The teleoperation of space robot is one of important parts of the operation process of space robot. The concept of the teleoperation and the basic features of the teleoperation of space robot are first analyzed. The current situation of the teleoperation of space robot and some typical experiments of the teleoperation are then introduced in detail, based on which the technical characteristics of the tasks are summed up. Finally, the key technologies of the teleoperation are summarized, and the research situations of predictivedisplaybased teleoperation, forcereflecting bilateral control and ground verification system are introduced. In conclusion, the prospect of the teleoperation of space robot is presented.

During a safety and accurately celestial body pinpoint landing, the spacecraft must realtimely and precisely determine its relative position and velocity to the body. To overcome the disadvantage that the slant range and the relative velocity measurements can’t well revise the horizontal position estimation obtained by inertia navigation, and to fuse multisource information, an autonomous navigation method for celestial body pinpoint landing is proposed based on landmarks image and covariance intersection algorithm. In this method, an optical camera is added to the integrated navigation system, and takes pictures of landmarks to obtain the essential horizontal position information. To esitmate the states, a distributed extended Kalman filter based on the covariance intersection is used to fuse the multisource information optimally, which can improve the precision and the robustness. Numerical simulations demonstrate the effectiveness of the proposed approach.

This paper studies the autonomous navigation method based on the range measurement between an Earth satellite and a Lunar satellite. The absolute positions of all participating satellites can be determined simultaneously by using the threebody orbital dynamics and the intersatellite range measurement. However, the positioning performance of the navigation may be degraded in the presence of large initial position error. In order to cope with this problem, a novel navigation method is proposed by integrating an ultraviolet navigation sensor and the intersatellite range measurement. By using the proposed navigation method, high positioning accuracy is achievable in the presence of the large initial position error and large measurement noise of the ultraviolet sensor. The performance of the integrated navigation system is analyzed by using the CramerRao lower bound (CRLB). The feasibility of the proposed method is verified via numerical simulations.

An online reconfigurable control scheme is proposed for overactuated closedloop systems, including the controller, control allocation, and fault diagnosis. In the fault diagnosis, the signed directed graph(SDG) method is adopted to locate the possible faulty components as soon as possible. For the faults that cannot be isolated, an on-line fault isolation method is designed. After the faults are isolated, the control allocation is used to redistribute the control efforts. How to isolate faults on-line is explained based on a spacecraft model with overactuated reaction wheels, and simulations of online fault tolerance are carried out to testify our scheme.

According to the demand of mapping precision by satellite, a high-precision timing system of AOCS, which is based on the synchronous pulses latching and afterwards processing, is discussed in this paper. Due to the time mark arithmetic of star sensors and gyros, the error sources are analyzed. The result shows the timing system is helpful for the mapping precision.

In terms of the engineering constraints, orbital maneuvering along the track is relatively easy to achieve. The relations among the quantity of control, the time of control and the phase are studied，that are based on the constrains of Hill equations and the alongtrack control for the coplanar flying-around formation. The analytical results demonstrate that the minimum fuel consumption can be realized when the phase angle needing to change is less than 90°. Conversely, the minimum quantity of control can be approached when the phase angle needing to change is larger than 90°. And further, it is found that the phase remains unchanged when the control is carried out at the up and down points of the relative motion ellipse.

Regarding the brushless direct current motor(BLDC) used in control moment gyro gimbal, the different pulse width modulation (PWM) modes of the full bridge drive circuit has different influences on the torque ripple of the control system. An analysis is presented on the different PWM modes from three aspects, including the electromagnetic torque ripple during the commutation, the torque pulsation during the non commutation, the application and improvement of the PWM mode, a conclusion is given that the best PWM mode for high precision control requirements is the PWM_ON_PWM mode, verification is obtained on the analysis result by numerical simulation.

The flywheels in a satellite attitude control system usually use a pair of oillubricated precise angular-contact ball bearings as the rotary support. Because of the requirements for long life, high precision and high reliability of flywheels and special space environment, the lubrication of bearings uses microquantity oil. Either overflooded lubrication or starved lubrication can result in the increase of friction torque and decrease of the life of flywheel bearing. So there exists an optimum quantity of lubricating oil. We give a method to estimate the optimum quantity of lubricating oil in the flywheel bearing based on the elastohydrodynamic lubrication (EHL) theory. Meanwhile, a ballondisk test is developed to simulate the bearing ball and raceway contact. The experimental results verify the validity of the proposed method.

In order to improve the reliability of attitude control with reaction wheel, a control law is put forward, which is based on one reaction wheel and three magnetorquers in different fixing mode. The simulation results show that the precision of attitude control is about 0.3°, when the reaction wheel is installed with a certain angle from X axis in XZ plane. The control method is applicable for micro-satellite. When the wheel is installed along the roll or yaw axis, the satellite attitude can still be controlled. The control method can be used to a sick satellite.

Considering the mass data and complex types of test data for satellite control system, the artificial diagnostic method has many shortages such as the long interpreting time and inadequate of diagnostic precision. The test data are analyzed according to their transforming rules, and the diagnostic rule of test data is established. A new method is offered to automatically diagnose test data, and the corresponding design is given for control system based on those models． This system not only diagnoses data via the configured rules, but also records diagnostic results. Thus this system improves the test efficiency and the diagnostic veracity.

Based on the dynamic mathematical model of gas system in integral bipropellant propulsion system, the response characteristic of gas system during working process including starting up and coorking is simulated. The simulation results show that the temperature of gas system varies little around the steadystate point for onedimensional ideal gas adiabatic. Then, by eatablishing, the state space models (SSM) of gas system. The effects of main parameters on gas system stability are obtained. Meanwhile, the method that can improve the dynamic characteristic of gas system is also presented.