Prospects in the orbital and rotational dynamics of the Moon with the advent of sub-centimeter lunar laser ranging

Lunar laser ranging (LLR) measurements are crucial for advanced exploration of the laws of fundamental gravitational physics and geophysics as well as for future human and robotic missions to the Moon. The corner-cube reflectors (CCR) currently on the Moon require no power and still work perfectly since their installation during the project Apollo era. Current LLR technology allows us to measure distances to the Moon with a precision approaching 1 mm. As NASA pursues the vision of taking humans back to the Moon, new, more precise laser ranging applications will be demanded, including continuous tracking from more sites on Earth, placing new CCR arrays on the Moon, and possibly installing other devices such as transponders, etc. for multiple scientific and technical purposes. Since this effort involves humans in space, then in all situations the accuracy, fidelity, and robustness of the measurements, their adequate interpretation, and any products based on them, are of utmost importance. Successful achievement of this goal strongly demands further significant improvement of the theoretical model of the orbital and rotational dynamics of the Earth–Moon system. This model should inevitably be based on the theory of general relativity, fully incorporate the relevant geophysical processes, lunar librations, tides, and should rely upon the most recent standards and recommendations of the IAU for data analysis. This paper discusses methods and problems in developing such a mathematical model. The model will take into account all the classical and relativistic effects in the orbital and rotational motion of the Moon and Earth at the sub-centimeter level. The model is supposed to be implemented as a part of the computer code underlying NASA Goddard’s orbital analysis and geophysical parameter estimation package GEODYN and the ephemeris package PMOE 2003 of the Purple Mountain Observatory. The new model will allow us to navigate a spacecraft precisely to a location on the Moon. It will also greatly improve our understanding of the structure of the lunar interior and the nature of the physical interaction at the core–mantle interface layer. The new theory and upcoming millimeter LLR will give us the means to perform one of the most precise fundamental tests of general relativity in the solar system.     

曲面幕墙清洁机器人攀爬技术

针对国家大剧院超椭球外表面的清洗问题,设计了一种新型自攀爬机器人.机器人具有全方位运动能力,相对于擦洗运动而言,攀爬运动是影响机器人作业安全性的主要因素.分析了攀爬运动的运动学模型,利用拉格朗日方法对该状态下的动力学问题进行了研究,并针对攀爬运动的特殊性,对机器人前后俯仰支撑控制问题进行分析,结合建筑物表面特点并依靠仿真,得到机器人作业过程中俯仰机构受力分布曲线,为机器人攀爬支撑力的切换提供了理论依据.      

基于自适应搜索的快速运动估计算法

在MPEG和H.263的运动估计中,全搜索(FS)效果虽好但时间开销巨大,以三步搜索法为代表的一些快速算法不仅在搜索精度方面与FS相比有较大的差距,而且搜索时间仍不能满足实际的需要.提出的基于自适应搜索的快速运动估计算法(ASA)充分利用了视频序列运动矢量在空间分布上的中心偏置特性和相邻块运动的相关性,在大幅度提高搜索效率的情况下,得到了与全搜索非常接近的搜索效果.与现有算法相比,该算法具有高效、鲁棒性强的特点.      

基于扩展卡尔曼滤波的舰机相对位姿估测

通过将基于扩展卡尔曼滤波的长序列图像分析方法与单目视觉技术相结合,把无人机自主着舰视觉导引中舰机间相对位姿的估测,转化为机载摄像机对着舰靶标平面3D位姿的实时估测问题.首先根据透视投影理论,建立了以摄像机的透镜中心为原点且Z轴与光轴重合的摄像机坐标系和世界坐标系,然后利用机载摄像机连续拍摄的靶标图像序列,选择描述相对运动的3个欧拉角、平移向量及它们的速度作为状态变量;由靶标角点的提取和帧间匹配,建立了反映着舰靶标上特征点的图像坐标和状态变量之间关系的观测方程,带入扩展卡尔曼滤波器,估测出舰机的相对运动参数.计算机数据仿真和基于DSP平台的半实物仿真试验验证了算法的有效性和鲁棒性.      

