Approaching Navigation For Space Rendezvous And Docking And Ground VR Simulation Platform Development

As a key technology in manned space technology research,space rendezvous and docking technology is widely used in on-orbit-servicing,aerospace supplies,space station construction and other fields,which is the technology we need to master and conquer to develop the aerospace.As a complex and expensive technology,the safety,reliability and accuracy of the space rendezvous and docking technology must be considered and guaranteed during the research process.Especially in the approach phase of space rendezvous and docking,the success of the final space rendezvous and docking mission is largely influenced by the accuracy of the spacecraft relative state information acquired in this phase.Therefore,the main work of this paper is to study the approaching navigation algorithm,and to develop a ground simulation platform for the manual operation training of the space rendezvous and docking mission.First of all,the definitions of the coordinate system involved in the study of space rendezvous and docking are briefly introduced.In order to provide a mathematical model for the study of space proximity docking approaching navigation algorithm and to provide reference for the development of ground simulation platform,the relative motion equation between the two spacecraft is established,which is the commonly used C-W equation in engineering,and the attitude dynamics model and attitude kinematics model of the spacecrafts.Secondly,the problem of spacecraft relative state parameters acquired by using visual navigation in the approach phase of space rendezvous and docking are studied.several camera’s imaging models and camera parameter calibration methods are given,a navigation measurement algorithm based on binocular vision is established,and the measurement algorithm is simulated by computer.Thirdly,considering the lack of spacecraft relative velocity and relative angular velocity information by the visual navigation algorithm,extended Kalman filter algorithm is introduced.Using this algorithm not only can obtain spacecraft relative velocity and relative angular velocity information,but also filter out part of noise interference introduced during visual navigation measurements.The relative state estimation models of two spacecrafts are established according to the extended Kalman filter algorithm,and the corresponding models are simulated by computer.At the end of this paper,a ground simulation platform based on virtual reality(referred to as VR)is developed for ground simulation and astronaut training of space rendezvous and docking mission.The function ground VR simulation platform needs to achieve is given,the ground simulation platform system program is established,the main contents and functions of the modules that make up the platform are given,and the virtual 3-D solid models are developed,and the simulation experiment is carried out to verify the simulation performance and operability of the simulation platform.