CN105259786A - Method and apparatus for identifying inertial parameters of object to be identified - Google Patents

Abstract

The present invention discloses a method and apparatus for identifying inertial parameters of an object to be identified. The method includes the steps as follows: measuring the angular momentum of various arm sections of a mechanical arm and the angular momentum of a spacecraft at a plurality of points in time that the mechanical arm is driven to rotate for grabbing the object to be identified; generating the mass and mass center position of the object to be identified, and calculating out a plurality of inertia moments of the object to be identified by utilizing the several groups of angular momentum and the current generated mass and mass center position of the object to be identified according to a preset kinetic model; evaluating the current inertia moment error of the object to be identified according to the current acquired inertia moments, returning to the generating and calculating processes when the error does not accord with a preset error requirement, and otherwise, employing the current calculated out inertia moment, the current generated mass and mass centre of the object to be identified as the inertia moment, the mass and mass centre position of the object to be identified. According to the invention, the valuable fuel of the spacecraft is saved, the inertial parameter identification precision of the object to be identified is improved, and the ideal general purpose is provided.

Description

The inertial parameter discrimination method of target to be identified and device

Technical field

The present invention relates to robot for space technology, be specifically related to a kind of inertial parameter discrimination method of target to be identified and the inertial parameter device for identifying of target to be identified.

Background technology

Usually be provided with the mechanical arm of multi-arm joint in the spacecrafts such as satellite, in the process in orbit of spacecraft, often occur utilizing mechanical arm to capture the demand of unknown object (also can be called noncooperative target or target to be identified); Here unknown object refers to the target of the inertial parameter the unknowns such as quality, centroid position and moment of inertia (as unknown in part or all unknown).

Capture in the process of unknown object in controller mechanical arm, accurately and timely should pick out the inertial parameter of unknown object, otherwise the crawl of unknown object can make the mass distribution of spacecraft that unpredictable change occurs, thus bring certain difficulty can to the planning in follow-up robotic arm manipulation path.

At present, following three kinds are mainly comprised to the discrimination method of the inertial parameter of unknown object:

Method one, roll booster is being utilized to apply while external force unknown object, measure angular acceleration signal and the moment information of spacecraft (as satellite) attitude, afterwards, the angular acceleration signal utilizing measurement to obtain and moment information solve the Newton-Euler equation of motion, thus obtain the inertial parameter of unknown object according to solving result.

Method two, when mechanical arm grabs unknown object, the arm joint of driving machine mechanical arm rotates, and gage beam joint rotates attitudes vibration and the change in location information of front and back spacecraft, then, the attitudes vibration measured and obtain and change in location information is utilized to calculate the inertial parameter of unknown object based on momentum and angular momentum conservation law.

Method three, set up Sample Storehouse (setting up Sample Storehouse as utilized Kinematics Simulation), and utilize each sample in Sample Storehouse to train multilayer feedforward neural network; When mechanical arm captures unknown object, the aforementioned multilayer feedforward neural network trained is utilized to carry out the inertial parameter of identification unknown object.

Inventor is realizing finding in process of the present invention:

Said method one utilizes roll booster to promote unknown object due to needs, therefore can consume the fuel of spacecraft; In addition, because the measuring accuracy of current angular acceleration signal and moment information is lower, the precision of the inertial parameter causing Application way one to obtain is lower;

Said method two can solve inertial parameter owing to needing the equation of sufficient amount, and therefore, need repeatedly actuating arm to save and move, inertial parameter identification process is more complicated; In addition, because method two needs to obtain angular momentum and linear momentum, and when current linear momentum measuring accuracy is lower, the precision of the inertial parameter that method two obtains is lower;

Said method three is based upon on the basis of Sample Storehouse due to its inertial parameter identification, thus the scope of cognizable unknown object is restricted, and namely the wide usage of the method is poor; In addition, in the situations such as the higher and sample of mechanical arm arm joint degree of freedom is more, design difficulty and the training difficulty of multilayer feedforward neural network are all higher.

Summary of the invention

In view of the above problems, the present invention is proposed to provide a kind of overcoming the problems referred to above or the inertial parameter discrimination method of target to be identified solved the problem at least in part and device.

According to one of them aspect of the present invention, provide a kind of inertial parameter discrimination method of target to be identified, the method mainly comprises: be provided with the conservation of angular momentum principle based on multi-rigid-body system and the kinematics model solving the moment of inertia of target to be identified set up, and described method comprises the steps:

Measuring process: driving the multiple moment capturing and have the mechanical arm of target to be identified to rotate, respectively measuring machine mechanical arm each arm joint angular momentum and the angular momentum of spacecraft of mechanical arm is installed, wherein, the each angular momentum of arm joint of mechanical arm that described multiple moment is corresponding respectively and the angular momentum of mechanical arm place spacecraft are divided into organizes angular momentum more, and one group of angular momentum generally includes each angular momentum of arm joint of many not corresponding in the same time mechanical arms and the angular momentum of mechanical arm place spacecraft;

Produce and calculation procedure: the quality and the centroid position that produce target to be identified, and utilize and organize angular momentum, the quality of identification target of current generation and centroid position more and utilize described kinematics model to calculate multiple moment of inertia of acquisition target to be identified respectively;

Determining step: assessing target current operation inertia error to be identified according to the current multiple moment of inertia obtained that calculate, when determining that described current operation inertia error does not meet predictive error requirement, returning described generation and calculation procedure; When determining that described current operation inertia error meets predictive error requirement, to determining inertial parameter step;

Determine inertial parameter step: using the current moment of inertia that obtains of calculating as the moment of inertia of target to be identified, and using the quality of the target to be identified of current generation and centroid position as the quality of target to be identified and centroid position.。

According to wherein another aspect of the present invention, provide a kind of inertial parameter device for identifying of target to be identified, this device comprises:

Memory module, is suitable for the kinematics model solving the moment of inertia of target to be identified that storage is set up based on the conservation of angular momentum principle of multi-rigid-body system;

Measurement module, is suitable for driving the multiple moment capturing and have the mechanical arm of target to be identified to rotate, respectively the angular momentum of the angular momentum that saves of each arm of measuring machine mechanical arm and the spacecraft that is provided with mechanical arm;

Wherein, the each angular momentum of arm joint of mechanical arm that described multiple moment is corresponding respectively and the angular momentum of mechanical arm place spacecraft are divided into organizes angular momentum more, and one group of angular momentum comprises each angular momentum of arm joint of multiple not corresponding in the same time mechanical arm and the angular momentum of mechanical arm place spacecraft;

Produce and computing module, be suitable for the quality and the centroid position that produce target to be identified, and utilize and organize angular momentum, the quality of identification target of current generation and centroid position more and utilize described kinematics model to calculate multiple moment of inertia of acquisition target to be identified respectively;

Judge module, be suitable for calculating according to current the current operation inertia error that target to be identified assessed by the multiple moment of inertia obtained, when determining that described current operation inertia error does not meet predictive error requirement, triggering generation also computing module, makes generation and computing module performs generation and calculating operation again; When determining that described current operation inertia error meets predictive error requirement, triggering and determining that inertial parameter module performs corresponding operation;

Determine inertial parameter module, be suitable for using the current moment of inertia that obtains of calculating as the moment of inertia of target to be identified, and using the quality of the target to be identified of current generation and centroid position as the quality of target to be identified and centroid position.

Inertial parameter discrimination method and the device of target to be identified provided by the invention at least have following advantages and beneficial effect: the present invention rotates by driving the mechanical arm having captured target to be identified, and utilize the angular momentum of mechanical arm each arm joint measured and the angular momentum of the spacecraft that is provided with mechanical arm to carry out follow-up inertial parameter identification, avoid while realizing inertial parameter identification by extrapolability on the basis promoting target to be identified, also avoid and need slotted line momentum and the lower harmful effect to inertial parameter identification of linear momentum measuring accuracy; the present invention is by utilizing the many groups angular momentum measured and obtain, the quality of the target to be identified of current generation and centroid position calculate multiple moment of inertia of target to be identified on the basis solving the kinematics model of the moment of inertia of target to be identified pre-set, and quality and the centroid position of the target to be identified of current generation is constantly adjusted based on the current operation inertia error that multiple moment of inertia of current acquisition are corresponding, the quality of the target to be identified of current generation and centroid position can be made constantly to approach the real quality of target to be identified and centroid position, and when the quality of the target to be identified of current generation and centroid position constantly approach the real quality of target to be identified and centroid position, the moment of inertia calculated also constantly can approach the real moment of inertia of target to be identified, it can thus be appreciated that, the present invention determines that the implementation procedure of the inertial parameter of target to be identified is not subject to the impact of the factors such as Sample Storehouse, and the inertial parameter of arbitrary target to be identified can be picked out fast and accurately, thus technical scheme provided by the invention is while the fuel having saved spacecraft preciousness, improves the inertial parameter identification precision of target to be identified, and there is comparatively ideal wide usage.

Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of instructions, and can become apparent, below especially exemplified by the specific embodiment of the present invention to allow above and other objects of the present invention, feature and advantage.

Accompanying drawing explanation

By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.The accompanying drawing of the present embodiment only for illustrating the object of preferred implementation, and does not think limitation of the present invention.And in whole accompanying drawing, represent identical parts by identical reference symbol.In the accompanying drawings:

Fig. 1 is the inertial parameter discrimination method process flow diagram of the present invention's target to be identified;

Fig. 2 is the inertial parameter device for identifying schematic diagram of the present invention's target to be identified.

Embodiment

Below with reference to accompanying drawings exemplary embodiment of the present disclosure is described in more detail.Although show exemplary embodiment of the present disclosure in accompanying drawing, however should be appreciated that can realize the disclosure in a variety of manners and not should limit by the embodiment set forth here.On the contrary, provide these embodiments to be in order to more thoroughly the disclosure can be understood, and complete for the scope of the present disclosure can be conveyed to those skilled in the art.

The inertial parameter discrimination method of embodiment one, target to be identified.

The method of the present embodiment can make the spacecraft being provided with mechanical arm effectively identify, and (as identified in-orbit) goes out the inertial parameter of target to be identified (i.e. unknown object).The inertial parameter of the target to be identified in the present embodiment refers to the quality of target to be identified, centroid position and moment of inertia.The centroid position of the target to be identified in the present embodiment is generally the three-dimensional coordinate of barycenter, and namely the quality of target to be identified and centroid position are four scalars.

Spacecraft in the present embodiment and form star arm coupled system between mechanical arm, such as, mechanical arm includes n-1 arm joint (as including the arm joint in connecting rod and joint), and this n-1 arm joint is respectively by (n-1 the joint altogether, joint on it, also rotary joint can be called) connect (as hinged) successively, and finally continue and be fixed on spacecraft, thus form the star arm coupled system that there is n-1 arm and save.

In the method for the present embodiment, be previously provided with the kinematics model of the moment of inertia solving target to be identified, and this kinematics model solving the moment of inertia of target to be identified pre-sets according to the conservation of angular momentum principle of multi-rigid-body system, namely the kinematics model solving the moment of inertia of target to be identified of the present embodiment is transformed by the conservation of angular momentum principle of multi-rigid-body system.Concrete, when mechanical arm in the present embodiment grabs target to be identified, can spacecraft, mechanical arm and target to be identified be regarded as a multi-rigid-body system, when ignoring the influence factors such as compression of the earth, atmospheric damping, solar light pressure and magnetic field of the earth, this multi-rigid-body system is the conservation of angular momentum principle meeting multi-rigid-body system, thus the present embodiment can utilize the conservation of angular momentum principle of existing multi-rigid-body system to arrange the kinematics model of the moment of inertia solving target to be identified completely.

Below the object lesson utilizing the conservation of angular momentum principle of existing multi-rigid-body system to arrange the kinematics model (following referred to as kinematics model) of the moment of inertia solving target to be identified is described in detail.

Setting star arm coupled system has n-1 arm joint (as including the arm joint in connecting rod and joint), and this n-1 arm joint connects successively respectively by the joint (as hinge) on it, and be finally fixedly routed on spacecraft (also can be called primary), form multi-rigid-body system; Each arm joint wherein all only has one degree of freedom.This multi-rigid-body system comprises n+1 rigid body, primary is the 0th rigid body, each arm joint is respectively the 1st rigid body to the (n-1)th rigid body, target to be identified is the n-th rigid body, and when mechanical arm stablize grab target to be identified, between the n-th rigid body (target to be identified) with (n-1)th rigid body (most end end arms saves) owing to being fixedly connected with without relative motion.

Setting star arm coupled system is in trackless control thrust and without the state of flight in-orbit under the effect of appearance control-torque, namely sets the position of primary and attitude all not by the control of roll booster or other external force.

The influence factors such as setting compression of the earth, atmospheric damping, solar light pressure and magnetic field of the earth are all left in the basket and disregard.

Conservation of angular momentum principle is as shown in following formula (1):

In above-mentioned formula (1), the span of i is [0, n], the rigid body quantity-1, h that n comprises for multi-rigid-body system _irepresent the angular momentum of i-th rigid body (as arm joint or connecting rod etc.), represent the angular momentum of the multi-rigid-body system of initial time (i.e. the 0th moment), const represents constant.

When considering separately every section of rigid body in star arm coupled system (i.e. primary, each arm joint and target to be identified), the angular momentum of every section of rigid body all meets following formula (2):

$h_i=m_i{r}_i\×v_i+A_{Ii}{I}_i{\mathrm{\Ω}}_i=m_i{r}_i\×v_i+A_{Ii}{I}_i\underset{k=0}{\overset{i}{\Σ}}{A}_{ik}{\stackrel{\·}{\mathrm{\Φ}}}_k$ Formula (2)

In above-mentioned formula (2), m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, F _-1represent inertia space reference system, i.e. r _irepresent the absolute position of the barycenter of i-th rigid body, v _irepresent based on F _-1the systemic velocity (i.e. the absolute velocity of the barycenter of i-th rigid body) of i-th rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates (F _iwith F _-1all represent inertia space reference system), I _irepresent based on F _ithe moment of inertia of i-th rigid body, and F _ii ∈ 0,2, ..., n represents the coordinate system (coordinate system as the i-th-1 connecting rod in mechanical arm) of i-th rigid body, for mechanical arm, the initial point of the coordinate system of this i-th rigid body be fixed on the i-th-1 section arm joint and i-th section of arm save between tie point (i.e. joint) place, and the turning axle that the z-axis of this coordinate system and i-th section of arm save is consistent, Ω _irepresent based on F _ithe angular velocity of i-th rigid body, A _ikrepresent from F _kto F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, represent based on F _ka kth rigid body relative to the angular velocity of kth-1 rigid body.

R in above-mentioned formula (2) _ican represent with following formula (3):

$r_i=r_0+\underset{k=0}{\overset{i-1}{\Σ}}{A}_{Ik}{l}_k+A_{Ii}{a}_i$ Formula (3)

In above-mentioned formula (3), r ₀represent based on F _-1the centroid position of primary, F _-1represent inertia space reference system, A _ikrepresent from F _kto F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body.

V in above-mentioned formula (2) _ican represent with following formula (4):

$\begin{array}{c}{v}_i={\stackrel{\·}{r}}_i\\ ={\stackrel{\·}{r}}_0+\underset{k=0}{\overset{i-1}{\Σ}}{A}_{Ik}{\mathrm{\Ω}}_k\×l_k+A_{Ii}{\mathrm{\Ω}}_i\×a_i\\ ={\stackrel{\·}{r}}_0-\underset{k=0}{\overset{i-1}{\Σ}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\Σ}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)-A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\Σ}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\end{array}$ Formula (4)

In above-mentioned formula (4), representing that the barycenter absolute position of i-th rigid body is to the first order derivative of time, is also the speed of i-th rigid body, representing that the barycenter absolute position of the 0th rigid body is to the first order derivative of time, is also the speed of the 0th rigid body, A _ikrepresent from F _kto F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, Ω _krepresent based on F _kthe angular velocity of a kth rigid body, l _krepresent coordinate system (the i.e. F of a kth rigid body _k) initial point point to the vector of the initial point of the coordinate system of kth+1 rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, Ω _irepresent based on F _ithe angular velocity of i-th rigid body, a _irepresent coordinate system (the i.e. F of i-th rigid body _i) initial point point to the vector of the centroid position of i-th rigid body, A _kjrepresent from F _kto F _jtransformation matrix of coordinates, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, A _ijrepresent from F _jto F _itransformation matrix of coordinates, F _jrepresent the coordinate system of a jth rigid body, the initial point of this coordinate system is the junction (i.e. joint) of jth-1 rigid body and a jth rigid body, and the turning axle of the z-axis of this coordinate system and a jth rigid body is consistent, F _irepresent the coordinate system of i-th rigid body, the initial point of this coordinate system is the junction (i.e. joint) of the i-th-1 rigid body and i-th rigid body, and the turning axle of the z-axis of this coordinate system and i-th rigid body is consistent.

