With the increasing number of geosynchronous orbit satellites with expiring lifetime,spacecraft refueling is crucial in enhancing the economic benefits of on-orbit services.The existing studies tend to be based on pre...With the increasing number of geosynchronous orbit satellites with expiring lifetime,spacecraft refueling is crucial in enhancing the economic benefits of on-orbit services.The existing studies tend to be based on predetermined refueling duration;however,the precise mission scheduling solution will be difficult to apply due to uncertain refueling duration caused by orbital transfer deviations and stochastic actuator faults during actual on-orbit service.Therefore,this paper proposes a robust mission scheduling strategy for geosynchronous orbit spacecraft on-orbit refueling missions with uncertain refueling duration.Firstly,a robust mission scheduling model is constructed by introducing the budget uncertainty set to describe the uncertain refueling duration.Secondly,a hybrid harris hawks optimization algorithm is designed to explore the optimal mission allocation and refueling sequences,which combines cubic chaotic mapping to initialize the population,and the crossover in the genetic algorithm is introduced to enhance global convergence.Finally,the typical simulation examples are constructed with real-mission scenarios in three aspects to analyze:performance comparisons with various algorithms;robustness analyses via comparisons of different on-orbit refueling durations;investigations into the impacts of different initial population strategies on algorithm performance,demonstrating the proposed mission scheduling framework's robustness and effectiveness by comparing it with the exact mission scheduling.展开更多
In-space 3D printing is transforming the manufacturing paradigm of space structures from ground-based production to in-situ space manufacturing,effectively addressing the challenges of high costs,long response times,a...In-space 3D printing is transforming the manufacturing paradigm of space structures from ground-based production to in-situ space manufacturing,effectively addressing the challenges of high costs,long response times,and structural size limitations associated with traditional rocket launches.This technology enables rapid on-orbit emergency repairs and significantly expands the geometric dimensions of space structures.High-performance polymers and their composites are widely used in in-space 3D printing,yet their implementation faces complex challenges posed by extreme space environmental conditions and limited energy or resources.This paper reviews the state-of-the-art in 3D printing of polymer and composites for on-orbit structure manufacturing.Based on existing research activities,the review focuses on three key aspects including the impact of extreme space environments on forming process and performance,innovative design and manufacturing methods for space structures,and on-orbit recycling and remanufacturing of raw materials.Some experiments that have already been conducted on-orbit and simulated experiments completed on the ground are systematically analyzed to provide a more comprehensive understanding of the constraints and objectives for on-orbit structure manufacturing.Furthermore,several perspectives requiring further research in future are proposed to facilitate the development of new in-space 3D printing technologies and space structures,thereby supporting increasingly advanced space exploration activities.展开更多
According to gyro application in micro-satellites, a new gyro bias real-time on-orbit calibration technology is presented and it is independent of any other sensors. The approach relies on gyro on-orbit measurements r...According to gyro application in micro-satellites, a new gyro bias real-time on-orbit calibration technology is presented and it is independent of any other sensors. The approach relies on gyro on-orbit measurements restricted by satellite attitude dynamics and estimates the gyro bias generated when the gyro is electrified. Observability of the calibration model is analyzed and applicable conditions of the technology are derived. Simulation results indicate that the calibration algorithm is accurate and robust at gyro sampling rate, and its convergence speed is fast. Within the given attitude dynamics model error, the convergence time is less than 100 s and the convergence accuracy is about 1.0 （°）/h. Calibration performance can meet requirements of spacecraft operations.展开更多
Sufficient sleep duration and good sleep quality are crucial to ensure normal physical and mental health, cognition and work performance for the common people, as well as astronauts. On-orbit sleep problem is very com...Sufficient sleep duration and good sleep quality are crucial to ensure normal physical and mental health, cognition and work performance for the common people, as well as astronauts. On-orbit sleep problem is very common among astronauts and has potential detrimental influences on the health of crewmembers and the safety of flight missions. Sleep in space is becoming a new medical research frontier. In this review we summarized on-orbit sleep problems of astronauts and six kinds of causes, and we presented the effects of lack of sleep on performance as well as mental and physical health, then we proposed seven kinds of countermeasures for sleep disturbance in spaceflight, including pharmacologic interventions, light treatment, crew selection and training, Traditional Chinese Medicine and so on. Furthermore, we discussed and oriented the prospect of researches on sleep in space.展开更多
