高精度星敏感器安装矩阵在轨实时校准方法
|
摘要
在轨运行过程中,受空间热环境的影响,星敏感器的安装矩阵具有轨道周期变化的特征。为了校准卫星结构变形导致的星敏感器之间安装矩阵变化,提出了一种基于四元数自适应卡尔曼滤波(quaternion Adaptive Kalman Filter, q-AKF)的安装矩阵在轨实时校准方法。该方法结合衰减记忆滤波与简化的Sage_Husa自适应滤波,通过自适应调整衰减因子,调节当前量测值在滤波过程中的权重,以抑制因模型参数不准确造成的滤波性能下降甚至发散问题。仿真试验结果与在轨数据验证结果表明:q-AKF算法不但可以抑制参数不准确造成的滤波发散问题,而且在0～5 (°)/s的姿态机动速率范围内,仍能稳定跟踪安装矩阵的真值(偏差均值的绝对值<0.15″),具有良好的自适应性与鲁棒性。
In flight, the installation matrix of star tracker changed with the orbital period affected by the space thermal environment. In order to calibrate the variation of the installation matrices between star trackers caused by the structural distortion of the satellite, a real time on-orbit installation matrix calibration method based on quaternion adaptive Kalman filter was proposed. The algorithm was based on the combination of fading memory filter and simplified Sage_Husa adaptive filter. The algorithm adjusted the weight of the current measurement by adjusting the fading factor adaptively, which could restrain the filter divergence caused by the inaccurate model parameters. The results of simulation experiments and on-board data verification show that the q-AKF algorithm not only could restrain the divergence problem caused by the inaccurate model parameters, but also could track the real values of the installation matrix stably, when the attitude maneuver rates ranged from 0 to 5(°)/s. It is better in adaptability and robustness.
In flight, the installation matrix of star tracker changed with the orbital period affected by the space thermal environment. In order to calibrate the variation of the installation matrices between star trackers caused by the structural distortion of the satellite, a real time on-orbit installation matrix calibration method based on quaternion adaptive Kalman filter was proposed. The algorithm was based on the combination of fading memory filter and simplified Sage_Husa adaptive filter. The algorithm adjusted the weight of the current measurement by adjusting the fading factor adaptively, which could restrain the filter divergence caused by the inaccurate model parameters. The results of simulation experiments and on-board data verification show that the q-AKF algorithm not only could restrain the divergence problem caused by the inaccurate model parameters, but also could track the real values of the installation matrix stably, when the attitude maneuver rates ranged from 0 to 5(°)/s. It is better in adaptability and robustness.
引文
[1] Li Jian, Zhang Guangjun, Wei Xinguo. Modeling and accuracy analysis for multiple heads star tracker[J]. Infrared and Laser Engineering, 2015, 44(4):1223-1228.(in Chinese)
[2] Liang Bin, Zhu Hailong, Zhang Tao, et al. Research status and development tendency of star tracker technique[J].Chinese Optics, 2016, 9(1):16-29.(in Chinese)
[3] Ma Hongliang, Chen Tong, Xu Shijie. Optimal attitude estimation algorithm based on mulitiple star-sensor observations[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 38(7):869-874.(in Chinese)
[4] Ye Zhilong, Sun Shuodong, Li Jinjing. An autonomous calibration method for star vectors fusion of multi-FOV star sensor[C]//International Conference on Inertial Technology and Navigation, 2016:288-294.
[5] Ludovic Blarre, Nicolas Perrimon, Stephen Airey. New multiple head star sensor description and development status:a highly autonomous, accurate and very robust system to pave the way for gyroless very accurate AOCS systems[C]//Guidance, Navigation, and Control Conference and Exhibit,2005:5932.
[6] Rao J S, Pullaiah D, Padmasree S, et al. Star tracker alignment determination for resourcesat-I[C]//Astrodynamics Specialist Conference and Exhibit, 2004:5392.
[7] Pittelkau Ma E. Everything is relative in spacecraft system alignment calibration[J]. Journal of Spacecraft and Rockets, 2002, 39(3):460-466.
[8] Calhoun P C, Sedlak J E, Emil Superfin. Filtering methods for error reduction in spacecraft attitude estimation using quaternion star trackers[C]//Guidance, Navigation, andControl Conference, 2011:6436.
[9] Aida Makni, Hassen Fourati, Kibangou A Y. Adaptive Kalman filter for MEMS-IMU based attitude estimation under external acceleration and parsimonious use of gyroscopes[C]//European Control Conference, 2014:1379-1384.