Setting multi-rigid-body system centroid position be r _gwhen, then there is following formula (5):

$r_G\underset{i=0}{\overset{n}{\Σ}}{m}_i=\underset{i=0}{\overset{n}{\Σ}}{m}_i{r}_i$ Formula (5)

In above-mentioned formula (5), the rigid body quantity-1, m that n comprises for multi-rigid-body system _irepresent the quality of i-th rigid body, r _irepresent the absolute position of the barycenter of i-th rigid body.

The absolute position r of barycenter represented by each rigid body represented by formula (3) will be utilized _ithe right side being updated to above-mentioned formula (5) can obtain following formula (6):

$\begin{array}{c}{r}_G\underset{i=0}{\overset{n}{\Σ}}{m}_i=\underset{i=0}{\overset{n}{\Σ}}{m}_i{(r_0+\underset{k=0}{\overset{i-1}{\Σ}}{A}_{Ik}{l}_k+A_{Ii}{a}_i)}_i\\ =r_0\underset{i=0}{\overset{n}{\Σ}}{m}_i+\underset{i=0}{\overset{n}{\Σ}}{m}_i{(\underset{k=0}{\overset{i-1}{\Σ}}{A}_{Ik}{l}_k+A_{Ii}{a}_i)}_i\end{array}$ Formula (6)

In above-mentioned formula (6), the rigid body quantity-1, r that n comprises for multi-rigid-body system _gfor the centroid position of multi-rigid-body system, r ₀represent based on F _-1the centroid position of primary, m _irepresent the quality of i-th rigid body, A _ikrepresent from F _kto F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body.

By inertia space reference system F _ibe based upon on the centroid position of the multi-rigid-body system of initial time (even r _g=0) when, then following formula (7) can be obtained:

$r_0=-\frac{\underset{i=0}{\overset{n}{\Σ}}{m}_i{(\underset{k=0}{\overset{i-1}{\Σ}}{A}_{Ik}{l}_k+A_{Ii}{a}_i)}_i}{\underset{i=0}{\overset{n}{\Σ}}{m}_i}$ Formula (7)

In above-mentioned formula (7), the rigid body quantity-1, r that n comprises for multi-rigid-body system ₀represent based on F _-1the centroid position of primary, m _irepresent the quality of i-th rigid body, A _ikrepresent from F _kto F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body.

Utilize above-mentioned formula (7) that r in above-mentioned formula (3) and formula (4) can be eliminated ₀.

At the multi-rigid-body system angular momentum in setting initial 0 moment and by the h of each rigid body represented by formula (2) _iwhen substituting in formula (1), following formula (8) can be obtained:

$\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]+A_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\]=0$

Formula (8)

Only containing moment of inertia I to be solved in above-mentioned formula (8) _n, the present embodiment is by moment of inertia I _nafter extracting, following formula (9) can be obtained:

$\begin{array}{c}{A}_{In}{I}_n\underset{j=0}{\overset{n}{\mathrm{\Σ}}}{A}_{nj}{\stackrel{\·}{\mathrm{\Φ}}}_j\\ =-\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]\]\\ -\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\end{array}$ Formula (9)

In above-mentioned formula (9), n is the rigid body quantity-1, A of multi-rigid-body system _inrepresent from F _nto inertia space reference system F _itransformation matrix of coordinates, I _nrepresent based on F _nthe moment of inertia of the n-th rigid body, A _njrepresent from F _nto F _jtransformation matrix of coordinates, F _nrepresent the coordinate system of the n-th rigid body, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, F _-1represent inertia space reference system, v ₀represent based on F _-1the systemic velocity of the 0th rigid body, A _ikrepresent from F _kto inertia space reference system F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, A _kjrepresent from F _kto F _jtransformation matrix of coordinates, F _jrepresent the coordinate system of a jth rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body, A _ijrepresent from F _jto F _itransformation matrix of coordinates.

Above-mentioned formula (9) is the kinematics model of the present embodiment.

It should be noted that, kinematics model represented by above-mentioned formula (9) is only the concrete example of of the kinematics model derived according to the conservation of angular momentum principle of multi-rigid-body system, in actual applications, formula (9) is the form that there is multiple change, and the present embodiment does not limit the concrete manifestation form of the kinematics model derived according to the conservation of angular momentum principle of multi-rigid-body system.

The kinematics model gone out represented by (9) below is with the formula example, and the method for composition graphs 1 pair of the present embodiment is described.

In Fig. 1, S100, capture multiple moment of target to be identified at mechanical arm, each angular momentum of arm joint of measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft respectively.

Concrete, when mechanical arm grabs target to be identified, can driving machine mechanical arm rotate, and in the process of driving machine mechanical arm rotation, for multiple different moment (being generally tens moment, as 40 moment), each angular momentum of arm joint of measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft respectively, and store according to the tandem in moment the angular momentum measured and obtain, thus all obtain multiple angular momentum for each moment (as sampling instant).For convenience of description, all angular momentums corresponding to the moment are called an angular momentum set by the present embodiment, thus not corresponding different angular momentum set in the same time.

Not corresponding in the same time angular momentum set in the present embodiment can be divided into multiple groups and (be generally tens groups, as 20 groups), and each group all includes multiple angular momentum set (usually comprise tens and do not distinguish corresponding angular momentum set in the same time, as 20 angular momentum set).It should be noted that, angular momentum set in different group can have common factor, as first group of angular momentum comprises k angular momentum set from the angular momentum set that the first moment is corresponding, and second group of angular momentum comprises k angular momentum set from the angular momentum set that the second moment is corresponding, by that analogy.Certainly, the present embodiment does not get rid of the possibility that the angular momentum set in different groups is not occured simultaneously yet.

The present embodiment can adopt the equipment such as gyroscope to come each angular momentum of arm joint of measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft, and the present embodiment does not limit the specific implementation of each angular momentum of arm joint of measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft.

S110, the quality producing target to be identified and centroid position, and utilize and organize angular momentum, the quality of identification target of current generation and centroid position more and utilize the kinematics model pre-set to calculate multiple moment of inertia of acquisition target to be identified respectively.

Concrete, the present embodiment can adopt various ways (as random fashion etc.) to produce quality and the centroid position of target to be identified; In order to the quality and centroid position that make the target to be identified of generation approach real quality and the centroid position of target to be identified as soon as possible, the mode that the present embodiment can adopt random fashion to combine with intelligent optimization algorithm is to produce quality and the centroid position of target to be identified.

The example producing the quality of target to be identified and centroid position one concrete is: when producing quality and the centroid position of target to be identified first, the quality of random generation target to be identified and centroid position, non-produce quality and the centroid position of target to be identified first time, intelligent optimization algorithm can be utilized to produce quality and the centroid position of target to be identified according to the quality of the target to be identified produced before and centroid position and corresponding moment of inertia error.Here intelligent optimization algorithm can be genetic algorithm etc.The present embodiment does not limit the concrete manifestation form of intelligent optimization algorithm.

The present embodiment can utilize one group of angular momentum and the kinematics model that pre-sets to calculate a moment of inertia of target to be identified, thus utilizes many group angular momentums and the kinematics model that pre-sets to calculate multiple moment of inertia of target to be identified.

One group of angular momentum and the kinematics model that pre-sets is utilized to calculate an object lesson of a moment of inertia of target to be identified as follows:

Setting s and d comprises three independently components respectively, and s and d can be represented by following formula (10) and formula (11):

$\left[\begin{array}{c}{s}_1\\ s_2\\ s_3\end{array}\right]=\underset{j=0}{\overset{n}{\Σ}}{A}_{nj}{\stackrel{\·}{\mathrm{\Φ}}}_j$ Formula (10)

In above-mentioned formula (10), the rigid body quantity-1, A that n comprises for multi-rigid-body system _njrepresent from F _nto F _jtransformation matrix of coordinates, F _nrepresent the coordinate system of the n-th rigid body (being generally target to be identified), represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body.

