40 results about "Space rendezvous" patented technology

The invention relates to a large-tolerance docking acquisition device, in particular to a large-tolerance docking acquisition device focused on a space large mechanical arm and rendezvous and docking. The large-tolerance docking acquisition device is provided for solving the problems that the existing cone-pole-type acquisition mechanism cannot acquire a small-inertia unpowered target freely floating in the space, and the allogeneic isomorphic peripheral docking mechanism has a small tolerance range. The large-tolerance docking acquisition device comprises an acquisition mechanism and an interfacing mechanism; the acquisition mechanism is arranged on a wrist joint of an active satellite or a space mechanical arm, and the interfacing mechanism is mounted on an acquired satellite or acquired load. The large-tolerance docking acquisition device is used for acquiring the small-inertia unpowered target freely floating in the space or performing the allogeneic isomorphic peripheral docking.

The invention provides a multi-medium complex-environment high-precision vision / inertia combination navigation method which is suitable for combination navigation of an underwater vehicle under a complex electromagnetic environment in a transparent medium. By means of the underwater vehicle for simulating rendezvous and docking of a spaceship and a satellite in a space micro-gravity environment, important test data and test verification are provided for the rendezvous and docking. The whole experiment system is used on ground. By means of buoyancy of water and adjustment of the direction of the ground electromagnetic field and the intensity of the electromagnetic field, the underwater vehicle is in a neutral buoyancy level, thereby satisfying an equivalent test condition of coincidence of space and ground. The multi-medium complex-environment high-precision vision / inertia combination navigation method can be used for controlling the underwater vehicle for simulating rendezvous and docking in space, so that the attitude, the speed, the position and the acceleration information of the underwater vehicle can be measured accurately.

The invention discloses a balance point Halo orbit phasing orbit transfer method taking the time constraint into consideration, relates to a Halo orbit phasing orbit transfer method based on an earth-moon three-body dynamic model and belongs to the technical field of aerospace. According to the method, a dynamic equation is established under a restrictive three-body model formed by the earth, the moon and the star, and a Halo orbit near the point L2 is generated under an earth-moon rotation system; the Halo orbit initial phase position of a detector and the phase position difference needing to be changed are determined, and the optimal fuel phasing orbit meeting the phase position constraint condition and the transfer time constraint condition is obtained through an optimization algorithm with the initial anchoring time and transfer time as optimization variables; and the time difference delta t, the task Halo orbit or the upper limit tmax of the transfer time are adjusted according to the task which the detector needs to fulfill, and the orbit shadow detection avoiding task or the spatial intersection detection task of the detector on the Halo orbit is fulfilled. The method can obtain the optimal fuel phasing orbit meeting the phase position constraint condition and the transfer time constraint condition, and has the advantages of good convergence, high flexibility and the like.

The invention relates to a space rendezvous docking assembly which comprises an anode assembly and a cathode assembly. The anode assembly is installed on a served spacecraft, the cathode assembly is installed on a serving spacecraft, the anode assembly is inserted into the cathode assembly and is locked by the cathode assembly, the safe and reliable rendezvous docking between the served spacecraft and the serving spacecraft is achieved, and thus different in-obit service tasks are completed.

The invention relates to a measuring method for the size of a roll bearing block. The measuring method effectively solves the problems that the detection of the roll bearing block has higher requirements for a detection site, equipment and personnel, the measurement is restricted, and the need of actual measurement for the size of the roll bearing block cannot be met. Photography measurement is conducted on the roll bearing block to be detected to obtain measured three-dimensional point data of the surface of the bearing block, the flatness, span and degree of symmetry of the bearing block are analyzed and calculated by integrating the three-dimensional data collected by the photography measurement with design parameters of bearing block, analysis results are output in a report form, and the results of the flatness, the degree of symmetry and the span of the bearing block obtained through analysis and calculation are output in the report form and by imaging. According to the measuring method, a camera is adopted for obtaining a plurality of digital images of the roll bearing block, three-dimensional coordinates of feature points on the surface of the roll bearing block are obtained by conducting image processing, recognition and matching, spatial intersection and the like on the digital images, and the parameters of the bearing block are rapidly calculated by adopting a computer to realize the rapid and high-precision detection of geometric parameters of the bearing block.

