CAJ | 학술논문

针对精确航天器姿态问题,采用修正罗德里格参数(MRPs)表示姿态,用动力学方程进行角速率的传播,分别基于等价协方差和观测残差统计特性的协方差调整方法,实现UKF算法的抗差效果,并通过仿真验证该方法的有效性.仿真结果表明:在含有粗差的情况下,两种抗差UKF算法均能得到稳定的状态估计值,而第二种方法计算效率更高.
침대정학항천기자태문제,채용수정라덕리격삼수(MRPs)표시자태,용동역학방정진행각속솔적전파,분별기우등개협방차화관측잔차통계특성적협방차조정방법,실현UKF산법적항차효과,병통과방진험증해방법적유효성.방진결과표명:재함유조차적정황하,량충항차UKF산법균능득도은정적상태고계치,이제이충방법계산효솔경고.
By using MRPs and dynamic equation for attitude representation and the propagation of angular velocity, UKF algorithm is applied for spacecraft attitude estimation in which measurement covariance is tuning in real time based on equal covariance and statistical properties of measurement error respectively. The two methods are validated by a simulated experiment which shows that the state estimation would become more stable for two robust UKF, and the latter one is more efficient.