空间交会对接中远段相对导航仿真验证研究
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摘要
空间交会对接(RVD)技术是人类深层开发空间的关键技术,完整的空间交会对接是个非常庞大、复杂的系统,在地面进行仿真验证试验十分必要。导航技术作为交会对接能否成功的关键技术,一般分为远程导引和中远段相对导航,前者在现代航天探索中已经被逐渐掌握并发展成熟,后者的研究相对较少,但中远段相对导航是最终逼近段及对接能否成功的一个重要因素。所以研究空间交会中远段相对导航具有重要的理论和实际意义。
本文为设计空间交会中远段相对导航半物理仿真系统而进行了仿真验证研究。首先,由于空间远距离与地面小范围仿真不匹配而给出了相似性理论,从而将空间运动与地面仿真联系起来,并根据地面半物理仿真设备要求,研究了仿真范围,建立了动力学仿真模型;其次,由于地面仿真中激光交会雷达无法接入半物理仿真系统,利用激光测距仪和视觉导航相机的组合来替换,并从激光交会雷达与替换方案之间的功能、精度和实时性等方面进行了理论分析与验证,结果证明了该组合方案的可行性;然后,采用从“天”到“地”的方法,将空间真实运动划分为寻的段和接近段分别研究,推导出两段范围内位姿的速度和加速度等参数,再利用相似性原理将其转化为地面半物理仿真设备的设计参考数据,为后续研究者设计、构建地面半物理仿真系统提供参考依据;最后,分析了地面半物理仿真系统中追踪模拟器、目标模拟器和地面监控系统三部分的组成,并针对中远段相对导航半物理仿真系统设计了仿真实验,为后续半物理仿真系统的试验应用提供了参考依据。
Space Rendezvous and Docking is the key technology on space depth exploitation. It is a very large, complex system, and simulation on the ground is very necessary. Navigation comprises long-range guidance and relative navigation of moderate or far distance. The former in modern aerospace exploration and development has been gradually grasped and developed maturely, relatively, the latter study develops slowly, though it is an important prerequisite for success of the follow-up Final Approach and Final Docking. So the study of the relative navigation of space rendezvous during moderate or far distance has important theoretical and practical significance.
In order to design the semi-physical simulation system for relative navigation of space rendezvous during moderate or far distance, this paper provides a detailed analysis and makes lots of simulation. First of all, due to space long distance and small-scale simulation of on the ground does not match, then provides the theory of similarity, establishes the basis of simulation. And discusses the ground simulation equipment requirements dynamic range and simulation dynamic model; Secondly, the paper based on simulation of the real measurement of the ground sensor can not access the system, and make use of the combination of laserdistancemeter and a visual navigation camera to replace rendezvous lidar, and from functions, precision and real-time connection of reality and replacement makes explainment and simulation, then proves that the replacement is suitable; Thirdly, using approach from "space" to "ground", for the development the paper discusses system moving parameters of the ground semi-physical simulation system. Then divides real movement into Transfer of homing phase and Transfer between V-bar holding points, infers parameters such as speed and acceleration, re-uses the theory of similarity to transform the ground semi-physical simulation into the design of equipment reference, provides the reference for designing and building the ground semi-physical simulation system; Finally, the paper discusses physical simulation equipment to track simulator, target simulator and ground monitoring system, then designs the simulation experiments basin on simulation equipment and devices of relative navigation during moderate or far distance, provides a reference for subsequent researchers.
