航天器相对运动模拟与相对位姿测量评估系统设计与试验

In order to meet the verification requirements of spacecraft relative pose measurement system, it is necessary to realize the relative position and attitude motion simulation between the target and the chaser spacecraft on the ground, and obtain real-time pose data. Dual manipulators and two-dimensional guide rails are used to build relative motion simulation and evaluation system, which is calibrated by laser tracker. The conversion relationship between the coordinate system of base, end and tool of the two motion platforms are given. In addition, the “checkerboard” calibration board is used to calibrate the relative motion measurement system of the spacecraft, the camera parameters and the conversion relationship between target-model tool coordinate system, the camera tool coordinate system and the motion platform end coordinate system are obtained. The spacecraft relative motion simulation test shows that the relative motion position simulation accuracy is better than 3 mm, the angle simulation accuracy is better than 0.2°. The relative pose measurement verification test shows that when the spacecrafts re separated by 2 m, the relative position measurement maximum error is less than 0.045 m and the angle measurement maximum error is less than 0.417°. The test results show that the simulation accuracy of spacecraft relative motion can meet the demand of spacecraft relative pose measurement evaluation.