GEO编队空间机器人系统交会方法

针对地球静止轨道（GEO）上被服务航天器的远距离和非合作特点，提出一种高自主、高协同、多任务的编队空间机器人在轨服务系统方案，实现对非合作目标的自主交会接近。首先，分析GEO卫星轨道约束力小的轨道特征和非合作的信息交互特征，给出由操作空间机器人和监视空间机器人组成的编队在轨服务系统，设计交会接近相对测量分系统以及在轨服务飞行任务；接着，给出典型远距离交会接近的多视线相对导航方法与多冲量相对制导律；最后，进行远距离交会任务仿真校验，结果表明编队空间机器人交会接近方法是有效的。

A Formation Rendezvous Method of Space Robotic System for On-Orbit Service of GEO

According to on-orbit service mission objects of geostationary satellites(GEO), an autonomous, cooperative and multitask formation space robotic system is presented. Firstly, based on orbit character and information interaction character of the non-cooperative target, the formation space robotic system composed of an operation space robot and a monitor space robot is proposed to deal with the problems of weak gravity and non-cooperative target. The relative measurement subsystem of the formation space robotic system is designed. The flight missions of on-orbit service for the non-cooperative target are programmed. Secondly, the multiple line-of-sight relative navigation method and multiple impulse guidance law are proposed. Lastly, a typical far range rendezvous is simulated to verify the validity of the formation system.