$\begin{array}{c}\left[\begin{array}{c}{d}_1\\ d_2\\ d_3\end{array}\right]=-A_{In}^{-1}\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×{\mathrm{\Ω}}_k+A_{Ii}{a}_i\×{\mathrm{\Ω}}_i\]\]-A_{In}^{-1}\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i{\mathrm{\Ω}}_i\\ =-A_{In}^{-1}\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]\]\\ -A_{In}^{-1}\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\end{array}$ Formula (11)

In above-mentioned formula (11), the rigid body quantity-1, A that n comprises for multi-rigid-body system ^-1 _inrepresent A _ininverse, A _inrepresent from F _nto inertia space reference system F _itransformation matrix of coordinates, m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, F _-1represent inertia space reference system, i.e. r _irepresent the absolute position of the barycenter of i-th rigid body, v ₀represent based on F _-1the systemic velocity (i.e. the absolute velocity of the barycenter of the 0th rigid body, and the 0th rigid body is generally primary) of the 0th rigid body, A _ikrepresent from F _kto F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, Ω _krepresent based on F _kthe angular velocity of a kth rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates (F _iwith F _-1all represent inertia space reference system), a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body, I _irepresent based on F _ithe moment of inertia of i-th rigid body, and F _ii ∈ 0,2, ..., n represents the coordinate system (coordinate system as the i-th-1 connecting rod in mechanical arm) of i-th rigid body, for mechanical arm, the initial point of the coordinate system of this i-th rigid body be fixed on the i-th-1 section arm joint and i-th section of arm save between tie point (i.e. joint) place, and the turning axle that the z-axis of this coordinate system and i-th section of arm save is consistent, Ω _irepresent based on F _ithe angular velocity of i-th rigid body, A _ikrepresent from F _kto F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, A _ijrepresent from F _jto F _itransformation matrix of coordinates.

It can thus be appreciated that above-mentioned formula (9) can be converted into the form of following formula (12):

I _ns=d formula (12)

At the quality of the target to be identified using current generation and the centroid position quality m as target to be identified _nwith centroid position r _nwhen, all there is not unknown parameter in s and d in above-mentioned formula (12), and only has I _nit is variable to be solved.Due to the I solved _nmay not be the real moment of inertia of target to be identified, therefore, the moment of inertia of the target to be identified utilizing kinematics model to solve uses by we represent.The present embodiment can be by following formula (13) form can be expressed as:

$I_n^{*}={\left[\begin{array}{cccccc}{I}_{11}& I_{22}& I_{33}& I_{12}& I_{13}& I_{23}\end{array}\right]}^T$ Formula (13)

In above-mentioned formula (13), I ₁₁, I ₂₂, I ₃₃, I ₁₂, I ₁₃and I ₂₃represent in the moment of inertia of target to be identified six independently components.

Above-mentioned s can be expressed as [s ₁s ₂s ₃] ^tform, s wherein ₁, s ₂and s ₃for s (s=[s ₁s ₂s ₃] ^t) in three independently components, and these three independently component when being set to the form as shown in following formula (14), form matrix S:

$S=\left[\begin{array}{cccccc}{s}_1& 0& 0& s_2& s_3& 0\\ 0& s_2& 0& s_1& 0& s_3\\ 0& 0& s_3& 0& s_1& s_2\end{array}\right]$ Formula (14)

$d=\left[\begin{array}{c}{d}_1\\ d_2\\ d_3\end{array}\right]$ Formula (15)

In above-mentioned formula (15), d ₁, d ₂and d ₃for the independently component of three in d.

Above-mentioned formula (12) can be converted into the form of following formula (16):

${\mathrm{SI}}_n^{*}=d$ Formula (16)

Above-mentioned formula (13), formula (14) and formula (15) are brought in above-mentioned formula (16) following formula (17) can be obtained:

$\left[\begin{array}{cccccc}{s}_1& 0& 0& s_2& s_3& 0\\ 0& s_2& 0& s_1& 0& s_3\\ 0& 0& s_3& 0& s_1& s_2\end{array}\right]\left[\begin{array}{c}{I}_{11}\\ I_{22}\\ I_{33}\\ I_{12}\\ I_{13}\\ I_{23}\end{array}\right]=\left[\begin{array}{c}{d}_1\\ d_2\\ d_3\end{array}\right]$ Formula (17)

There are six unknown numbers, i.e. I in above-mentioned formula (17) ₁₁, I ₂₂, I ₃₃, I ₁₂, I ₁₃and I ₂₃, when formula (17) is expressed as equation system of equations, only have three equations.Obvious formula (17) does not have unique solution.But after make use of the multiple or all angular momentum set in one group of angular momentum (i.e. simultaneous the data in more moment), the present embodiment can obtain the formula of more groups, thus makes formula (17) have unique solution.

Setting S ^*represent the matrix be made up of not S in the same time, and d ^*represent the matrix be made up of not d in the same time, then S ^*and d ^*respectively Ru shown in following formula (18) and formula (19):

$S^{*}=\left[\begin{array}{c}{S}^{\left(1\right)}\\ .\\ .\\ .\\ S^{\left(t\right)}\end{array}\right]$ Formula (18)

$d^{*}=\left[\begin{array}{c}{d}^{\left(1\right)}\\ .\\ .\\ .\\ d^{\left(t\right)}\end{array}\right]$ Formula (19)

In above-mentioned formula (18) and formula (19), the subscript (1) of alphabetical S and d and subscript (t) represent the moment, i.e. moment 1 and moment t, and t is wherein generally tens, as 20.

At simultaneous after the data in multiple moment, following formula (20) can be obtained:

$S^{*}{I}_n^{*}=d^{*}$ Formula (20)

When data are in the same time not abundant, can ensure that above-mentioned formula (20) is full rank, thus formula (20) can be utilized to calculate the column vector form of the moment of inertia of target to be identified

The example utilizing formula (20) to calculate of the moment of inertia of target to be identified concrete is: the least square solution asking for above-mentioned formula (20), and the column vector form of the moment of inertia of the target to be identified that this least square solution is calculated as this the least square solution of above-mentioned formula (20) is as shown in following formula (21):

$I_n^{*}={\left(S^{*T}{S}^{*}\right)}^{-1}{S}^{*T}{d}^{*}$ Formula (21)

In above-mentioned formula (21), S ^{* T}represent S ^*transposed matrix, (*) ^-1representing matrix (*) inverse.

S120, assessing the current operation inertia error of target to be identified according to the current multiple moment of inertia obtained that calculate, when determining that current operation inertia error does not meet predictive error requirement, returning S110; When determining that current operation inertia error meets predictive error requirement, to following step S130.

Concrete, because the quality of target to be identified and centroid position are unknown, and the quality and centroid position for calculating the target to be identified of moment of inertia in above-mentioned S110 produces based on the mode such as random fashion or intelligent optimization algorithm, therefore, the quality of the target to be identified used in S110 and centroid position are not probably the real quality of target to be identified and centroid position, thus the moment of inertia that utilization is not the target to be identified that the real quality of target to be identified and centroid position calculate also can not be the real moment of inertia of target to be identified.It can thus be appreciated that, the moment of inertia that the present embodiment tackles in above-mentioned S110 the target to be identified calculated is verified, by the present embodiment being impelled by S110 constantly to be carried out the calculating of the moment of inertia of target to be identified to the checking of moment of inertia, and the moment of inertia of the target to be identified calculated constantly can approach the real moment of inertia of target to be identified, until the quality of target to be identified that produces of S110 and centroid position are essentially the real quality of target to be identified and centroid position, like this, the moment of inertia of the target to be identified calculated is essentially the real moment of inertia of target to be identified.

The theoretical foundation that the moment of inertia of the present embodiment to target to be identified is verified is: when the quality of target to be identified and these four scalars of centroid position and the real quality of target to be identified and centroid position differ greatly, and the moment of inertia of the target to be identified utilizing four such scalars to calculate for not angular momentum (i.e. different group angular momentum) in the same time can not identical (may differ greatly); And when the quality of target to be identified and these four scalars of centroid position approach the real quality of target to be identified and centroid position (or the real quality of target to be identified and centroid position) substantially, the moment of inertia substantially the same (namely difference is very little) of the target to be identified utilizing four such scalars to calculate for not angular momentum in the same time.That is, utilizing the real quality of target to be identified and centroid position for when angular momentum (i.e. different group angular momentum) does not in the same time carry out the calculating of the moment of inertia of target to be identified, multiple moment of inertia (as least square solution) of the target to be identified calculated can be just identical, and the quality of the target to be identified produced and centroid position get over approaching to reality value, then not corresponding in the same time solving result can approach the actual value of the moment of inertia of target to be identified from all directions.

Based on above-mentioned theory basis, the present embodiment assesses the current operation inertia error of target to be identified at the moment of inertia utilizing the quality of identical target to be identified and centroid position to calculate multiple target to be identified respectively based on many group angular momentums.

The object lesson that the present embodiment assesses the current operation inertia error of target to be identified is: calculate the moment of inertia of multiple target to be identified for the quality of identical target to be identified and centroid position respectively based on many group angular momentums solve multiple respectively in the variance of each component (six components), then, then calculate the variance sum of six components, this variance sum is the current operation inertia error of target to be identified.

After assessment obtains the current operation inertia error of target to be identified, should judge whether this error meets predictive error requirement, as judged, whether the variance sum calculated is less than predictive error threshold value etc.; When judging that error meets predictive error requirement, to step S130; When judging that error does not meet predictive error requirement, to step S110, namely continue to produce new quality and centroid position (as produced new quality and centroid position by intelligent optimization algorithm), and again calculate multiple moment of inertia of target to be identified based on the quality of current new generation and centroid position.

S130, using the current moment of inertia that obtains of calculating as the moment of inertia of target to be identified, and using the quality of the target to be identified of current generation and centroid position as the quality of target to be identified and centroid position.

Concrete, when the error calculated meet predictive error require, the present embodiment can using in multiple moment of inertia of the current target to be identified calculated as the final moment of inertia of target to be identified, if the moment of inertia closest to predictive error threshold value that will calculate is as the final moment of inertia of target to be identified; The present embodiment also can carry out COMPREHENSIVE CALCULATING to multiple moment of inertia of the current target to be identified calculated, and result COMPREHENSIVE CALCULATING gone out is as the final moment of inertia of target to be identified.

The inertial parameter discrimination method of embodiment two, target to be identified.

First, capture multiple moment of target to be identified at mechanical arm, respectively each angular momentum of arm joint of measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft.

Secondly, quality and the centroid position of target to be identified is produced.Non-produce quality and the centroid position of target to be identified first time, the basic genetic algorithmic of positive analyses can be used, the implementation procedure of basic genetic algorithmic can comprise: distribute fitness based on linear ordering, and select with roulette method, limit and optimize interval for the quality of conservative estimation and the bounds etc. of centroid position.The present embodiment does not limit the specific implementation process of basic genetic algorithmic.

Again, use i not measurement data in the same time calculate S and d respectively, obtain S ⁽¹⁾..., S ⁽ⁱ⁾and d ⁽¹⁾..., d ⁽ⁱ⁾;

Afterwards, respectively from S ⁽¹⁾and d ⁽¹⁾start to get front k S and d to be combined into $S^{*\left(1\right)}=\left[\begin{array}{c}{S}^{\left(1\right)}\\ .\\ .\\ .\\ S^{\left(k\right)}\end{array}\right]$ With $d^{*\left(1\right)}=\left[\begin{array}{c}{d}^{\left(1\right)}\\ .\\ .\\ .\\ d^{\left(k\right)}\end{array}\right],$ And utilize S ^{* (1)}and d ^{* (1)}form system of equations, solve corresponding

In addition after, respectively from S ⁽²⁾and d ⁽²⁾start to get front k S and d to be combined into $S^{*\left(2\right)}=\left[\begin{array}{c}{S}^{\left(2\right)}\\ .\\ .\\ .\\ S^{(k+1)}\end{array}\right]$ With $d^{*\left(2\right)}=\left[\begin{array}{c}{d}^{\left(2\right)}\\ .\\ .\\ .\\ d^{(k+1)}\end{array}\right],$ And utilize S ^{* (2)}and d ^{* (2)}form system of equations, solve corresponding

The like, repeatedly choose different k S and d and be combined into different matrixes, form different system of equations, solve different moment of inertia, until all the measurement data in i moment has participated in the calculating solving moment of inertia all, finally can obtain (i-k) organizes solving result altogether, namely obtains variable capacity be one group of sample of (i-k).

Then, calculate in 6 independently component variance sums separately, this variance sum can be represented by following formula (22):

$e=\underset{s=1}{\overset{6}{\Σ}}\mathrm{\σ}\[I_{n,s}^{*}\]$ Formula (22)

In above-mentioned formula (22), the variance that σ (*) is *; for the variable that the value of s component is formed, its with have the sample that capacity is equal.

Above-mentioned formula (22) is use the required objective function optimized of Optimization Method problem, that is, when making formula (22) have minimum value, the present embodiment can determine the quality of target to be identified, centroid position and moment of inertia accurately.

In actual applications, known by the experiment of repeatedly data simulation, i approximately get about 40, k approximately get about 20 when, substantially can obtain more stable error assessment result.In addition, population scale in the basic genetic algorithmic used is 500, maximum iteration time is 100, crossover probability is 0.25 and mutation probability when being 0.01, confirm through experiment, the inertial parameter of the target to be identified utilizing the method for the present embodiment finally to obtain has higher precision.

The inertial parameter device for identifying of embodiment three, target to be identified.The structure of this device as shown in Figure 2.

In Fig. 2, the inertial parameter device for identifying of the target to be identified of the present embodiment mainly comprises: memory module 200, measurement module 210, produce and computing module 220, judge module 230 and determine inertial parameter module 250.

Memory module 200 is mainly suitable for the kinematics model solving the moment of inertia of target to be identified that storage is set up based on the conservation of angular momentum principle of multi-rigid-body system.

Concrete, the kinematics model stored in memory module 200 can represent with following formula:

$\begin{array}{c}{A}_{In}{I}_n\underset{j=0}{\overset{n}{\mathrm{\Σ}}}{A}_{nj}{\stackrel{\·}{\mathrm{\Φ}}}_j\\ =-\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]\]\\ -\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\end{array}$

In above-mentioned formula, n is the rigid body quantity-1, A of multi-rigid-body system _inrepresent from F _nto inertia space reference system F _itransformation matrix of coordinates, I _nrepresent based on F _nthe moment of inertia of the n-th rigid body, A _njrepresent from F _nto F _jtransformation matrix of coordinates, F _nrepresent the coordinate system of the n-th rigid body, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, F _-1represent inertia space reference system, v ₀represent based on F _-1the systemic velocity of the 0th rigid body, A _ikrepresent from F _kto inertia space reference system F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, A _kjrepresent from F _kto F _jtransformation matrix of coordinates, F _jrepresent the coordinate system of a jth rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body, A _ijrepresent from F _jto F _itransformation matrix of coordinates.

Measurement module 210 is mainly suitable for driving the multiple moment capturing and have the mechanical arm of target to be identified to rotate, respectively the angular momentum of the angular momentum that saves of each arm of measuring machine mechanical arm and the spacecraft that is provided with mechanical arm.

Concrete, when mechanical arm grabs target to be identified, can driving machine mechanical arm rotate, and in the process of driving machine mechanical arm rotation, (tens moment are generally for multiple different moment, as 40 moment), measurement module 210 is each angular momentum of arm joint of measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft respectively, and store according to the tandem in moment the angular momentum measured and obtain, thus measurement module 210 all obtains multiple angular momentum for each moment (as sampling instant).For convenience of description, all angular momentums corresponding to the moment are called an angular momentum set by the present embodiment, thus not corresponding different angular momentum set in the same time.

The not corresponding in the same time angular momentum set stored in measurement module 210 can be divided into multiple groups and (be generally tens groups, as 20 groups), and each group all includes multiple angular momentum set (usually comprise tens and do not distinguish corresponding angular momentum set in the same time, as 20 angular momentum set).It should be noted that, angular momentum set in different group can have common factor, as first group of angular momentum comprises k angular momentum set from the angular momentum set that the first moment is corresponding, and second group of angular momentum comprises k angular momentum set from the angular momentum set that the second moment is corresponding, by that analogy.Certainly, the present embodiment angular momentum set also not getting rid of in measurement module 210 in different groups possibility of not occuring simultaneously.

Measurement module 210 can adopt the equipment such as gyroscope to come each angular momentum of arm joint of measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft, and the present embodiment does not limit the specific implementation of each angular momentum of arm joint of measurement module 210 measuring machine mechanical arm and the angular momentum of mechanical arm place spacecraft.

To produce and computing module 220 is mainly suitable for the quality and the centroid position that produce target to be identified, and utilize and organize angular momentum, the quality of identification target of current generation and centroid position more and utilize described kinematics model to calculate multiple moment of inertia of acquisition target to be identified respectively.

Concrete, produce also computing module 220 and various ways (as random fashion etc.) can be adopted to produce quality and the centroid position of target to be identified; In order to the quality and centroid position that make the target to be identified of generation approach real quality and the centroid position of target to be identified as soon as possible, produce and computing module 220 random fashion can be adopted to combine with intelligent optimization algorithm mode to produce quality and the centroid position of target to be identified.

To produce and the example that computing module 220 produces the quality of target to be identified and centroid position one concrete is: when producing quality and the centroid position of target to be identified first, produce and random quality and the centroid position producing target to be identified of computing module 220, non-produce quality and the centroid position of target to be identified first time, to produce and computing module 220 can utilize intelligent optimization algorithm to produce quality and the centroid position of target to be identified according to the quality of the target to be identified produced before and centroid position and corresponding moment of inertia error.Here intelligent optimization algorithm can be genetic algorithm etc.The present embodiment does not limit the concrete manifestation form of intelligent optimization algorithm.

To produce and computing module 220 can utilize one group of angular momentum and the kinematics model that pre-sets to calculate a moment of inertia of target to be identified, thus utilize many group angular momentums and the kinematics model that pre-sets to calculate multiple moment of inertia of target to be identified.

To produce and computing module 220 utilizes one group of angular momentum and the kinematics model that pre-sets to calculate an object lesson of a moment of inertia of target to be identified as the description in above-described embodiment one, be not repeated.

Judge module 230 is mainly suitable for calculating according to current the current operation inertia error that target to be identified assessed by the multiple moment of inertia obtained, judge module 230 is when determining that current operation inertia error does not meet predictive error requirement, triggering generation also computing module 220, makes generation and computing module 220 performs the operation producing and calculate again; Judge module 230, when determining that current operation inertia error meets predictive error requirement, triggers and determines that inertial parameter module 240 performs corresponding operation.

Concrete, judge module 230 is tackled the moment of inertia producing the target to be identified that also computing module 220 calculates and is verified, constantly the calculating of the moment of inertia of target to be identified is carried out by producing also computing module 220 by can impel the present embodiment to the checking of moment of inertia, and the moment of inertia of the target to be identified calculated constantly can approach the real moment of inertia of target to be identified, until to produce and the quality of target to be identified that produces of computing module 220 and centroid position are essentially the real quality of target to be identified and centroid position, like this, the moment of inertia producing the target to be identified that also computing module 220 calculates is essentially the real moment of inertia of target to be identified.

The theoretical foundation that the moment of inertia of judge module 230 to target to be identified is verified is: when the quality of target to be identified and these four scalars of centroid position and the real quality of target to be identified and centroid position differ greatly, and produces and the moment of inertia of computing module 220 target to be identified that utilizes four such scalars to calculate for not angular momentum in the same time (namely different organize angular momentum) can not identical (may differ greatly); And when the quality of target to be identified and these four scalars of centroid position approach the real quality of target to be identified and centroid position (or the real quality of target to be identified and centroid position) substantially, produce and the moment of inertia substantially the same (namely difference is very little) of computing module 220 target to be identified that utilizes four such scalars to calculate for not angular momentum in the same time.That is, producing and computing module 220 utilizes the real quality of target to be identified and centroid position for when angular momentum (namely difference organizes angular momentum) does not in the same time carry out the calculating of the moment of inertia of target to be identified, multiple moment of inertia (as least square solution) of the target to be identified calculated can be just identical, and to produce and the quality of target to be identified that produces of computing module 220 and centroid position get over approaching to reality value, then not corresponding in the same time solving result can approach the actual value of the moment of inertia of target to be identified from all directions.

Based on above-mentioned theory basis, judge module 230 assesses the current operation inertia error of target to be identified at the moment of inertia utilizing the quality of identical target to be identified and centroid position to calculate multiple target to be identified respectively based on many group angular momentums.

The example that judge module 230 assesses the current operation inertia error of target to be identified is: judge module 230 calculates the moment of inertia of multiple target to be identified for the quality of identical target to be identified and centroid position respectively based on many group angular momentums solve multiple respectively in the variance of each component (six components), then, judge module 230 calculates the variance sum of six components again, and this variance sum is the current operation inertia error of target to be identified.

Judge module 230, after assessment obtains the current operation inertia error of target to be identified, should judge whether this error meets predictive error requirement, as judge module 230 judges whether the variance sum calculated is less than predictive error threshold value etc.; When judge module 230 judges that error meets predictive error requirement, notice determines inertial parameter module 240; When judge module 230 judges that error does not meet predictive error requirement, trigger and produce and computing module 220, namely to produce and computing module 220 continues to produce new quality and centroid position (as produced new quality and centroid position by intelligent optimization algorithm), and again calculate multiple moment of inertia of target to be identified based on the quality of current new generation and centroid position.

Determine that inertial parameter module 240 is mainly suitable for using the current moment of inertia that obtains of calculating as the moment of inertia of target to be identified, and using the quality of the target to be identified of current generation and centroid position as the quality of target to be identified and centroid position.

Concrete, meet in the error that judge module 230 calculates and predictive error requires, to determine that inertial parameter module 240 can using in multiple moment of inertia of the current target to be identified calculated as the final moment of inertia of target to be identified, as determined inertial parameter module 240 using the moment of inertia closest to predictive error threshold value that calculates as the final moment of inertia of target to be identified; In addition, determine that inertial parameter module 240 also can carry out COMPREHENSIVE CALCULATING to multiple moment of inertia of the current target to be identified calculated, and result COMPREHENSIVE CALCULATING gone out is as the final moment of inertia of target to be identified.

This algorithm provided and display intrinsic not relevant to any certain computer, virtual system or miscellaneous equipment.Various general-purpose system also can with use based on together with this teaching.According to description above, the structure constructed required by this type systematic is apparent.In addition, the present invention is not also for any certain programmed language.It should be understood that and various programming language can be utilized to realize content of the present invention described here, and the description done language-specific is above to disclose preferred forms of the present invention.

In instructions provided herein, describe a large amount of detail.But can understand, embodiments of the invention can be put into practice when not having these details.In some instances, be not shown specifically known method, structure and technology, so that not fuzzy understanding of this description.

Similarly, be to be understood that, in order to simplify the disclosure and to help to understand in each inventive aspect one or more, in the description above to exemplary embodiment of the present invention, each feature of the present invention is grouped together in single embodiment, figure or the description to it sometimes.But, the method for the disclosure should be construed to the following intention of reflection: namely the present invention for required protection requires feature more more than the feature clearly recorded in each claim.Or rather, as claims below reflect, all features of disclosed single embodiment before inventive aspect is to be less than.Therefore, the claims following embodiment are incorporated to this embodiment thus clearly, and wherein each claim itself is as independent embodiment of the present invention.

Those skilled in the art are appreciated that and adaptively can change the module in the equipment in embodiment and they are arranged in one or more equipment different from this embodiment.Module in embodiment or unit or assembly can be combined into a module or unit or assembly, and multiple submodule or subelement or sub-component can be put them in addition.Except at least some in such feature and/or process or unit be mutually repel except, any combination can be adopted to combine all processes of all features disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) and so disclosed any method or equipment or unit.Unless expressly stated otherwise, each feature disclosed in this instructions (comprising adjoint claim, summary and accompanying drawing) can by providing identical, alternative features that is equivalent or similar object replaces.

