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针对本体坐标系下对卫星姿态进行线性滤波存在误差累积和噪声分布改变无法正确选择滤波模型的问题,利用惯性坐标系下的星敏感器和陀螺原始测量构建系统扩维测量,将卫星姿态确定问题建模为非线性滤波过程。针对常用的非线性滤波方法无法同时兼顾精度和实时性的问题,采用无迹滤波(UKF)对卫星的姿态参数和陀螺常值漂移同时进行估计,实现了对卫星精确定姿。进一步考虑实际情况中,敏感器测量误差未知或随时间变化的情况,提出了交互式多模型无迹滤波(IMMUKF)方法。仿真实验结果表明了该算法的有效性和优越性,具有较高的实际应用价值。
Aiming at the problem that the satellite attitude is linear filtered in the ontology coordinate system, the error accumulation and the change of noise distribution can not select the filter model properly. The star sensor and inertial measurement in inertial coordinate system are used to build the system to expand the dimension measurement. The satellite attitude determination problem Modeling as a non-linear filtering process. In order to solve the problems that the commonly used nonlinear filtering methods can not take both accuracy and real-time performance into account, unsurfaced filter (UKF) is used to estimate the satellite attitude parameters and gyro constant drift at the same time. Considering the fact that the measurement error of the sensor is unknown or varies with time, an interactive IMMUKF method is proposed. Simulation results show the effectiveness and superiority of the algorithm, which has high practical value.