"Tian Tuo 1"(TT-1)nano-satellite is the first single-board nano-satellite that was suc-cessfully launched in China.The main objective of TT-1 is technology demonstration and scientific measurements.The satel..."Tian Tuo 1"(TT-1)nano-satellite is the first single-board nano-satellite that was suc-cessfully launched in China.The main objective of TT-1 is technology demonstration and scientific measurements.The satellite carries out the significant exploration of single-board architecture fea-sibility validation,and it is tailored to the low-cost philosophy by adopting numerous commercial-off-the-shelf(COTS)components.The satellite is featured with three-axis stabilization control capability.A pitch bias momentum wheel and three magnetic coils are adopted as control actuators.The sun sensors,magnetometers and a three-axis gyro are employed as the measurement sensors.The quaternion estimator(QUEST)and unscented Kalman filter(UKF)method are adopted for the nano-satellite attitude determination.On-orbit data received by ground station is conducted to analysis the performance of attitude determination and control system(ADCS).The results show that the design of ADCS for TT-1 is suitable,robust and feasible.展开更多
More space truss construction has been planned to develop and utilize space resources.These trusses are designed in the way of large-scale,complex,modular,and on-orbit assembly.To meet the upcoming challenge of large-...More space truss construction has been planned to develop and utilize space resources.These trusses are designed in the way of large-scale,complex,modular,and on-orbit assembly.To meet the upcoming challenge of large-scale space infrastructure construction,it is necessary to study space truss automation design and robotic construction.This paper proposes an ordinal finite screw adjacency matrix model(OFSAMM),focusing on the relationship between assembly motions,to express and compute a space truss structure.In this model,a space truss is abstracted as a set of ordered assembly motions,each of which is recorded as a finite screw as the basic element of the truss and its assembly.The operation of truss transformation is also derived under this model.Therefore,the truss configuration,the assembly sequence,the truss sub-assembly,the truss components,and the on-orbit assembly task can be expressed and calculated in a unified model,which is calculated and stores the truss topology and assembly with the minimum storage cost.At the end of this paper,we introduce how to synthesize and optimize space truss design through two cases.The study will help to improve design efficiency.Furthermore,it provides a theoretical basis for the automatic construction of space truss structures,especially in the next stage.展开更多
A new type of estimator is developed for the satellite formation to track and inspect on-orbit targets. The follower satellite in the formation works without relative sensors, and its target pointing commands are deri...A new type of estimator is developed for the satellite formation to track and inspect on-orbit targets. The follower satellite in the formation works without relative sensors, and its target pointing commands are derived based on relative orbital dynamics. The centralized estimator based on truth measurement is designed, however, this estimator is proved unstable because of the lack of necessary measurement information. After that, an alternative estimator based on pseudo measurement is designed, and its observability and controllability are analyzed to qualitatively evaluate the convergence performance. Finally, an on-orbit target inspection scenario is numerically simulated to verify the performance of the estimator based on pseudo measurement.展开更多
Due to the disadvantages such as complex calculation, low accuracy of estimation, and being non real time in present methods, a new real-time algorithm is developed for on-orbit mag- netometer bias determination of mi...Due to the disadvantages such as complex calculation, low accuracy of estimation, and being non real time in present methods, a new real-time algorithm is developed for on-orbit mag- netometer bias determination of micro-satellites without attitude knowledge in this paper. This method uses the differential value approach. It avoids the impact of quartic nature and uses the iterative method to satisfy real-time applications. Simulation results indicate that the new real-time algorithm is more accurate compared with other methods, which are also tested by an experiment system using real noise data. With the new real-time algorithm, a magnetometer calibration can be taken on-orbit and will reduce the demand for computing power effectively.展开更多
The paper presents a geometric calibration method based on the sparse ground control points (GCPs), aiming to the linear push-broom optical satellite. This method can achieve the optimal estimate of internal and exter...The paper presents a geometric calibration method based on the sparse ground control points (GCPs), aiming to the linear push-broom optical satellite. This method can achieve the optimal estimate of internal and external parameters with two overlapped image pair along the charge-coupled device (CCD), and sparse GCPs in the image region, further get rid of the dependence on the expensive calibration site data. With the calibrated parameters, the line of sight (LOS) of all CCD detectors can be recovered. This paper firstly establishes the rigorous imaging model of linear push-broom optical satellite based on its imaging mechanism. And then the calibration model is constructed by improving the internal sensor model with a viewing-angle model after an analysis on systematic errors existing in the imaging model is performed. A step-wise solution is applied aiming to the optimal estimate of external and internal parameters. At last, we conduct a set of experiments on the ZY-3 NAD camera and verify the accuracy and effectiveness of the presented method by comparison.展开更多
