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Method for estimating aircraft attitudes based on capacity quaternion estimation

An attitude estimation and spacecraft technology, which is applied to integrated navigators, navigation calculation tools, etc., can solve the problem of low accuracy of spacecraft attitude estimation, avoid quaternion norm constraints, reduce gyro drift estimation errors, and achieve estimation accuracy. high effect

Active Publication Date: 2017-05-31
HARBIN INST OF TECH
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of multiplicative noise and noise-related problems in the prior art, which leads to the shortcomings of low accuracy of spacecraft attitude estimation, and proposes a spacecraft attitude estimation method based on volumetric quaternion estimation

Method used

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  • Method for estimating aircraft attitudes based on capacity quaternion estimation
  • Method for estimating aircraft attitudes based on capacity quaternion estimation
  • Method for estimating aircraft attitudes based on capacity quaternion estimation

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specific Embodiment approach 1

[0030] Specific implementation mode one: the specific process of the spacecraft attitude estimation method based on volumetric quaternion estimation is:

[0031] Step 1: Establish spacecraft attitude kinematics model and observation model;

[0032] Step 2: Use the Gaussian filter algorithm to remove the noise in the spacecraft attitude kinematics model and observation model established in Step 1;

[0033] Step 3: Estimate the attitude of the spacecraft using a volumetric quaternion attitude estimator.

specific Embodiment approach 2

[0034] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the specific process of establishing the spacecraft attitude kinematics model and observation model in the step one is:

[0035] Consider a nonlinear discrete system with multiplicative noise:

[0036] x k+1 =(I n×n +ζ k Φ k )f(x k )+w k (1)

[0037] the y k =h(x k )+v k (2)

[0038] where x k ∈ R n is the state quantity of the system at time k, y k ∈ R m is the observed value of the system at time k; f(x k ) and h(x k ) is a nonlinear equation; Φ k is the known constant coefficient matrix, ζ k ∈R is the multiplicative noise, w k ∈ R n and v k ∈ R m is the system additive noise and the measurement additive noise; R is a real number, and R n is an n-dimensional real number set, R m is the set of m-dimensional real numbers;

[0039] Assumption 1: w k and v k are all white noise, and satisfy

[0040]

[0041] where δ t,k is a Kronecker function, ...

specific Embodiment approach 3

[0076] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the specific process of using the Gaussian filter algorithm in the step two to remove the noise in the spacecraft attitude kinematics model and the observation model established in the step one is:

[0077] A modified Gaussian filtering framework is used to deal with noise-related situations, and the filtering algorithm designed in this paper uses a one-step update of the posterior probability density. The improved Gaussian filtering framework is similar to the classical Gaussian filtering algorithm, and it is also divided into two steps: one-step prediction and measurement update, which are described as follows by Theorem 1 and Theorem 2 respectively.

[0078]Lemma 1: Suppose the joint Gaussian distribution of vectors X and Y is as follows

[0079]

[0080] Then the conditional probability of X in the case of Y=y satisfies the following Gaussian distribution

[...

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Abstract

The invention provides a method for estimating aircraft attitudes based on capacity quaternion estimation, and relates to a method for estimating aircraft attitudes based on capacity quaternion estimation and satellite sensor and gyroscopic combination, which aims at solving the problem of low estimation accuracy of aircraft attitudes due to multiplicative noise and noise correlation in the prior art. The method comprises the following steps of 1, establishing an aircraft attitude kinematics model and an observing model; 2, using a Gaussian filtering algorithm to remove the noise in the aircraft attitude kinematics model and the observing model established in step 1; 3, using a capacity quaternion attitude estimator to estimate the aircraft attitudes. Compared with the CQE (cubature quaternion estimator) algorithm, a CQE-MCNS (cubature quaternion estimator for multiplicative correlated noises system) method has the advantage that the angle estimation error is reduced by about 0.0002 degree, and the gyroscope drift estimation error is reduced by about 0.002 degree per hour, so that the CQE-MCNS method is more suitable for the problem of aircraft attitude estimation with multiplicative noise and related to noise correlation. The method is applied to the aerospace field.

Description

technical field [0001] The invention relates to a spacecraft attitude estimation method based on volume quaternion estimation and combination of star sensor and gyroscope. Background technique [0002] As the complexity of spacecraft and space systems continues to increase, more accurate and robust estimation of spacecraft attitude is required. The functional requirements of each spacecraft are increasing, while the size of the spacecraft itself is getting smaller and smaller, and the hardware is independent of each other, which leads to a very limited computing power of the system. Such systems are often referred to as operational response spaces (ORS). The primary goal of the ORS system is to accelerate time to mission concept introduction for spacecraft using modular types of construction. For such a modular system, custom interfaces and software must manage all data sent to the central processor. However, potentially dangerous situations are when unknown perturbations...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/24
Inventor 宋申民吴骁航张秀杰赵凯司译文
Owner HARBIN INST OF TECH
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