The invention provides a space rendezvous system gain scheduling control method with linearization errors taken into consideration, and relates to a spacecraft orbit rendezvous gain scheduling control method. The space rendezvous system gain scheduling control method solves the problem that due to the fact that according to an existing aircraft orbit rendezvous control method, input saturation and parameter uncertainty caused by the linearization errors are ignored, time consumption is high when an aircraft orbit rendezvous task is completed. According to the space rendezvous system gain scheduling control method, the parameter uncertainty caused by the linearization errors is taken into consideration and endowed with exact meanings, an aircraft orbit rendezvous relative movement model is established, a gain scheduling controller of an aircraft orbit rendezvous is then designed, the aircraft orbit rendezvous is controlled through the gain scheduling controller, and the rendezvous task is completed. The space rendezvous system gain scheduling control method is mainly used for controlling the aircraft orbit rendezvous.

The invention discloses an external parameter space intersection measurement method for a full-view scanning and measuring system. The full-view scanning and measuring system comprises at least two measurement stations. Each measurement station adopts a polygon prism drum as a scanning rotating mirror to synchronously scan and obtain an image of the same measured target in the overall space of a measurement field which is facing to the measurement station. The method comprises the following steps of processing obtained images to obtain the image pixel coordinates of a target in the coordinate system of each measurement station; according to the image pixel coordinates, calculating the azimuth angle information of the same measured target relative to each measurement station; calibrating the external parameters of the system and resolving the three-dimensional coordinates of the azimuth angle information of the same measured target relative to each measurement station through correcting a measurement model by adopting the external parameters; and obtaining the spatial three-dimensional coordinate value of the measured target in the spatial coordinate system of the above system after the calibration process of the external parameters of the system. According to the above method, the measurement model is compensated by adopting external parameters. Therefore, the measured three-dimensional coordinates of the target are high in precision.

The invention discloses a track control method for a space rendezvous ground guide section with limited orbit maneuvering, aiming to realize high-precision track control of the space rendezvous ground guide section under the condition of limited orbit maneuver. The technical solution is to first determine the orbital maneuvering scheme of the tracking spacecraft as five orbital maneuvering schemes, determine the orbital control parameters M1~M5 that need to be calculated; calculate the orbital control parameter M1 after the tracking spacecraft enters orbit, and upload it to the tracking spacecraft. The maneuvering system performs the first orbital maneuver; after the first, second, and third orbital maneuvers are completed, the orbital control parameters M2, M3, and M4 are calculated respectively, and uploaded to the tracking spacecraft, and the orbital maneuvering system performs the second, third, and fourth maneuvers Orbital maneuvering; finally implement the fifth orbital control according to the orbital control parameter M5 (obtained when calculating M4). The invention has less number of track maneuvers, lower requirements on the attitude control system, improves the track control accuracy of the ground guidance section under the condition of limited track maneuvers, and has fast calculation speed and good real-time performance.

The invention relates to the technical field of downhole positioning, in particular to a downhole positioning method based on EIEL electronic labels. The downhole positioning method comprises the steps that the EIEL labels are equal-interval array-type electronic labels and are constituted by three to five band-shaped passive radio frequency cards S in an equal-interval array arrangement mode; positioning equipment is provided with a radio frequency identification sensor, after an equipment signal radiation field activates the peripheral EIEL labels, RSSI values and information of the radio frequency cards in the labels can be received, and current position coordinates are calculated according to an EIEL-Apositioning formula; the EIEL labels are distributed at the positions such as the junction of roadways, turn points and characteristic points of roadway topography transformation and distributed within 5-15 meters; and downhole personnel carry the equipment to walk in the roadways, the radiation field of the equipment can activate the two or more surrounding labels, and according to a space intersection method, average values are taken to calculate accurate coordinates. Accordingto the downhole positioning method, the manufacturing cost of the EIEL labels is low, large-range arrangement can be conducted in underground engineering or underground, information is provided for autonomous positioning and emergency risk-avoiding navigation of the downhole personnel, and the defects of an existing downhole positioning system are overcome.

