中国空间科学技术

中国空间科学技术 ›› 2026, Vol. 46 ›› Issue (1): 145-156.doi: 10.16708/j.cnki.1000-758X.2026.0014

• 论文 • 上一篇    下一篇

星载二维转台目标捕获及跟踪指向控制

王丽娇1,2,*，陶佳伟1,2，王淑一1，雷拥军1,2   

  1. 1.北京控制工程研究所，北京100094
    2.空间智能控制技术重点实验室，北京100094
  • 收稿日期:2025-02-24 修回日期:2025-05-30 录用日期:2025-06-17 发布日期:2026-01-09 出版日期:2026-01-30

Pointing control for capture and visual tracking of a spaceborne two-axis turntable

WANG Lijiao1,2,*，TAO Jiawei1,2，WANG Shuyi1，LEI Yongjun1,2   

  1. 1.Beijing Institute of Control Engineering，Beijing 100094，China
    2.Science and Technology on Space Intelligent Control Laboratory，Beijing 100094, China
  • Received:2025-02-24 Revision received:2025-05-30 Accepted:2025-06-17 Online:2026-01-09 Published:2026-01-30

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摘要： 针对星载二维转台对空间非合作目标的捕获与跟踪控制问题，充分考虑相机成像特性，设计了从目标初始捕获到视觉跟踪的全流程指向控制策略。首先，目标捕获阶段，考虑相机安装误差及多通道视场中心不重合等因素，通过分析相机图像输出与转台姿态的运动学关系，将相机视轴指向误差映射为转台姿态偏移量，实现了相机视轴与转台末端存在不垂直误差情况下的高精度目标姿态计算，解决了传统方法难以获得解析解的问题。其次，视觉跟踪阶段，针对初始阶段的控制平稳性问题，提出一种基于速度约束能力和像移终端偏差实时调节的像平面轨迹规划策略；针对相机多通道切换的平稳性问题，利用切换点焦平面物理位置的一致性，构建了一种统一坐标尺度的焦平面控制方法，并设计了基于像空间轨迹预估的图像反馈控制策略，通过星体/转台姿态和像平面位置测量预估像平面速度，避免了对像平面速度测量的依赖。进一步优化控制器切换逻辑，引入加权遗忘因子建立切换初期的平稳衔接，兼顾动态速度约束指标及平稳性，提升了系统的鲁棒性和动态性能。最后，验证与应用，通过地面物理试验及在轨应用对上述控制方法进行验证。结果表明，该方法可实现对空间目标的高精度捕获及高平稳跟踪。因此，提出的控制方法有效解决了相机成像约束下的星载二维转台全流程指向控制问题，具有工程实用性。

关键词: 二维转台, 非合作目标, 捕获与跟踪, 全流程, 物理试验, 在轨应用

Abstract: The pointing control strategy for the whole tracking process of a non-cooperative object via a two-axis turntable-based spacecraft is investigated, ranging from initial target acquisition to the subsequent visual tracking process. At target capture phase, considering camera installation errors and non-coincident centers of multiple-channel fields of view, the kinematic relationship of the image space is exploited and the pointing error of the camera is mapped to the attitude offset of the turntable. This enables high-precision target attitude calculation when the camera's line of sight is not perpendicular to the turntable's end axis, conquering the difficulty in deriving the analytical solution by the traditional method. At visual tracking phase, for the transient performance in the initial tracking stage, a self-adjusted image-plane trajectory planning scenario is developed based on the velocity constraint and the position deviation in the image space. To ensure the smoothness during the switching of multiple channels, a unified coordinate system in the focal plane is introduced by leveraging the consistency of the physical positions at the switching point. A visual feedback control protocol is then constructed based on a novel image-position observer, eliminating the dependency on image-space velocity measurements. To further optimize the control logic, the weighted forgetting factor is utilized in the visual controller design for a seamless connection of the two control stages，meeting the transient velocity constraint and enhancing the robustness of the control system. As for validation and application, the effectiveness of our methodology is verified through physical experiments and on-orbit applications. The high performance for the whole tracking process of the moving target is achieved by the cooperation of the aforementioned schemes. Therefore, the scheme solves the full-process pointing control problem of satellite-borne turntables under the constraints of camera imaging, and bears strong engineering practicability.

Key words: two-axis turntable, non-cooperative object, target acquisition/visual tracking, full process, physical experiments, on-orbit applications