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航天器交会对接是载人航天工程的一项关键技术,而航天器相对定姿又是在交会对接中首要解决的关键问题。通常用交会对接航天器体坐标系间各对应坐标间的夹角来表示相对姿态,这样相对定姿的任务就是要确定两交会对接航天器体坐标系间的旋转矩阵。采用无相对测量的航天器相对定姿态方法,基于围绕系统最优估计状态线性化的扩展卡尔曼滤波(EKF)滤波技术,以乘性误差四元数为状态量,设计了陀螺仪/星敏感组合的航天器相对定姿算法,并进行数字仿真验证该算法的可行性。仿真表明乘性误差四元数有效解决了协方差阵为零的问题,EKF技术大大提高了滤波精度。所设计的算法为航天器的相对定姿提供了一定的理论依据。
Rendezvous and docking of spacecraft is a key technology in manned space project, and the relative attitude of spacecraft is the key problem to be solved in rendezvous and docking. The relative attitude is usually expressed by the angle between the corresponding coordinate of the spacecraft body of the spacecraft rendezvous and docking, so the task of relative pose is to determine the rotation matrix between the two spacecraft docking spacecraft body coordinate systems. Based on the relative attitude determination method of spacecraft without relative measurement, based on the extended Kalman filter (EKF) filtering technique which is based on the linear state of the optimal estimation system, the gyro / star sensitivity is designed by using quaternion multiplicative error as the state quantity Combining the relative attitude determination algorithm of spacecraft and the feasibility of the algorithm by digital simulation. Simulation shows that multiplicative error quaternion effectively solves the problem of covariance matrix is zero, EKF technology greatly improves the filtering accuracy. The designed algorithm provides certain theoretical basis for the relative attitude of the spacecraft.