The invention discloses a space intersection control method of two-stage constant thrust, which is used for solving the technical problem that the engine is opened and closed frequently during the intersection process when the prior intersection control method of constant thrust is achieved. The technical solution is that the minimum opening-closing time Tmin constraint of the engine is introduced to the intersection control problem of the two-stage constant thrust engine; and the optimal intersection thrust under quadratic optimization function index is designed by rolling forecast principle. Because of considering the minimum opening-closing time constraint of the engine, the problem that the engine is opened and closed frequently is solved and the design difficulty of the engine is reduced; and the optimal design method has good robustness for design model error, measurement error and intersection thrust error.

The invention discloses an autonomous self-adaptive remote guidance method and system for space rendezvous interception. The method comprises the steps of carrying out the primary calculation according to flight parameters, and obtaining a primary speed calculation result; meanwhile, obtaining an orbit control acceleration aT; according to the primary speed calculation result and the orbit control acceleration aT, calculating to obtain a predicted ideal shutdown point position rK; performing secondary calculation according to the predicted ideal shutdown point position rK to obtain a secondary speed calculation result; performing guidance target correction according to the predicted ideal shutdown point position rK and the secondary speed calculation result, obtaining a corrected guidance target, performing tertiary calculation according to the corrected guidance target, and obtaining a tertiary speed calculation result; and carrying out self-adaptive remote guidance control according to the tertiary speed calculation result. The invention aims to solve the problems of the existing Lambert guidance scheme so as to meet the task requirements of autonomy, adaptivity and high-precision guidance of future space maneuver.

A relative attitude and orbit coupling control method for a rendezvous and docking final approximation section aims at particularity of a space rendezvous and docking task, inherits advantages of a preset performance control method, and utilizes approximation capability of a radial basis function neural network (RBFNN) to compensate saturation nonlinearity of an execution mechanism in an actual rendezvous and docking task. The whole controller design process does not need model priori knowledge such as saturation nonlinear structural characteristics of the execution mechanism, external interference and orbiter mass rotational inertia, the calculation complexity can be greatly reduced, meanwhile, the control saturation constraint of the execution mechanism is considered while the preset steady-state and transient-state performance is considered, and the method has high engineering practicability.

The present invention belongs to the measurement technical field and relates to a large-field angle three-dimensional measuring instrument. The system comprises a target lighting unit, at least two scanning measurement stations and a spatial intersection measurement unit; the target lighting unit comprises a lighting source which projects emitted light onto a target of a measured target; the at least two scanning measurement stations are arranged in a manner that the at least two scanning measurement stations can perform synchronous scanning to obtain the images of the same target in a measurement field facing the scanning measurement stations and perform processing to obtain the angle information of the target with respect to the measurement stations; and the spatial intersection measurement unit is used for receiving the angle information and solving the angle information to obtain the spatial three-dimensional coordinate values of the target under a system spatial coordinate system. The measurement system can satisfy the requirements of large-space three-dimensional high-precision dynamic measurement and can be applied to the multi-point three-dimensional measurement of large-sized parts in shipbuilding, electric power, construction and transportation field and other fields.

The invention relates to an ultra-light steel wire rope linkage type space docking mechanism. The lightweight advantage of steel wire rope linkage is combined with the characteristic of large tolerance capacity of a claw type docking mechanism, and a design method of the ultra-light space docking mechanism is provided through reasonable structural layout. While the space rendezvous and docking function is achieved, a central channel is reserved, and transmission of electric signals or other information or media is achieved. The problem that an existing space docking mechanism is large in weight inertia is solved.

