The multi axis coupling attitude control of a spacecraft with thrusters for attitude tracking is investigated. The attitude kinematics and dynamics are both described by error quaternions. The four error quaternion dy...The multi axis coupling attitude control of a spacecraft with thrusters for attitude tracking is investigated. The attitude kinematics and dynamics are both described by error quaternions. The four error quaternion dynamic equations are then transformed into four perturbed double integrators via linear transformations. An on off controller is designed based on the perturbed double integrators. The controller is determined by parabolic switching functions of the scalar error quaternion and the transfor...展开更多
Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm us...Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.展开更多
对于低精度高噪声的传感器组成的低成本姿态测量系统,本文引入U nscen ted K a lm an filtering(UKF)用于姿态确定,设计了有陀螺测量和四元数差分法的无陀螺测量两种UKF滤波器;应用四元数避免了欧拉角法的奇异问题;用高斯-牛顿误差最小...对于低精度高噪声的传感器组成的低成本姿态测量系统,本文引入U nscen ted K a lm an filtering(UKF)用于姿态确定,设计了有陀螺测量和四元数差分法的无陀螺测量两种UKF滤波器;应用四元数避免了欧拉角法的奇异问题;用高斯-牛顿误差最小法将六维参考向量转化为四元数,作为观测量的一部分,使九维非线性观测方程转化为七维线性方程进行滤波,减少了计算量;应用仿真数据进行算法验证,成功得到姿态估计;对两种算法在低速和高速状态下进行验证,仿真结果表明了该方法的有效性。展开更多
基金National Natural Science F oundation of China(No.10 172 0 12 )
文摘The multi axis coupling attitude control of a spacecraft with thrusters for attitude tracking is investigated. The attitude kinematics and dynamics are both described by error quaternions. The four error quaternion dynamic equations are then transformed into four perturbed double integrators via linear transformations. An on off controller is designed based on the perturbed double integrators. The controller is determined by parabolic switching functions of the scalar error quaternion and the transfor...
文摘Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.
文摘对于低精度高噪声的传感器组成的低成本姿态测量系统,本文引入U nscen ted K a lm an filtering(UKF)用于姿态确定,设计了有陀螺测量和四元数差分法的无陀螺测量两种UKF滤波器;应用四元数避免了欧拉角法的奇异问题;用高斯-牛顿误差最小法将六维参考向量转化为四元数,作为观测量的一部分,使九维非线性观测方程转化为七维线性方程进行滤波,减少了计算量;应用仿真数据进行算法验证,成功得到姿态估计;对两种算法在低速和高速状态下进行验证,仿真结果表明了该方法的有效性。