航天器再对接撤退策略

在航天器交会对接最终逼近段、相对导航系统或其它系统出现故障、不得不中止逼近过程的情况下,若机动发动机仍能正常工作,应撤退至最终逼近段进入点,排除故障后,进行再对接。撤退方式的选择应全面考虑转移时间、速度增量、轨迹视界角以及可能产生的羽烟污染等因素。将相对运动方程设计的机动方案,代入绝对运动的轨道摄动方程中,验证了计算结果的正确性。     

卷弧翼火箭气动参数数值模拟

由卷弧翼火箭圆锥运动稳定性分析需要,对卷弧翼火箭稳态流场作数值模拟,并将计算结果与试验结果进行对比,验证了数值模拟的精度,且计算中得到试验中不易获得的侧向力矩系数。根据翼面压力分布,分析了卷弧翼火箭自诱导滚转力矩和侧向力矩产生的原因。利用强迫滚转法和气动辨识技术计算了火箭的滚转阻尼力矩系数,计算结果和试验结果差别不大。经数值模拟圆锥运动时卷弧翼火箭的非稳态流场认为,圆锥运动对阻力的影响主要是由攻角产生的静态效应。     

基于航天TDICCD相机像移分析的PSF估计及图像复原算法研究

根据时间延迟积分电荷耦合器件(TDICCD)特殊的工作原理,分析了其产生像移的原因 ,基于对TDICCD像移的分析估计出模糊图像的点扩散函数(PSF)。根据TDICCD像移产生的机 理,建立了图像退化的数学模型,并在功率谱均衡复原算法的基础之上提出了像移复原滤波的 数学表达式,对运动模糊图像进行了半盲恢复,通过Matlab仿真证明了图像复原算法的可行 性和有效性。
     

火工展开机构负载模拟试验系统特性分析

文章介绍了某型号火工展开机构负载模拟试验系统的结构形式及工作原理,通过摆杆滑块机构与气体加载气缸直接联动,实现了加载的快速响应。文章对此机构进行了运动学分析和动力学分析,应用Matlab运算平台求解出机构运动的相关曲线以及加载力曲线,并对加载力试验结果进行了对比分析和理论分析。通过比较,两条曲线在两端的数据平均误差较小(小于5%),而曲线中间的平均数据误差较大(约为10%左右),实际试验加载曲线位置略高于理论设计曲线。     

Parallel,adaptive, multi-object trajectory integrator for space simulation applications

Computer simulation is a very helpful approach for improving results from space born experiments. Initial-value problems (IVPs) can be applied for modeling dynamics of different objects – artificial Earth satellites, charged particles in magnetic and electric fields, charged or non-charged dust particles, space debris. An ordinary differential equations systems (ODESs) integrator based on applying different order embedded Runge–Kutta–Fehlberg methods is developed. These methods enable evaluation of the local error. Instead of step-size control based on local error evaluation, an optimal integration method is selected. Integration while meeting the required local error proceeds with constant-sized steps. This optimal scheme selection reduces the amount of calculation needed for solving the IVPs. In addition, for an implementation on a multi core processor and parallelization based on threads application, we describe how to solve multiple systems of IVPs efficiently in parallel.     

On the Lagrange and Hill stability of motion in the three-body problem

In the three-body problem, we consider the Lagrange and Hill stability including the Lagrange stability for the manifold of symmetric motions that exists in the case where two of three bodies have equal masses. To analyze the stability, in addition to integrals of energy and angular momentum we use the Lagrange–Jacobi equality. We prove theorems on the Lagrange and Hill stability. The theorem on the Hill stability has effective application in the case where the mass of a body is much less than masses of two other bodies. In this case, as it is known, the model of the restricted three-body problem is usually applied.