摘要
针对编队飞行中从飞行器与主飞行器的相对姿态确定问题,提出了基于扩展卡尔曼滤波(EKF)的相对姿态确定方法.采用修正罗德里格参数(MRPs)作为姿态描述参数避免奇异点.姿态敏感器采用陀螺+星敏感器+激光交会雷达的配置模式,并且结合相对姿态动力学方程得到相对姿态确定的状态方程,建立起相对姿态确定的EKF模型.仿真实例表明,EKF状态能在最慢300 s内收敛,MRPs的估计误差在10-5范围以内,该方法正确有效.
In spacecraft formation flying application, relative attitude of the deputy spacecraft with respect to the chief spacecraft needs to be determined. Relative attitude determination based on extended Kalman filtering （EKF） is presented. The modified Rodrigues parameters （MRPs） are here adopted as the attitude variables, which has no redundancy and has the largest unsingular range. Attitude sensors include star tracker, laser rendezvous radar and gyro, and measurement equations of the sensors are given. The state equation of the EKF is obtained from the relative attitude dynamic equation. Simulation results based on the given EKF model showed that the state variables of the EKF converge withinat most 300 s, and that, during the steady state, the estimate error of MRPs is within 10-5 showing the validity of the proposed method.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2007年第10期896-900,共5页
Transactions of Beijing Institute of Technology
基金
国家"八六三"计划项目(2006AA704202-1)
关键词
相对姿态确定
扩展卡尔曼滤波
修正罗德里格参数
激光交会雷达
relative attitude determination
extended Kalman filtering
modified Rodrigues parameters
laser rendezvous radar
