Inertia tensor estimation of tethered debris through tether tracking
Inertia tensor estimation of tethered debris through tether tracking
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DOI：
10.1016/j.actaastro.2023.08.021
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发表时间：
2023-08
影响因子：
3.5
通讯作者：
Derek Bourabah;Chris Gnam;E. M. Botta
中科院分区：
文献类型：
--
作者：
Derek Bourabah;Chris Gnam;E. M. Botta
系留系统，如系留鱼叉或网，是捕获不合作的空间碎片的有希望的方法，但捕获后的动力学和控制复杂;控制战略可得益于对目标碎片的质量惯性矩的了解，而这些惯性矩通常是未经估计而未知的。在这项工作中，提出了一个Unscented卡尔曼滤波器估计的惯性矩，角速度和姿态的系留碎片在没有末端执行器和传感器的目标。这是通过利用相机测量目标碎片上的特征和张力传感器来实现的。在模拟中执行（1）具有居中系绳附着点的对称目标和（2）具有非居中系绳附着点的非对称目标的特性的估计。过滤器被认为是能够准确和精确地估计碎片的姿态和角速率，虽然持续的跟踪功能的损失严重损害这些估计。主惯性矩估计不受跟踪特征的损失的影响，并且当系绳拉紧时可以准确且精确地进行。目标和系链附接点的不对称性可对过滤器的性能具有积极影响。
Tethered systems, such as tethered harpoons or nets, are promising methods to capture uncooperative space debris, but suffer from complicated post-capture dynamics and control; control strategies could benefit from knowledge of the mass moments of inertia of the target debris, usually unknown without estimation. In this work, an Unscented Kalman Filter is proposed to estimate the moments of inertia, angular velocity, and attitude of tethered debris in the absence of end effectors and of sensors on the target. This is achieved by leveraging camera measurements of features on the target debris and a tension sensor. Estimation of the properties of (1) a symmetric target with a centered tether attachment point and of (2) a non-symmetric target with a non-centered tether attachment point is performed in simulation. The filter is found to be capable of accurately and precisely estimating both the attitude and angular rates of debris, although sustained loss of a tracked feature heavily impairs these estimates. The principal moments of inertia estimates are unaffected by the loss of a tracked feature and can be made both accurately and precisely when the tether is taut. Asymmetry of the target and of the tether attachment point can have a positive effect on the performance of the filter.