中国空间科学技术

中国空间科学技术 ›› 2022, Vol. 42 ›› Issue (1): 114-124.doi: 10.16708/j.cnki.1000-758X.2022.0013

• 论文 • 上一篇    下一篇

基于视惯融合的大型空间碎片质心位置辨识

姚金铭，李广平，张慧博，田浩，游斌弟，戴士杰   

  1. 1 河北工业大学 省部共建电工装备可靠性与智能化国家重点实验室，天津300401
    2 天津市微低重力环境模拟技术重点实验室，天津300301
    3 哈尔滨工业大学 航天学院，哈尔滨150001
    4 哈尔滨工业大学（威海） 船舶与海洋工程学院，威海264209
  • 出版日期:2022-02-25 发布日期:2022-01-27
  • 基金资助:
    国家自然科学基金（51575126）；河北省自然科学基金（E2019202132）；河北省高等学校科学技术研究青年拔尖人才计划（BJ2019049）；空间智能控制技术实验室开放基金（6142208190308）；河北省研究生创新资助项目（CXZZSS2020025）

Masscenter location identification of large space debris based on binocular vision and inertial measurement units fusion

YAO Jinming，LI Guangping，ZHANG Huibo，TIAN Hao，YOU Bindi，DAI Shijie   

  1. 1 State Key Laboratory of Reliability and Intelligence of Electrical Equipment，Hebei University of Technology，
    Tianjin 300401，China
    2 Tianjin Key Laboratory of Microgravity and Hypo Gravity Environment Simulation Technology，Tianjin 300301，China
    3 School of Astronautics，Harbin Institute of Technology，Harbin 150001，China
    4 School of Naval Architecture and Ocean Engineering，Harbin Institute of Technology (Weihai)，Weihai 264209，China
  • Published:2022-02-25 Online:2022-01-27

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摘要： 大型自由翻滚碎片的质心是在轨操作基坐标系下的不动点，也是碎片连体基下动力学参数向卫星坐标系转换的基准，对其精确识别是提高碎片动力学参数辨识精度的关键。提出基于惯性单元测量数据与双目视觉定位数据融合的大型空间碎片质心位置识别方法。基于无力矩欧拉方程，获取附着到空间碎片表面的惯性单元间转换关系，利用该转换关系对惯性单元冗余测量数据优化，再优化求解惯性单元到质心点距离；利用双目视觉获取惯性单元上标记点动态坐标，再利用惯性单元到质心点距离，基于三点定位原理识别大型空间碎片的质心位置。以加入高斯白噪声的惯性单元与双目视觉测量数据进行仿真，结果表明优化解算后惯性单元实时测量数据的误差降低到1%以下，解算的质心位置三轴误差小于0.47mm；开展了地面试验，结果表明，解算的质心位置三轴误差小于0.49mm。仿真和试验证明，该方法能够为大型空间碎片的消旋、捕获任务提供准确的数据基准。

关键词: 惯性单元, 冗余惯性测量数据优化, 质心位置检测, 大型空间碎片, 双目视觉

Abstract: The mass center of the large free-tumbling debris is the relatively fixed point in the on-orbit operation frame, and is also the benchmark for the conversion of dynamic parameters from the debris conjoined base to the satellite coordinate system. The precise identification of mass-center location is the key to improving the identification accuracy of debris dynamic parameters. A method for the mass-center-location identification of large space debris was proposed based on inertial measurement units and binocular vision. Based on the torque-free Euler equation and dyadic coordinate transformation, the conversion relationship between the inertial measurement units attached to the surface of the space debris was established. Based on the conversion relationship of the inertial measurement units, the redundant inertial measurement units’ data was denoised. Using the denoising data, the distances from the inertial measurement units to the mass center were optimized. Using the binocular vision, the dynamic coordinates of the markers on the inertial unit were obtained. Then the distances from the inertial measurement units to the mass center were used, and the large space debris’ mass-center location was identified. Simulations with Gaussian white noise data of inertial measurement unit and binocular vision were carried out, and the results show that the error of the inertial measurement units’ data is reduced to less than 1% after real-time denoising and that the mass-center-location triaxial error is less than 0.47mm. Ground experiments were carried out, and the results show that the triaxial error of the mass-center-location is less than 0.49mm. Simulations and experiments prove that the method can provide a more accurate data benchmark for the de-tumbling and capture mission of large space debris.

Key words: inertial measurement units, denoising of redundant inertial data, large space debris, masscenter location identification, binocular vision