The Visible and Infrared Multispectral Imager (VIMI) is one of the main payloads of the GF-5 satellite. It has 12 spectral bands covering the wavelength from visible light to thermal infrared. The imager designed life...The Visible and Infrared Multispectral Imager (VIMI) is one of the main payloads of the GF-5 satellite. It has 12 spectral bands covering the wavelength from visible light to thermal infrared. The imager designed life is 8 years. In order to monitor and correct the radiometric performance of the imager for a long time and meet the user’s demand for the quantitative remote sensing application, the expandable diffuser used for calibration in full FOV and full optical path method is designed. The solar diffuser is installed on the front side of the optical system and does not affect the normal imaging of VIMI. When VIMI need calibration, the diffuser is expand to the front of optical system via the driving mechanism. According to the characteristics of the GF-5 satellite orbit, the requirement of the calibration energy and the installation matrix of the imager relative to the satellite, the expansion angle of the diffuser is 39 degrees. The 430 mm × 430 mm large-size PTEE diffuser is manufactured to ensure full FOV and full optical path calibration. The diffuser’s directional hemispherical reflectance is higher than 95% from 420 nm to 2400 nm and variation of BRDF in the direction of imager observation is better than 2.5%. The diffuser stability monitoring radiometer is designed to monitor the on-orbit attenuation performance of the diffuser. Results of ground simulation experiments and preliminary on-board calibration experiments were introduced.展开更多
GF-14 satellite is a new generation of sub-meter stereo surveying and mapping satellite in China,carrying dual-line array stereo mapping cameras to achieve 1∶10000 scale topographic mapping without Ground Control Poi...GF-14 satellite is a new generation of sub-meter stereo surveying and mapping satellite in China,carrying dual-line array stereo mapping cameras to achieve 1∶10000 scale topographic mapping without Ground Control Points(GCPs).In fact,space-based high-precision mapping without GCPs is a challenging task that depends on the close cooperation of several payloads and links,of which on-orbit geometric calibration is one of the most critical links.In this paper,the on-orbit geometric calibration of the dual-line array cameras of GF-14 satellite was performed using the control points collected in the high-precision digital calibration field,and the calibration parameters of the dual-line array cameras were solved as a whole by alternate iterations of forward and backward intersection.On this basis,the location accuracy of the stereo images using the calibration parameters was preliminarily evaluated by using several test fields around the world.The evaluation result shows that the direct forward intersection accuracy of GF-14 satellite images without GCPs after on-orbit geometric calibration reaches 2.34 meters(RMS)in plane and 1.97 meters(RMS)in elevation.展开更多
In order to satisfy the requirement of SI-traceable on-orbit absolute radiation calibration transfer with high accuracy for satellite remote sensors,a transfer chain consisting of a fiber coupling monochromator（FBM）...In order to satisfy the requirement of SI-traceable on-orbit absolute radiation calibration transfer with high accuracy for satellite remote sensors,a transfer chain consisting of a fiber coupling monochromator（FBM） and an integrating sphere transfer radiometer（ISTR） was designed in this paper.Depending on the Sun,this chain based on detectors provides precise spectral radiometric calibration and measurement to spectrometers in the reflective solar band（RSB） covering 300–2500 nm with a spectral bandwidth of 0.5–6 nm.It shortens the traditional chain based on lamp source and reduces the calibration uncertainty from 5% to 0.5% by using the cryogenic radiometer in space as a radiometric benchmark and trap detectors as secondary standard.This paper also gives a detailed uncertainty budget with reasonable distribution of each impact factor,including the weak spectral signal measurement with uncertainty of 0.28%.According to the peculiar design and comprehensive uncertainty analysis,it illustrates that the spectral radiance measurement uncertainty of the ISTR system can reach to 0.48%.The result satisfies the requirements of SI-traceable on-orbit calibration and has wider significance for expanding the application of the remote sensing data with high-quality.展开更多
The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent years.However,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference...The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent years.However,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference)has greatly restricted the application of SRs.The coupled active-passive multilink cable-driven space robot(CAP-MCDSR)has the characteristics of slim body,flexible movement,and electromechanical separation,which is very suitable for extreme space environments.However,the dynamic and stiffness modeling of CAP-MCDSRs is challenging,due to the complex coupling among the active cables,passive cables,joints,and the end-effector.To deal with these problems,this paper proposes a workspace,stiffness analysis and design optimization method for such type of MCDSRs.Firstly,the multi-coupling kinematics relationships among the joint,cables and the end-effector are established.Based on hybrid series-parallel characteristics,the improved coupled active–passive(CAP)dynamic equation is derived.Then,the maximum workspace,the maximum stiffness,and the minimum cable tension are resolved,among them,the overall stiffness is the superposition of the stiffness produced by the active and the passive cable.Furthermore,the workspace,the stiffness,and the cable tension are analyzed by using the nonlinear optimization method(NOPM).Finally,an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking methods.The proposed modeling and analysis results are very useful for practical space applications,such as designing a new CAP-MCDSR,or utilizing an existing CAP-MCDSR system.展开更多
