【作者】 梁刚刚；

【导师】 马广程；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2010， 硕士

【摘要】 空间交会对接(RVD)技术是人类深层开发空间的关键技术,完整的空间交会对接是个非常庞大、复杂的系统,在地面进行仿真验证试验十分必要。导航技术作为交会对接能否成功的关键技术,一般分为远程导引和中远段相对导航,前者在现代航天探索中已经被逐渐掌握并发展成熟,后者的研究相对较少,但中远段相对导航是最终逼近段及对接能否成功的一个重要因素。所以研究空间交会中远段相对导航具有重要的理论和实际意义。本文为设计空间交会中远段相对导航半物理仿真系统而进行了仿真验证研究。首先,由于空间远距离与地面小范围仿真不匹配而给出了相似性理论,从而将空间运动与地面仿真联系起来,并根据地面半物理仿真设备要求,研究了仿真范围,建立了动力学仿真模型;其次,由于地面仿真中激光交会雷达无法接入半物理仿真系统,利用激光测距仪和视觉导航相机的组合来替换,并从激光交会雷达与替换方案之间的功能、精度和实时性等方面进行了理论分析与验证,结果证明了该组合方案的可行性;然后,采用从“天”到“地”的方法,将空间真实运动划分为寻的段和接近段分别研究,推导出两段范围内位姿的速度和加速度等参数,再利用相似性原理将其转化为地面半物理仿真设备的设计参考数据,为后续研究者设计、构建地面半物理仿真系统提供参考依据;最后,分析了地面半物理仿真系统中追踪模拟器、目标模拟器和地面监控系统三部分的组成,并针对中远段相对导航半物理仿真系统设计了仿真实验,为后续半物理仿真系统的试验应用提供了参考依据。更多还原

【Abstract】 Space Rendezvous and Docking is the key technology on space depth exploitation. It is a very large, complex system, and simulation on the ground is very necessary. Navigation comprises long-range guidance and relative navigation of moderate or far distance. The former in modern aerospace exploration and development has been gradually grasped and developed maturely, relatively, the latter study develops slowly, though it is an important prerequisite for success of the follow-up Final Approach and Final Docking. So the study of the relative navigation of space rendezvous during moderate or far distance has important theoretical and practical significance.In order to design the semi-physical simulation system for relative navigation of space rendezvous during moderate or far distance, this paper provides a detailed analysis and makes lots of simulation. First of all, due to space long distance and small-scale simulation of on the ground does not match, then provides the theory of similarity, establishes the basis of simulation. And discusses the ground simulation equipment requirements dynamic range and simulation dynamic model; Secondly, the paper based on simulation of the real measurement of the ground sensor can not access the system, and make use of the combination of laserdistancemeter and a visual navigation camera to replace rendezvous lidar, and from functions, precision and real-time connection of reality and replacement makes explainment and simulation, then proves that the replacement is suitable; Thirdly, using approach from "space" to "ground", for the development the paper discusses system moving parameters of the ground semi-physical simulation system. Then divides real movement into Transfer of homing phase and Transfer between V-bar holding points, infers parameters such as speed and acceleration, re-uses the theory of similarity to transform the ground semi-physical simulation into the design of equipment reference, provides the reference for designing and building the ground semi-physical simulation system; Finally, the paper discusses physical simulation equipment to track simulator, target simulator and ground monitoring system, then designs the simulation experiments basin on simulation equipment and devices of relative navigation during moderate or far distance, provides a reference for subsequent researchers.更多还原