In addition, those skilled in the art can understand, although embodiment described herein to comprise in other embodiment some included feature instead of further feature, the combination of the feature of different embodiment means and to be within scope of the present invention and to form different embodiments.Such as, in the following claims, the one of any of embodiment required for protection can use with arbitrary array mode.

All parts embodiment of the present invention with hardware implementing, or can realize with the software module run on one or more processor, or realizes with their combination.It will be understood by those of skill in the art that and microprocessor or digital signal processor (DSP) can be used in practice to realize according to the some or all functions in the inertial parameter device for identifying of the target to be identified of the embodiment of the present invention.The present invention can also be embodied as part or all equipment for performing method as described herein or device program (as computer program and computer program).Realizing program of the present invention and can store on a computer-readable medium like this, or the form of one or more signal can be had.Such signal can be downloaded from the website of the Internet and obtain, and also can provide on carrier signal, or provide with any other form.

It should be noted, above-described embodiment is that the present invention will be described instead of limits the invention, and those skilled in the art can design alternative embodiment when not departing from the scope of claims.In the claims, any reference symbol between bracket should be configured to limitations on claims.Word " comprises " not to be got rid of existence and does not arrange element or step etc. in the claims.Word "a" or "an" before being positioned at element is not got rid of and be there is multiple such element.The present invention can by means of including the hardware of some different elements and realizing by means of the computing machine of suitably programming.In the unit claim listing some devices, several in these devices can be carry out imbody by same hardware branch.Word first, second and third-class use do not represent any order.Can be title by these word explanations.

Claims (10)

1. an inertial parameter discrimination method for target to be identified, is characterized in that, described method comprises:

Driving the multiple moment capturing and have the mechanical arm of target to be identified to rotate, respectively measuring machine mechanical arm each arm joint angular momentum and the angular momentum of spacecraft of mechanical arm is installed, angular momentum is organized in formation more;

Produce quality and the centroid position of target to be identified, and utilize and organize angular momentum, the quality of identification target of current generation and centroid position more and calculate multiple moment of inertia of acquisition target to be identified respectively based on kinematics model;

Assess target current operation inertia error to be identified, and re-execute above-mentioned generation according to assessment result and the operation calculated or using the quality of the target to be identified of current generation and centroid position as the quality of target to be identified and centroid position, and calculate the moment of inertia that the obtains moment of inertia as target to be identified using current.

2. an inertial parameter discrimination method for target to be identified, is characterized in that, be provided with the conservation of angular momentum principle based on multi-rigid-body system and the kinematics model solving the moment of inertia of target to be identified set up, and described method comprises the steps:

Measuring process: driving the multiple moment capturing and have the mechanical arm of target to be identified to rotate, respectively measuring machine mechanical arm each arm joint angular momentum and the angular momentum of spacecraft of mechanical arm is installed, wherein, the each angular momentum of arm joint of mechanical arm that described multiple moment is corresponding respectively and the angular momentum of mechanical arm place spacecraft are divided into organizes angular momentum more, and one group of angular momentum generally includes each angular momentum of arm joint of many not corresponding in the same time mechanical arms and the angular momentum of mechanical arm place spacecraft;

Produce and calculation procedure: the quality and the centroid position that produce target to be identified, and utilize and organize angular momentum, the quality of identification target of current generation and centroid position more and calculate multiple moment of inertia of acquisition target to be identified respectively based on described kinematics model;

Determining step: assessing target current operation inertia error to be identified according to the current multiple moment of inertia obtained that calculate, when determining that described current operation inertia error does not meet predictive error requirement, returning described generation and calculation procedure; When determining that described current operation inertia error meets predictive error requirement, to determining inertial parameter step;

Determine inertial parameter step: using the current moment of inertia that obtains of calculating as the moment of inertia of target to be identified, and using the quality of the target to be identified of current generation and centroid position as the quality of target to be identified and centroid position.

3. method as claimed in claim 2, is characterized in that, each arm joint of described mechanical arm forms multi-rigid-body system with spacecraft, and described kinematics model comprises:

$\begin{array}{c}{A}_{In}{I}_n\underset{j=0}{\overset{n}{\mathrm{\Σ}}}{A}_{nj}{\stackrel{\·}{\mathrm{\Φ}}}_j\\ =-\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]\]-\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\end{array};$

Wherein, n is the rigid body quantity-1, A of multi-rigid-body system _inrepresent from F _nto inertia space reference system F _itransformation matrix of coordinates, I _nrepresent based on F _nthe moment of inertia of the n-th rigid body, A _njrepresent from F _nto F _jtransformation matrix of coordinates, F _nrepresent the coordinate system of the n-th rigid body, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, F _-1represent inertia space reference system, v ₀represent based on F _-1the systemic velocity of the 0th rigid body, A _ikrepresent from F _kto inertia space reference system F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, A _kjrepresent from F _kto F _jtransformation matrix of coordinates, F _jrepresent the coordinate system of a jth rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body, A _ijrepresent from F _jto F _itransformation matrix of coordinates.

4. method as claimed in claim 2, it is characterized in that, quality and the centroid position of described generation target to be identified comprise:

When producing quality and the centroid position of target to be identified first, random quality and the centroid position producing target to be identified;

Non-produce quality and the centroid position of target to be identified first time, utilize intelligent optimization algorithm to produce quality and the centroid position of target to be identified according to the quality of the target to be identified produced before and centroid position and corresponding moment of inertia error.

5. method as claimed in claim 2, wherein, described utilization is organized angular momentum, the quality of identification target of current generation and centroid position more and is utilized described kinematics model to calculate the multiple moment of inertia obtaining target to be identified respectively to comprise:

For one group of angular momentum, utilize the angular momentum of the not corresponding in the same time mechanical arm each arm joint in this group angular momentum and the angular momentum of mechanical arm place spacecraft, the quality of the identification target of current generation and centroid position computing formula least square solution described least square solution be a moment of inertia of the target to be identified that this calculates:

Wherein, $I_n^{*}={\left[\begin{array}{cccccc}{I}_{11}& I_{22}& I_{33}& I_{12}& I_{13}& I_{23}\end{array}\right]}^T,$ I ₁₁, I ₂₂, I ₃₃, I ₁₂, I ₁₃and I ₂₃represent in the moment of inertia of this target to be identified calculated six independently components, $S^{*}=\left[\begin{array}{c}{S}^{\left(1\right)}\\ \·\\ \·\\ \·\\ S^{\left(t\right)}\end{array}\right],$ S ⁽¹⁾for the S based on first moment in one group of angular momentum, S ^(t)for the S based on t the moment in one group of angular momentum, $S=\left[\begin{array}{cccccc}{s}_1& 0& 0& s_2& s_3& 0\\ 0& s_2& 0& s_1& 0& s_3\\ 0& 0& s_3& 0& s_1& s_2\end{array}\right],$ N is the rigid body quantity-1 of multi-rigid-body system, $d^{*}=\left[\begin{array}{c}{d}^{\left(1\right)}\\ \·\\ \·\\ \·\\ d^{\left(t\right)}\end{array}\right],$ D ⁽¹⁾for the d based on first moment in one group of angular momentum, d ^(t)for the d based on t the moment in one group of angular momentum, d comprises d ₁, d ₂and d ₃three components;

$\left[\begin{array}{c}{s}_1\\ s_2\\ s_3\end{array}\right]=\underset{j=0}{\overset{n}{\Σ}}{A}_{ni}{\stackrel{\·}{\mathrm{\Φ}}}_j$

$\begin{array}{c}\left[\begin{array}{c}{d}_1\\ d_2\\ d_3\end{array}\right]=-A_{In}^{-1}\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×{\mathrm{\Ω}}_k+A_{Ii}{a}_i\×{\mathrm{\Ω}}_i\]\]-A_{In}^{-1}\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i{\mathrm{\Ω}}_i\\ =-A_{In}^{-1}\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]\]\\ -A_{In}^{-1}\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\end{array}$

Wherein, A _njrepresent from F _nto F _jtransformation matrix of coordinates, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, A ^-1 _inrepresent A _ininverse, A _inrepresent from F _nto inertia space reference system F _itransformation matrix of coordinates, I _nrepresent based on F _nthe moment of inertia of the n-th rigid body, m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, F _-1represent inertia space reference system, v ₀represent based on F _-1the systemic velocity of the 0th rigid body, A _ikrepresent from F _kto inertia space reference system F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, Ω _krepresent based on F _kthe angular velocity of a kth rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body, I _irepresent based on F _ithe moment of inertia of i-th rigid body, Ω _irepresent based on F _ithe angular velocity of i-th rigid body, A _kjrepresent from F _kto F _jtransformation matrix of coordinates, A _ijrepresent from F _jto F _itransformation matrix of coordinates, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body.

