中国空间科学技术

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多敏感器联邦SSUKF融合姿态确定算法

范春石;张高飞;孙剑;孟子阳;尤政;   

  1. 清华大学精密仪器与机械学系;清华大学精密测试技术及仪器国家重点实验室;
  • 发布日期:2009-12-25

Federated SSUKF for Multi-sensor Spacecraft Attitude Estimation

Fan Chunshi1 Zhang Gaofei2 Sun Jian2 Meng Ziyang1 You Zheng1(1 Department of Precision Instruments and Mechanology,Tsinghua University,Beijing 100084)(2 State Key Laboratory of Precision Measurement Technology and Instruments,Tsinghua University,Beijing 100084)   

  • Online:2009-12-25

被引次数

4

摘要： 针对四元数姿态估计问题,提出了一种分布式非线性滤波融合结构。通过引入基于超球面分布采样点变换(SSUT)技术的无迹卡尔曼滤波算法(SSUKF),以较低的计算量实现了高数据更新率、高精度的非线性滤波,并通过融合重构,保障系统无间断可靠工作,不受敏感器故障、视场盲区等因素影响。应用该算法对陀螺、磁强计、太阳敏感器、星敏感器构成的系统进行了具体设计并开展仿真研究,验证了算法的有效性。

关键词: 姿态确定, 超球面分布采样点变换, 离散卡尔曼滤波, 信息融合, 故障诊断

Abstract: A federated version of spherical simplex unscented Kalman filter(SSUKF) waspresented for space-borne orbit debris surveillance mission.The nonlinear transformation filtering method brought the algorithm a high precision,while the reduced sigma point filtering technique endowed the algorithm with a high computing speed,and the decentralized structure ensured the algorithm a good capability of reconstruction in case of sensor fault or vision limit.A filtering system composed of gyroscopes,magnetometer,sun sensor and star tracker was designed using this algorithm,and was validated with numerical simulation.