空间多机器人协同的多视线仅测角相对导航

研究了空间多机器人对非合作目标的多视线协同仅测角相对导航问题。为利用多视线信息融合提升仅测角相对导航性能，给出了一种可观测度优化的多视线仅测角相对导航方法。首先基于二阶CW方程构建了中心机器人与目标相对动力学模型和状态方程，并构建了仅包含多伴飞机器人视线角的观测方程，结合扩展卡尔曼滤波算法，形成多视线仅测角相对导航系统；然后分析推导得到可观度最优的视线间夹角条件，提出了兼顾可观测度和长期自然维持的多伴飞机器人观测构型优化方法；最后，数学仿真结果表明，提出的多视线仅测角相对导航系统、可观测度最优的视线夹角条件和观测构型优化方法，可以显著提高距离状态可观测度和估计性能，且具有较好的工程可用性。

Multiple line-of-sight angles-only relative navigation by multiple collaborative space robots

This paper focuses on multiple Line-of-Sight (LOS) angles-only relative navigation of multiple collaborative space robots for non-cooperative targets. To improve the relative navigation performance by fusing multi-LOS information, we propose a multi-LOS relative navigation method based on observability optimization. A relative dynamic model and a state equation between the center robot and the non-cooperative target as well as the observation equation of the multi-robot LOS are firstly developed, and the multi-LOS angles-only relative navigation system is then studied. After that, the angle condition of the multi-LOS with optimal observability is obtained, and a method for the observation configuration optimization of multiple space robots is proposed, considering the observability and long-term natural maintenance. Finally, the simulation results show that the method can significantly improve the range state observability and estimation performance, therefore having good application prospect in space missions.