CAJ | 학술논문

针对四元数姿态估计问题,提出了一种分布式非线性滤波融合结构.通过引入基于超球面分布采样点变换(SSUT)技术的无迹卡尔曼滤波算法(SSUKF),以较低的计算量实现了高数据更新率、高精度的非线性滤波,并通过融合重构,保障系统无间断可靠工作,不受敏感器故障、视场盲区等因素影响.应用该算法对陀螺、磁强计、太阳敏感器、星敏感器构成的系统进行了具体设计并开展仿真研究,验证了算法的有效性.
침대사원수자태고계문제,제출료일충분포식비선성려파융합결구.통과인입기우초구면분포채양점변환(SSUT)기술적무적잡이만려파산법(SSUKF),이교저적계산량실현료고수거경신솔、고정도적비선성려파,병통과융합중구,보장계통무간단가고공작,불수민감기고장、시장맹구등인소영향.응용해산법대타라、자강계、태양민감기、성민감기구성적계통진행료구체설계병개전방진연구,험증료산법적유효성.
A federated version of spherical simplex unscented Kalman filter (SSUKF) was presented for space-borne orbit debris surveillance mission. The nonlinear transformation filtering method brought the algorithm a high precision, while the reduced sigma point filtering technique endowed the algorithm with a high computing speed, and the decentralized structure ensured the algorithm a good capability of reconstruction in case of sensor fault or vision limit. A filtering system composed of gyroscopes, magnetometer, sun sensor and star tracker was designed using this algorithm, and was validated with numerical simulation.