本文为设计空间交会中远段相对导航半物理仿真系统而进行了仿真验证研究。首先,由于空间远距离与地面小范围仿真不匹配而给出了相似性理论,从而将空间运动与地面仿真联系起来,并根据地面半物理仿真设备要求,研究了仿真范围,建立了动力学仿真模型;其次,由于地面仿真中激光交会雷达无法接入半物理仿真系统,利用激光测距仪和视觉导航相机的组合来替换,并从激光交会雷达与替换方案之间的功能、精度和实时性等方面进行了理论分析与验证,结果证明了该组合方案的可行性;然后,采用从“天”到“地”的方法,将空间真实运动划分为寻的段和接近段分别研究,推导出两段范围内位姿的速度和加速度等参数,再利用相似性原理将其转化为地面半物理仿真设备的设计参考数据,为后续研究者设计、构建地面半物理仿真系统提供参考依据;最后,分析了地面半物理仿真系统中追踪模拟器、目标模拟器和地面监控系统三部分的组成,并针对中远段相对导航半物理仿真系统设计了仿真实验,为后续半物理仿真系统的试验应用提供了参考依据。
Space Rendezvous and Docking is the key technology on space depth exploitation. It is a very large, complex system, and simulation on the ground is very necessary. Navigation comprises long-range guidance and relative navigation of moderate or far distance. The former in modern aerospace exploration and development has been gradually grasped and developed maturely, relatively, the latter study develops slowly, though it is an important prerequisite for success of the follow-up Final Approach and Final Docking. So the study of the relative navigation of space rendezvous during moderate or far distance has important theoretical and practical significance.
In order to design the semi-physical simulation system for relative navigation of space rendezvous during moderate or far distance, this paper provides a detailed analysis and makes lots of simulation. First of all, due to space long distance and small-scale simulation of on the ground does not match, then provides the theory of similarity, establishes the basis of simulation. And discusses the ground simulation equipment requirements dynamic range and simulation dynamic model; Secondly, the paper based on simulation of the real measurement of the ground sensor can not access the system, and make use of the combination of laserdistancemeter and a visual navigation camera to replace rendezvous lidar, and from functions, precision and real-time connection of reality and replacement makes explainment and simulation, then proves that the replacement is suitable; Thirdly, using approach from "space" to "ground", for the development the paper discusses system moving parameters of the ground semi-physical simulation system. Then divides real movement into Transfer of homing phase and Transfer between V-bar holding points, infers parameters such as speed and acceleration, re-uses the theory of similarity to transform the ground semi-physical simulation into the design of equipment reference, provides the reference for designing and building the ground semi-physical simulation system; Finally, the paper discusses physical simulation equipment to track simulator, target simulator and ground monitoring system, then designs the simulation experiments basin on simulation equipment and devices of relative navigation during moderate or far distance, provides a reference for subsequent researchers.
引文
1淮安新闻周刊.“天宫一号”已进入出洋研制阶段. http://www.hynews.n-et/news/2008-11/26/content_61515.htm, 2008-11-26
2林来兴.空间交会对接技术.国防工业出版社, 1995
