中国空间科学技术

中国空间科学技术 ›› 2023, Vol. 43 ›› Issue (3): 25-34.doi: 10.16708/j.cnki.1000-758X.2023.0035

• 论文 • 上一篇    下一篇

含有建模和测量误差的卫星自主定轨系统能观性分析

周博超，李勇，张艾，崔世航   

  1. 1 中国空间技术研究院 钱学森空间技术实验室，北京100094
    2 北京空间机电研究所，北京100094
  • 出版日期:2023-06-25 发布日期:2023-05-23

Observability analysis of satellite autonomous orbit determination with modeling and measurement errors

ZHOU Bochao，LI Yong，ZHANG Ai，CUI Shihang   

  1. 1 Qian Xuesen Laboratory of Space Technology，China Academy of Space Technology，Beijing 100094，China
    2 Beijing Institute of Space Mechanics & Electricity，Beijing 100094，China
  • Published:2023-06-25 Online:2023-05-23

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摘要： 影响卫星自主轨道确定精度的主要因素包括动力学建模误差及测量误差。考虑动力学模型及测量均存在系统误差时，解决问题的一个途径是将这两种系统误差与卫星运动状态构成扩增状态后一同估计。 为了保证滤波的稳定，就必须对此扩增系统的能观性进行分析。基于非线性系统的局部弱能观性理论，分析并给出了无摄动条件下单星自主定轨系统中卫星运动状态、建模误差及测量误差均能观的充要条件，即当轨道为圆轨道时增广系统处处不能观，当轨道不为圆轨道时处处能观。最后通过仿真算例对结论进行了验证，仿真结果显示对于非圆轨道，当建模误差及测量误差均为常值或慢时变时，采用扩展卡尔曼滤波算法对增广系统的状态估计是有效的。

关键词: 轨道确定, 模型误差, 偏差估计, 自主导航, 能观性分析, 非线性系统

Abstract: Autonomous orbit determination for a satellite with modelling and measurement errors is concerned in this paper．It’s well known that the performance of autonomous orbit determination is greatly affected by systematic errors in the dynamic model and the measurement.One way to deal with these errors is treating them as unknown biases and estimating them with dynamic states of the satellite together.Based on k-order local weak observability theory，sufficient and necessary conditions of korder local weak observability were mathematically proved for the orbit determination system with these errors.The extended Kalman filter was applied to estimate orbital states and these systematic errors simultaneously．Simulation results show that the estimation algorithm is effective when the modeling errors and measurement errors are constant or slow time-varying for non-circular orbits.

Key words: orbit determination, modeling error, measurement error, autonomous navigation, observability analysis, nonlinear systems