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.

CN108225337AActive Publication Date: 2018-06-29XIAN INSTITUE OF SPACE RADIO TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2018-06-29

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Abstract

The invention discloses a star sensor and gyro combination attitude determination method based on SR-UKF(extended Kalman filter) filtering, and belongs to the technical field of high-precision combined attitude determination of cartographic satellite or other space vehicles. The invention aims at providing the star sensor and gyro combination attitude determination method based on SR-UKF filtering. An SR-UKF filtering algorithm is used for star sensor and gyro combination attitude determination; great improvement is realized on the existing conventional EKF filtering method. The method concretely comprises the following steps of 1, simulating the star sensor quaternion number and gyro angle speed; 2,using the error quaternion number and gyro random drift error as state variables; using theSR-UKF algorithm for realizing the fusion processing of the star sensor and gyro attitude information for filtering processing; performing feedback; possibly eliminating the error influence of the star senor and gyro error influence through iteration wave filtering processing; solving high-precision attitude information.
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Description

technical field

[0001] The present invention relates to a satellite star sensor and gyroscope combination attitude determination method, in particular to a star sensor and gyroscope combination attitude determination method based on SR-UKF filtering, which can be used for high-precision combination determination of surveying and mapping satellites or other spacecraft. posture. Background technique

[0002] In order to obtain the attitude information of the ground camera at any shooting moment, the high-precision stereoscopic mapping satellite usually uses a star sensor and a gyroscope to form an attitude measurement system. The advantage of the gyroscope is that the acquired angular velocity information has high accuracy within a certain time range and has excellent real-time performance, but its disadvantage is that a certain measurement error will occur as time increases. Xingmin can obtain high-precision attitude information, but its frequency lower. The combined applic...

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Embodiment Construction

[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...