| 引用本文: | 吴锦杰,刘昆,石实,等.基于磁强计和光纤陀螺的小卫星姿态确定非线性滤波算法.[J].国防科技大学学报,2013,35(1):1-6.[点击复制] |
| WU Jinjie,LIU Kun,SHI Shi,et al.Nonlinear filter algorithm for micro satellite attitude determination via magnetometer and fiber optic gyroscope[J].Journal of National University of Defense Technology,2013,35(1):1-6[点击复制] |
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| 基于磁强计和光纤陀螺的小卫星姿态确定非线性滤波算法 |
| 吴锦杰1, 刘昆1, 石实2, 张斌斌1 |
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(1.国防科技大学 航天科学与工程学院，湖南 长沙 410073;2.北京市航天指挥控制中心，北京 100094)
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| 摘要: |
| 提出了一种小卫星姿态确定的非线性滤波算法，该算法利用三轴磁强计和光纤陀螺作为姿态敏感器。在非线性滤波器的设计中，从两个方面对平方根sigma点卡尔曼滤波方法进行改进。第一，把姿态四元数的矢量部分、光纤陀螺的漂移和噪声组合，得到滤波器的增广状态向量；第二，分别建立向量旋转模型、最优化模型和误差四元数乘法模型来确保非线性滤波过程中四元数的归一化约束。仿真分析结果表明，本文提出的非线性滤波算法能够有效地提高小卫星的定姿性能，与扩展卡尔曼滤波相比，具有较高的精度、稳定性和较快的收敛速度；与无迹卡尔曼滤波相比，收敛性相当，但是精度略优，稳定性和计算效率较高。 |
| 关键词: 非线性滤波 增广状态向量 向量旋转 最优化 误差四元数 姿态确定 小卫星 |
| DOI： |
| 投稿日期：2012-06-25 |
| 基金项目:国家863计划资助项目 |
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| Nonlinear filter algorithm for micro satellite attitude determination via magnetometer and fiber optic gyroscope |
| WU Jinjie1, LIU Kun1, SHI Shi2, ZHANG Binbin1 |
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(1.College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China;2.Beijing Aerospace Control Center, Beijing 100094, China)
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| Abstract: |
| A new nonlinear filter algorithm for micro satellite attitude determination was proposed, which adopted three-axis magnetometer(TAM) and fiber optic gyroscope(FOG) as attitude sensors. In the design of the nonlinear filter, square-root sigma point Kalman filter was modified. Firstly, an augmented state vector was derived by combining the vector part of attitude quaternion, the bias and noises of FOG. Secondly, vector rotational model, optimization model and error quaternion multiplication model were established to guarantee the quaternion normalization constraint in the process of nonlinear filter. The simulation results indicate that attitude determination performance is improved effectively by the presented algorithm. In comparison with EKF, the accuracy and stability of the proposed algorithm is much better, and the convergent speed is faster. In comparison with UKF, the convergence is equivalent, the accuracy is slight better, while the stability and computing efficiency are both higher. |
| Keywords: nonlinear filter augmented state vector vector rotation optimization error quaternion attitude determination micro satellite |
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