3 Machula M F, Sandhoo G S. Rendezvous and Docking for Space Exploration. AIAA, 2005
4 Zimpfer D, Kachmar P, Tuohy S. Autonomous Rendezvous, Capture and In-Space Assembly: Past, Present and Future. AIAA, 2005
5 Fehse W. Automated Rendezvous and Docking of Spacecraft. Cambridge university press, 2003
6张淑琴.空间交会对接测量技术及工程应用.宇航出版社, 2005
7李立涛,杨旭,李顺利.针对非合作目标的中远距离相对导航方法.吉林大学学报(工学版). 2008. 38 (4): 986~990
8 Joe Evans, Dr. Elfego PinonⅢ. The History and Future of Space Simulations. AIAA Modeling and Simulation Technologies Conference and Exhibit, 2004
9单家元,孟秀云,丁艳.半实物仿真.国防工业出版社, 2008
10李紫峰.对接靠拢段的一种相对导航算法研究.航天控制. 2005, 23 (5): 27~30
11周文勇,袁建平,罗建军.对异面椭圆轨道目标航天器绕飞的相对导航算法.西北工业大学学报. 2007, 25 (2): 210~213
12 Roberto Alonso, John L. Crassidis, John L. Junkins. AIAA Guidance, Navigation, and Control Conference and Exhibit, Denver, 2000
13 Son-Goo Kim, John L. Crassidis, Yang Cheng, Adam M. Fosbury. Kalman Filtering for Relative Spacecraft Attitude and Position Estimation. AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, California, 2005
14 Javad Rezaie, Behzad Moshiri, Babak N. Araabi, Ali Asadian. GPS/INS Integration Using Nonlinear Blending Filters. SICE Annual Conference. 2007
15马婷婷,魏晨曦.空间交会对接测量技术的发展.中国航天. 2004, (7): 30~32
16张新邦,刘良栋,刘慎钊.航天器交会仿真试验的运动模拟器.空间控制技术与应用. 2009 (4): 51~55
17 Masaaki, Mokuno等.日本ETS-7自主交会对接的实验结果.控制工程, 2000 (4): 49~63
18 Masaaki Mokuno, Isao Kawano Hiroshi, Horiguchi, Koichi Kibe. Deve-lopment ofETS-VII RVD system Preliminary design and EM development phase. AIAA Guidance, Navigation and Control Conference, Baltimore, MD, Aug 7-10, 1995, Technical Papers. Pt. 3 (A95-39609 10-63), Washington, DC, American Institute of Aeronautics and Astronautics, 1995, p. 1656~1664
19 Isao Kawano, Masaaki Mokuno, Toru Kasai, Takashi Suzuki. Result and evalualuation of autonomous rendezvous docking experiment of ETS-Ⅶ. AIAA Guidance, Navigation, and Control Conference and Exhibit, Portland, OR, Aug. 9~11, 1999
20王存恩,于家源.尽快建成我国交会对接仿真设备的必要性和紧迫感. 2003全国仿真技术学术会议论文集, 2003
21 S.Ananthakrishnan, R. Teders, K.Alder. Role of Estimation in Real-time Contact Dynamics Enhancement of Space Station Engineering Facility. IEEE Robotics & Automation Magazine, 1996, 9: 20~28
22 D. Grimbert, P. Marchal. Dynamic. Testing of A Docking System.N8819516, 1987: 281~288
23 H. Kawabe, E. Inohira, T. Kubota, et, Analytical and Experimental Evaluation of Impact Dynamics on a High-speed Zero G Motion Simulator. Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hawaii, USA, 2005: 39~45
24金福伟.对接机构综合试验台系统分析与试验研究.哈尔滨工业大学硕士学位论文. 2006: 54~75
25延浩.基于六自由度平台的空间对接半物理仿真系统研究.哈尔滨工业大学博士学位论文. 2007: 87~118
26 Hihara H, Nagai K, Miyoshi H, et. Development of the Rendezvous Radar for the Enginering Test SatelliteⅦ. AIAA 98~1297, 1998
27 Tobias A, Fehse W. Rendezvous Sensor Performance Requirements & Validation on a Motion Simulation Facility. AIAA 92~4437, 1992
28赵小楼,王铁山,程光明,邓石桥.基于相似原理的摩擦材料1:5缩比台架及其可比性分析.润滑与密封, 2007. 32 (5): 153~156
