CN104236554B - A kind of Autonomous rendezvous and docking relative measurement sensor is remote, near field switching using method - Google Patents
A kind of Autonomous rendezvous and docking relative measurement sensor is remote, near field switching using method Download PDFInfo
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- CN104236554B CN104236554B CN201410459342.XA CN201410459342A CN104236554B CN 104236554 B CN104236554 B CN 104236554B CN 201410459342 A CN201410459342 A CN 201410459342A CN 104236554 B CN104236554 B CN 104236554B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
A kind of Autonomous rendezvous and docking relative measurement sensor is remote, near field switching using method, and step is as follows：(1) according to far field camera, the measurement overlapping range of near field camera, design is remote, near field measurement data exchange region [x2, x3], wherein, x1<x2<x3<X4, [x1, x4] is far field camera, the measurement overlapping range of near field camera；(2) stage being approached in Autonomous rendezvous and docking, determining the relative distance of two spacecrafts in spacecrafts rendezvous in real time, the measurement data of different cameral is selected according to relative distance and Zone switched relation；When relative distance is within Zone switched, if being close to pattern turns (3), if withdrawing pattern turns (4)；(3) using the measurement data of far field camera, in each controlling cycle, NumNear starts Jia 1 to count, and after NumNear is more than setting value, starts the measurement data using near field camera；(4) using the measurement data of near field camera, in each controlling cycle, NumFar starts Jia 1 to count, and after NumFar is more than setting value, starts the measurement data using far field camera.
Description
Technical field
The present invention relates to a kind of Autonomous rendezvous and docking relative measurement sensor is remote, near field switching using method, for intersecting
The Relative Navigation conceptual design of docking GNC control systems, can also be applied to other last translations of Spacecraft Rendezvous docking and lean on
Hold together the Relative Navigation conceptual design in stage.
Background technology
Early in the initial stage sixties, space science men just recognize the importance of SPACE RENDEZVOUS AND DOCKING TECHNIQUE, while thinking
Realize that Technique in Rendezvous and Docking has boundless prospect, therefore the U.S., the former Soviet Union, Russia, Europe, Japan and space flight section of China
Scholars energetically carry out the basic technology research in this field.Translate finally forcing during section being drawn close as spacecrafts rendezvous
Closely, be intersection task and docking mission linking, its flight course and control accuracy directly determine spacecrafts rendezvous task into
Lose, thus it is particularly important.
Section is drawn close in last translation, typically using optical imagery sensor as prime navaid sensor, to obtain two
The relative position and relative attitude navigation information of spacecraft, completes six degree of freedom control, realizes the spacecrafts rendezvous of two spacecrafts.
Due to the restriction of the constraintss such as safe flight distance, docking corridor, sensor visual field, a sensor (camera), nothing are depended merely on
Method completes the relative measurement that section is drawn close in whole last translation, therefore optical imagery sensor generally includes far field camera and near field picture
Machine, by recognizing remote, near field cooperative target respectively, takes over the relative measurement for completing that section is drawn close in last translation.In engineering design,
The measurement range of far field camera and near field camera has certain overlap, with facilitate spacecrafts rendezvous approach or fallback procedure in
Complete the switching of measurement data.This means that in above-mentioned measurement overlap area domain far field camera and near field camera can be provided with
Effect measurement data, therefore how these data are reasonably used, complete remote, near field camera measurement data uses switching, and protects
In card handoff procedure, Autonomous rendezvous and docking navigation is steady, to meet manned spaceship Autonomous rendezvous and docking control accuracy requirement, is to set
Meter personnel need what is considered.From the point of view of the document and patent published at present, there is no that spacecrafts rendezvous related to this are remote, near field
Switching using method.
The content of the invention
The present invention technology solve problem be：Overcome the deficiencies in the prior art, there is provided a kind of Autonomous rendezvous and docking is relative to be surveyed
Amount sensor is remote, near field switching using method.
The present invention technical solution be：A kind of Autonomous rendezvous and docking relative measurement sensor is remote, near field switching is used
Method, described relative measurement sensor include the measurement range of far field camera and near field camera, far field camera and near field camera
Overlap；Method and step is as follows：
(1) according to far field camera, the measurement overlapping range of near field camera, design is remote, near field measurement data exchange region
[x2, x3], wherein, x1<x2<x3<X4, [x1, x4] is far field camera, the measurement overlapping range of near field camera；
(2) stage is approached in Autonomous rendezvous and docking, determine the relative distance of two spacecrafts in spacecrafts rendezvous in real time, work as phase
Adjust the distance more than x3 and far field camera measurement it is effective when, the preferential measurement data using far field camera, when far field camera is measured
When invalid near field camera measures effective, using the measurement data of near field camera；Far, when near field camera is invalid, measurement is not gathered
Data；
When Zone switched in the step (1) of relative distance, far field camera be set and near field camera continuously measures mark
Will NumFar and NumNear；When the measurement of only one of which camera is effective, using the measurement data of the camera, and by other one
The continuous surveying marker clear 0 of individual camera；When the measurement of two cameras is effective, if being close to pattern goes to step (3), if removing
(4) are gone to step from pattern；
When the measurement that relative distance is less than x2 and near field camera is effective, the preferential measurement data using near field camera, when
When the invalid far field camera measurement of measurement of near field camera is effective, using the measurement data of far field camera；Far, near field camera is invalid
When, do not gather measurement data；
(3) using the measurement data of far field camera, in each controlling cycle, NumNear starts Jia 1 to count, and works as NumNear
After more than setting value NumNearMax, start the measurement data using near field camera；
(4) using the measurement data of near field camera, in each controlling cycle, NumFar starts Jia 1 to count, when NumFar it is big
After setting value NumFarMax, start the measurement data using far field camera.
