Integrated attitude determination method based on ant colony unscented particle filter algorithm

A particle filter algorithm, particle technology, applied in attitude control and other directions, can solve non-Gaussian, system nonlinear noise and other problems

Active Publication Date: 2011-08-17
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 combined attitude determination method based on ant colony UPF, to solve the problem of system nonlinearity and noise non-Gaussian, to quickly obtain high-precision attitude information, and to be able to accurately Estimate the gyro drift accurately, realize long-term and high-precision combined attitude determination of various types of spacecraft

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  • Integrated attitude determination method based on ant colony unscented particle filter algorithm
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  • Integrated attitude determination method based on ant colony unscented particle filter algorithm

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Embodiment Construction

[0056] Such as figure 1 Shown, the specific implementation steps of the present invention are as follows:

[0057] 1. First, after compensating the inertial measurement information and outputting data from the gyroscope, the attitude information of the carrier is obtained through attitude calculation. The process is as follows:

[0058] a. Set the initial pose as Calculate the initial attitude quaternion array q(0):

[0059]

[0060] in, θ 0 , gamma 0 They are the pitch angle, roll angle and yaw angle respectively, q(0) is the attitude quaternion at 0 time, cos[ ], sin[ ] are cosine and sine respectively;

[0061] b. The update matrix is ​​deduced from the initial attitude quaternion array q(0) given in a:

[0062] q ( n + 1 ) = { cos Δφ 2 I + sin Δφ 2 ...

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Abstract

The invention discloses an integrated attitude determination method based on an ant colony unscented particle filter algorithm, which relates to an inertial / astronomical integrated attitude determination method. The method comprises the following steps of: compensating gyro output data by using inertial measurement information and acquiring carrier attitude information through attitude calculation; acquiring required astronomical attitude information by using astronomical measurement information through a deterministic algorithm; fusing the astronomical attitude information with the carrier attitude information by using an ant colony unscented particle filter algorithm, solving nonlinear and noise non-Gaussian problems of a system, solving high-accuracy carrier attitude information, estimating gyro drift, and feeding back and correcting carrier attitude and compensating the gyro drift; and finally realizing on-line correction of eliminating random errors of a gyro of an inertial / astronomical integrated navigation system in real time based on the astronomical measurement information, and finishing long-term and high-accuracy combined attitude determination of a spacecraft.

Description

technical field [0001] The invention relates to an inertial / astronomical combined attitude determination method, in particular to a combined attitude determination method based on an ant colony Unscented particle filter (unscented particle filter) algorithm, 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 na...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 全伟郭雷房建成刘翠翠杨照华崔培玲
Owner BEIHANG UNIV
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