CN103268070B - Semi-physical system is compared in space multiple movement bodies relative motion contracting - Google Patents
Semi-physical system is compared in space multiple movement bodies relative motion contracting Download PDFInfo
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Abstract
The present invention relates to the multiple movement bodies relative motion contracting of a kind of space and compare semi-physical system, comprise target travel emulator, Relative motion control device, dynamics simulation module, motion simulator and optical sensor, native system also comprises contracting and resolves module than motion simulation module, optics contracting than emulation module, relative pose and contract than object module, and the output of dynamics simulation will through corresponding contracting than converting; Contracting is than object module, and make in proportion than emulating coefficient k according to by the current contracting of the outline optical characteristic sum of movable body of simulating, contracting is installed on target travel emulator than object module; Optics contracting, than emulation module, according to current contracting than emulation coefficient k and optical sensor parameter, uses image correction method to gather image to sensor and carries out pre-service, obtain with corresponding real simulation apart from consistent image.The motion of the true spacecrafts rendezvous process of the present invention's simulation reconstruction in less range of movement, reduces funds and test space requirement.
Description
Technical field
The present invention relates to emulation technology, be specifically related to the multiple movement bodies relative motion contracting of a kind of space and compare semi-physical system.
Background technology
The Relative Navigation of space multiple movement bodies and control are the developing gordian techniquies of space science, widespread use in the tasks such as Technique in Rendezvous and Docking, the formation of many stars, in-orbit maintenance.The relative motion of multiple movement bodies can be divided into long-range by distance, in section far away and Close approach section, wherein Close approach section due to operating distance short, with finally dock, the process such as spatial operation is closely connected, and will directly determine the success or failure of final task.Space multiple movement bodies system bulky complex, relates to motion and the control of multiple extraterrestrial target, and reliability requirement is high simultaneously, therefore carries out simulating, verifying test on ground very necessary.
The range of relative motion of space multiple movement bodies is usually from being less than 1m to tens to hundreds of rice, and the main visual acuity device that adopts carries out relative pose and Attitude estimation.For realizing the semi-physical simulation of motion process, translation is usually adopted to add the motion simulation that rotational motion mechanism realizes six degree of freedom.But realize global motion simulation and need to realize the physical equipment of grand movement and corresponding test site, limit by space and funds in force.In order to the motion of the true spacecrafts rendezvous process of simulation reconstruction in less distance, reduce funds and test space requirement.The present invention proposes contracting and compares movement simulating method.
By literature search, Chinese invention patent number: 201210111347.4, patent name is: a kind of Spacecraft Rendezvous docking relative pose measuring method, this patent gives the attitude measurement method based on binocular vision in Spacecraft Rendezvous docking, but does not provide Spacecraft Rendezvous Docking simulation device.
Jia Jie describes contracting from the angle of theory and compares principle than emulation with contracting in its PhD dissertation " spacecraft attitude semi-physical simulation principle and Test Research thereof ", but only according to similarity principle, principle analysis is carried out to physical simulation system, do not provided concrete method and apparatus for multiple movement bodies motion simulation.
Beam just gives semi-physical simulation device in its Master's thesis " in Technique in Rendezvous and Docking section Relative Navigation simulating, verifying research far away ", give also contracting than emulation kinetic model, but the method only in, emulate at a distance, measuring amount is only the relative angle of sight of Distance geometry simultaneously, does not relate to contracting than emulation mode and simulator.
Above-mentioned several method is all the emulation mode about Technique in Rendezvous and Docking, but all do not have complete be described in semi-physical simulation environment under, how to realize contracting than simulator and contract than emulation mode, and finding not have similar achievement in research and method at present through searching document.
Summary of the invention
Based on above weak point, the multiple movement bodies relative motion contracting of a kind of space is the object of the present invention is to provide to compare semi-physical system.
The technology used in the present invention is as follows:
Comprise target travel emulator, Relative motion control device, dynamics simulation module, motion simulator and optical sensor, wherein optical sensor is installed on motion simulator, this motion simulator simulation movable body be called observation movable body, native system also comprise contracting than motion simulation module, optics contracting than emulation module, relative pose resolves module and object module is compared in contracting;
Contracting is than object module, and make in proportion than emulating coefficient k according to by the current contracting of the outline optical characteristic sum of movable body of simulating, contracting is installed on target travel emulator than object module;
Relative motion control device measures the relative position and attitude data f and intersection task expectation relative position and attitude output data r that feed back according to optical sensor, error of calculation e=r-f, then obtains controlling to export u to dynamics simulation module by relative intersection control algolithm;
Dynamics simulation module is according to the movable body kinetic model loaded in advance and control to export u, uses real-timedigital simulation method, calculates by the real simulation position of movable body of simulating and attitude, is called for short pose q;
Pose q inputs contracting than motion simulation module, contract than motion simulation module according to pose q, contract calculate motion simulator than the installation site relative to motion simulator of object module, optical sensor and attitude and contracting than emulation coefficient k should reach pose q ', convergent-divergent k is doubly on year-on-year basis to make object being observed opposing optical sensor co-ordinate system location;
Result of calculation exports motion simulator to, and motion simulator produces specifies pose y;
Optics contracting, than emulation module, according to current contracting than emulation coefficient k and optical sensor parameter, uses image correction method to gather image to sensor and carries out pre-service, obtain with corresponding real simulation apart from consistent image;
Optical sensor collection contracting relative motion image more responsive to object module, and obtained after image flame detection pre-service with corresponding real simulation apart from consistent image than emulation module by optics contracting, module is resolved according to the image zooming-out characteristics of image after correction process further across relative pose, then in conjunction with the particular type of optical sensor, corresponding pose computing method are adopted to calculate contracting than the relative position of object module and motion simulator and attitude, obtain measuring feedback pose data f, then Relative motion control device is returned, form semi physical contracting than emulation closed loop.
The present invention also has following feature:
Described corresponding pose computing method are PnP algorithm or binocular relative pose estimation method.
The motion of the true spacecrafts rendezvous process of native system simulation reconstruction in less range of movement, reduces funds and test space requirement.
Accompanying drawing explanation
Fig. 1 is that the present invention contracts than emulation mode structured flowchart;
Fig. 2 be the embodiment of the present invention 2 spatial intersection closely semi physical contracting than analogue system schematic diagram;
Fig. 3 is that many satellites formations semi physical contracting of the embodiment of the present invention 4 is than analogue system schematic diagram.
Embodiment
The invention will be further described in citing below.
Embodiment 1:
Semi-physical system is compared in the multiple movement bodies relative motion contracting of a kind of space, comprise target travel emulator, native system also comprise Relative motion control device, dynamics simulation module, motion simulator, contracting than motion simulation module, optical sensor, optics contracting than emulation module, relative pose resolves module and object module is compared in contracting, wherein optical sensor is installed on motion simulator, and the movable body of this motion simulator simulation is called observation movable body;
Contracting is than object module, and make in proportion than emulating coefficient k according to by the current contracting of the outline optical characteristic sum of movable body of simulating, contracting is installed on target travel emulator than object module;
Relative motion control device measures the relative position and attitude data f and intersection task expectation relative position and attitude output data r that feed back according to optical sensor, error of calculation e=r-f, then obtains controlling to export u to dynamics simulation module by relative intersection control algolithm;
Dynamics simulation module is according to the movable body kinetic model loaded in advance and control to export u, uses real-timedigital simulation method, calculates by the real simulation position of movable body of simulating and attitude, is called for short pose q;
Pose q inputs contracting than motion simulation module, contract than motion simulation module according to pose q, contract calculate motion simulator than the installation site relative to motion simulator of object module, optical sensor and attitude and contracting than emulation coefficient k should reach pose q ', convergent-divergent k is doubly on year-on-year basis to make object being observed opposing optical sensor co-ordinate system location;
Result of calculation exports motion simulator to, and motion simulator produces specifies pose y;
Optics contracting, than emulation module, according to current contracting than emulation coefficient k and optical sensor parameter, uses image correction method to gather image to sensor and carries out pre-service, obtain with corresponding real simulation apart from consistent image;
Optical sensor collection contracting relative motion image more responsive to object module, and obtained after image flame detection pre-service with corresponding real simulation apart from consistent image than emulation module by optics contracting, module is resolved according to the image zooming-out characteristics of image after correction process further across relative pose, then in conjunction with the particular type of optical sensor, corresponding pose computing method are adopted to calculate contracting than the relative position of object module and motion simulator and attitude, obtain measuring feedback pose data f, then Relative motion control device is returned, form semi physical contracting than emulation closed loop.
Described corresponding pose computing method are PnP algorithm or binocular relative pose estimation method.