29贾杰.航天器姿态半物理仿真原理及其试验方法研究.西北工业大学博士学位论文, 2006: 7~9
30 Coverstone-Carroll,Prussing J E. Optimal Cooperative Power-Limited Re-ndezvous Between Neighboring Circular Orbits. Journal of Guidance, Control and Dynamics, 1993, 16 (6): 1045~1054
31 Coverstone-Carroll, Prussing J E. Optimal Cooperative Power-Limited Re-ndezvous Between Coplanar Circular Orbits. Journal of Guidance, Control and Dynamics, 1994, 17 (5): 1096~1102
32林来兴.空间交会对接技术.国防工业出版社, 1995
33余燕.基于红外CCD与激光测距仪融合的行人检测技术研究.吉林大学硕士学位论文, 2008: 48~50
34李赣华.基于摄像机和二维激光测距仪的三维建模关键技术研究.国防科技大学博士学位论文, 2006: 7~8
35许飞,王学飞,徐玉龙. CCD相机的数据采集与实时处理.软件导刊. 2009. 8 (8): 116~117
36付新启.论相对精度及其计算方法.测绘通报. 1999. 1: 9~11
37李德仁,袁修孝.误差处理与可靠性理论.武汉大学出版社, 2002
38朱仁璋,李彦,李颐黎.论空间交会中的径向连续推力机动与N次推力机动.中国空间科学技术. 2004. 6 (3): 21~28
39朱仁璋.航天器交会对接技术.国防工业出版社, 2007: 123~127
40王华.交会对接的控制与轨迹安全.国防科学技术大学博士学位论文, 2007: 64~66
41 Mullins L D. Initial Value and Two Point Boundary Value Solutions to the Clohessy-Wiltshine Equations. Journal of the Astronautical Sciences, 1992, 40 (4): 487~501
42朱仁璋.航天器交会对接技术.国防工业出版社, 2007: 174~184
43 Philip N K, Aanathasayanam M R. Relative Position and Attitude Estimation and Control Schemes for the Final Phase of an Autonomous Docking Mission of Spacecraft. Acta Astronautica, 2003, 52 (7): 511~522
44 F. Affiatati. C. R. Haddow, C.Muller, Y. Tan, G. Villemos. ESA Ground Operation System-Low Level Comonents and Framework. Space Ops 2006 Conference. 2006
2林来兴.空间交会对接技术.国防工业出版社, 1995
3 Machula M F, Sandhoo G S. Rendezvous and Docking for Space Exploration. AIAA, 2005
4 Zimpfer D, Kachmar P, Tuohy S. Autonomous Rendezvous, Capture and In-Space Assembly: Past, Present and Future. AIAA, 2005
5 Fehse W. Automated Rendezvous and Docking of Spacecraft. Cambridge university press, 2003
6张淑琴.空间交会对接测量技术及工程应用.宇航出版社, 2005
7李立涛,杨旭,李顺利.针对非合作目标的中远距离相对导航方法.吉林大学学报(工学版). 2008. 38 (4): 986~990
8 Joe Evans, Dr. Elfego PinonⅢ. The History and Future of Space Simulations. AIAA Modeling and Simulation Technologies Conference and Exhibit, 2004
9单家元,孟秀云,丁艳.半实物仿真.国防工业出版社, 2008
10李紫峰.对接靠拢段的一种相对导航算法研究.航天控制. 2005, 23 (5): 27~30
11周文勇,袁建平,罗建军.对异面椭圆轨道目标航天器绕飞的相对导航算法.西北工业大学学报. 2007, 25 (2): 210~213
12 Roberto Alonso, John L. Crassidis, John L. Junkins. AIAA Guidance, Navigation, and Control Conference and Exhibit, Denver, 2000
13 Son-Goo Kim, John L. Crassidis, Yang Cheng, Adam M. Fosbury. Kalman Filtering for Relative Spacecraft Attitude and Position Estimation. AIAA Guidance, Navigation, and Control Conference and Exhibit, San Francisco, California, 2005
14 Javad Rezaie, Behzad Moshiri, Babak N. Araabi, Ali Asadian. GPS/INS Integration Using Nonlinear Blending Filters. SICE Annual Conference. 2007
15马婷婷,魏晨曦.空间交会对接测量技术的发展.中国航天. 2004, (7): 30~32
16张新邦,刘良栋,刘慎钊.航天器交会仿真试验的运动模拟器.空间控制技术与应用. 2009 (4): 51~55
17 Masaaki, Mokuno等.日本ETS-7自主交会对接的实验结果.控制工程, 2000 (4): 49~63
