基于干扰观测器的柔性空间机器人在轨精细操作控制方法

由于强非线性、强耦合和强时变等特征,柔性空间机器人的稳定精细控制问题一直是一个重大挑战。轻质小型化机器人受空间及重量限制,其关节柔性通常不可忽略,这部分柔性主要是由谐波减速器和力矩传感器的柔性造成的。传统的运动学控制在空载时能保持稳定,但是对大负载、快速运动时的适应性差,严重时机械臂抖动剧烈甚至发散。针对以上特征,提出了一种基于非线性干扰观测器和动力学极点配置的柔性空间机器人在轨精细操作控制方法。仿真实验证明,该方法可以有效地抑制柔性激振,保证响应的快速性和准确性,同时有较好的鲁棒性,能够适应不同类型扰动的影响和末端环境柔顺控制的要求,对工程应用具有一定的参考意义。     

有控飞行器非线性气动模型结构的确定（Ⅰ）

非线性气动模型结构确定是飞行器参数辨识中极其重要的问题。首先给出了非线性气动模型的数学描述,在此基础上,以导弹纵向及侧向运动方程为例,首次系统地分析了有控飞行器非线性气动模型结构确定中必然存在的共线性问题。频域分析过程清晰地表明在通常的试验情况下,m_z~α及m_z~(ω_z)是不可单独辨识的,从理论上解释了国内外一直不单独辨识它们的原因所在。指出原有的模型结构确定方法,如AIC准则,逐步回归等已不再适用于非线性气动模型结构的确定。同时对参数的可辨识性也作了一定的讨论。     

基于GPS/IMU/太阳敏感器的空间飞行器组合姿态确定

GPS定姿是GPS在空间飞行器上应用的一个重要方向 ,本文在建立GPS 惯性组件 太阳敏感器组合定姿系统的非线性模型的基础上 ,采用扩展卡尔曼滤波实现了该组合定姿方案。通过理论分析和仿真结果均验证了方案的可行性。为GPS定姿在空间飞行器的实际应用提供一定的参考。     

GPS在卫星精密测轨中的应用

自从美国全球定位系统(GPS)试验系统建立以来,发展了各种各样的方法,利用GPS 测量来精密确定卫星轨道。在1984年,LANDSAT-5上装载一个GPSPAC 的仪器进行了飞行,以验证用GPS 定轨的精确度。1982年在美国喷气推进试验室((?)PL),为TOPEX 卫星研究了一种GPS 距离和距离变化率的双差分法,以满足其厘米级的精度要求。除GPS 对低轨地球卫星定轨应用外,有人也提出了用GPS 测量对高轨地球卫星甚至同步卫星的定轨方法及精度分析。文章对上述各种方法给以简要的介绍和评述。     

关于卫星网整网自主定轨方法的探讨

随着在轨卫星数量的不断增多，卫星网的自主定轨已经成为迫切需要，本文重点阐述如何利用星间相对测量（相对距离测量和相对速度测量）技术，将卫星精密轨道确定方法和大地测量中的整网平差方法相结合，来实现卫星网的自主定轨，仿真结果表明，这一方法是切实有效的。     

基于GPS的低轨伴飞卫星自主导航轨道确定

对基于EKF算法的相对导航滤波器和基于全球卫星定位系统(GPS)伪距测量的伴飞星定轨进行了研究。用几何法与相对动力学方法联合获得目标星轨道信息,给出了伴飞卫星伪距测量定位的模型。仿真结果表明:该定轨方法可用于低轨卫星实时定位导航,定轨精度较高。     

基于北斗的车载接收机航向测量技术研究

研究一种BD2双天线的双频基线测量算法,实现了在车载动态条件下利用BD2卫星进行载体航向实时测量,满足军用车辆、无人机、船舶舰艇等载体高精度、快速实时、连续稳定长时间工作、低成本的要求,对算法实现进行了试验验证,取得了理想的成效,具有较强的工程实用价值。     

Precise orbit determination and precision comparison for FY3C and FY3D with receiver antenna GPS and BDS PCV using spaceborne BDS and GPS observation data

The FY3C and FY3D satellites were equipped with global navigation satellite occultation detector (GNOS) receivers that received both GPS and BDS-2 signals. For further improving precise orbit determination (POD) precisions, we estimated receiver GPS and BDS signal phase center variations (PCV) models with 2° and 5° resolutions and set the different weights for GPS and BDS-2 observations in the combined POD. The BDS-based POD precision using BDS-2 satellite antenna phase center offset (PCO) values from the China Satellite Navigation Office (CSNO) are not as accurate as those obtained from the International GNSS Service (IGS) Multi-GNSS experiments project (MGEX). The estimated receiver GPS and BDS PCV models with 2° and 5° resolutions were estimated from the GPS phase residuals of GPS-based POD and BDS phase residuals of combined POD, respectively. In most cases, the POD precisions using the estimated PCVs with 2° resolution are superior to those with 5° resolution. The precisions of the BDS-based POD and combined POD were both improved by introducing the receiver BDS PCV models. The weighting for GPS and BDS-2 observations can further improve the precision of the combined POD. The tested results of selected weights are better than those with equal weight in the combined POD. The experiment results show that orbital precisions of FY3C are worse than those of FY3D.     