Setting value in the step (3)
Wherein, the speed that is relatively close to of two spacecrafts is v1, and controlling cycle is dt, K1For handoff factor, it is integer.
Setting value in the step (4)
Wherein, the relative speed of withdrawing of two spacecrafts is v2, and controlling cycle is dt, K2For handoff factor, it is integer.
The present invention is had the beneficial effect that compared with prior art：The present invention have found one kind and finally force for Autonomous rendezvous and docking
The relative measurement sensor in nearly stage is remote, near field switching using method, and the method both can guarantee that the measurement number that navigation system is used
According to reliable and stable, due to remote, the different impacts to navigation system of near field camera measure data precision again when being avoided that switching, it is ensured that
Navigation is steady.Method is simple, practical, amount of calculation is little, can be used for the in-orbit autonomous enforcement automatically of spacecraft.The method successfully should
For the design of Chinese Space spacecrafts rendezvous guidance, navigation and control system, be Shenzhou 8, divine boat nine, divine boat ten and
The success of tiangong-1 spacecrafts rendezvous provides strong guarantee.
Description of the drawings
Fig. 1 is the inventive method flow chart；
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is elaborated, as shown in figure 1, specific as follows：
1) measurement data is provided for navigation system in Autonomous rendezvous and docking final approach stage configuration relative measurement sensor
Relative measurement sensor by camera to cooperation target imaging and resolving can obtain relative position, relative velocity,
The metrical information such as relative attitude angle and relative attitude angular velocity is used to navigate and calculates.Due to safe flight distance, docking corridor, quick
The restriction of the constraintss such as sensor visual field, depends merely on a camera and cannot complete the relative measurement that section is drawn close in whole last translation, because
This relative measurement sensor generally includes far field camera and near field camera.
2) according to remote, the measurement overlapping range of near field camera, design is remote, near field measurement data exchange region
For convenience of spacecrafts rendezvous approach or fallback procedure in complete the switching of measurement data, the far field camera in design
Certain overlap is had with the measurement range of near field camera.If the measurement range of far field camera is [x1, x5], the survey of near field camera
Scope is measured for [x0, x4], relative distances of the wherein x for two spacecrafts in Technique in Rendezvous and Docking, x0<x1<x4<X5, [x1, x4]
As far, the measurement overlapping range of near field camera.Consider certain design capacity, [x2, x3] can be chosen and surveyed as remote, near field
Amount data exchange region, wherein x1<x2<x3<x4.Effective count flag NumFar will be measured and NumNear is initialized as 0；
3) measurement the effective status FarValid and NearValid of far field and near field camera are obtained respectively；
4) when two space flight relative distances are more than x5 or less than x0：Far, near field camera exceeds visual field, measuring state
FarValid and NearValid are invalid, now do not carry out data acquisition；
5) when two space flight relative distances are more than x4 and less than or equal to x5：Using the measurement data of far field camera；
6) when two space flight relative distances are more than x3 and less than or equal to x4：The preferential measurement data using far field camera；If
Far-field measurement FarValid is invalid and near field measurement NearValid is effective, then using the measurement data of near field camera；
7) when two space flight relative distances are more than or equal to x0 and less than x1：Using the measurement data of near field camera；
8) when two space flight relative distances are more than or equal to x1 and less than x2：The preferential measurement data using near field camera；If
Near field measurement NearValid is invalid and far-field measurement FarValid is effective, then using the measurement data of far field camera；
9) when two space flight relative distances are more than or equal to x2 and less than or equal to x3：If only far-field measurement FarValid has
Effect, then using the measurement data of far field camera, while near field camera is continuously measured effective marker NumNear clear 0；If only
Near field measurement NearValid is effective, then using the measurement data of near field camera, while far field camera is continuously measured effective marker
NumFar clear 0；If measurement FarValid and NearValid is effective for remote, near field camera, if be close to pattern then turning 10), if
Then turn 11) for the pattern of withdrawing；
If 10) be close to pattern, corresponding switchover policy is designed
If the speed that is relatively close to of two spacecrafts is v1, controlling cycle is dt, then design near field camera switching counter
Setting value isK1For handoff factor, can choose corresponding according to impulsive size, time etc.