The invention discloses a synthetic aperture optical imaging system and a method based on a microsatellite platform. The synthetic aperture optical imaging system is formed by sub-telescope systems, optical delay line systems, sub-telescope light beam parallelism servo systems, a light beam synthesis system, an image reconstruction system and a computer control systems. The above sub-systems are installed on microsatellites. The microsatellites carrying the sub-telescope system flies in an annular manner adopting free formation and is controlled by the computer control system so that the base length thereof is changed. When resolution ratio demands required by a synthetic aperture is largely achieved, all the microsatellites are fixed in the relative positions by use of space rendezvous and docking technology so as to ensure the relative positions of the sub-telescope systems, thereby satisfying imaging requirements. According to the invention, it can be achieved that while resolution is increased, reliability of the system is enhanced, and the method has important application prospects in space detection aspects.

The invention discloses a device and method for gyroscopic type energy conversion for space docking. The energy conversion device can convert kinetic energy generated by a relative speed into rotating kinetic energy of the device through gyroscopic rotation when spacecrafts which have a large speed difference in space docking collide and are combined to be a whole, and thus this part of redundant energy is stored. The energy conversion process of the device is based on the mechanical energy conservation principle, it is guaranteed that the relative linear speeds of the two spacecrafts in rendezvous and docking in the space rendezvous and docking process are small enough, and the device and the method can be applied to rendezvous and docking tasks between the spacecrafts having large relative speeds.

The invention discloses a space rendezvous and docking laser radar scanning tracking control system and method. A single-chip DSP is used for establishing a closed-loop control system, and the motion directions and frequency division coefficients of two stepping motors are determined according to the azimuth axis angle value, the pitch axis angle value and the two-dimensional miss distance. The single-chip FPGA is adopted to realize SPWM subdivision driving of stepping motors of a pitch axis and an azimuth axis, and a pitch axis SPWM wave and an azimuth axis SPWM wave are generated according to the motion directions and frequency division coefficients of the two stepping motors; four bipolar H-bridge power drive circuits are used for amplifying the pitch axis SPWM waves and the azimuth axis SPWM waves and then controlling the two stepping motors to drive the azimuth axis and the pitch axis to rotate, and a four-quadrant detector is driven to conduct scanning and tracking. According to the invention, the single-chip DSP and the single-chip FPGA are adopted to realize the subdivision driving and closed-loop control of the azimuth axis and the pitch axis based on the stepping motors, and the required control function and performance index are realized under the condition of not adding additional control chips and sensors, so that the circuit and the structure are simplified, and the requirements of space application are met.

The invention provides a spacecraft rendezvous and docking device and method. Images of at least three light sources in the spacecraft rendezvous and docking device are obtained by an image obtainingdevice in the spacecraft rendezvous and docking device; according to the obtained images, information of the relative position between the image obtaining device and a target spacecraft is obtained, and therefore a tracking spacecraft can be automatically guided to an initial aiming point of the target spacecraft based on the information of the relative position; and manual adjusting links can beomitted at the final approaching stage and parking and docking stage during mutual docking, the tracking spacecraft can be precisely aligned with the initial aiming point of the target spacecraft through an automatic aligning mode, the success possibility of rendezvous and docking is increased, and thus docking safety is improved.

The invention relates to a preset performance control method for libration point orbit rendezvous without initial error symbols. The method comprises the steps of establishing a relative dynamic modelof a nonlinear libration point orbit, establishing a disturbance and uncertainty model and designing a three-order integral chain differentiator and a libration point orbit rendezvous preset performance control rule. The preset performance control method based on the three-order integral chain differentiator can ensure that the state of a rendezvous tail end system meets an actual preset performance requirement under the condition that disturbance and relative navigation errors exist and a thruster has a fault, that is to say, the safe and accurate rendezvous of a tracing spacecraft and a target spacecraft can be achieved, and a feasible control strategy is provided for future libration point orbit rendezvous tasks.