6. the method as described in claim arbitrary in claim 2 to 5, wherein, the described multiple moment of inertia obtained according to current calculating are assessed target current operation inertia error to be identified and are comprised:

Variance sum according to the current all isolated components calculated in the multiple moment of inertia obtained assesses target current operation inertia error to be identified.

7. an inertial parameter device for identifying for the target to be identified captured by robot for space, comprising:

Memory module, is suitable for the kinematics model solving the moment of inertia of target to be identified that storage is set up based on the conservation of angular momentum principle of multi-rigid-body system;

Measurement module, is suitable for driving the multiple moment capturing and have the mechanical arm of target to be identified to rotate, respectively the angular momentum of the angular momentum that saves of each arm of measuring machine mechanical arm and the spacecraft that is provided with mechanical arm;

Wherein, the each angular momentum of arm joint of mechanical arm that described multiple moment is corresponding respectively and the angular momentum of mechanical arm place spacecraft are divided into organizes angular momentum more, and one group of angular momentum comprises each angular momentum of arm joint of multiple not corresponding in the same time mechanical arm and the angular momentum of mechanical arm place spacecraft;

Produce and computing module, be suitable for the quality and the centroid position that produce target to be identified, and utilize and organize angular momentum, the quality of identification target of current generation and centroid position more and utilize described kinematics model to calculate multiple moment of inertia of acquisition target to be identified respectively;

Judge module, be suitable for calculating according to current the current operation inertia error that target to be identified assessed by the multiple moment of inertia obtained, when determining that described current operation inertia error does not meet predictive error requirement, triggering generation also computing module, makes generation and computing module performs generation and calculating operation again; When determining that described current operation inertia error meets predictive error requirement, triggering and determining that inertial parameter module performs corresponding operation;

Determine inertial parameter module, be suitable for using the current moment of inertia that obtains of calculating as the moment of inertia of target to be identified, and using the quality of the target to be identified of current generation and centroid position as the quality of target to be identified and centroid position.

8. device as claimed in claim 7, wherein, each arm joint of described mechanical arm forms multi-rigid-body system with spacecraft, and described kinematics model comprises:

$\begin{array}{c}{A}_{In}{I}_n\underset{j=0}{\overset{n}{\mathrm{\Σ}}}{A}_{nj}{\stackrel{\·}{\mathrm{\Φ}}}_j\\ =-\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]\]-\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\end{array};$

Wherein, n is the rigid body quantity-1, A of multi-rigid-body system _inrepresent A _inrepresent from F _nto inertia space reference system F _itransformation matrix of coordinates, I _nrepresent based on F _nthe moment of inertia of the n-th rigid body, A _njrepresent from F _nto F _jtransformation matrix of coordinates, F _nrepresent the coordinate system of the n-th rigid body, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, v ₀represent based on F _-1the systemic velocity of the 0th rigid body, A _ikrepresent from F _kto inertia space reference system F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, A _kjrepresent from F _kto F _jtransformation matrix of coordinates, F _jrepresent the coordinate system of a jth rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body, A _ijrepresent from F _jto F _itransformation matrix of coordinates, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates.

9. device as claimed in claim 7, wherein, described generation computing module are specifically suitable for:

For one group of angular momentum, utilize the angular momentum of the not corresponding in the same time mechanical arm each arm joint in this group angular momentum and the angular momentum of mechanical arm place spacecraft, the quality of the identification target of current generation and centroid position computing formula least square solution described least square solution be a moment of inertia of the target to be identified that this calculates:

Wherein, $I_n^{*}={\left[\begin{array}{cccccc}{I}_{11}& I_{22}& I_{33}& I_{12}& I_{13}& I_{23}\end{array}\right]}^T,$ I ₁₁, I ₂₂, I ₃₃, I ₁₂, I ₁₃and I ₂₃represent in the moment of inertia of this target to be identified calculated six independently components, $S^{*}=\left[\begin{array}{c}{S}^{\left(1\right)}\\ \·\\ \·\\ \·\\ S^{\left(t\right)}\end{array}\right],$ S ⁽¹⁾for the S based on first moment in one group of angular momentum, S ^(t)for the S based on t the moment in one group of angular momentum, $S=\left[\begin{array}{cccccc}{s}_1& 0& 0& s_2& s_3& 0\\ 0& s_2& 0& s_1& 0& s_3\\ 0& 0& s_3& 0& s_1& s_2\end{array}\right],$ N is the rigid body quantity-1 of multi-rigid-body system, $d^{*}=\left[\begin{array}{c}{d}^{\left(1\right)}\\ \·\\ \·\\ \·\\ d^{\left(t\right)}\end{array}\right],$ D ⁽¹⁾for the d based on first moment in one group of angular momentum, d ^(t)for the d based on t the moment in one group of angular momentum, d comprises d ₁, d ₂and d ₃three components;

$\left[\begin{array}{c}{s}_1\\ s_2\\ s_3\end{array}\right]=\underset{j=0}{\overset{n}{\Σ}}{A}_{nj}{\stackrel{\·}{\mathrm{\Φ}}}_j$

$\begin{array}{c}\left[\begin{array}{c}{d}_1\\ d_2\\ d_3\end{array}\right]=-A_{In}^{-1}\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×{\mathrm{\Ω}}_k+A_{Ii}{a}_i\×{\mathrm{\Ω}}_i\]\]-A_{In}^{-1}\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i{\mathrm{\Ω}}_i\\ =-A_{In}^{-1}\underset{i=0}{\overset{n}{\mathrm{\Σ}}}\[m_i{r}_i\×v_0-m_i{r}_i\×\[\underset{k=0}{\overset{i-1}{\mathrm{\Σ}}}{A}_{Ik}{l}_k\×\left(\underset{j=0}{\overset{k}{\mathrm{\Σ}}}{A}_{kj}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)+A_{Ii}{a}_i\×\left(\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\right)\]\]\\ -A_{In}^{-1}\underset{i=0}{\overset{n-1}{\mathrm{\Σ}}}{A}_{Ii}{I}_i\underset{j=0}{\overset{i}{\mathrm{\Σ}}}{A}_{ij}{\stackrel{\·}{\mathrm{\Φ}}}_j\end{array}$

Wherein, A _njrepresent from F _nto F _jtransformation matrix of coordinates, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body, A ^-1 _inrepresent A _ininverse, A _inrepresent from F _nto inertia space reference system F _itransformation matrix of coordinates, I _nrepresent based on F _nthe moment of inertia of the n-th rigid body, m _irepresent the quality of i-th rigid body, r _irepresent based on F _-1the centroid position of i-th rigid body, F _-1represent inertia space reference system, v ₀represent based on F _-1the systemic velocity of the 0th rigid body, A _ikrepresent from F _kto inertia space reference system F _itransformation matrix of coordinates, F _krepresent the coordinate system of a kth rigid body, l _krepresent that the initial point of the coordinate system of a kth rigid body points to the vector of the initial point of the coordinate system of kth+1 rigid body, Ω _krepresent based on F _kthe angular velocity of a kth rigid body, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, a _irepresent that the initial point of the coordinate system of i-th rigid body points to the vector of the centroid position of i-th rigid body, I _irepresent based on F _ithe moment of inertia of i-th rigid body, Ω _irepresent based on F _ithe angular velocity of i-th rigid body, A _kjrepresent from F _kto F _jtransformation matrix of coordinates, A _ijrepresent from F _jto F _itransformation matrix of coordinates, A _iirepresent from F _ito inertia space reference system F _itransformation matrix of coordinates, represent based on F _ja jth rigid body relative to the angular velocity of jth-1 rigid body.

10. the device as described in claim arbitrary in claim 7 to 9, wherein, described judge module is specifically suitable for:

Variance sum according to the current all isolated components calculated in the multiple moment of inertia obtained assesses target current operation inertia error to be identified.