Studies On The Movement State Estimation And The Capture Path Planning Of The Spatial Non-cooperative Targets

With the rapid development of space technology,the demand of aerospace tasks of space station in-orbit assembly,cleaning up space debris,in-orbit spacecraft fuel injectors,space attack-defense countermine and so forth increase continuously,spatial non-cooperative target acquisition technology has become a hotspot in the field of space of each country,and shows wide application prospects.The capture aims at the non-cooperative space targets needs to trace that the spacecraft pass through a series of orbits to maneuver to realize the rendezvous of the spacecraft and the target spacecraft and other near-distance operations,thus finally realize the capture of the targets.Throughout the capture task,the movement state estimation and the capture path planning of the spatial non-cooperative targets,will be the key technologies first to solve.Firstly,this paper combined the background of non-cooperative target capture task,put forward the spacecraft relative position and the orbit coupling kinematics model modeling methods based on the dual quaternions,established a relative kinematics model of two space-crafts and combine with the movement state estimation and the task demands of the path-capture planning of the spatial non-cooperative targets,designed the general schemes of movement state estimation and path-capture planning of space non-cooperative targets respectively.In the scheme of movement state estimation of the non-cooperative targets,firstly,this paper described the basic theory of visual measurement,established a imaging model of a monocular CCD camera,and on this basis,used the matching of the measuring image and the Harris corners of the known model,acquire the one-to-one mapping relation of feature points of the measuring image and the 3D model.Afterwards,built constrained optimization equation through building the sum of reprojection deviation of the estimated attitude parameters based on dual quaternions as objective function.Used Guass_Newton algorithm to solve the constrained optimization equation,iterated to get the optimal description of dual quaternions of the relative movement parameters of the target spacecrafts.And used the parameters as initialization parameters of the target tracking algorithm based on iterative kalman filter,completed the movement state estimation tracking of thespatial non-cooperative targets in the capture period.Secondly,aimed at the study of the path-capture planning of the space non-cooperative targets,this paper put forward a position and attitude coupling collaborative planning scheme of the capture paths of the spatial non-cooperative targets based on the genetic algorithm,and completed the individual coding based on pulse time and pulse wave velocity and angular velocity increment.And built the fitness function based on the relative kinematics equation of the dual quaternions,realized the integration planning of the capture paths and attitude of the spacecrafts within limited capture period.Finally,this paper built the simulation platform of the movement state estimation and the capture path planning of the spatial non-cooperative targets,and verified the feasibility of the general scheme of the movement state estimation and the capture path planning of the spatial non-cooperative targets in this paper,the result of analyzing the data from experiments showed that the schemes designed in this paper have high accuracy,high robustness and good real-time performance,thus can satisfy the task demands of the movement state estimation and the capture path planning of the spatial non-cooperative targets.