The invention provides a multi-medium complex-environment high-precision vision / inertia combination navigation method which is suitable for combination navigation of an underwater vehicle under a complex electromagnetic environment in a transparent medium. By means of the underwater vehicle for simulating rendezvous and docking of a spaceship and a satellite in a space micro-gravity environment, important test data and test verification are provided for the rendezvous and docking. The whole experiment system is used on ground. By means of buoyancy of water and adjustment of the direction of the ground electromagnetic field and the intensity of the electromagnetic field, the underwater vehicle is in a neutral buoyancy level, thereby satisfying an equivalent test condition of coincidence of space and ground. The multi-medium complex-environment high-precision vision / inertia combination navigation method can be used for controlling the underwater vehicle for simulating rendezvous and docking in space, so that the attitude, the speed, the position and the acceleration information of the underwater vehicle can be measured accurately.

The invention relates to a fixed-time relative attitude and orbit tracking control method under error constraint. Aiming at the particularity of a space rendezvous and docking task, the time when a relative orbit and attitude tracking error converges to a steady-state boundary constraint range is explicitly given by a fixed time stability concept, namely, the convergence time is preset. Meanwhile, compared with a traditional preset performance control method, it can be guaranteed that the relative attitude and orbit tracking error has expected dynamic and steady-state performance without an error transformation function, and meanwhile, a nonlinear disturbance observer is designed to estimate and compensate composite uncertainty such as system uncertainty and external disturbance so as to improve system robustness. The designed controller has high control precision and response speed, and meets the requirements of actual rendezvous and docking tasks on relative state constraint and convergence time constraint.

The invention relates to the technical field of spacecraft space rendezvous, and provides a spacecraft space autonomous rendezvous docking relative navigation method which comprises the following steps: constructing a spacecraft space autonomous rendezvous model; measuring relative position information; constructing a combined navigation system; and performing state estimation on the integrated navigation system through a simplified strong tracking volume Kalman filtering algorithm. According to the method, the integrated navigation system can be constructed through the measurement information autonomously acquired by the spacecraft, and the state estimation is carried out, so that the method has the advantages of small calculation amount, high filtering precision and good numerical stability, and has relatively good robustness. In addition, a simplified strong tracking cubature Kalman filtering algorithm is improved based on the statistical characteristics of a filtering residual sequence, so that the method disclosed by the invention has better adaptivity.

A grid-connection short circuit detection circuit for spacecraft rendezvous and docking comprises an isolation module, a voltage divider module, a protective module and a voltage stabilizer module; the protective module, the voltage divider module and the isolation module are connected in sequence to form a voltage input branch; two ends of the voltage input branch are connected with positive cables of an external test voltage and grid-connection power supply channel respectively; the voltage divider module and the isolation module are connected in sequence to form a positive return wire isolation branch; two ends of the positive return wire isolation branch are used for connecting the positive cable of the grid-connection power supply channel and an output end which is intended for outputting hard ware telemetric data to a satellite digital-tube platform; the voltage stabilizer module is connected with the isolation module in sequence to form a telemetry output branch; two ends of thetelemetry output branch are connected with the output end and grounded, and a connection point between the voltage stabilizer module and the isolation module is connected with a negative cable of thegrid-connection power supply channel.

The invention discloses a balance point Halo orbit phasing orbit transfer method taking the time constraint into consideration, relates to a Halo orbit phasing orbit transfer method based on an earth-moon three-body dynamic model and belongs to the technical field of aerospace. According to the method, a dynamic equation is established under a restrictive three-body model formed by the earth, the moon and the star, and a Halo orbit near the point L2 is generated under an earth-moon rotation system; the Halo orbit initial phase position of a detector and the phase position difference needing to be changed are determined, and the optimal fuel phasing orbit meeting the phase position constraint condition and the transfer time constraint condition is obtained through an optimization algorithm with the initial anchoring time and transfer time as optimization variables; and the time difference delta t, the task Halo orbit or the upper limit tmax of the transfer time are adjusted according to the task which the detector needs to fulfill, and the orbit shadow detection avoiding task or the spatial intersection detection task of the detector on the Halo orbit is fulfilled. The method can obtain the optimal fuel phasing orbit meeting the phase position constraint condition and the transfer time constraint condition, and has the advantages of good convergence, high flexibility and the like.

