高轨非合作目标多视线分布式相对导航方法

针对仅采用单视线难于实现高轨非合作目标的远距离自主相对导航问题，提出基于双空间机器人的多视线分布式相对导航方法。首先，建立基于多视线测量的相对导航模型，并给出空间机器人与非合作目标的相对动力学模型；然后，为降低集中式滤波相对导航的维数，设计分布式滤波的相对导航方法，采用扩展卡尔曼滤波算法实现相对运动估计；最后，建立数学仿真模型，对多视线分布式滤波相对导航算法及可观测性进行仿真校验，仿真结果表明该方法是稳定有效的。

Distributed Relative Navigation of GEO Non Cooperative Target Based on Multiple Line of Sight Measurements

Only using single line-of-sight, it is difficult for a space robot to perform autonomous relative navigation of Geostationary orbit (GEO) non-cooperative target in long-range rendezvous. To overcome this problem, a distributed relative navigation method based on multiple line-of-sights of two space robots is proposed. Firstly, the multiple line-of-sight measurements based relative navigation model is built and the equation of relative motion dynamics between space robot and non-cooperative target are introduced. Secondly, a distributed filter of relative navigation is presented to reduce the dimension of centralized filter. The relative position is estimated by using the extend Kalman filter algorithm. Thirdly, numerical simulations are studied to verify the method under different conditions. The results show that this method is steady and effective.