Suppose that optical sensor observational characteristic is respectively at the true and coordinate position after than imaging that contracts of camera coordinates system (connecting firmly with observation movable body coordinate system)
cp,
cp '.It is T that observation movable body coordinate system and the unique point place true relative pose of body coordinate system close
r, camera coordinates system closes with the true relative pose of observation movable body coordinate system and is
ct
r.Consider that optical sensor is pin-hole imaging model (when the condition is not satisfied, obtaining corresponding model by parameter calibration by conversion).For making contracting more consistent with real simulation effect than simulated effect, now motion simulator exports and should emulate coefficient k, relative pose relation according to contracting ratio
ct
rand T
rcarry out transformation calculations, what obtain current kinetic simulator should reach pose T '
r, make convergent-divergent k times on year-on-year basis, optical signature relative camera coordinates system position, i.e. k
cp '=
cp; Now measurement result remains unchanged, and namely simulated effect is consistent with truth.
Embodiment 2:
Spatial intersection closely semi physical contracting than analogue system, comprise the motion simulator 1 of initiatively spacecraft (observation movable body), corresponding passive space vehicle (being observed movable body) target travel emulator 2, contracting forms than object module 3, optical sensor mounting platform 4, optical sensor 5 and computing machine 6.Wherein initiatively the motion simulator of spacecraft is made up of high-precision three-dimensional translational motion simulator and Three dimensional rotation motion simulator, jointly realizes high-precision three-dimensional position and attitude motion simulation.The target travel emulator 2 of passive space vehicle adopts three-axle table to realize motion simulation, is provided with by contracting than emulating the contracting of coefficient k design than object module 3 above it.Computing machine 6 can realize the motion control of active and passive spacecraft motion simulator, dynamics Digital Simulation and realize contracting comparing emulation module than the contracting of emulation coefficient k.Optical measurement platform adopts embedded platform to connect the mode of front-end optical sensor, optical sensor completes the collection being observed optical signature on movable body simulator, Image semantic classification is completed than emulation module by the optics contracting in embedded platform, carry out the position and the Attitude estimation that are observed movable body relative to observing movable body further, and result is back in computing machine.
Embodiment 3:
Contracting in the analogue system of embodiment 2 meets following requirement than dynamic simulation system:
A) corresponding identical emulation distance, motion simulator stroke shortens to original 1/k;
B) dynamics simulation of former analogue system, controlling unit remain unchanged.
For realizing above-mentioned requirements, impact point relative camera coordinates system position should on year-on-year basis convergent-divergent k times, i.e. k
cp '=
cp, now imaging remains unchanged.Because target is to reduce k on year-on-year basis doubly, i.e. kp '=p, therefore has:
cR
r rRp+
cR
r rt+
ct
r＝
cR
r rR’p+k(
cR
r rt’+
ct
r) (1)
In formula, p: the optical signature point coordinate under conventional emulation (k=1) passive space vehicle coordinate system;
P ': use contracting than the optical signature point coordinate under passive space vehicle coordinate system during object machine;
cr
r: initiatively spacecraft is relative to the rotational transformation matrix of camera coordinates system;
rr: conventional emulation (k=1) passive space vehicle is relative to the rotational transformation matrix of active spacecraft;
rr ': contracting is than the rotational transformation matrix of emulation passive space vehicle relative to active spacecraft;
ct
r: initiatively spacecraft is relative to the translation vector of camera coordinates system;
rt: conventional emulation (k=1) passive space vehicle is relative to the translation vector of active spacecraft;
rt ': contracting is than the translation vector of emulation passive space vehicle relative to active spacecraft;
In equation, k, p are known,
cr
r,
ct
rdetermine in advance by camera hand and eye calibrating;
rt,
rdynamics simulation when R is conventional emulation exports.When there is at least three non-colinear unique points, then contracting is than the output of motion simulator during emulation
rt ',
rr ' obtains by solving above-mentioned equation.
Illustrate: establish conventional intersection closely l-G simulation test, simulation scale is 0-40m, and the cube of object machine to be the length of side be 0.8m, impact point is cube apex.Now within the scope of 0-20m, simulate conventional l-G simulation test by contracting than emulation, then contracting is than emulation coefficient k=40/20=2, and contracting uses than emulation the cube that target is length of side 0.8/2=0.4m.In each moment in simulation process, first calculate and meet formula (1)
rr ' and
rt ' separates, and obtains relative attitude and the position of two motion simulators further.
