人控交会对接摄像机调光算法 设计与验证方法研究

航天器人控交会对接过程中,空间光照环境极为复杂.摄像机作为最主要的相对测量敏感器,需要设计合理的调光算法以适应各种工况.详细分析了航天器的空间光照环境,针对人控交会对接的场景特点,对基于直方图的自动调光算法提出了改进措施,并提出了全面的地面验证测试方法,证明了改进后的直方图自动调光算法的合理性.     

人控交会对接九自由度半物理仿真试验系统设计及验证

以人控交会对接半物理仿真试验需求为背景,提出了可对人控交会对接控制系统单机敏感器性能和控制律设计方案进行仿真验证的人控交会对接九自由度半物理仿真试验系统的设计方法,给出了利用该设计方法对神舟九号飞船人控交会对接控制系统的仿真验证结果.神舟九号飞船与天宫一号目标飞行器首次在轨人控交会对接的工程实践结果表明,人控交会对接九自由度半物理仿真试验系统的设计方法正确.     

航天器自主交会对接的视觉相对导航方法

针对航天器自主交会对接在最终逼近阶段的相对导航问题,研究了基于特征光标的航天器视觉相对导航方法。首先建立了小角度假设条件下的相对导航模型。给出了航天器相对位置和采用欧拉角描述的相对姿态的近似解析算法。其次利用相对姿态的解析解作为观测信息,采用降阶的无迹卡尔曼滤波方法对目标航天器的姿态角和惯性角速度进行了估计,间接得到了相对姿态和相对姿态角速度的估计值。数值仿真表明提出的解析算法能够有效获得相对位置和相对姿态测量信息,通过降阶滤波可明显提高相对姿态确定精度。     

一种有限推力航天器交会轨道的鲁棒设计方法

基于C—W方程描述的二体相对运动模型,考虑利用范数有界方法刻画航天器交会过程中的参数不确定性,并结合控制推力受限的工程需要,提出了一种在不确定环境下有限推力航天器交会轨道的设计方法。通过构造Lyapunov函数,将此设计问题转化为一个具有线性矩阵不等式约束的凸优化问题,通过求解此问题即可设计出符合航天器交会要求的鲁棒状态反馈控制器。     

Usage of pre-flight data in short rendezvous mission of Soyuz-TMA spacecrafts

The paper describes the reduction of the vehicle autonomous flight duration before docking to the ISS. The Russian Soyuz-TMA spacecraft dock to the ISS two days after launch. Due to the limited volume inside Soyuz-TMA the reduction of time until docking to the ISS is very important, since the long stay of the cosmonauts in the limited volume adds to the strain of the space flight. In the previous papers of the authors it was shown that the existing capabilities of Soyuz-TMA, the ISS and the ground control loop make it possible to transfer to the five-orbit rendezvous profile. However, the analysis of the cosmonauts' schedule on the launch day shows that its duration is at the allowable limit and that is why it is necessary to find a way to further reduce the flight duration of Soyuz-TMA before docking to less than five orbits. In a traditional rendezvous profile, the calculation of rendezvous burns begins only after determination of the actual vehicle insertion orbit. The paper describes an approach in which the first two rendezvous burns are performed as soon as the spacecraft reaches the reference orbit and the values of the burns are calculated prior to the launch based on the pre-flight data for the nominal insertion. This approach decreases the duration of the rendezvous by one orbit. The demonstration flight of a Progress vehicle using the proposed profile was implemented on August 1, 2012 and completely confirmed the correctness of the imbedded principles. The paper considers the possible improvements of the proposed approach and recovery from the contingencies.     

