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Micro-satellite attitude determination method based on ESOQPF (estimar of quaternion particle filter ) and UKF (unscented kalman filter) master-slave filtering

A technology for micro-satellites and determination methods, which is applied in the directions of measuring devices, instruments, surveying and mapping, and navigation, etc. It can solve the problems of reducing the amount of calculation, shortening the process of determining the attitude, and the large amount of calculation, so as to overcome the large amount of calculation and shorten the process of determining the attitude , the effect of reducing the amount of calculation

Inactive Publication Date: 2011-03-02
BEIHANG UNIV
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Problems solved by technology

[0005] The problem solved by the technology of the present invention is: (1) Overcoming the large amount of calculation based on the particle filter method for determining the attitude, the attitude determination process is long, and the attitude is determined to have poor real-time performance. ESOQPF and UKF are used to carry out master-slave filtering, and the attitude quaternion It is estimated separately from the gyro drift, which improves the real-time performance while ensuring the accuracy of the attitude determination; (2) Overcomes the large amount of calculation caused by the q_method algorithm used by QPF in estimating the attitude quaternion and thus the long process of determining the attitude. ESOQPF can estimate the attitude The ESOQ2 algorithm is used in the quaternion to further reduce the calculation amount and shorten the attitude determination process

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  • Micro-satellite attitude determination method based on ESOQPF (estimar of quaternion particle filter ) and UKF (unscented kalman filter) master-slave filtering
  • Micro-satellite attitude determination method based on ESOQPF (estimar of quaternion particle filter ) and UKF (unscented kalman filter) master-slave filtering
  • Micro-satellite attitude determination method based on ESOQPF (estimar of quaternion particle filter ) and UKF (unscented kalman filter) master-slave filtering

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Embodiment Construction

[0030] Such as figure 1 As shown, the present invention adopts ESOQPF and UKF master-slave filtering to determine the micro-satellite attitude, and the specific steps are as follows:

[0031] 1. Establish the state space model of the microsatellite system

[0032] a. Attitude Kinematic Equations

[0033] The discrete form of attitude quaternion kinematics equation is:

[0034] q k+1 =Ω(ω k )q k (1)

[0035] In the formula, q k and q k+1 are the attitude quaternions of the satellite body coordinate system relative to the reference coordinate system at the kth moment and the k+1th moment, respectively, and q 4k are the vector part and the scalar part of the quaternion respectively; ω k is the attitude angular velocity of the body coordinate system relative to the reference coordinate system. Assume that within the sampling period Δt ω k remain unchanged, then

[0036] Ω ( ω ...

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Abstract

The invention relates to a micro-satellite attitude determination method based on ESOQPF (estimar of the quaternion particle filter ) and UKF(unscented kalman filter) master-slave filtering, which comprises the following steps: firstly establishing a micro-satellite system state space model for attitude determination and filtering initialization; taking an attitude quaternion as a state variable, taking an ESOQPF as a master filter for estimating an attitude quaternion, and converting the estimated quaternion as a corresponding attitude angle; and taking gyro drift as a state variable, and taking a UKF as a slave filter for estimating gyro drift. The micro-satellite attitude determination method reduces calculated quantity and shortens attitude determination process while ensuring attitude estimation accuracy in two aspects: firstly, the ESOQPF and the UKF are employed for master-slave filtering so as to separately estimate the attitude quaternion and the gyro drift; secondly, by combination of a QPF algorithm and an ESOQ2 algorithm while estimating the attitude quaternion by the ESOQPF, a Davenport matrix is calculated by the QPF algorithm and the characteristic vector corresponding to the maximum characteristic value of the matrix is directly calculated by the ESOQ2 algorithm. The micro-satellite attitude determination method is applicable to micro-satellite attitude determination based on vector observation in a gyro configuration mode.

Description

technical field [0001] The invention relates to a micro-satellite attitude determination method based on ESOQPF (Estimator of the Quaternion Particle Filter, quaternion particle filter estimator) and UKF (Unscented Kalman Filter, Unscented Kalman filter) master-slave filter, which is suitable for gyro configuration In mode, micro-satellite attitude determination based on vector observation. The invention belongs to the field of spacecraft attitude determination. Background technique [0002] Attitude determination is one of the important issues in micro-satellite system technology, and its accuracy and real-time performance are important factors affecting the accuracy of attitude control system. The accuracy and real-time performance of attitude determination not only depend on the performance of the attitude sensor, but also related to the attitude determination method. [0003] Attitude determination methods are divided into two categories: deterministic algorithms and s...

Claims

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Application Information

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IPC IPC(8): G01C1/00G01C21/18
Inventor 崔培玲张会娟全伟房建成郭雷
Owner BEIHANG UNIV
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