Aerospace Dongfanghong Development Ltd. Shenzhen

Shenzhen, China

Aerospace Dongfanghong Development Ltd. Shenzhen

Shenzhen, China
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Liang B.,Harbin Institute of Technology | Liang B.,Tsinghua University | Wang J.-Y.,Harbin Institute of Technology | Li C.,Aerospace Dongfanghong Development Ltd. Shenzhen | Wei S.-L.,Tsinghua University
Yuhang Xuebao/Journal of Astronautics | Year: 2016

In order to increase the amount of radio occultation (RO) atmospheric sounding data and save the number of sounding satellites, a new concept of multi-GNSS (Global navigation satellite system) sounding constellation with BeiDou (BD), GPS, Galileo and GLONASS is presented, and an optimal design method of such a multi-GNSS RO atmospheric sounding satellite constellation is studied. To realize the radio occultation event simulation fast and accurately, a forward model of multi-GNSS RO sounding is established based on both priori atmosphere model and two-dimensional ray tracing algorithm. The effect of the sounding constellation parameters on the detection performance is completely analyzed to decrease the complexity of the sounding constellation model, and the satisfactory constellation parameters are optimized by using an improved ant colony algorithm. Compared with COSMIC II, the number of sounding satellites is decreased by 2, the amount of soundings is increased by 40% and the uniformity of sounding data is improved by 67%. © 2016, Editorial Dept. of JA. All right reserved.


Shi Y.,Harbin Institute of Technology | Liang B.,Harbin Institute of Technology | Wang X.,Aerospace Dongfanghong Development Ltd. Shenzhen | Xu W.,Aerospace Dongfanghong Development Ltd. Shenzhen | Liu H.,Aerospace Dongfanghong Development Ltd. Shenzhen
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 | Year: 2012

In the past decades, autonomous on-orbit servicing has become a priority for the space industry. Visual servo of eye-in-hand type system is one of the most promising approaches to perform this task. In order to ensure that the task was implemented successfully, mathematical simulation and ground experiments are required to thoroughly explore the capabilities and limitations of the planning and control algorithms before it is launched. In this paper, we propose a hybrid 2D/3D visual servoing of space robot for target capturing. We consider the image based visual servo as the core of our scheme due to its simplicity and low sensitivity to camera calibration errors. Position based visual servoing is only used when the target is close to the end effector of space robot. Taking account of the special aspects of space environment such as lighting and available computing power, to realize a safe and reliable realtime visual servoing operation, cooperative visual marker, time delay processing, and capture strategy have been carefully designed. A 3D simulation platform for space robot visual servoing is developed to verify the corresponding algorithms. The results validate the effectiveness of our research. © 2012 IEEE.


Du X.,Aerospace Dongfanghong Development Ltd. Shenzhen | Gao X.,Aerospace Dongfanghong Development Ltd. Shenzhen | Gao X.,Harbin Institute of Technology | Xu W.,Harbin Institute of Technology | And 2 more authors.
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | Year: 2014

Binocular vision is expected to be more and more applied in the autonomous rendezvous and proximity operations of spacecraft. Aiming at this issue, a cost-effective, reasonable and feasible semi-physical simulation system is proposed to verify the key algorithms, such as feature recognition, pose estimation, guidance and vision servo control. In this simulation system, a 3D scenario of the spacecraft rendezvous is established based on computer graphics technology, and the virtual images of space binocular cameras are generated through perspective projection. The physical cameras are applied to capture the virtual images on the display so that the real imaging process is introduced in the simulation loop. The experiment results verify the effectiveness of the proposed simulation method.


Shi Y.,Harbin Institute of Technology | Liang B.,Harbin Institute of Technology | Wang X.,Aerospace Dongfanghong Development Ltd. Shenzhen | Xu W.,Aerospace Dongfanghong Development Ltd. Shenzhen | Liu H.,Aerospace Dongfanghong Development Ltd. Shenzhen
2012 IEEE International Conference on Information and Automation, ICIA 2012 | Year: 2012

One important area for the application of space robotics is autonomous On-Orbit Servicing (OOS) of failed spacecrafts. Visual servo of eye-in-hand type system is one of the most promising approaches to perform this task. This paper describes research and development of a visual servoing system for autonomous satellite capture using an on-board manipulator with binocular hand-eye cameras. Taking account of the special aspects of space environment such as lighting and available computing power, to realize a safe and reliable real-time visual servoing operation, cooperative visual marker search processing, time delay processing, and capture strategy have been carefully designed. Some critical constraints such as FOV limit, joint range limits, kinematic singularities, and joint velocity limits are concerned during visual servoing. A ground experiment system based on air-bearing table is set up. With the system, experiments of autonomous capturing target are conducted. The results validate the effectiveness of our research. © 2012 IEEE.