[10] Jiang Fan, Wu Qingwen, Wang Zhongsu, et al. Analysis and verification of structure stability and thermal stability of a bracket of star sensors[J]. Infrared and Laser Engineering,2015, 44(11):3463-3468.(in Chinese)
[11] Wang Xingtao, Li Yingchun, Li Xiaoyan. Mapping Satellite-1 star sensor accuracy analysis[J]. Journal of Remote Sensing, 2016(S):90-93.
[12] Tian Chong, Wang Xingliang, Lu Yane. An adaptive filter algorithm of exponentially-weighted multiple attenuated memory[J]. Journal of Wuhan University of Technology,2011, 33(11):147-152.(in Chinese)
[13] Yang Dong, Yu Wei. Research on initial alignment for larger azimuth misalignment angle with Sage_Husa adaptive filtering[J]. Infrared and Laser Engineering, 2013, 42(8):2197-2201.(in Chinese)
[14] Huang Xiaoping, Wang Yan. Kalman Filter Principle and Application[M]. Beijing:Publishing House of Electronics Industry, 2015:30-37.(in Chinese)
[15] Lu Ping, Zhao Long, Chen Zhe. Improved sage_husa adaptive filtering and its application[J]. Journal of System Simulation, 2007, 19(15):3503-3505.(in Chinese)
[16] Sun Wanxin. Application of Sage_Husa adaptive filtering algorithm for high precision SINS initial alignment[C]//International Computer Conference on Wavelet Active Media Technology&Information Processing, 2015:359-364.
[2] Liang Bin, Zhu Hailong, Zhang Tao, et al. Research status and development tendency of star tracker technique[J].Chinese Optics, 2016, 9(1):16-29.(in Chinese)
[3] Ma Hongliang, Chen Tong, Xu Shijie. Optimal attitude estimation algorithm based on mulitiple star-sensor observations[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 38(7):869-874.(in Chinese)
[4] Ye Zhilong, Sun Shuodong, Li Jinjing. An autonomous calibration method for star vectors fusion of multi-FOV star sensor[C]//International Conference on Inertial Technology and Navigation, 2016:288-294.
[5] Ludovic Blarre, Nicolas Perrimon, Stephen Airey. New multiple head star sensor description and development status:a highly autonomous, accurate and very robust system to pave the way for gyroless very accurate AOCS systems[C]//Guidance, Navigation, and Control Conference and Exhibit,2005:5932.
[6] Rao J S, Pullaiah D, Padmasree S, et al. Star tracker alignment determination for resourcesat-I[C]//Astrodynamics Specialist Conference and Exhibit, 2004:5392.
[7] Pittelkau Ma E. Everything is relative in spacecraft system alignment calibration[J]. Journal of Spacecraft and Rockets, 2002, 39(3):460-466.
[8] Calhoun P C, Sedlak J E, Emil Superfin. Filtering methods for error reduction in spacecraft attitude estimation using quaternion star trackers[C]//Guidance, Navigation, andControl Conference, 2011:6436.
[9] Aida Makni, Hassen Fourati, Kibangou A Y. Adaptive Kalman filter for MEMS-IMU based attitude estimation under external acceleration and parsimonious use of gyroscopes[C]//European Control Conference, 2014:1379-1384.
[10] Jiang Fan, Wu Qingwen, Wang Zhongsu, et al. Analysis and verification of structure stability and thermal stability of a bracket of star sensors[J]. Infrared and Laser Engineering,2015, 44(11):3463-3468.(in Chinese)
[11] Wang Xingtao, Li Yingchun, Li Xiaoyan. Mapping Satellite-1 star sensor accuracy analysis[J]. Journal of Remote Sensing, 2016(S):90-93.
[12] Tian Chong, Wang Xingliang, Lu Yane. An adaptive filter algorithm of exponentially-weighted multiple attenuated memory[J]. Journal of Wuhan University of Technology,2011, 33(11):147-152.(in Chinese)
[13] Yang Dong, Yu Wei. Research on initial alignment for larger azimuth misalignment angle with Sage_Husa adaptive filtering[J]. Infrared and Laser Engineering, 2013, 42(8):2197-2201.(in Chinese)
[14] Huang Xiaoping, Wang Yan. Kalman Filter Principle and Application[M]. Beijing:Publishing House of Electronics Industry, 2015:30-37.(in Chinese)
[15] Lu Ping, Zhao Long, Chen Zhe. Improved sage_husa adaptive filtering and its application[J]. Journal of System Simulation, 2007, 19(15):3503-3505.(in Chinese)
[16] Sun Wanxin. Application of Sage_Husa adaptive filtering algorithm for high precision SINS initial alignment[C]//International Computer Conference on Wavelet Active Media Technology&Information Processing, 2015:359-364.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |