the form of continuous analog signals, and the remainder are discrete measurements (two, or more rarely, three, positions). Moreover, in the analysis of docking dynamics, measurements of overloads and angular velocities of the spacecraft are used, as well as several parameters of the operation of the control system for approach and orientation. As experience of testing of electromechanical docking devices has shown, this compilation of measurements is effective, and makes it possible to do the required monitoring of the operation of the docking systems and to analyze the operation of its elements. Telemetric information on the activation of the contact sensors (contact sensors 1 and 2) and linkage in conjunction with information on the displacements of the shock absorbers makes it possible not only to directly determine these parameters and monitor the operation of the corresponding elements of the construction, but also to determine the basic parameters of the initial conditions of docking. This method makes it possible to determine the following parameters at the moment of spacecraft contact: initial approach velocity lateral displacement Ar, and its direction (components and along the corresponding axes of coordinates). The initial velocity at the moment of linkage is defined by the displacement of the longitudinal shock absorber using the taring characteristics of the docking mechanism, which is obtained in Earth testing. To determine the initial velocity at the moment of the first contact, corrections are calculated for the loss of velocity on impact with the cone (from displacements of the lateral shock absorbers) and the increase in speed due to the operation of the jet control system (from the length of actuation between activations of contact sensors 1 and 2). Knowing the time and having determined the approach velocity, it is easy to calculate the lateral displacement of the point of first contact of the head of the rod with the cone Ar. The components of this displacement and are determined from the sign and relative value of the deviations of the lateral shock absorbers, the taring characteristics of which are also fixed in Earth testing. Tn this way one can approximately calculate the lateral and angular velocities of the spacecraft at the moment of contact and during linkage, as well as the
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