On-orbit servicing, such as spacecraft maintenance, on-orbit assembly, refueling, and de-orbiting, can reduce the cost of space missions, improve the performance of spacecraft, and extend its life span. The relative s...On-orbit servicing, such as spacecraft maintenance, on-orbit assembly, refueling, and de-orbiting, can reduce the cost of space missions, improve the performance of spacecraft, and extend its life span. The relative state between the servicing and target spacecraft is vital for on-orbit servicing missions, especially the final approaching stage. The major challenge of this stage is that the observed features of the target are incomplete or are constantly changing due to the short distance and limited Field of View (FOV) of camera. Different from cooperative spacecraft, non-cooperative target does not have artificial feature markers. Therefore, contour features, including triangle supports of solar array, docking ring, and corner points of the spacecraft body, are used as the measuring features. To overcome the drawback of FOV limitation and imaging ambiguity of the camera, a "selfie stick" structure and a self-calibration strategy were implemented, ensuring that part of the contour features could be observed precisely when the two spacecraft approached each other. The observed features were constantly changing as the relative distance shortened. It was difficult to build a unified measurement model for different types of features, including points, line segments, and circle. Therefore, dual quaternion was implemented to model the relative dynamics and measuring features. With the consideration of state uncertainty of the target, a fuzzy adaptive strong tracking filter( FASTF) combining fuzzy logic adaptive controller (FLAC) with strong tracking filter(STF) was designed to robustly estimate the relative states between the servicing spacecraft and the target. Finally, the effectiveness of the strategy was verified by mathematical simulation. The achievement of this research provides a theoretical and technical foundation for future on-orbit servicing missions.展开更多
The paper designs a peripheral maximum gray differ-ence(PMGD)image segmentation method,a connected-compo-nent labeling(CCL)algorithm based on dynamic run length(DRL),and a real-time implementation streaming processor ...The paper designs a peripheral maximum gray differ-ence(PMGD)image segmentation method,a connected-compo-nent labeling(CCL)algorithm based on dynamic run length(DRL),and a real-time implementation streaming processor for DRL-CCL.And it verifies the function and performance in space target monitoring scene by the carrying experiment of Tianzhou-3 cargo spacecraft(TZ-3).The PMGD image segmentation method can segment the image into highly discrete and simple point tar-gets quickly,which reduces the generation of equivalences greatly and improves the real-time performance for DRL-CCL.Through parallel pipeline design,the storage of the streaming processor is optimized by 55%with no need for external me-mory,the logic is optimized by 60%,and the energy efficiency ratio is 12 times than that of the graphics processing unit,62 times than that of the digital signal proccessing,and 147 times than that of personal computers.Analyzing the results of 8756 images completed on-orbit,the speed is up to 5.88 FPS and the target detection rate is 100%.Our algorithm and implementation method meet the requirements of lightweight,high real-time,strong robustness,full-time,and stable operation in space irradia-tion environment.展开更多
Tiangong space station is a space station independently designed and developed by China.In order to build and operate the space station,it was necessary to make breakthroughs in many fields and master several key tech...Tiangong space station is a space station independently designed and developed by China.In order to build and operate the space station,it was necessary to make breakthroughs in many fields and master several key technologies,which were characterized over a long technological span and underwent difficult verifications.Therefore,in addition to ground verification,on-orbit flight tests of key technologies for the assembly,construction and operation of the space station were planned to be conducted used by the core module,taking into account the differences in the gravity environment between space and the Earth,in order to lay a foundation for the subsequent comprehensive assembly,construction and long-term on-orbit operation of the space station.In this paper,the mission characteristics of the space station are briefly introduced,along with the key technologies for the assembly and construction of the space station,and then the on-orbit verification tests are comprehensively introduced.展开更多
This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firs...This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firstly, to simplify the analysis and design of predefined-time controller, a Predefined-time Stability Criterion is proposed in the form of Composite Lyapunov Function (CLF-PSC). Besides simplicity, the CLF-PSC also has the advantage of less conservativeness due to utilization of initial state information. Secondly, a concept of Lp-Norm-Normalized Sign Function (LPNNSF) is proposed based on the CLF-PSC. Different from traditional norm-normalized sign function, the Lp-norm of LPNNSF can be selected arbitrarily according to practical control task requirements, which means that the proposed LPNNSF is more generalized and more convenient for calculation. Thirdly, a predefined-time disturbance observer and predefined-time controller are designed based on the LPNNSF. The observer has the property of predefined-time convergence to achieve quicker and more accurate estimation of the lumped disturbance. The controller has less control input and chattering phenomenon than traditional predefined-time controller. In addition, by introducing the observer into the controller, the closed-loop system enjoys high precision and strong robustness. Finally, the effectiveness of the proposed controller is verified by numerical simulations. By employing the controller, the MSRS can carry assembly modules to the desired pre-assembly configuration accurately within predefined time.展开更多
基金co-supported by the National Natural Science Foundation of China(Nos.62473110,62403166)the Fundamental Research Funds for the Central Universities,China(No.2023FRFK02043)+1 种基金the Natural Science Foundation of Heilongjiang Province,China(No.LH2022F023)the National Key Laboratory of Space Intelligent Control Foundation,China(No.2023-JCJQ-LB-006-19)。
文摘With the increasing number of geosynchronous orbit satellites with expiring lifetime,spacecraft refueling is crucial in enhancing the economic benefits of on-orbit services.The existing studies tend to be based on predetermined refueling duration;however,the precise mission scheduling solution will be difficult to apply due to uncertain refueling duration caused by orbital transfer deviations and stochastic actuator faults during actual on-orbit service.Therefore,this paper proposes a robust mission scheduling strategy for geosynchronous orbit spacecraft on-orbit refueling missions with uncertain refueling duration.Firstly,a robust mission scheduling model is constructed by introducing the budget uncertainty set to describe the uncertain refueling duration.Secondly,a hybrid harris hawks optimization algorithm is designed to explore the optimal mission allocation and refueling sequences,which combines cubic chaotic mapping to initialize the population,and the crossover in the genetic algorithm is introduced to enhance global convergence.Finally,the typical simulation examples are constructed with real-mission scenarios in three aspects to analyze:performance comparisons with various algorithms;robustness analyses via comparisons of different on-orbit refueling durations;investigations into the impacts of different initial population strategies on algorithm performance,demonstrating the proposed mission scheduling framework's robustness and effectiveness by comparing it with the exact mission scheduling.
基金supported by National Natural Science Foundation of China(Grant No.52205413)National Key Research and Development Program(Grant No.2022YFB3806101)+1 种基金K C Wong Education FoundationThe Youth Innovation Team of Shaanxi Universities。
文摘In-space 3D printing is transforming the manufacturing paradigm of space structures from ground-based production to in-situ space manufacturing,effectively addressing the challenges of high costs,long response times,and structural size limitations associated with traditional rocket launches.This technology enables rapid on-orbit emergency repairs and significantly expands the geometric dimensions of space structures.High-performance polymers and their composites are widely used in in-space 3D printing,yet their implementation faces complex challenges posed by extreme space environmental conditions and limited energy or resources.This paper reviews the state-of-the-art in 3D printing of polymer and composites for on-orbit structure manufacturing.Based on existing research activities,the review focuses on three key aspects including the impact of extreme space environments on forming process and performance,innovative design and manufacturing methods for space structures,and on-orbit recycling and remanufacturing of raw materials.Some experiments that have already been conducted on-orbit and simulated experiments completed on the ground are systematically analyzed to provide a more comprehensive understanding of the constraints and objectives for on-orbit structure manufacturing.Furthermore,several perspectives requiring further research in future are proposed to facilitate the development of new in-space 3D printing technologies and space structures,thereby supporting increasingly advanced space exploration activities.
文摘According to gyro application in micro-satellites, a new gyro bias real-time on-orbit calibration technology is presented and it is independent of any other sensors. The approach relies on gyro on-orbit measurements restricted by satellite attitude dynamics and estimates the gyro bias generated when the gyro is electrified. Observability of the calibration model is analyzed and applicable conditions of the technology are derived. Simulation results indicate that the calibration algorithm is accurate and robust at gyro sampling rate, and its convergence speed is fast. Within the given attitude dynamics model error, the convergence time is less than 100 s and the convergence accuracy is about 1.0 （°）/h. Calibration performance can meet requirements of spacecraft operations.
基金supported by the Manned Spaceflight Program of China,the Advanced Space Medio-Engineering Research Project of China(2014SY54A0001)
文摘Sufficient sleep duration and good sleep quality are crucial to ensure normal physical and mental health, cognition and work performance for the common people, as well as astronauts. On-orbit sleep problem is very common among astronauts and has potential detrimental influences on the health of crewmembers and the safety of flight missions. Sleep in space is becoming a new medical research frontier. In this review we summarized on-orbit sleep problems of astronauts and six kinds of causes, and we presented the effects of lack of sleep on performance as well as mental and physical health, then we proposed seven kinds of countermeasures for sleep disturbance in spaceflight, including pharmacologic interventions, light treatment, crew selection and training, Traditional Chinese Medicine and so on. Furthermore, we discussed and oriented the prospect of researches on sleep in space.
文摘"Tian Tuo 1"(TT-1)nano-satellite is the first single-board nano-satellite that was suc-cessfully launched in China.The main objective of TT-1 is technology demonstration and scientific measurements.The satellite carries out the significant exploration of single-board architecture fea-sibility validation,and it is tailored to the low-cost philosophy by adopting numerous commercial-off-the-shelf(COTS)components.The satellite is featured with three-axis stabilization control capability.A pitch bias momentum wheel and three magnetic coils are adopted as control actuators.The sun sensors,magnetometers and a three-axis gyro are employed as the measurement sensors.The quaternion estimator(QUEST)and unscented Kalman filter(UKF)method are adopted for the nano-satellite attitude determination.On-orbit data received by ground station is conducted to analysis the performance of attitude determination and control system(ADCS).The results show that the design of ADCS for TT-1 is suitable,robust and feasible.
基金financial support under the Manned Aerospace Research Project(Grant No.040102)。
文摘More space truss construction has been planned to develop and utilize space resources.These trusses are designed in the way of large-scale,complex,modular,and on-orbit assembly.To meet the upcoming challenge of large-scale space infrastructure construction,it is necessary to study space truss automation design and robotic construction.This paper proposes an ordinal finite screw adjacency matrix model(OFSAMM),focusing on the relationship between assembly motions,to express and compute a space truss structure.In this model,a space truss is abstracted as a set of ordered assembly motions,each of which is recorded as a finite screw as the basic element of the truss and its assembly.The operation of truss transformation is also derived under this model.Therefore,the truss configuration,the assembly sequence,the truss sub-assembly,the truss components,and the on-orbit assembly task can be expressed and calculated in a unified model,which is calculated and stores the truss topology and assembly with the minimum storage cost.At the end of this paper,we introduce how to synthesize and optimize space truss design through two cases.The study will help to improve design efficiency.Furthermore,it provides a theoretical basis for the automatic construction of space truss structures,especially in the next stage.
基金supported by the National Natural Science Foundation of China (11102018)
文摘A new type of estimator is developed for the satellite formation to track and inspect on-orbit targets. The follower satellite in the formation works without relative sensors, and its target pointing commands are derived based on relative orbital dynamics. The centralized estimator based on truth measurement is designed, however, this estimator is proved unstable because of the lack of necessary measurement information. After that, an alternative estimator based on pseudo measurement is designed, and its observability and controllability are analyzed to qualitatively evaluate the convergence performance. Finally, an on-orbit target inspection scenario is numerically simulated to verify the performance of the estimator based on pseudo measurement.
文摘Due to the disadvantages such as complex calculation, low accuracy of estimation, and being non real time in present methods, a new real-time algorithm is developed for on-orbit mag- netometer bias determination of micro-satellites without attitude knowledge in this paper. This method uses the differential value approach. It avoids the impact of quartic nature and uses the iterative method to satisfy real-time applications. Simulation results indicate that the new real-time algorithm is more accurate compared with other methods, which are also tested by an experiment system using real noise data. With the new real-time algorithm, a magnetometer calibration can be taken on-orbit and will reduce the demand for computing power effectively.
基金National Natural Science Foundation of China(No.41601492)SAST Foundation(No.SAST2016091)Development Program of China(No.2016YFB0501402)。
文摘The paper presents a geometric calibration method based on the sparse ground control points (GCPs), aiming to the linear push-broom optical satellite. This method can achieve the optimal estimate of internal and external parameters with two overlapped image pair along the charge-coupled device (CCD), and sparse GCPs in the image region, further get rid of the dependence on the expensive calibration site data. With the calibrated parameters, the line of sight (LOS) of all CCD detectors can be recovered. This paper firstly establishes the rigorous imaging model of linear push-broom optical satellite based on its imaging mechanism. And then the calibration model is constructed by improving the internal sensor model with a viewing-angle model after an analysis on systematic errors existing in the imaging model is performed. A step-wise solution is applied aiming to the optimal estimate of external and internal parameters. At last, we conduct a set of experiments on the ZY-3 NAD camera and verify the accuracy and effectiveness of the presented method by comparison.
文摘The Visible and Infrared Multispectral Imager (VIMI) is one of the main payloads of the GF-5 satellite. It has 12 spectral bands covering the wavelength from visible light to thermal infrared. The imager designed life is 8 years. In order to monitor and correct the radiometric performance of the imager for a long time and meet the user’s demand for the quantitative remote sensing application, the expandable diffuser used for calibration in full FOV and full optical path method is designed. The solar diffuser is installed on the front side of the optical system and does not affect the normal imaging of VIMI. When VIMI need calibration, the diffuser is expand to the front of optical system via the driving mechanism. According to the characteristics of the GF-5 satellite orbit, the requirement of the calibration energy and the installation matrix of the imager relative to the satellite, the expansion angle of the diffuser is 39 degrees. The 430 mm × 430 mm large-size PTEE diffuser is manufactured to ensure full FOV and full optical path calibration. The diffuser’s directional hemispherical reflectance is higher than 95% from 420 nm to 2400 nm and variation of BRDF in the direction of imager observation is better than 2.5%. The diffuser stability monitoring radiometer is designed to monitor the on-orbit attenuation performance of the diffuser. Results of ground simulation experiments and preliminary on-board calibration experiments were introduced.
