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本文对只采用一个三轴磁强计作为测量手段的滤波定姿方法进行了研究。由于三轴磁强计某一时刻只能提供当地地磁场的单个方向矢量信息,因此必须根据多次的地磁场测量,并且考虑到卫星姿态的动态变化,才能定出卫星的三轴姿态。本文推导给出了卫星姿态动力学和测量模型线性化方程,在此基础上给出扩展卡尔曼滤波器的结构和算法,最后对磁强计滤波定姿算法进行了数学仿真,并给出了部分仿真结果。
In this paper, only a three-axis magnetometer as a measuring method of filtering pose method was studied. Since the three-axis magnetometer can only provide the single direction vector information of the local geomagnetic field at a time, the three-axis attitude of the satellite must be determined according to the multiple measurements of the geomagnetic field and taking into account the dynamic changes of the satellite attitude. In this paper, the satellite attitude dynamics and the linearization equation of the measurement model are given. Based on this, the structure and algorithm of the extended Kalman filter are given. Finally, the mathematical simulation of the magnetometer fixed-pose algorithm is given. Part of the simulation results.