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罗德里格参数和修正罗德里格参数是用于描述卫星姿态运动的最小表示法,计算量小,精度高;以修正罗德里格参数为工具研究了卫星姿态确定中的误差估计问题,建立了乘性和加性修正罗德里格参数误差模型,并将这两种误差模型应用到“星敏感器+陀螺仪”组合模式下,采用EKF算法估计卫星姿态,建立误差状态方程和观测方程;仿真结果表明,基于AMRPs和MMRPs姿态角估计误差均达到10-2°级别以内,基于MMRPs误差模型的估计精度高于AMRPs,且计算更为简便,收敛效果更好。
The Rodrigue parameters and the modified Rodrigues parameters are the minimum representations used to describe the attitude of the satellite with small computational complexity and high accuracy. Based on the modified Rodrigue parameters, the error estimation problem in the satellite attitude determination is studied. Multiplicative and additive correction of Rodriguez parameter error model, and these two error model is applied to “Star Sensor + Gyro ” combination mode, using EKF algorithm to estimate satellite attitude, the establishment of the error state equation and observation equation The simulation results show that the accuracy of attitude angle estimation based on both AMRPs and MMRPs is within 10-2 °. The estimation accuracy based on MMRPs error model is higher than that of AMRPs, and the calculation is more simple and the convergence effect is better.