北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (4): 754-760.doi: 10.13700/j.bh.1001-5965.2019.0285

• 论文 • 上一篇    下一篇

航天器高精度多维安装解耦标定方法

毛柏源1, 姬军鹏2, 张鹏飞1   

  1. 1. 北京电子工程总体研究所, 北京 100854;
    2. 中国航天科工二院驻北京地区第一军事代表室, 北京 100854
  • 收稿日期:2019-06-10 发布日期:2020-04-21
  • 通讯作者: 张鹏飞 E-mail:zhangpengfeithu@tsinghua.org.cn
  • 作者简介:毛柏源,男,博士研究生。主要研究方向:飞行器制导与控制;姬军鹏,男,高级工程师,硕士。主要研究方向:空空机载武器信息;张鹏飞,男,高级工程师,博士研究生。主要研究方向:轨道、姿态动力学与控制。
  • 基金资助:
    国防科技创新特区项目

High-precision decoupling calibration method of multi-dimensional mounting spacecraft

MAO Boyuan1, JI Junpeng2, ZHANG Pengfei1   

  1. 1. Beijing Institute of Electronic System Engineering, Beijing 100854, China;
    2. The First Military Representative Office of the Second Research Academy of CASIC in Beijing, Beijing 100854, China
  • Received:2019-06-10 Published:2020-04-21
  • Supported by:
    National Defense Technology Innovation Zone Project

摘要: 针对航天器多维安装在耦合情形下的标定问题,提出一种基于成像器观测的在轨标定方法,该方法有效克服了标定方程组的耦合非线性。首先,结合成像器观测的物理意义推导出其应满足的几何方程,并通过各机械机构的安装传递关系建立矢量方程,进而通过双矢量方式建立矩阵方程。其次,分析矩阵方程成立应当满足的必要条件,通过灵活运用"特征向量"的数学特性,对串联机械机构安装进行解耦,得出一种以成像器观测为基础的在轨标定数学方法,并将2维安装推广到n维安装的一般情形,给出标准的计算流程。最后,对标定方法进行了数学仿真验证,同时仿真分析了观测噪声对标定方法的影响,仿真结果表明灵活运用"特征向量"解耦标定的方法是有效的、准确的。

关键词: 航天器, 安装误差, 在轨标定, 多维度, 特征向量

Abstract: Aimed at the calibration problem of spacecraft multi-dimensional installation in the coupling situation, an on-orbit calibration method based on imager observation is proposed, and this method effectively overcomes the coupling nonlinearity of the calibration equations. Firstly, the geometric equations that should be satisfied are derived by combining the physical meanings of the imager observation, the vector equations are established by the installation and transfer relationship of each mechanical mechanism, and then the matrix equations are established by the dual-vector method. Secondly, the necessary conditions for the establishment of the matrix equation are analyzed. Through flexible use of the mathematical characteristics of "eigenvector", the installation of the series mechanical mechanism is decoupled, and a mathematical method for on-orbit calibration based on imager observation is obtained, extending the two-dimensional installation to the general case of n-dimensional installation, and giving a standard calculation process. Finally, the calibration algorithm is verified by mathematical simulation. At the same time, the influence of observation noise on the calibration method is simulated. The simulation results show that the method of decoupling calibration using "eigenvector" is effective and accurate.

Key words: spacecraft, installation errors, on-orbit calibration, multi-dimension, eigenvector

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