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Agile movement planning method of near-distance on-orbit operation spacecraft

A motion planning, spacecraft technology, applied in instrumentation, non-electric variable control, two-dimensional position/track control, etc., can solve problems such as inability to adapt to service tasks, high cost of on-orbit operations, and dangerous execution

Inactive Publication Date: 2017-12-05
BEIJING SPACE TECH RES & TEST CENT
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Astronauts' on-orbit operations are costly and dangerous, making this method of operation unsuitable for complex service tasks in industrial space in the future

Method used

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  • Agile movement planning method of near-distance on-orbit operation spacecraft
  • Agile movement planning method of near-distance on-orbit operation spacecraft
  • Agile movement planning method of near-distance on-orbit operation spacecraft

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Embodiment Construction

[0050] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0051] When performing agile motion planning for space-based short-distance on-orbit spacecraft, it is necessary to consider constraints, motion states and metrics, local planners, and specific planning methods. The details are as follows:

[0052] 1. Constraints

[0053] Constraints include kinematic constraints and geometric constraints.

[0054] (1) The motion dynamics constraints are shown in the following formula:

[0055]

[0056] where v, ω, ——respectively velocity, acceleration, attitude angular velocity and angular acceleration; v max , ω max and ——respectively, the maximum constraints of velocity, acceleration, attitude angular velocity and angular acceleration, according to the characteristics of orbital motion, they are respectively the position vector r of translation (r=[x y z] T , x y z is the position in three d...

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Abstract

The present invention provides an agile movement planning method of a near-distance on-orbit operation spacecraft. The method comprises the following steps: performing initialization of two search trees; performing k-times iteration of a major cycle, wherein K is a natural number and is not less than 1; and determining when the interchange of the two search trees is executed, and performing reverse order of the calculation of new nodes of the two search trees after the interchange is executed. The major cycle comprises: solving the nearest point 1 to a random node in a search tree A; solving a new node 1 between the random node and the nearest point, wherein the new node 1 satisfies a constraint condition and is obtained through a local planner; solving the nearest point 2 to the new node 1 in the search tree B; and solving a new node 2 between the random node and the nearest point 2. The constraint condition comprises movement dynamics constraint and the geometrical constraint. The local planner is configured to determine the movement between two nodes, and employs a forward searching mode and a backward searching mode to perform two-way balance search. The movement planning method has high search efficiency.

Description

technical field [0001] The invention belongs to the technical field of overall design of spacecraft, relates to the short-distance on-orbit operation task of operating a spacecraft on orbit, and specifically relates to an agile motion planning method for operating a spacecraft on orbit at a short distance. Background technique [0002] Due to the rapid development of aerospace technology, space missions, whether in terms of structure, scale, performance, or cost, are not the same as spacecraft originally used for simple space missions. Therefore, ensuring that the current or future spacecraft can operate stably for a long time in a complex space environment to complete complex space tasks has become an important problem to be solved in the field of aerospace technology. [0003] On-orbit operation tasks include on-orbit assembly, on-orbit maintenance, on-orbit upgrade, on-orbit replenishment and other tasks. Astronauts' on-orbit operations are costly and dangerous, making t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0202
Inventor 王平
Owner BEIJING SPACE TECH RES & TEST CENT
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