摘要
为进一步提升姿态确定的精度和稳定性,首先分析了恒星相机和陀螺联合定姿的基本原理,然后选用误差四元数作为状态变量,推导了基于无迹卡尔曼滤波的恒星相机和陀螺联合定姿的算法.针对恒星相机、陀螺敏感器精度要求高的特点,仿真了多种精度的恒星相机数据和陀螺数据进行无迹卡尔曼滤波定姿试验,并与扩展卡尔曼滤波定姿试验结果进行了比较.试验表明无迹卡尔曼滤波定姿方法有效可靠、适用性强,可以有效提高恒星相机的姿态确定精度,三轴精度较扩展卡尔曼滤波算法提高约10%到20%.
In order to enhance the accuracy and the stability of attitude data,the basic attitude determination principle of star camera and gyroscope sensor was analyzed,and the attitude determination algorithm of star camera and gyroscope based on Unscented Kalman Filter(UKF)was derived with the error quaternion as the state variables.Because of the high-precision characteristics of star camera and gyroscope sensor,the UKF attitude determination experiments were carried out with the simulative star camera and gyroscope data of various precision,and were compared with the Extended Kalman Filter(EKF)attitude determination experiments.The results show that the UKF algorithm is effective and reliable,the attitude determination accuracy of star camera is effectively improved and the tri-axis accuracy is increased by about 10%to 20%.
作者
王昱
蒋唯娇
WANG Yu;JIANG Wei-jiao(Xi′an Research Institute of Surveying and Mapping,Xi′an 710054,China;State Key Laboratory of Geo-information Engineering,Xi′an 710054,China;School of Communication Engineering,Xidian University,Xi′an 710071,China)
出处
《光子学报》
EI
CAS
CSCD
北大核心
2020年第1期140-147,共8页
Acta Photonica Sinica
基金
国防科技重点实验室基金（No.6142411184413)~~
关键词
恒星相机
陀螺
姿态确定
无迹卡尔曼滤波
扩展卡尔曼滤波
Star camera
Gyroscope
Attitude determination
Unscented Kalman filter
Extend kalman filter