18 Masaaki Mokuno, Isao Kawano Hiroshi, Horiguchi, Koichi Kibe. Deve-lopment ofETS-VII RVD system Preliminary design and EM development phase. AIAA Guidance, Navigation and Control Conference, Baltimore, MD, Aug 7-10, 1995, Technical Papers. Pt. 3 (A95-39609 10-63), Washington, DC, American Institute of Aeronautics and Astronautics, 1995, p. 1656~1664
19 Isao Kawano, Masaaki Mokuno, Toru Kasai, Takashi Suzuki. Result and evalualuation of autonomous rendezvous docking experiment of ETS-Ⅶ. AIAA Guidance, Navigation, and Control Conference and Exhibit, Portland, OR, Aug. 9~11, 1999
20王存恩,于家源.尽快建成我国交会对接仿真设备的必要性和紧迫感. 2003全国仿真技术学术会议论文集, 2003
21 S.Ananthakrishnan, R. Teders, K.Alder. Role of Estimation in Real-time Contact Dynamics Enhancement of Space Station Engineering Facility. IEEE Robotics & Automation Magazine, 1996, 9: 20~28
22 D. Grimbert, P. Marchal. Dynamic. Testing of A Docking System.N8819516, 1987: 281~288
23 H. Kawabe, E. Inohira, T. Kubota, et, Analytical and Experimental Evaluation of Impact Dynamics on a High-speed Zero G Motion Simulator. Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Hawaii, USA, 2005: 39~45
24金福伟.对接机构综合试验台系统分析与试验研究.哈尔滨工业大学硕士学位论文. 2006: 54~75
25延浩.基于六自由度平台的空间对接半物理仿真系统研究.哈尔滨工业大学博士学位论文. 2007: 87~118
26 Hihara H, Nagai K, Miyoshi H, et. Development of the Rendezvous Radar for the Enginering Test SatelliteⅦ. AIAA 98~1297, 1998
27 Tobias A, Fehse W. Rendezvous Sensor Performance Requirements & Validation on a Motion Simulation Facility. AIAA 92~4437, 1992
28赵小楼,王铁山,程光明,邓石桥.基于相似原理的摩擦材料1:5缩比台架及其可比性分析.润滑与密封, 2007. 32 (5): 153~156
29贾杰.航天器姿态半物理仿真原理及其试验方法研究.西北工业大学博士学位论文, 2006: 7~9
30 Coverstone-Carroll,Prussing J E. Optimal Cooperative Power-Limited Re-ndezvous Between Neighboring Circular Orbits. Journal of Guidance, Control and Dynamics, 1993, 16 (6): 1045~1054
31 Coverstone-Carroll, Prussing J E. Optimal Cooperative Power-Limited Re-ndezvous Between Coplanar Circular Orbits. Journal of Guidance, Control and Dynamics, 1994, 17 (5): 1096~1102
32林来兴.空间交会对接技术.国防工业出版社, 1995
33余燕.基于红外CCD与激光测距仪融合的行人检测技术研究.吉林大学硕士学位论文, 2008: 48~50
34李赣华.基于摄像机和二维激光测距仪的三维建模关键技术研究.国防科技大学博士学位论文, 2006: 7~8
35许飞,王学飞,徐玉龙. CCD相机的数据采集与实时处理.软件导刊. 2009. 8 (8): 116~117
36付新启.论相对精度及其计算方法.测绘通报. 1999. 1: 9~11
37李德仁,袁修孝.误差处理与可靠性理论.武汉大学出版社, 2002
38朱仁璋,李彦,李颐黎.论空间交会中的径向连续推力机动与N次推力机动.中国空间科学技术. 2004. 6 (3): 21~28
39朱仁璋.航天器交会对接技术.国防工业出版社, 2007: 123~127
40王华.交会对接的控制与轨迹安全.国防科学技术大学博士学位论文, 2007: 64~66
41 Mullins L D. Initial Value and Two Point Boundary Value Solutions to the Clohessy-Wiltshine Equations. Journal of the Astronautical Sciences, 1992, 40 (4): 487~501
42朱仁璋.航天器交会对接技术.国防工业出版社, 2007: 174~184
43 Philip N K, Aanathasayanam M R. Relative Position and Attitude Estimation and Control Schemes for the Final Phase of an Autonomous Docking Mission of Spacecraft. Acta Astronautica, 2003, 52 (7): 511~522
44 F. Affiatati. C. R. Haddow, C.Muller, Y. Tan, G. Villemos. ESA Ground Operation System-Low Level Comonents and Framework. Space Ops 2006 Conference. 2006