基金Independent Project of State Key Laboratory of Geo-information Engineering(SKLGIE2022-ZZ-01)The Youth Science Innovation Fund(No.2023-01)。
文摘GF-14 satellite is a new generation of sub-meter stereo surveying and mapping satellite in China,carrying dual-line array stereo mapping cameras to achieve 1∶10000 scale topographic mapping without Ground Control Points(GCPs).In fact,space-based high-precision mapping without GCPs is a challenging task that depends on the close cooperation of several payloads and links,of which on-orbit geometric calibration is one of the most critical links.In this paper,the on-orbit geometric calibration of the dual-line array cameras of GF-14 satellite was performed using the control points collected in the high-precision digital calibration field,and the calibration parameters of the dual-line array cameras were solved as a whole by alternate iterations of forward and backward intersection.On this basis,the location accuracy of the stereo images using the calibration parameters was preliminarily evaluated by using several test fields around the world.The evaluation result shows that the direct forward intersection accuracy of GF-14 satellite images without GCPs after on-orbit geometric calibration reaches 2.34 meters(RMS)in plane and 1.97 meters(RMS)in elevation.
基金Project supported by the National Natural Science Foundation of China(Grant No.41474161)the National High-Technology Program of China(Grant No.2015AA123703)
文摘In order to satisfy the requirement of SI-traceable on-orbit absolute radiation calibration transfer with high accuracy for satellite remote sensors,a transfer chain consisting of a fiber coupling monochromator（FBM） and an integrating sphere transfer radiometer（ISTR） was designed in this paper.Depending on the Sun,this chain based on detectors provides precise spectral radiometric calibration and measurement to spectrometers in the reflective solar band（RSB） covering 300–2500 nm with a spectral bandwidth of 0.5–6 nm.It shortens the traditional chain based on lamp source and reduces the calibration uncertainty from 5% to 0.5% by using the cryogenic radiometer in space as a radiometric benchmark and trap detectors as secondary standard.This paper also gives a detailed uncertainty budget with reasonable distribution of each impact factor,including the weak spectral signal measurement with uncertainty of 0.28%.According to the peculiar design and comprehensive uncertainty analysis,it illustrates that the spectral radiance measurement uncertainty of the ISTR system can reach to 0.48%.The result satisfies the requirements of SI-traceable on-orbit calibration and has wider significance for expanding the application of the remote sensing data with high-quality.
基金supported by the National Natural Science Foundation of China(No.62103454)the Key-Area Research and Development Program of Guangdong Province(No.2020B1111010001)+3 种基金the Guangdong Basic and Applied Basic Research Foundation(No.2019A1515110680)the Shenzhen Municipal Basic Research Project for Natural Science Foundation(No.JCYJ20190806143408992)the Fundamental Research Funds for the Central Universities(No.2021qntd08)Sun Yat-sen University。
文摘The use of space robots(SRs)for on-orbit services(OOSs)has been a hot research topic in recent years.However,the space unstructured environment(i.e.:confined spaces,multiple obstacles,and strong radiation interference)has greatly restricted the application of SRs.The coupled active-passive multilink cable-driven space robot(CAP-MCDSR)has the characteristics of slim body,flexible movement,and electromechanical separation,which is very suitable for extreme space environments.However,the dynamic and stiffness modeling of CAP-MCDSRs is challenging,due to the complex coupling among the active cables,passive cables,joints,and the end-effector.To deal with these problems,this paper proposes a workspace,stiffness analysis and design optimization method for such type of MCDSRs.Firstly,the multi-coupling kinematics relationships among the joint,cables and the end-effector are established.Based on hybrid series-parallel characteristics,the improved coupled active–passive(CAP)dynamic equation is derived.Then,the maximum workspace,the maximum stiffness,and the minimum cable tension are resolved,among them,the overall stiffness is the superposition of the stiffness produced by the active and the passive cable.Furthermore,the workspace,the stiffness,and the cable tension are analyzed by using the nonlinear optimization method(NOPM).Finally,an 8-DOF CAP-MCDSR experiment system is built to verify the proposed modeling and trajectory tracking methods.The proposed modeling and analysis results are very useful for practical space applications,such as designing a new CAP-MCDSR,or utilizing an existing CAP-MCDSR system.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61973153)
文摘On-orbit servicing, such as spacecraft maintenance, on-orbit assembly, refueling, and de-orbiting, can reduce the cost of space missions, improve the performance of spacecraft, and extend its life span. The relative state between the servicing and target spacecraft is vital for on-orbit servicing missions, especially the final approaching stage. The major challenge of this stage is that the observed features of the target are incomplete or are constantly changing due to the short distance and limited Field of View (FOV) of camera. Different from cooperative spacecraft, non-cooperative target does not have artificial feature markers. Therefore, contour features, including triangle supports of solar array, docking ring, and corner points of the spacecraft body, are used as the measuring features. To overcome the drawback of FOV limitation and imaging ambiguity of the camera, a "selfie stick" structure and a self-calibration strategy were implemented, ensuring that part of the contour features could be observed precisely when the two spacecraft approached each other. The observed features were constantly changing as the relative distance shortened. It was difficult to build a unified measurement model for different types of features, including points, line segments, and circle. Therefore, dual quaternion was implemented to model the relative dynamics and measuring features. With the consideration of state uncertainty of the target, a fuzzy adaptive strong tracking filter( FASTF) combining fuzzy logic adaptive controller (FLAC) with strong tracking filter(STF) was designed to robustly estimate the relative states between the servicing spacecraft and the target. Finally, the effectiveness of the strategy was verified by mathematical simulation. The achievement of this research provides a theoretical and technical foundation for future on-orbit servicing missions.
文摘The paper designs a peripheral maximum gray differ-ence(PMGD)image segmentation method,a connected-compo-nent labeling(CCL)algorithm based on dynamic run length(DRL),and a real-time implementation streaming processor for DRL-CCL.And it verifies the function and performance in space target monitoring scene by the carrying experiment of Tianzhou-3 cargo spacecraft(TZ-3).The PMGD image segmentation method can segment the image into highly discrete and simple point tar-gets quickly,which reduces the generation of equivalences greatly and improves the real-time performance for DRL-CCL.Through parallel pipeline design,the storage of the streaming processor is optimized by 55%with no need for external me-mory,the logic is optimized by 60%,and the energy efficiency ratio is 12 times than that of the graphics processing unit,62 times than that of the digital signal proccessing,and 147 times than that of personal computers.Analyzing the results of 8756 images completed on-orbit,the speed is up to 5.88 FPS and the target detection rate is 100%.Our algorithm and implementation method meet the requirements of lightweight,high real-time,strong robustness,full-time,and stable operation in space irradia-tion environment.
文摘Tiangong space station is a space station independently designed and developed by China.In order to build and operate the space station,it was necessary to make breakthroughs in many fields and master several key technologies,which were characterized over a long technological span and underwent difficult verifications.Therefore,in addition to ground verification,on-orbit flight tests of key technologies for the assembly,construction and operation of the space station were planned to be conducted used by the core module,taking into account the differences in the gravity environment between space and the Earth,in order to lay a foundation for the subsequent comprehensive assembly,construction and long-term on-orbit operation of the space station.In this paper,the mission characteristics of the space station are briefly introduced,along with the key technologies for the assembly and construction of the space station,and then the on-orbit verification tests are comprehensively introduced.
基金co-supported by the National Natural Science Foundation of China(Nos.12372048,12102343)the Key Program of the National Natural Science Foundation of China(No.U2013206)+1 种基金the China Postdoctoral Science Foundation(No.2023M742835)the Guangdong Basic and Applied Basic Research Foundation,China(No.2023A1515011421).
文摘This paper presents a predefined-time controller for Multiple Space transportation Robots System (MSRS), which can be applied in on-orbit assembly tasks to transport modules to pre-assembly configuration quickly. Firstly, to simplify the analysis and design of predefined-time controller, a Predefined-time Stability Criterion is proposed in the form of Composite Lyapunov Function (CLF-PSC). Besides simplicity, the CLF-PSC also has the advantage of less conservativeness due to utilization of initial state information. Secondly, a concept of Lp-Norm-Normalized Sign Function (LPNNSF) is proposed based on the CLF-PSC. Different from traditional norm-normalized sign function, the Lp-norm of LPNNSF can be selected arbitrarily according to practical control task requirements, which means that the proposed LPNNSF is more generalized and more convenient for calculation. Thirdly, a predefined-time disturbance observer and predefined-time controller are designed based on the LPNNSF. The observer has the property of predefined-time convergence to achieve quicker and more accurate estimation of the lumped disturbance. The controller has less control input and chattering phenomenon than traditional predefined-time controller. In addition, by introducing the observer into the controller, the closed-loop system enjoys high precision and strong robustness. Finally, the effectiveness of the proposed controller is verified by numerical simulations. By employing the controller, the MSRS can carry assembly modules to the desired pre-assembly configuration accurately within predefined time.