Optimal two-impulse rendezvous with terminal tangent burn considering the trajectory constraints

The two-impulse orbital rendezvous problem with a terminal tangent burn between coplanar elliptical orbits is studied by considering a lower bound on perigee radius and an upper bound on apogee radius for the transfer orbit. This problem requires that two spacecraft arrive at the rendezvous point with the same arrival flight-path angle after the same flight time. The admissible range of the final true anomaly that meets the perigee and apogee constraints is obtained in closed form. The revolution number of the transfer orbit is expressed as a function of the true anomaly and the revolution numbers of the initial and final orbits. All the feasible solutions are obtained with a bound on the revolution number of the final orbit. Then, the minimum-fuel one is determined by comparing their costs. Finally, two numerical examples are provided to obtain all the feasible solutions for given initial impulse points and the optimal solution with the initial coasting arc. Numerical results show that the minimum-fuel solution for the terminal tangent burn rendezvous is close to that for the cotangent rendezvous when the rendezvous time is long enough; however, the cotangent rendezvous may not exist when the rendezvous time is short.     

A robust semi-analytic method to solve the minimum ΔV two-impulse rendezvous problem

A novel semi-analytic approach is developed to determine the minimum $\mathrm{\Delta }V$ for a two-impulse rendezvous and validated both empirically and analytically. A previously published closed-form $\mathrm{\Delta }V$ estimate and the Lambert minimum energy transfer is used to establish upper and lower bounds of the minimum $\mathrm{\Delta }V$ transfer between two orbits. These bounds, in conjunction with the bisection method, operate on a nonlinear radical cost function to guarantee linear convergence. This approach has several real world applications including a low earth orbit (LEO) to highly elliptical orbit (HEO), and a HEO to retrograde geosynchronous orbit transfer. The minimum $\mathrm{\Delta }V$ estimates are better than those reported in the existing literature, while run times improved as much as two orders of magnitude over a fixed time Lambert solver. All singularity cases were addressed such that any orbital geometry, including Hohmann and radial elliptic transfers, converged to the global minimum $\mathrm{\Delta }V$. This approach will work for both coplanar and non-coplanar 3D geometries for any orbit type.     

航天器交会对接中液体燃料晃动等效模型研究

以航天器交会对接过程中的平移靠拢段作为背景,研究适用于零重力和微重力环境下液体运动的等效力学模型.以欧空局无人货运飞船(ATV,automatic transfer vehicle)中建立的等效模型为参考,提出一种适用于零/微重力球形贮箱中液体晃动的弹簧-质量等效力学模型.该模型的各个参数通过将基于CFD计算的参数辨识方法和用于常重力液体晃动的传统建模方法结合运用来获取.对该模型进行介绍,然后描述等效模型参数的获取方法,并利用虚功率原理推导了晃动力和力矩的求解方程.通过与CFD软件Flow-3d的结果进行对比,对这种建模方法的可行性和准确性进行了分析.     

仅有相对视线角测量时的椭圆轨道交会相对导航分析

对仅有相对视线角测量时的椭圆轨道交会相对导航问题进行了分析．借鉴已有研究成果,给出仅有相对视线角测量时,相对导航系统可观的定义,以及为使系统可观,加速度项所需满足的充分必要条件;分析指出由于相对动力学模型误差的存在,相对导航系统始终是可观的,但可观度很弱;而追踪器进行适当的机动可极大改善系统的可观性,给出为使系统可观,机动加速度具体所需满足的充分必要条件;指出当通过施加机动加速度改善系统的可观性时,获取零输入相对位置矢量方向是前提条件,并论证了利用相对视线角测量信息,可以对零输入相对位置矢量方向进行估计和预测．     

椭圆轨道航天器自主接近的制导律研究

椭圆轨道自主交会接近制导律问题是当今空间技术领域中的一个研究不足。基于T\|H方程 ,设计了两种仅利用相对运动信息、控制力定常的椭圆轨道自主接近制导律：滑模制导律和 势函数制导律。从两种制导律的特性分析,滑模制导律对系统的运行轨迹更加苛刻,而势函 数制导律更加充分地利用了系统的自由运动,具有更好的控制性能。数值仿真结果也表明： 对 于相同的制导目标、制导时间和制导精度,势函数制导律所需的喷气开关次数和速度增量均较少。