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High precision combined posture-determining method based on optimally genetic REQUEST and GUPF

A high-precision and optimal technology, applied in attitude control and other directions, can solve non-Gaussian, nonlinear noise and other problems, improve accuracy and speed, solve system nonlinearity and noise non-Gaussian, overcome attitude determination accuracy and gyro drift Estimate the effect of low precision

Inactive Publication Date: 2007-11-28
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem of the present invention is: to overcome the deficiencies of the prior art, to propose a high-precision combined attitude determination method based on genetic optimal REQUEST and GUPF, to solve the problem of system nonlinearity and noise non-Gaussian, to quickly obtain high-precision attitude information, and can accurately estimate gyro drift, and realize long-term, high-precision combined attitude determination of various types of spacecraft

Method used

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  • High precision combined posture-determining method based on optimally genetic REQUEST and GUPF
  • High precision combined posture-determining method based on optimally genetic REQUEST and GUPF
  • High precision combined posture-determining method based on optimally genetic REQUEST and GUPF

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Embodiment Construction

[0012] As shown in Figure 1, the specific implementation steps of the present invention are as follows:

[0013] 1. First, the inertial measurement information is obtained by compensating the gyroscope output data and attitude calculation to obtain real-time carrier attitude information. The process is as follows:

[0014] a. Set the initial posture as ( 0 θ 0 gamma 0 ), calculate the initial attitude quaternion q(0) matrix:

[0015]

[0016] b. The update matrix is:

[0017] q ( n + 1 ) = { cos Δφ 2 I + sin Δφ 2 Δφ [ ΔΦ ] } q ( n )

[0018] n is the nth moment, I is the unit quaternion, Δφ=[Δφ X Δφ ...

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Abstract

The invention discloses a high accuracy combined affirming gesture method based on genetic optimum REQUEST and GUPF, which comprises the following steps: proceeding compensation top exporting data and attitude resolve for inertia measurement information; getting real time carrier gesture information; measuring information through astronomical; combining top outputting data after compensating; quick-getting high accuracy astronomical attitude information with special interval based on genetic optimum REQUEST method; fusing the astronomical attitude information and the carrier attitude information with Genetic Unscented Particle Filter(GUPF) algorithm; solving high accuracy carrier attitude information; estimating the shift of the top; reacting and correcting carrier attitude; compensating the shift compensation of top; finishing long time and high accuracy affirming gesture for spacecraft.

Description

technical field [0001] The invention relates to an inertial / astronomical combined attitude determination method based on a stellar sensor, in particular to a high-precision combined attitude determination method based on genetic optimal REQUEST and GUPF, which can be used for high-precision combined attitude determination of various spacecraft. Background technique [0002] In order to meet the urgent needs of space-based earth observation, weapon precision strikes, and space exploration and development, spacecraft such as various earth satellites, deep space probes, manned spacecraft, ballistic missiles, and launch vehicles must have autonomous operation and management capabilities. High-precision autonomous attitude determination is the core technical bottleneck of spacecraft autonomous operation and management. At present, the high-precision autonomous attitude determination of spacecraft cannot be independently realized by any navigation method. The pure inertial naviga...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 房建成全伟钟慧敏徐帆王科
Owner BEIHANG UNIV
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