宇航计测技术 ›› 2018, Vol. 38 ›› Issue (6): 38-43.doi: 10.12060/j.issn.1000-7202.2018.06.07

• 论文 • 上一篇    下一篇

一种气浮模拟器位姿状态跟踪测量方法研究

邓松波1；刘小勇2；李科1；刘书选1；王燕波1   

  1. 1、北京精密机电控制设备研究所，北京 100076;
    2、中国人民解放军火箭军驻长征航天控制工程公司军事代表室，北京 100076
  • 出版日期:2018-12-25 发布日期:2018-12-25
  • 作者简介:邓松波（1989-），男，硕士，工程师，主要研究方向：空间智能机器人机构及结构
  • 基金资助:
    中国运载火箭技术研究院产业发展基金(MJK-1686-04)

A Position and Attitude Tracking Method Research for Air Bearing Simulator

DENG Song-bo1；LIU Xiao-yong2；LI Ke1；LIU Shu-xuan1；WANG Yan-bo1   

  1. 1、Beijing Research Institute of Precise Mechanical and Electronic Control Equipment, Beijing 100076,China;
    2、Military Representative Office of The Rocket Force in Long March Aerospace Controling Engineering Company of China Academy of Launch Vehicle Technology, Beijing 100076,China
  • Online:2018-12-25 Published:2018-12-25

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摘要： 气浮模拟器为了模拟空间飞行器在地面状态的姿态运动和轨道机动运动，需要在大平面空间和大角度空间范围内运动。运动控制和实际运动位置和姿态形成闭环控制，需要一种在超大平面空间范围内快速测量位置和姿态的测量方法和策略，从而提供高精度闭环控制。用iGPS和惯导同步测量模拟器的位置和姿态，通过飞轮和冷气喷嘴伺服动作，实现了气浮模拟器的位置和姿态跟踪，可以广泛应用于其他超大尺度空间位置和姿态测量跟踪。

关键词: 气浮模拟器, iGPS, 惯性导航, 位姿状态跟踪, 空间飞行器

Abstract: In order to simulate the attitude motion and orbital maneuvering motion of the space vechicle in ground state, the air bearing spacecraft simulator would be moved in large plane and angle space. To make the actual orbit and attitude movement of the simulator to form the closed-loop control, it is needed to provide a method to measure the position and attitude of the simulator in rapid way and high precision. The iGPS is used to measure the position of the simulator, while the SINS to attitude. The air propulsion devices and the reaction wheels are used as the servo motion to realize the position and attitude tracking. It could be widely applied in other environments of large scale space position and attitude measurement tracking.

Key words: Air bearing simulator, iGPS, Inertial navigation, Position and attitude tracking, Space vehicle

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