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针对航天器交会时在仅有视线测量条件下的相对导航问题,比较了扩展卡尔曼滤波(extended Kalman filter,EKF)、无迹卡尔曼滤波(unscented Kalman filter,UKF)及平方根形式的卡尔曼滤波(square-root extended Kalman filter,SREKF以及square-root unscented Kalman filter,SRUKF)在这一导航问题中的性能.介绍了仅有视线测量条件下相对导航的特点以及上述4种卡尔曼滤波算法;建立了追踪航天器和目标航天器间相对动力学方程以及基于仅视线测量相对导航时的量测方程;结合3种典型的相对运动形式进行了数值仿真.仿真结果表明:在仅视线测量相对导航中,4种算法的精度处于同一量级;UKF估计相对距离的精度稍优于EKF;SREKF和SRUKF估计相对距离的精度稍优于EKF和UKF.
Aiming at the relative navigation problems under the condition of line-of-sight measurement only when the spacecraft rendezvous, extended Kalman filter (EKF), unscented Kalman filter (UKF) and square root Kalman filter (SRKKF), a square-root extended Kalman filter (SREKF) and a square-root unscented Kalman filter (SRUKF), are introduced in this paper. The relative navigation characteristics under the condition of line of sight measurement and the above four Kalman filter algorithms are introduced. The relative dynamic equations of spacecraft and target spacecraft were tracked and the measurement equations were compared based on the measurement of relative line of sight only. The numerical simulation was carried out by combining with three typical forms of relative motion. The simulation results show that, , The accuracy of the four algorithms is in the same order of magnitude; the accuracy of UKF estimation relative distance is slightly better than that of EKF; the accuracy of SREKF and SRUKF estimation relative distance is slightly better than that of EKF and UKF.