| 基于集群空间机器人的合作目标协同定位技术 |
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| 引用本文： | 翟光,张景瑞,周至成.基于集群空间机器人的合作目标协同定位技术[J].北京理工大学学报,2014,34(10):1034-1039. |
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| 作者姓名： | 翟光 张景瑞 周至成 |
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| 作者单位： | 北京理工大学宇航学院,北京 100081;中国空间技术研究院,北京 100094 |
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| 基金项目： | 国家自然科学基金资助项目(11102018) |
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| 摘 要： | 根据集群空间机器人群内各成员功能的差异,设计了合作目标的协同定位方法. 首先,采用状态方程建立了集群动力学模型,并基于线性Kalman滤波理论,设计了集中式协同定位滤波算法,为降低集中式协同定位滤波算法的计算量,进一步设计了分布式协同定位滤波算法. 研究结果表明,本文分析了所提出的协同定位滤波算法的性能,并通过数学仿真进行了验证其稳定性和精度.
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| 关 键 词： | 集群空间机器人 在轨服务 协同定位 |
| 收稿时间： | 2013/5/19 0:00:00 |
Coordinated Localization Method for Cooperative Target Based on Clustered Space Robot System |
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| ZHAI Guang,ZHANG Jing-rui and ZHOU Zhi-cheng.Coordinated Localization Method for Cooperative Target Based on Clustered Space Robot System[J].Journal of Beijing Institute of Technology(Natural Science Edition),2014,34(10):1034-1039. |
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| Authors: | ZHAI Guang ZHANG Jing-rui and ZHOU Zhi-cheng |
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| Institution: | 1.School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China2.China Academy of Space Technology, Beijing 100094, China |
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| Abstract: | According to the capability difference among the clustered space robot members, the coordinated localization strategies were proposed in this paper. Firstly, the cluster dynamics was established by state functions, then based on linear Kalman filter theorem, the centralized localization filter was designed. In order to reduce the computation load of the centralized localization filter, the distributed navigation filter was also proposed. Finally the performance of the localization filters was evaluated,the stabilities and accuracies of the coordinated localization strategies were verified by numerical simulations. |
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| Keywords: | clustered space robot on-orbit servicing coordinated relative navigation |
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