Three-line structured light vision system for non-cooperative satellites in proximity operations

Adapter ring is a commonly used component in non-cooperative satellites, which has high strength and is suitable to be recognized and grasped by the space manipulator. During proximity operations, this circle feature may be occluded by the robot arm or limited field of view. Moreover, the captured images may be underexposed when there is not enough illumination. To address these problems, this paper presents a structured light vision system with three line lasers and a monocular camera. The lasers project lines onto the surface of the satellite, and six break points are formed along both sides of the adapter ring. A closed-form solution for real-time pose estimation is given using these break points. Then, a virtual structured light platform is constructed to simulate synthetic images of the target satellite. Compared with the predefined camera parameters and relative positions, the proposed method is demonstrated to be more effective, especially at a close distance. Besides, a physical space verification system is set up to prove the effectiveness and robustness of our method under different light conditions. Experimental results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.     

Decentralized formation pose estimation for spacecraft swarms

For spacecraft swarms, the multi-agent localization algorithm must scale well with the number of spacecraft and adapt to time-varying communication and relative sensing networks. In this paper, we present a decentralized, scalable algorithm for swarm localization, called the Decentralized Pose Estimation (DPE) algorithm. The DPE considers both communication and relative sensing graphs and defines an observable local formation. Each spacecraft jointly localizes its local subset of spacecraft using direct and communicated measurements. Since the algorithm is local, the algorithm complexity does not grow with the number of spacecraft in the swarm. As part of the DPE, we present the Swarm Reference Frame Estimation (SRFE) algorithm, a distributed consensus algorithm to co-estimate a common Local-Vertical, Local-Horizontal (LVLH) frame. The DPE combined with the SRFE provides a scalable, fully-decentralized navigation solution that can be used for swarm control and motion planning. Numerical simulations and experiments using Caltech’s robotic spacecraft simulators are presented to validate the effectiveness and scalability of the DPE algorithm.     

Nonlinear filtering for sequential spacecraft attitude estimation with real data: Cubature Kalman Filter,Unscented Kalman Filter and Extended Kalman Filter

This article compares the attitude estimated by nonlinear estimator Cubature Kalman Filter with results obtained by the Extended Kalman Filter and Unscented Kalman Filter. Currently these estimators are the subject of great interest in attitude estimation problems, however, mostly the Extended Kalman Filter has been applied to real problems of this nature. In order to evaluate the behavior of the Extended Kalman Filter, Unscented Kalman Filter and Cubature Kalman Filter algorithms when submitted to realistic situations, this paper uses real data of sensors on-board the CBERS-2 remote sensing satellite (China Brazil Earth Resources Satellite). It is observed that, for the case studied in this article, the filters are very competitive and present advantages and disadvantages that should be dealt with according to the requirements of the problem.     

指数分布的预测问题

对指数分布的单样、双样预测问题，进行了详细的讨论，这对寿命服从指数分布的产品的寿命试验有指导意义．     

A novel signal processing approach for LEO space debris based on a fence-type space surveillance radar system

The increase in space debris can seriously threaten regular activities in the Low Earth Orbit (LEO) environment. Therefore, it is necessary to develop robust, efficient and reliable techniques to understand the potential motions of the LEO debris. In this paper, we propose a novel signal processing approach to detect and estimate the motions of LEO space debris that is based on a fence-type space surveillance radar system. Because of the sparse distribution of the orbiting debris through the fence in our observations, we formulate the signal detection and the motion parameter estimation as a sparse signal reconstruction problem with respect to an over-complete dictionary. Moreover, we propose a new scheme to reduce the size of the original over-complete dictionary without the loss of the important information. This new scheme is based on a careful analysis of the relations between the acceleration and the directions of arrival for the corresponding LEO space debris. Our simulation results show that the proposed approach can achieve extremely good performance in terms of the accuracy for detection and estimation. Furthermore, our simulation results demonstrate the robustness of the approach in scenarios with a low Signal-to-Noise Ratio (SNR) and the super-resolution properties. We hope our signal processing approach can stimulate further work on monitoring LEO space debris.     

A novel LAAS pseudo-range error over-bound method based on improved pseudo-range error distribution model

The high level of safety demand of civil aviation requests local area augmentation system (LAAS) extremely high navigation integrity performance. A new LAAS pseudo-range error overbound method is proposed in this paper to improve the integrity of LAAS. Firstly, a more practical pseudo-range error distribution model is established. Then, by calculating the relationship between the statistical uncertainty of the model parameter and the integrity risk, a new method is proposed to calculate the pseudo-range error over-bound model. This method can effectively reduce the inflation factor and the resulting conservativeness of the over-bound model. Comparative experiments show that the method proposed in this paper performs better and satisfies the requirements of real applications.     

轻型通用飞机起飞总重估算方法研究

飞机的起飞总重是飞机的重要设计参数,概念设计阶段首先要做的重要工作之一就是确定飞机的起飞总重。以四人座低速活塞螺旋桨飞机为例,采用任务剖面法和商载航程法分别对起飞总重进行了估算,并对两种方法进行了修正,在此基础上,取两个计算结果的平均值作为最终的起飞总重估算值。通过与对比机型的比较,验证修正后的计算方法和结果是准确合理的,为通用飞机起飞总重的确定和选择提供了参考。     

频域内参数估计

研究了在频域中利用方程误差法结合递推的傅里叶变换技术进行线性系统实时参数估计的方法。分别从频域中的方程误差法、递推的傅里叶变换和计算频率范围选择三个地参数估计进行了较详细地分析。通过结某型战斗机进行模拟计算，结果表明：该方法能自动过滤噪声；占用计算机内存固定；计算量小；不需要输入任何初值并在计算中调整任何参数；所估计的参数值能够在系统模态周期１．０￣１．５倍的时间内逼近真值，即使在信号水平较低的情     

卷簧式柔性取样器的取样头-岩石接触原位辨识(英文)

取样头和岩石接触问题与月壤取样的成功与否直接相关,基于小型卷簧式月壤取样器的柔性取样臂结构,提出了振动取样法:在取样过程中采集振动信号进行数字信号处理与分析,达到对取样头-岩石接触的辨识。首先对振动信号进行采集、消除趋势项,然后利用小波多分辨分析去噪,采用现代功率谱中基于AR模型的Burg法对振动信号进行特征提取,最后采用二分类支持向量机对取样头是否接触到岩石进行识别。实验结果证明,卷簧式取样器的振动信号分析能够对取样头-岩石接触问题进行较好的辨识。     

一种民用飞机液压系统自增压油箱容积计算方法

选择合适的油箱容积是保障液压系统正常工作的必要前提，为了能够合理计算民用飞机自增压油箱的容积，基于SAE AS5586 飞机液压系统油箱通用设计要求，介绍并分析飞机液压系统工作中作动筒、蓄压器以及油液物理特性等所产生的变化容积的计算方法，提出一套循序渐进的油箱容积计算方法以求得油箱设计所需的各类容积值；以某型飞机液压系统油箱容积计算为例，通过对极冷极热天气条件下各飞行阶段的油量分析，并和机上油箱油量记录曲线对比，验证提出的容积计算方法的有效性。结果表明：该型飞机液压系统油箱容积在全飞行阶段均能满足要求，本文所提油箱容积计算方法可行，可用于类似液压系统油箱容积计算。