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采用Clohessy-Wiltshire(C-W)方程描述的近圆轨道相对导航状态方程具有线性的形式,而以航天器相对距离和相对方位作为测量信息的观测方程是非线性的,针对近圆轨道航天器相对导航的这一特点,给出了采用两步卡尔曼滤波(Two Step Kalman Filte-ring,TSF)的相对导航算法,并且利用Unscented变换方法,解决了两步卡尔曼滤波的状态初值确定问题,给出了TSF的完整算法。数值仿真比较了TSF和扩展卡尔曼滤波(Ex-tended Kalman Filtering,EKF)、无迹卡尔曼滤波(Unscented Kalman Filtering,UKF)等算法的性能,验证了采用TSF方法实现相对导航的可行性和有效性。
The equations of relative orbital relative navigation states described by the Clohessy-Wiltshire (CW) equation have a linear form, whereas the observation equations based on the relative distance and relative bearing of the spacecraft are non-linear. For the relative navigation of a near-circular orbit spacecraft In this feature, the relative navigation algorithm using Two Step Kalman Filte-ring (TSF) is given, and the initial state determination of two-step Kalman filter is solved by Unscented transform method. TSF’s complete algorithm. Numerical simulation compares the performances of TSF, EKF and Unscented Kalman Filtering (UKF), and verifies the feasibility and effectiveness of TSF in relative navigation Sex.