Shi Y.,Harbin Institute of Technology | Liang B.,Harbin Institute of Technology | Liang B.,Aerospace Dongfanghong Development Ltd. Shenzhen | Wang X.,Harbin Institute of Technology | And 2 more authors.
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | Year: 2011

Based on the non-holonomic redundancy behavior of free-floating space robot system, a path planning approach is proposed to realize the Cartesian pose (position and attitude) of the end-effector, and the attitude of the spacecraft attaining the desired states simultaneously. The joint trajectories are parameterized by using sinusoidal polynomials functions and the cost function is proposed according to the accuracy requirements. The path planning problem is transformed to a nonlinear optimization problem. The quantum-behaved particle swarm optimization (QPSO) algorithm is employed to search for the global optimal resolution of the parameters variables. The parameters variables are taken into joint trajectories functions to realize non-holonomic path planning. A dynamic model of a space robot system composed of a spacecraft and a 6-DOF manipulator is developed, and the proposed method is verified by using this model. The simulation results show that this method is better than other approaches both in convergence rate and accuracy and the joints trajectories are very smooth and suitable for control. © 2011 Journal of Mechanical Engineering.


Gao X.,Harbin Institute of Technology | Gao X.,Aerospace Dongfanghong Development Ltd. Shenzhen | Liang B.,Harbin Institute of Technology | Liang B.,Aerospace Dongfanghong Development Ltd. Shenzhen | And 3 more authors.
Proceedings of 2012 IEEE International Conference on Information Science and Technology, ICIST 2012 | Year: 2012

In final approach of rendezvous between a space robot and a large non-cooperative target, a single camera of the space robot can not observe a whole feature image of the large target to measure relative pose (attitude and position). To overcome this problem, a structured light is introduced to aid measurement. A partial rectangular framework of the target is chosen as measurement object. Firstly, the measurement model is built and four measurement coordinates systems are presented. Secondly, according to projection constraints on rectangle and circular points, a whole rectangle feature is reconstructed. Thirdly, using the whole rectangle and the structured light, transform matrix between camera and target coordinates systems is computed. Lastly, the relative pose of the partial rectangular framework is derived from the transform matrix. Several numerical simulations are studied to verify the method under different scenarios. The results show that the pose measurement is feasible and effective. © 2012 IEEE.


Gao X.-H.,Harbin Institute of Technology | Gao X.-H.,Aerospace Dongfanghong Development Ltd. Shenzhen | Liang B.,Harbin Institute of Technology | Pan L.,Aerospace Dongfanghong Development Ltd. Shenzhen | Du X.-D.,China Academy of Space Technology
Yuhang Xuebao/Journal of Astronautics | Year: 2015

Only using single line-of-sight, it is difficult for a space robot to perform autonomous relative navigation of Geostationary orbit (GEO) non-cooperative target in long-range rendezvous. To overcome this problem, a distributed relative navigation method based on multiple line-of-sights of two space robots is proposed. Firstly, the multiple line-of-sight measurements based relative navigation model is built and the equation of relative motion dynamics between space robot and non-cooperative target are introduced. Secondly, a distributed filter of relative navigation is presented to reduce the dimension of centralized filter. The relative position is estimated by using the extend Kalman filter algorithm. Thirdly, numerical simulations are studied to verify the method under different conditions. The results show that this method is steady and effective. ©, 2015, China Spaceflight Society. All right reserved.


Liang B.,Harbin Institute of Technology | Gao X.-H.,Harbin Institute of Technology | Gao X.-H.,Aerospace Dongfanghong Development Ltd. Shenzhen | Pan L.,Aerospace Dongfanghong Development Ltd. Shenzhen | Xu W.-F.,Harbin Institute of Technology
Yuhang Xuebao/Journal of Astronautics | Year: 2016

According to on-orbit service mission objects of geostationary satellites(GEO), an autonomous, cooperative and multitask formation space robotic system is presented. Firstly, based on orbit character and information interaction character of the non-cooperative target, the formation space robotic system composed of an operation space robot and a monitor space robot is proposed to deal with the problems of weak gravity and non-cooperative target. The relative measurement subsystem of the formation space robotic system is designed. The flight missions of on-orbit service for the non-cooperative target are programmed. Secondly, the multiple line-of-sight relative navigation method and multiple impulse guidance law are proposed. Lastly, a typical far range rendezvous is simulated to verify the validity of the formation system. © 2016, Editorial Dept. of JA. All right reserved.


Gao X.-H.,Harbin Institute of Technology | Liang B.,Harbin Institute of Technology | Liang B.,Aerospace Dongfanghong Development Ltd. Shenzhen | Pan L.,Aerospace Dongfanghong Development Ltd. Shenzhen | Xu W.-F.,Harbin Institute of Technology
Yuhang Xuebao/Journal of Astronautics | Year: 2012

In final approach of rendezvous between a space robot and a large non-cooperative target, a monocular camera of the space robot can not observe a complete feature image of the target to determine relative position and attitude. To overcome this problem, a line structured light is introduced to aid measurement. A partial rectangular framework of the target is chosen as measurement object. Firstly, a measurement model is built and four measurement coordinate systems are presented. Secondly, according to camera projection constraints on the partial rectangular framework and the line structured light, four feature points are calculated in the camera coordinate system. Thirdly, using the four feature points, transform matrix between camera coordinate system and target coordinate system is computed. Lastly, the relative position and attitude of the partial rectangular framework is derived from the transform matrix. Numerical simulations are studied to verify the method under different input errors and calibration errors. The results show that this method is effective.

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