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针对测量设备在多空间机器人在轨服务系统中的配置特点,提出了基于分布式滤波的非合作目标联合定位方法.首先定义了基于多空间机器人的非合作目标联合定位任务,随后建立了联合相对测量模型,推导了多空间机器人相对动力学的一般形式;设计了集中式联合定位滤波算法;在此基础上,为减少滤波迭代过程中的计算量,进一步提出了基于分布式滤波的联合定位算法;采用线性系统能观性理论,对滤波算法的稳定性进行了评估.最后,搭建了半物理实时仿真系统,对基于分布式滤波的联合定位算法进行了仿真验证,仿真结果表明联合定位算法具有较好的稳定性和较高的精度.
Aiming at the configuration characteristics of measurement equipment in on-orbit service system of multi-space robot, a distributed non-cooperative target joint localization method based on distributed filtering is proposed.Firstly, the cooperative mission of non-cooperative target based on multi-space robot is defined, and then the joint relative Based on this, a new joint localization algorithm based on distributed filtering is proposed in order to reduce the computational complexity in iterative filtering process. In addition, The stability of the filtering algorithm is evaluated by using the observability theory of linear system.Finally, a semi-physical real-time simulation system is set up to simulate the joint localization algorithm based on distributed filtering. The simulation results show that the joint localization algorithm has Better stability and higher accuracy.