Micro-nano satellite multi-source information attitude determination method capable of being applied in whole on-orbit course

Abstract

The invention provides a micro-nano satellite multi-source information attitude determination method capable of being applied in the whole on-orbit process. The method comprises the following steps of calculating an information distribution factor alpha i, and adaptively resetting a process noise variance matrix Qi and a filtering process estimation error covariance matrix Pk-1, i to a local filter S1 and a local filter S2 at the same time, wherein subscript i = 1 and 2 respectively corresponds to two local filters; the information distribution factor alpha i = r 1 + r 2 / ri, wherein a formula (shown in the description) represents elements of the nth row and the mth column of the estimation error covariance matrix Pi, k-1 at the moment k-1; and realizing multi-source information attitude estimation of the micro-nano satellite by utilizing the self-adaptively reset Qi and Pk-1, i. According to the invention, a self-adaptive idea is added to form a self-adaptive federal Kalman filtering algorithm, so that the attitude determination requirement of a micro-nano satellite adopting a plurality of low-cost, small-volume and low-power-consumption miniature sensors is realized.

Description

technical field [0001] The invention relates to a satellite attitude determination method, in particular to a micro-nano satellite multi-source information attitude determination method that can be applied throughout the orbit. Background technique [0002] Attitude Determination and Control System (ADCS) is the basic guarantee for the normal operation of the micro-nano satellite platform in orbit. [0003] Due to the limitations of mass, volume and power consumption, micro-nano satellites often use miniaturized sensors, such as MEMS gyroscopes, magnetometers, and miniature sun sensors. The attitude information of the micro-nano satellite can be measured by the inertial gyroscope, and the rotational attitude of the satellite can be solved by integral; however, in practical engineering applications, the output information of the MEMS gyroscope has drift and is easily disturbed by environmental factors, and the noise and drift deviation of the rotational angular velocity The ...

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Problems solved by technology

After reviewing the data, it was found that Ni Feng et al. designed a multi-sensor-based attitude determination method for micro-satellites. In this method, the process noise variance matrix of the sub-filter is not adaptively allocated, and when the error covariance matrix When the initial value is selected as a zero matrix, there is a singularity problem

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