Star sensor and gyro combination attitude determination method based on SR-UKF (extended Kalman filter) filtering
A star sensor and gyroscope technology, applied in the direction of integrated navigator, etc., can solve problems such as divergence, limited EKF application range, poor EKF numerical stability, etc.
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[0081] The specific embodiment of the present invention is described below:
[0082] In this embodiment, a star sensor / gyroscope combination attitude determination method based on SR-UKF filtering is provided, and its realization is mainly summarized into two main steps:
[0083] 1. Since the real data of the star sensor and gyroscope are difficult to obtain, it is necessary to simulate the quaternion of the star sensor and the angular velocity of the gyroscope. The main purpose is to provide data support for the subsequent joint attitude determination algorithm research.
[0084] 2. Taking the error quaternion and the random drift error of the gyroscope as the state variables, use the SR-UKF algorithm to fuse and process the attitude information of the star sensor and the gyroscope for filtering processing and feedback, and eliminate the star sensor and gyroscope as much as possible through iterative filtering processing The influence of the error, to solve high-precision att...
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