Embodiment 4:
This example mainly illustrates that setting up the contracting of many satellites formations semi physical compares analogue system, comprise corresponding multiple motion simulator 7 of following satellite (observation movable body), the target travel emulator 8 of 1 leader's satellite (being observed movable body), contracting is than leader's dummy satellite 9, optical sensor 10, motion control computer 11, simulation computer 12, visual processes computing machine 13 and Ethernet 14, wherein multiple motion simulator 7 of following satellite (observation movable body), the target travel emulation 8 of 1 leader's satellite (being observed movable body) adopts six degree of freedom serial manipulator to realize position and the attitude motion simulation of six degree of freedom, the target travel emulation 8 of leader's satellite (being observed movable body) is provided with by contracting than emulating the contracting of coefficient k design than leader's dummy satellite 9.Multiple motion control of following the motion simulator 7 of satellite (observation movable body) and the target travel emulator 8 of 1 leader's satellite (being observed movable body) is realized in motion control computer 11.Simulation computer 12 realizes Relative motion control, Real-time Dynamics Simulation and contracting than motion simulation module, and result is passed to motion control computer 11.Optical sensor 10 is installed on each motion simulator 7 of following satellite (observation movable body), realizes optics contracting calculate than emulation pre-service and relative pose by visual processes computing machine.Motion control computer 11, Ethernet 14 between simulation computer 12 and visual processes computing machine 13, is adopted to connect.
Claims (2)
1. semi-physical system is compared in a space multiple movement bodies relative motion contracting, comprise target travel emulator, Relative motion control device, dynamics simulation module, motion simulator and optical sensor, wherein optical sensor is installed on motion simulator, this motion simulator simulation movable body be called observation movable body, it is characterized in that: also comprise contracting than motion simulation module, optics contracting than emulation module, relative pose resolves module and object module is compared in contracting;
Contracting is than object module, and make in proportion than emulating coefficient k according to by the current contracting of the outline optical characteristic sum of movable body of simulating, contracting is installed on target travel emulator than object module;
Relative motion control device measures relative pose data f and intersection task expectation relative pose data r, the error of calculation e=r-f of feedback according to optical sensor, then obtains controlling to export u to dynamics simulation module by relative intersection control algolithm;
Dynamics simulation module is according to the movable body kinetic model loaded in advance and control to export u, uses real-timedigital simulation method, calculates by the real simulation pose q of the movable body of simulating;
Pose q inputs contracting than motion simulation module, contract than motion simulation module according to pose q, contract calculate motion simulator than the installation pose relative to motion simulator of object module, optical sensor and contracting than emulation coefficient k should reach pose q ', convergent-divergent k is doubly on year-on-year basis to make object being observed opposing optical sensor co-ordinate system location;
Result of calculation exports motion simulator to, and motion simulator produces specifies pose y;
Optics contracting, than emulation module, according to current contracting than emulation coefficient k and optical sensor parameter, uses image correction method to gather image to sensor and carries out pre-service, obtain with corresponding real simulation apart from consistent image;
Optical sensor collection contracting relative motion image more responsive to object module, and obtained after image flame detection pre-service with corresponding real simulation apart from consistent image than emulation module by optics contracting, module is resolved according to the image zooming-out characteristics of image after correction process further across relative pose, then in conjunction with the particular type of optical sensor, adopt the relative pose that the calculating of corresponding pose computing method is contracted than object module and motion simulator, obtain measuring feedback pose data f, then return Relative motion control device, form semi physical contracting than emulation closed loop.
2. multiple movement bodies relative motion contracting in a kind of space according to claim 1 is than semi-physical system, it is characterized in that: described corresponding pose computing method are PnP algorithm or binocular relative pose estimation method.
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| CN104298128A (en) * | 2014-09-29 | 2015-01-21 | 哈尔滨工业大学 | Ground simulation method for spacecraft navigation guidance technology |
| CN105974822B (en) * | 2016-06-13 | 2019-02-22 | 北京航空航天大学 | A kind of spacecraft, which is independently diversion, intersects the verification method of control system ground validation device |
| CN106094565B (en) * | 2016-06-13 | 2019-01-04 | 北京航空航天大学 | A kind of autonomous rendezvous control system ground simulation test method of spacecraft |
| CN115752514A (en) * | 2020-06-08 | 2023-03-07 | 中国科学院微小卫星创新研究院 | Autonomous optical navigation verification system for deep space small celestial body |
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