基于触觉的空间非合作目标惯性参数辨识分析-identification and analysis of inertial parameters of space non-cooperative targets based on touch.docxVIP

AbstractAs the development of space technology, the orbital operation technologies of non-cooperative targets is getting more and more attention in the world. The orbital operation technology can completes many space tasks ,such as on-orbit assembly, on- orbit repairing, on-orbit maintaining, cleaning space junk, capturing or destroying the enemys military satellites. So, this technology has a high civil and military value. The measurement technology is the foundation of orbital operation technology, and vision-based measurement technique has been relatively mature, but the visual measurement techniques can only measure kinematic parameters, and does not identify the inertia parameters, and inertial parameters measurement is still in the exploratory stage. The accurate inertial parameters are directly related to the implementation of the orbital operation. At present, our study of inertial parameters identification of non-cooperative target is still leaving behind the developed countries. Therefore, the research on inertial parameters identification of non- cooperative target is very urgent and of great significance.Through the comprehensive analysis of spacecraft inertial parameters identification methods, a inertial parameters identification method based on the conservation of momentum is adopted. The method completes the parameters identification, by space robot rotating the antenna to motivate non-cooperative target, with the kinematic data information of space robot acquired by satellite-borne sensors and the kinematic data information of target got by the visual measurement techniques.For the analysis of the identification process, this paper determines the simple physical model, and builds kinematics and dynamics model of space robot and target, which lays the theoretical foundation of follow-up study.According to the analysis of the identification process, the linear regression equation of inertial parameter identification is deduced. This paper makes the er