38 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 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 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 a laser radar for space rendezvous and docking. The laser radar comprises a transmitting assembly, a laser adjusting device, a shaft angle encoder, a four-quadrant detection processing module and a servo drive control module. The transmitting assembly transmits laser. The laser adjusting device obtains a laser echo signal. The axial angle encoder detects an azimuth axis angle value and a pitch axis angle value. The four-quadrant detection processing module determines a two-dimensional miss distance and a distance measurement value according to the energy of the laser echo signal in each quadrant, wherein the laser echo signal is obtained after focusing by a scanning reflector. The servo drive control module controls two stepping motors to drive the azimuth axis and the pitch axis to rotate according to the azimuth axis angle value, the pitch axis angle value and the two-dimensional miss distance, and then the scanning reflector is driven to conduct scanning and tracking. According to the invention, the four-quadrant detection processing module is utilized to realize staring tracking to obtain the two-dimensional miss distance, and extract the distance measurement value of the laser echo signal, so that a set of receiving optical system is saved, and a light and small laser radar is constructed.

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.

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 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 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.