The invention relates to a demonstration device for a space rendezvous and docking technology, and belongs to an aerospace science popularization education instrument. The invention discloses a demonstration device for a space rendezvous and docking technology. The demonstration device for the space rendezvous and docking technology is characterized by comprising an exhibition stand, an inner guide rail device, an outer guide rail device, a space station device, a docking cabin device and a control device. By increasing the rotating speed of a servo motor E, the docking cabin model gradually pursues and gets close to the space station model after being accelerated for multiple times; adjusting the docking cabin model and the space station model to the same axial height by adjusting the rotation of a servo motor C; the rotating speed of the servo motor B is adjusted to be the same as the rotating speed of the servo motor A, so that the docking cabin model and the space station model rotate coaxially at the same speed, and finally docking is completed. By means of the device, the four stages of long-distance guiding, close-distance approaching, docking capturing and locking and combined sealing communication of the space docking technology are dynamically and completely displayed, visitors can further know the scientific principle of the space docking technology, dynamic changes in the space rendezvous and docking process are well displayed, and the space docking technology can be better displayed. Audiences can truly and vividly experience the scientific principle of the space rendezvous and docking technology, scientificity and interestingness are increased, and the situation that science and technology exhibition halls are lack of such demonstration devices is made up.

The invention discloses a space intersection control method of two-stage constant thrust, which is used for solving the technical problem that the engine is opened and closed frequently during the intersection process when the prior intersection control method of constant thrust is achieved. The technical solution is that the minimum opening-closing time Tmin constraint of the engine is introduced to the intersection control problem of the two-stage constant thrust engine; and the optimal intersection thrust under quadratic optimization function index is designed by rolling forecast principle. Because of considering the minimum opening-closing time constraint of the engine, the problem that the engine is opened and closed frequently is solved and the design difficulty of the engine is reduced; and the optimal design method has good robustness for design model error, measurement error and intersection thrust error.

The invention provides a space rendezvous system gain scheduling control method with linearization errors taken into consideration, and relates to a spacecraft orbit rendezvous gain scheduling control method. The space rendezvous system gain scheduling control method solves the problem that due to the fact that according to an existing aircraft orbit rendezvous control method, input saturation and parameter uncertainty caused by the linearization errors are ignored, time consumption is high when an aircraft orbit rendezvous task is completed. According to the space rendezvous system gain scheduling control method, the parameter uncertainty caused by the linearization errors is taken into consideration and endowed with exact meanings, an aircraft orbit rendezvous relative movement model is established, a gain scheduling controller of an aircraft orbit rendezvous is then designed, the aircraft orbit rendezvous is controlled through the gain scheduling controller, and the rendezvous task is completed. The space rendezvous system gain scheduling control method is mainly used for controlling the aircraft orbit rendezvous.

The invention discloses a low-speed wind tunnel model position and posture ultrasonic measurement system, which includes a controller, a precision stabilized power supply, and a target ultrasonic sensor, a beacon ultrasonic sensor and a real-time sound velocity measurement sensor respectively connected to the controller through cables; and The method of calibrating and demarcating the beacon ultrasonic sensor and the real-time sound velocity measurement ultrasonic sensor by using the base point calibration method and the real-time sound velocity measurement ultrasonic sensor by using the coordinate coincidence method; using the beacon ultrasonic sensor to obtain the upper 3 The coordinates of one or more target ultrasonic sensors on the wind tunnel coordinate axis and the coordinates of these sensors on the model coordinate axis can finally obtain the complete low-speed wind tunnel test model at this moment by solving the transformation parameters of the two coordinate axes. Pose parameters; the present invention adopts ultrasonic measurement of model poses, which can realize non-contact measurement of low-speed wind tunnel model poses, avoiding the interference effects of installation conditions and measuring equipment in the test section on the wind tunnel flow field, thereby avoiding the influence of Model the influence of aerodynamic data measurements.