Integer K1=2,3,4....
Switchover policy is as follows：The initial measurement data using far field camera, while according to controlling cycle, NumNear starts
Plus 1 and count, after NumNear is more than setting value NumNearMax, starts the measurement data using near field camera, complete measurement and cut
Change.
Can ensure that using above-mentioned switchover policy complete near field to be switched to by far-field measurement in measurement data is Zone switched
Measurement.
If 11) withdraw pattern, corresponding switchover policy is designed
If the relative speed of withdrawing of two spacecrafts is v2, controlling cycle is dt, then design far field camera switching counter
Setting value isK2For handoff factor, can choose corresponding according to impulsive size, time etc.
Integer K2=2,3,4....
Switchover policy is as follows：The initial measurement data using near field camera, while according to controlling cycle, NumFar starts to add
1 counts, and after NumFar is more than setting value NumFarMax, starts the measurement data using far field camera, completes measurement switching.
Can ensure that using above-mentioned switchover policy complete far field to be switched to by near field measurement in measurement data is Zone switched
Measurement.
Note：For what is arranged in 2) is Zone switched, corresponding mooring point can also be set in practical engineering application and completed
Far, the switching of near field camera measurement data, point selection of for example can berthing is in the centre of X2 and X3.
The present invention is not illustrated and partly belongs to techniques well known.
Claims (3)
1. a kind of Autonomous rendezvous and docking relative measurement sensor is remote, near field switching using method, described relative measurement sensor
Overlap including the measurement range of far field camera and near field camera, far field camera and near field camera；It is characterized in that method and step is such as
Under：
(1) according to far field camera, the measurement overlapping range of near field camera, design is remote, near field measurement data exchange region [x2,
X3], wherein, x1<x2<x3<X4, [x1, x4] is far field camera, the measurement overlapping range of near field camera；
(2) approach the stage in Autonomous rendezvous and docking, determine in real time the relative distance of two spacecrafts in spacecrafts rendezvous, when it is relative away from
From it is effective more than the measurement of x3 and far field camera when, the preferential measurement data using far field camera, when far field camera measures invalid
When near field camera measurement is effective, using the measurement data of near field camera；Far, when near field camera is invalid, measurement data is not gathered；
When Zone switched in the step (1) of relative distance, far field camera and the continuous surveying marker of near field camera are set
NumFar and NumNear；When the measurement of only one of which camera is effective, using the measurement data of the camera, and by another
The continuous surveying marker clear 0 of camera；When the measurement of two cameras is effective, if being close to pattern goes to step (3), if withdrawing
Pattern goes to step (4)；
When the measurement that relative distance is less than x2 and near field camera is effective, the preferential measurement data using near field camera works as near field
When the invalid far field camera measurement of measurement of camera is effective, using the measurement data of far field camera；Far, when near field camera is invalid,
Measurement data is not gathered；
(3) using the measurement data of far field camera, in each controlling cycle, NumNear starts Jia 1 to count, when NumNear is more than
After setting value NumNearMax, start the measurement data using near field camera；
(4) using the measurement data of near field camera, in each controlling cycle, NumFar starts Jia 1 to count, when NumFar is more than setting
After definite value NumFarMax, start the measurement data using far field camera.
2. a kind of Autonomous rendezvous and docking relative measurement sensor according to claim 1 is remote, near field switching using method, its
It is characterised by：Setting value in the step (3)
Wherein, the speed that is relatively close to of two spacecrafts is v1, and controlling cycle is dt, K1For handoff factor, it is integer.
3. a kind of Autonomous rendezvous and docking relative measurement sensor according to claim 1 is remote, near field switching using method, its
It is characterised by：Setting value in the step (4)
Wherein, the relative speed of withdrawing of two spacecrafts is v2, and controlling cycle is dt, K2For handoff factor, it is integer.
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| CN105953819B (en) * | 2016-05-16 | 2019-05-24 | 北京控制工程研究所 | A kind of cooperative target device suitable for Optical Sensor Used in RVD and laser radar |
| CN112711266B (en) * | 2020-12-03 | 2023-03-31 | 中国科学院光电技术研究所 | Near-far field switching control method for lunar orbit intersection butt joint laser radar |
| CN112684429B (en) * | 2020-12-03 | 2022-09-20 | 中国科学院光电技术研究所 | Near-far field target identification method suitable for space intersection butt joint laser radar |
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| US7216834B2 (en) * | 2001-07-30 | 2007-05-15 | Iostar Corporation | Orbit space transportation and recovery system |
| US8386096B2 (en) * | 2009-12-22 | 2013-02-26 | General Electric Company | Relative navigation system |
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| CN101774432A (en) * | 2009-12-30 | 2010-07-14 | 北京控制工程研究所 | Human control intersection docking operation method |
| CN103267517A (en) * | 2013-05-24 | 2013-08-28 | 北京控制工程研究所 | Man-controlled rendezvous and docking measurement method based on television cameras and target |
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