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刘厚德1,梁斌2,徐文福3,穆清涛1,余江华1
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摘要： 随着空间技术的发展与在轨服务能力的提升，其服务对象逐渐由合作三轴稳定目标延伸至非合作自旋（翻滚）目标。本文首先对自旋目标的运动特性和运动预测问题进行了分析,并采用无损卡尔曼滤波方法（UKF）对其当前运动状态进行估计，在此基础上对未来时刻运动状态进行预测。提出了一种基于预测速度补偿的自旋目标自主捕获路径规划方法，并对所提方法进行了数值仿真，仿真结果表明了方法的可行性和有效性。
关键词: 自旋目标 运动预测 UKF 自主捕获 路径规划
Abstract: The objects of on-orbit service are extended to non-cooperative spin (tumbling) target from the cooperation axis stabilized targets gradually, with the development of space technology and the capabilities enhanced. In this paper, the problem of motion characteristics and motion prediction of the spin target is analyzed, and using Unscented Kalman Filter (UKF) to predict its movement. On this basis, a method of autonomous path planning of a free-floating space robot for target capturing is proposed, which is based on motion prediction and speed compensation. Finally, the method is introduced and simulated, and the simulation results show the feasibility and validity.
Key words: Spin target Motion prediction UKF Autonomous capture Path planning
刘厚德 梁斌 徐文福 穆清涛 余江华. 自旋目标运动预测与自主捕获路径规划方法研究[J]. , 0, (): 0-0.
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链接本文: http://xuebao.jlu.edu.cn/Jwk_gxb/CN/
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