Two-segment information fusion attitude determination method for spacecraft from vector observations
-
摘要: 针对基于MEMS(微机电系统)陀螺和CMOS APS星敏感器的集成惯性/星光姿态确定系统的低精度特点,研究了适用于该定姿系统的基于矢量观测的定姿算法.对于陀螺/星敏感器这种配置模式,有EKF(Extended Kalman Filter)、QUEST、最优REQUEST等几种适用的定姿算法.针对EKF和最优REQUEST算法的不同特点并结合确定性算法QUEST,以四元数为姿态参数,将姿态估计的EKF方法分别与QUEST算法和最优REQUEST算法进行了融合,提出一种分段信息融合的姿态估计器:陀螺漂移估计误差较大时,将EKF与QUEST结合,快速估计出陀螺漂移.当陀螺漂移误差减小到一定程度,再切换为EKF与最优REQUEST算法融合的双重滤波器.仿真比较结果表明,这种分段信息融合的姿态估计器既可以估计姿态参数也可以估计陀螺漂移,并能达到很高的定姿精度.Abstract: The low precision characters of the integrated inertial/stellar attitude determination system consists of MEMS (micro electromechanical systems) gyros and CMOS APS star sensor. For this question, the methods of attitude determination from vector observations which suitable for this system were studied. There are several attitude determination methods suitable for the gyro/star-sensor configuration such as EKF, QUEST and optimal REQEUST. According to the different characters between the EKF and optimal REQUEST and together with the single-frame method QUEST, the quaternion was used as the attitude parameter. A two-segment attitude estimator was presented: when the estimated error of gyro drift was large, the fusion mode of EKF and QUEST was used to estimate the gyro drift as soon as possible. When the estimated error of gyro drift reduces to some low extent, the filter was switched to the fusion mode of EKF and optimal REQUEST. The results of simulation show that the two-segment estimator can estimate not only the attitude parameter but also the gyro drift. The determination accuracy of the attitude estimator can meet the attitude determination requirements of the most spacecrafts.
-
Key words:
- gyroscopes /
- attitude determination /
- EKF /
- dual filter /
- information fusion /
- vector observation
-
[1] Brady T, Buckley S, Tillier C. Ground validation of the inertial stellar compass . In:Aerospace Conference, 2004 Proceedings, 6-13 March, 2004 . IEEE, 2004,1.226 [2] Wahba G. A least squares estimate of spacecraft attitude[J]. Problem 65-1 SIAM Review, 1965,7(3):409 [3] Choukroun D, Bar-Itzhack I Y, Oshman Y. Optimal REQUEST algorithm for attitude determination . AIAA-2001-4153, 2001.1~9 [4] Shuster M D, Oh S D. Three axis attitude determination from vector observations . AIAA-81-4003, 1981.70~77 [5] Bar-Itzhack I Y. REQUEST:a recursive QUEST algorithm for sequential attitude determination[J]. Journal of Guidance,Control,and Dynamics,1996,19(5):1034~1038 [6] 林玉荣,邓正隆. 基于模型误差确定卫星姿态的预测滤波算法[J].宇航学报,2001,22(1):79~88 Lin Yurong,Deng Zhenglong. Model-error-based predictive filter for satellite attitude determination[J]. Journal of Astronautics, 2001,22(1):79~88(in Chinese) [7] 王志胜,周 军,周凤歧. GPS/陀螺组合对小卫星姿态的最优估计[J]. 西北工业大学学报, 2002,20(1):121~124 Wang Zhisheng,Zhou Jun,Zhou Fengqi. An integrated GPS/Gyro attitude estimator for future chinese small satellite[J]. Journal of Northwestern Polytechnical University, 2002,20(1):121~124(in Chinese) [8] 秦永元,张洪钺,汪叔华. 卡尔曼滤波与组合导航原理[M]. 西安:西北工业大学出版社,1998. 182~187 Qin Yongyuan,Zhang Hongyue,Wang Shuhua. Kalman filter and the principle of integrated navigation[M]. Xi’an:The Publishing Company of Northwestern Polytechnical University,1998. 182~187(in Chinese) 期刊类型引用(5)
1. 张晶，王博. 频控阵对施放随队支援电子干扰的影响研究. 空天预警研究学报. 2024(01): 31-37 . 
百度学术2. 陈阳，田波，王春阳，宫健，谭铭，赵英健. 基于MVDR波束形成的FDA平台外干扰抑制. 系统工程与电子技术. 2023(01): 32-40 . 百度学术3. 董欣心，岳振江，王志，刘莉. 火箭整流罩锥壳夹层结构不确定性轻量化设计. 北京航空航天大学学报. 2023(03): 625-635 . 
本站查看4. 吕岩，曹菲. 基于线性约束最小方差的稳健波束形成算法. 北京航空航天大学学报. 2023(03): 617-624 . 本站查看5. 王博，陈楚舒，马学亮，朱鹏羽. 基于对数稀布阵的FDA-MIMO干扰抑制. 空军工程大学学报(自然科学版). 2021(05): 37-42 . 百度学术其他类型引用(1)
-
百度学术
点击查看大图
计量
- 文章访问数: 3138
- HTML全文浏览量: 196
- PDF下载量: 971
- 被引次数: 6
下载:
