| 基于姿态在线规划的两轴转台过顶盲区规避 |
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| 引用本文： | 叶立军,朱虹,丰保民,刘付成,宝音贺西. 基于姿态在线规划的两轴转台过顶盲区规避[J]. 空间控制技术与应用, 2020, 46(1): 8-15. DOI: 10.3969/j.issn.1674-1579.2020.01.002 |
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| 作者姓名： | 叶立军 朱虹 丰保民 刘付成 宝音贺西 |
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| 作者单位： | 清华大学航天航空学院,北京100084;上海航天控制技术研究所,上海201109;上海市空间智能控制技术重点实验室,上海201109;上海航天控制技术研究所,上海201109;上海市空间智能控制技术重点实验室,上海201109;清华大学航天航空学院,北京100084 |
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| 摘 要： | 过顶盲区问题是目标在两轴转台奇异点附近区域运动时,转台不能正常跟踪目标的一种现象.从数学和物理上对过顶盲区性进行解释说明,结合工程研制的一些约束条件,提出基于姿态自主在线路径规划的过顶盲区规避策略及具体实施办法,对该策略的假设条件进行了建模和误差估计.最终仿真证明本策略满足预期,适于工程应用.
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| 关 键 词： | 过顶盲区 姿态在线规划 两轴转台 |
Zenith Blind Zone Avoidance of Two axis Turntable#br#by Online Attitude Planning#br# |
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| Abstract: | Zenith blind zone is a phenomenon that the line of sight cannot track the target when the target maneuvers nearby the two axis turntable singular point. Firstly, the principle of the singular is explained in mathematical and physical ways. Secondly, the strategy of avoiding the turntable singular point and particular ways are expounded based on autonomous attitude path planning under the restriction of engineering. Thirdly, the hypothesis of the strategy is modeled and the error is estimated. Finally, the strategy is proved to be suitable for engineering application as expected by simulation. |
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