中国空间科学技术

›› 2011, Vol. 31 ›› Issue (3): 20-25.doi: 10.3780/j.issn.1000-758X.2011.03.004

• 研究探讨 • 上一篇    下一篇

基于改进型两步卡尔曼滤波的相对导航方法

刘勇1, 徐世杰2, 徐鹏1, 马骏1   

  1. （1 中国空间技术研究院，北京 100094)(2 北京航空航天大学，北京 100191）
  • 收稿日期:2010-09-15 修回日期:2011-01-18 出版日期:2011-06-25 发布日期:2011-06-25
  • 作者简介:刘勇 1980生，2008年获北京航空航天大学宇航学院飞行器设计专业工学博士学位，工程师。主要研究方向为空间飞行器总体技术、动力学与控制、自主导航技术。

Spacecraft Relative Navigation Based on Improved Two Step Kalman Filtering

 LIU  Yong1, XU  Shi-Jie2, XU  Peng1, MA  Jun1   

  1. (1 China Academy of Space Technology, Beijing 100094)(2 BeihangUniversity, Beijing 100191)
  • Received:2010-09-15 Revised:2011-01-18 Published:2011-06-25 Online:2011-06-25

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2143

被引次数

9

摘要： 采用Clohessy-Wiltshire(C-W)〖BFQ〗方程描述的近圆轨道相对导航状态方程具有线性的形式，而以航天器相对距离和相对方位作为测量信息的观测方程是非线性的，针对近圆轨道航天器相对导航的这一特点，给出了采用两步卡尔曼滤波（Two Step Kalman Filtering，TSF）的相对导航算法，并且利用Unscented 变换方法，解决了两步卡尔曼滤波的状态初值确定问题，给出了TSF的完整算法。数值仿真比较了TSF和扩展卡尔曼滤波(Extended Kalman Filtering, EKF)、无迹卡尔曼滤波（Unscented Kalman Filtering，UKF）等算法的性能，验证了采用TSF方法实现相对导航的可行性和有效性。

关键词: 相对导航, 观测方程, 两步卡尔曼滤波, 航天器

Abstract: For the spacecraft relative navigation in the circular orbits, the linear Clohessy-Wiltshire(C-W) equations were used as the state equations, and the nonlinear equations for the relative distance and azimuth between two spacecraft were used as the observation equations. The improved two step Kalman filtering(TSF) was designed for the special relative navigation problem. The unscented transformation is used for determining the initial distribution about the state vector, and the intact form of the two step Kalman filtering was obtained. The simulation results validate the availability of this navigation method, and show that the TSF can provide better performance than extended Kalman filtering(EKF) and unscented Kalman filtering(UKF).

Key words: Relative navigation, Observation equation, Two step Kalman filtering, Spacecraft