Position-Attitude Coupling Motion Using Dual Quaternion in Spacecraft Proximity Operation

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This paper deals with position-attitude coupling motion during spacecraft relative operation, and suggests dual quaternion-based kinematics for the problem. The position-attitude coupling motion can occur when the target point is located at an arbitrary point on the satellite body, not the center of mass. This is especially apparent in close proximity operation case. The dual quaternion-based kinematics directly reflects the angular velocity state, so that the coupling motion in which the change of attitude affects the position can be concisely defined. In this study, a new dual quaternion-based kinematics is presented along with a conventional approach to solve the coupling problem. Numerical simulations show that the position error for the target point is generated by the coupling motion, and verify that the dual quaternion-based kinematics can solve this problem.
Publisher
KOREAN SOC AERONAUTICAL & SPACE SCIENCES
Issue Date
2019-01
Language
Korean
Article Type
Article
Citation

JOURNAL OF THE KOREAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, v.47, no.11, pp.795 - 802

ISSN
1225-1348
DOI
10.5139/JKSAS.2019.47.11.795
URI
http://hdl.handle.net/10203/271146
Appears in Collection
AE-Journal Papers(저널논문)
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