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平方根UKF混合滤波在自主光学导航中的应用

Square-root UKF Mixed Filtering Appling to Autonomous Optical Navigation
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摘要 提出了一种用于探测器在巡航段的自主光学导航方案,该方案利用光学导航相机以及星敏感器,通过测量星光信息以及天体边缘的信息,得出了探测器的相对位置。在此基础上针对导航系统状态方程和观测方程的非线性问题,进行平方根Unscented卡尔曼滤波(square-root unscented Kalman filter)计算,由此实时确定了探测器的轨道。该方法将平方根滤波和UKF滤波有机结合起来,可更好地提高自主导航系统的准确度和可靠性。通过数学仿真并与EKF滤波过程进行比较,验证了该算法的优越性。 An autonomous optical navigation scheme for cruise phase is presented in this paper,in which the relative position for probes is based on the star light and body edge data that is measured by star sensor and optical navigation camera respectively.The real time orbit for probes is determined by the SR-UKF（square-root unscented Kalman filter） algorithm,which is aiming at the non-linearity of state equation and observation equation.The arithmetic integrates square-root and UKF to improve the precise and reliability of the autonomous optical navigation system.The simulation results show that the presented algorithm performing better than the EKF.
作者 隋树林 姚文龙 赵晓伟
机构地区 青岛科技大学自动化与电子工程学院
出处 《青岛科技大学学报（自然科学版）》 CAS 2007年第5期451-454,共4页 Journal of Qingdao University of Science and Technology:Natural Science Edition
基金 国家863计划资助项目(2004AA735080-5)
关键词 自主光学导航 扩展卡尔曼滤波 平方根unscented卡尔曼滤波 autonomous optical navigation extended Kalman filter square-root unscented Kalman filter
分类号 V448.2 [航空宇航科学与技术—飞行器设计]
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参考文献8

  • 1Grewall M S, Andrews A P. Kalman filtering: theory and practice using MATLAB[M]. John Wiley & Sons Inc 2001.
  • 2Merwe R vander,Wan E A. The Square-root unscented kalman filter for state and parameter-estimation[C]// International Conference on Acoustics, Speech and Signal Processing, Salt Lake City, UT, 2001.
  • 3Bar-Itzhack I Y,Medan Y. Efficient square root algorithm for measurement update in kalman filtering[J]. Journal of Guidance and Control, 1983,6(3) : 129-134
  • 4Julier S J, Uhlmann J K. Unscented filtering and nonlinear estimation[J]. Proc of the IEEE Aerospace and Electronic Systems, 2004,92(3) :401-422.
  • 5Grewal M S , Andrews A P. Kalman filtering : theory and practice using MATLAB (2nd ed) [M]. New York : John Wiley , 2001.
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  • 7Johnson A E, Matthies L H. Precise image-based motioh estimation for autonomous small body exploration[C]//European Space Agency, Proceedings of the Fifth International Symposium on Artificial Intelligence, Robotics and Automation in Space, Noordwijk, Netherlands,1999(1):627-634.
  • 8Bhaskaran S,Riedel J E, Synnott S P. Demonstration of autonomous orbit determination around small bodies[C]//Proceedings of the AAS/AIAA Astrodynamics Conference, Halifax, Nova Scotia, Canada. Advances in the Astronautical Sciences Series, 1996, 90(2) : 1297-1308.
青岛科技大学学报（自然科学版）
2007年 第5期

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