Orbit determination of BeiDou navigation satellite system maneuvered satellites based on instantaneous velocity pulses parameters

The BeiDou navigation satellite system (BDS) comprises geostationary earth orbit (GEO) satellites as well as inclined geosynchronous orbit (IGSO) and medium earth orbit (MEO) satellites. Owing to their special orbital characteristics, GEO satellites require frequent orbital maneuvers to ensure that they operate in a specific orbital window. The availability of the entire system is affected during the maneuver period because service cannot be provided before the ephemeris is restored. In this study, based on the conventional dynamic orbit determination method for navigation satellites, multiple sets of instantaneous velocity pulses parameters which belong to one of pseudo-stochastic parameters were used to simulate the orbital maneuver process in the orbital maneuver arc and establish the observed and predicted orbits of the maneuvered and non-maneuvered satellites of BeiDou regional navigation satellite system (BDS-2) and BeiDou global navigation satellite system (BDS-3). Finally, the single point positioning (SPP) technology was used to verify the accuracy of the observed and predicted orbits. The orbit determination accuracy of maneuvered satellites can be greatly improved by using the orbit determination method proposed in this paper. The overlapping orbit determination accuracy of maneuvered GEO satellites of BDS-2 and BDS-3 can improve 2–3 orders of magnitude. Among them, the radial orbit determination accuracy of each maneuvered satellite is basically better than 1 m. simultaneously, the combined orbit determination of the maneuvered and non-maneuvered satellites does not have a great impact on the orbit determination accuracy of the non-maneuvered satellites. Compared with the multi GNSS products (indicated by GBM) from the German Research Centre for Geosciences (GFZ), the impact of adding the maneuvered satellites on the orbit determination accuracy of BDS-2 satellites is less than 9 %. Furthermore, the orbital recovery time and the service availability period are significantly improved. When the node of the predicted orbit is traversed approximately 3 h after the maneuver, the accuracy of the predicted orbit of the maneuvered satellite can reach that of the observed orbit. The SPP results for the BDS reached a normal level when the node of the predicted orbit was 2 h after the maneuver.     

Early analysis of precise orbit and clock offset determination for the satellites of the global BeiDou-3 system

Eight new-generation BeiDou satellites (BeiDou-3) have been launched into Medium Earth Orbit (MEO), allowing for global coverage since March 2018, and they are equipped with new hydrogen atomic clocks and updated rubidium clocks. Firstly, we analyzed the signals for the carrier-to-noise-density ratio (C/N0) and pseudorange multipath (MP) by using international GNSS (Global Navigation Satellite System) Monitoring and Assessment System (iGMAS) station data, and found that B1C has a lower C/N0, and B2a has the same level of C/N0 as the B1I and B3I signals. For pseudorange multipath, compared with the BeiDou-2 satellites, the obvious systematic variation of MP scatters related to the elevation angle is greatly improved for the BeiDou-3 and BeiDou-3e satellites signals. For the signals of the BeiDou-3 satellites, the order of the Root Mean Square (RMS) values of multipath and noise is B3I?<?B1I?<?B2a?<?B1C. Then, the comparison of the precise orbit determination and clock offset determination for the BeiDou-2, BeiDou-3, and BeiDou-3 experimental (BeiDou-3e) satellites was done by using 10 stations from iGMAS. The 3D precision of the 24?h orbit overlap is 24.55, 25.61, and 23.35?cm for the BeiDou-3, BeiDou-3e, and BeiDou-2 satellites, respectively. BeiDou-3 satellite has a comparable precision to that of the BeiDou-2 satellite. For the precision of clock offset estimation, the Standard Deviation (STD) of the BeiDou-3 MEO satellite is 0.350?ns, which is an improvement of 0.042?ns over that of the BeiDou-2 MEO satellite. The stabilities of the BeiDou-3 and BeiDou-3e onboard clocks are better than those of BeiDou-2 by factors of 2.84 and 1.61 at an averaging time of 1000 and 10,000?s, respectively.