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Low orbit satellite multi-sensor fault tolerance autonomous navigation method based on federal UKF algorithm

A low-orbit satellite, multi-sensor technology, used in navigation, mapping and navigation, integrated navigator and other directions

Inactive Publication Date: 2012-01-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] Purpose of the invention: the purpose of this invention is to provide a kind of self-navigation and positioning method of low-earth orbit satellite multi-sensor with fault-tolerant function, which can make full use of the navigation information provided by the measuring equipment on the satellite to realize autonomous orbit determination, and solves how to use Information Fusion of Unscented Kalman Filtering Results by Federated Filtering Technology

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  • Low orbit satellite multi-sensor fault tolerance autonomous navigation method based on federal UKF algorithm
  • Low orbit satellite multi-sensor fault tolerance autonomous navigation method based on federal UKF algorithm
  • Low orbit satellite multi-sensor fault tolerance autonomous navigation method based on federal UKF algorithm

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Embodiment Construction

[0099] The specific composition of this example is as follows figure 1 As shown, the implementation process is as follows figure 2 As shown, the orbit data is generated by STK (Satellite Simulation Toolkit) software, and the specific simulation conditions are as follows:

[0100] ①The simulation time is from 12:00 on June 1, 2008 to 24:00 on June 1, 2008, and the sampling period T is 10s. The nominal orbit data is: semi-major axis: a=6823.082km; eccentricity: e=1.83×10 -16 ; Orbital inclination: i=97.2°; right ascension of ascending node: Ω=157.5°; near ascending angle: ω=0°.

[0101] ②In order to simulate the real movement of the satellite in orbit, the mechanical model JGM-3 is used when calculating the satellite orbit, and the following perturbation factors are considered: the earth's non-spherical perturbation; the sun's gravity, the moon's gravity; the sun's light pressure; atmospheric resistance .

[0102] ③Measuring instrument accuracy: the navigation star adopts 8...

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Abstract

The invention relates to a multi-sensor autonomous navigation method for the low-orbiting satellite with fault-tolerance function and based on federated UKF algorithm, belonging to satellite autonomous navigation method. The method comprises the following steps of: constructing an orbital dynamics equation of earth satellite in a rectangular coordinate system; constructing a subsystem measurement equation with the output values of a star sensor and an infrared earth sensor as measurement quantities; constructing a subsystem measurement equation with the output values of magnetometer and a radar altimeter as measurement quantities; constructing a subsystem measurement equation with the output value of an ultraviolet sensor as measurement quantity; selecting a Sigma sampling point; constructing a predictive equation and an update equation of discrete UKF algorithm; respectively and independently performing Sigma sampling point calculation of each subsystem, and performing predictive update and measurement update; determining whether the output of each sub-filter is valid according to the predicted filter residual, isolating in case of malfunction, otherwise, inputting the filter result to a main filter for information fusion; constructing a non-reset federated UKF filter equation based on the UKF algorithm; and outputting earth satellite state estimated value X and variance matrix P thereof according to the steps.

Description

technical field [0001] The invention belongs to the technical field of satellite multi-sensor information fusion autonomous navigation, and relates to a satellite multi-sensor fault-tolerant autonomous navigation method based on a federal UKF algorithm, which can be used for autonomous navigation and positioning of low-earth orbit earth satellites. Background technique [0002] Satellite autonomous navigation refers to the function or operation required by the satellite to determine the position and velocity of the satellite in real time by relying on the measurement equipment on the satellite without relying on the ground station. Spacecraft usually adopt the method of positioning and navigation relying on ground station radio measurement and control. Due to the limitation of geographical conditions, it is difficult to realize the positioning and navigation of the entire orbit of medium and low orbit satellites; at the same time, with the increase in the number of various sp...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S5/02G01C21/24G01C21/20G01C21/00
Inventor 李丹刘建业熊智郁丰赖际舟祝燕华乔黎熊剑钱伟行
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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