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Quaternion-based spacecraft attitude filtering method

A quaternion and spacecraft technology, applied to integrated navigators, navigation calculation tools, etc., can solve problems such as ambiguity in physical meaning

Active Publication Date: 2019-08-23
BEIJING INST OF ELECTRONICS SYST ENG
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The object of the present invention is to provide a spacecraft attitude filtering method based on quaternions, the method of the present invention solves the problem of unclear physical meaning when describing the attitude above through the space attitude transfer filtering algorithm

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Embodiment Construction

[0033] In order to illustrate the present invention more clearly, the present invention will be further described below in conjunction with preferred embodiments and accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. Those skilled in the art should understand that the content specifically described below is illustrative rather than restrictive, and should not limit the protection scope of the present invention.

[0034] like figure 1 As shown, in one embodiment of the present invention, a quaternion-based spacecraft attitude filtering method is disclosed, which can deduce the current attitude based on historical data—estimated attitude, and complete the current attitude based on the sensor Measure the attitude of the attitude to obtain the measurement attitude; then combine the prediction and measurement of the current attitude in the previous period to calculate the attitude transfer quaternion of the measurement attitude and the ...

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Abstract

The invention discloses a quaternion-based spacecraft attitude filtering method, comprising the following steps: S1, acquiring a quaternion attitude of a spacecraft at an initial moment T0; S2, basedon a quaternion attitude of the spacecraft at a moment Tn-1 and a movement angular speed of the spacecraft at a moment Tn, acquiring an estimated attitude of the spacecraft at the moment Tn, wherein nis a positive integer; S3, measuring attitude information of the spacecraft at the moment Tn by utilizing attitude determination equipment, and acquiring a measured attitude of the spacecraft at themoment Tn; S4, calculating an attitude transfer quaternion of the measured attitude and the estimated attitude at the moment Tn; and S5, based on the attitude transfer quaternion, performing attitudefiltering, thus obtaining a quaternion attitude at the moment Tn.

Description

technical field [0001] The invention relates to attitude filtering, in particular to a quaternion-based spacecraft attitude filtering method. Background technique [0002] There are various attitude determination methods. In order to improve the accuracy of attitude determination and overcome the influence of random interference, attitude filtering is often used for attitude calculation. In the prior art, star sensors, inertial measurement units, sun sensors, earth sensors, magnetometers, etc. are all devices for attitude determination, but these devices have their own advantages and disadvantages. Some devices have high precision but output The frequency is low, and some devices have poor accuracy but high output frequency. For example, the star sensor has the ability to independently determine the attitude of the spacecraft. By observing the star map to determine the attitude of the spacecraft in the inertial system, the accuracy is high, but its output attitude The frequ...

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Application Information

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IPC IPC(8): G01C21/20G01C21/24
CPCG01C21/20G01C21/24
Inventor 张鹏飞郝俊红孙进陈勤王洪涛黄兴宏姚雨晗闫捷
Owner BEIJING INST OF ELECTRONICS SYST ENG