to directly measure the position and attitude angles of multiple independent targets simultaneously, without introducing errors through integration and differentiation, and the measurement results have a unified coordinate system, eliminating the need for coordinate transformation.

2. The pose measurement and motion control device according to claim 1, characterized in that, The posture measurement and motion control device also includes a remote control computer that is remotely connected to the industrial control computer.

3. A method for attitude measurement and motion control in a spacecraft simulator, characterized in that, Employing the pose measurement and motion control device according to any one of claims 1-2, the pose measurement and motion control method includes the following steps: Step 1: Input the target pose P of the air-bearing platform base, the target attitude angle θ, and the target angular velocity Ω of the spacecraft simulator; Step 2: Enter the attitude angle control stage, obtain the attitude angle δ of the air-bearing platform base, and calculate the attitude angle error ε=|θ-δ|; Step 3: Define the first angular error threshold ε to describe the attitude angular error. L The second angle error threshold is ε M , ε L >ε M Define the angular velocity threshold ω within the first angular error range. H The angular velocity threshold ω within the second angular error range M The angular velocity threshold ω within the third angle error range L ω H >ω M >ω L ; Real-time acquisition of the angular velocity ω of the air-bearing platform base, based on the angular error range of the attitude angular error ε and the angular velocity ω and angular velocity threshold ω within the corresponding angular error range. H Angular velocity threshold ω M or angular velocity threshold ω L The size relationship is used to control the attitude angle and adjust the output thrust of the fan so that the air-floating platform base approaches the target attitude angle; And further define the threshold ω for the angular velocity when the fan is turned on, based on the reverse attitude angle adjustment within the third angle error range. F ω L <ω F When ω > ω F At that time, the reverse attitude angle adjustment fan outputs thrust at output level L; Step 4: Define the critical value ε0. When ε is less than the critical value ε0, enter the position control loop while maintaining the attitude angle control loop, obtain the position λ of the air-bearing platform base, and calculate the position error σ=P-λ. Step 5: Define a first position error threshold σ to describe the magnitude of the position error. L The second position error threshold σ M , σ L >σ M Define the linear velocity threshold ν within the first position error range. H The linear velocity threshold ν within the second position error range M The linear velocity threshold ν within the third position error range L ,ν H >ν M >ν L ; Real-time acquisition of the linear velocity ν of the air-bearing platform base, based on the position error range of the position error σ and the linear velocity ν and the linear velocity threshold ν within the corresponding position error range. H Linear velocity threshold ν M Or linear velocity threshold ν H The size relationship is used to control the position and adjust the output thrust of the fan so that the air-floating platform base approaches the target position; And continue to define the linear velocity threshold ν when the fan is turned on by reverse-calculating the position within the third position error range. F ,ν L <ν F When ν>ν F At that time, adjust the fan position to output thrust at output level C; Step Six: Define the critical value σ0. When σ < σ0, initiate the angular velocity control loop while maintaining the attitude angle and position control loops of the air-bearing platform base. Control the rotation of the air-bearing platform mounting base to start the spacecraft simulator rotating, and simultaneously acquire the angular velocity Ω of the spacecraft simulator. R The spacecraft simulator's angular velocity is accelerated to the target angular velocity Ω and maintained. Once the rated speed is reached, the momentum wheel is activated to unload the fan.

4. The pose measurement and motion control method according to claim 3, characterized in that, Step three specifically involves: When ε>ε L At this time, the attitude angle adjustment fan outputs thrust at output level H to bring the air-float platform base close to the target attitude angle. When ω > ω H At this time, the attitude angle adjustment fan output stops, and the air-floating platform base continues to rotate under the action of inertia; When ε L >ε>ε M At this time, the attitude angle adjustment fan outputs thrust at output setting M to bring the air-float platform base close to the target attitude angle. When ω > ω M At this time, the attitude angle adjustment fan output stops, and the air-floating platform base continues to rotate under the action of inertia; When ε M When ε>0, the attitude angle adjustment fan outputs thrust at output level L, bringing the air-float platform base closer to the target attitude angle. When ω>ω L At this time, the attitude angle adjustment fan output stops, and the air-floating platform base continues to rotate under the action of inertia.

5. The pose measurement and motion control method according to claim 3, characterized in that, Step five specifically involves: When σ>σ L At that time, the position adjustment fan outputs thrust at output setting A to bring the air-floating platform base close to the target position. When ν>ν H When the fan output is adjusted to the stop position, the air-floating platform base continues to move under the influence of inertia; When σ L >σ>σ M At that time, the position adjustment fan outputs thrust at output level B, bringing the air-floating platform base close to the target position. When ν>ν M When the fan output is adjusted to the stop position, the air-floating platform base continues to move under the influence of inertia; When σ M When σ > 0, the position adjustment fan outputs thrust at output setting C, bringing the air-floating platform base closer to the target position. When ν > ν L At this point, the fan output is adjusted to stop position, and the air-floating platform base continues to move under inertia.

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