Determination Method of Geometric Linear Attitude of Star Sensor Based on Rodrigues Parameters
A star sensor and determination method technology, applied in the field of satellite positioning, can solve the problems of difficult acquisition of sensor noise characteristics, inaccurate aircraft motion modeling, and large calculation amount of robust recursive filtering method
Inactive Publication Date: 2018-11-20
SHANGHAI JIAOTONG UNIV
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However, the technical problems that this technology cannot solve include: 1. This method solves the problem of attitude estimation based on the aircraft motion state method, but it does not consider the geometric relationship between the measurement vector and the reference vector, and uses this relationship to establish a new method to improve the accuracy of attitude estimation; 2. The robust recursive filtering method has a large amount of calculation, and there are problems such as inaccurate aircraft motion modeling and difficult acquisition of sensor noise characteristics
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Embodiment 1
[0027] Such as figure 2 As shown, this embodiment includes the following steps:
[0028] 1.1) Obtain the azimuth vector b of multiple high-magnitude stars by collecting the image processing information of the star sensor i , i=1,2,...,N; Obtain the reference vector r of these stars in the J2000 inertial coordinate system by querying the ephemeris i , i=1,2,...,N.
[0029] In this embodiment, taking the earth observation of low-orbit satellites as an example, the azimuth vectors and reference vectors at 1000 sampling moments are simulated, and each group of azimuth vectors and reference vectors has four, that is, N=4, and the sampling step size is 0.1s. The satellite orbit altitude is 800km.
[0030] In this embodiment, the reference vector is fixed as r 1 =[1,0,0] T 、r 2 =[0,1,0] T 、r 3 =[0,0,1] T with t k The orientation vector at the moment is b k,1 =A k r 1 +δb k,1 , b k,2 =A k r 2 +δb k,2 , b k,3 =A k r 3 +δb k,3 and b k,4 =A k r 4 +δb k,4 , wh...
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The invention discloses a method for determining a geometric linear gesture of a star sensor based on Rodrigues parameters. The method comprises the following steps: on the basis of gesture rotating geometrical analysis, building a linear projection relationship among a reference vector, an azimuth vector and a gesture parameter; obtaining a gesture estimation result under the minimal estimation error through optimized error evaluation criterion; and further removing calculation singularity by employing a pre-rotation method so as to build the method for determining the geometric linear gesture based on the Rodrigues parameters. According to the method disclosed by the invention, the carrier gesture can be well rapidly estimated; and the method has the advantages of simple form, small calculated quantity, and convenience in recursive expanding, and can meet the requirements on gesture measurement data treatment of the star sensor.
Description
technical field [0001] The invention relates to a technology in the field of satellite positioning, in particular to a method for determining the geometric linear attitude of a star sensor based on Rodriguez parameters. Background technique [0002] Aiming at various scanning modes of light-weight, miniaturized and agile satellites for earth observation, a geometric linear attitude determination method suitable for rapid maneuvering is proposed, which provides accurate measurement data for agile maneuvering of star attitude, which has important application value. Attitude determination is an important part of star sensor data processing, and its output results are directly used in attitude control and remote sensing application calculations. At present, the quaternion estimation method proposed in the 1980s is widely used in the world, and it needs to solve iteratively to solve the root of the quartic equation, which requires a large amount of calculation. Therefore, it is ...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 龚德仁叶国宇陈吉安段登平
Owner SHANGHAI JIAOTONG UNIV