基于简化超球体SRUKF的FOG和SS组合定姿算法

A Combined Attitude Determination Algorithm of FOG and SS Based on Simplified Hypersphere SRUCF

研究光纤陀螺和星敏感器的滤波算法,针对实际系统的非线性问题,建立了简化滤波模型,明显降低了滤波维数。此外,首次将简化SUKF算法应用到光纤陀螺和星敏感器组合定姿中,采用陀螺误差反馈的方式修正组合系统,得到了更高精度的姿态角。通过光纤陀螺实测数据与计算机生成的星敏感器数据离线仿真SUKF滤波算法,结果显示提高了姿态解算精度,证明了SUKF算法对提高姿态解算精度具有可行性和优越性。

The filtering algorithm of fiber optic gyroscope and star sensor is studied,and a simplified filtering model is established for the nonlinear problem of the actual system,which obviously reduces the filtering dimension.And for the first time,the simplified SUKF algorithm is applied to the combined attitude determination of the fiber optic gyroscope and star sensor,and the combined system is corrected by the way of gyro error feedback to obtain a more precise attitude angle.The SUKF filtering algorithm is simulated offline through the measured data of the fiber optic gyroscope and the star sensor data generated by the computer,and the results significantly improve the accuracy of the attitude calculation,which proves that the SUKF algorithm is feasible and superior in improving the accuracy of the attitude calculation.