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Inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method

A gyroscope and orbit technology, which is applied in the field of autonomous satellite formation, can solve the problems of less research on formation satellite attitude and orbit integration filtering, and achieve the effects of improving system reliability, simple calculation, and simple configuration requirements

Active Publication Date: 2014-06-11
上海航天控制工程研究所
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Problems solved by technology

Domestically, there are few researches on integrated filtering of formation satellite attitude and orbit

Method used

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  • Inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method
  • Inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method
  • Inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method

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Embodiment Construction

[0028] Define the error quaternion

[0029] In the formula

[0030] ——The real attitude quaternion representing the rotation from the inertial system to the body coordinate system

[0031] ——Attitude error quaternion

[0032] - pose quaternion estimate

[0033] The error quaternion attitude dynamic equation is established in the J2000 coordinate system.

[0034]

[0035]

[0036] in, is the error quaternion the vector part of is the gyro zero bias; , , is the gyro measurement value; is the transfer matrix from the measurement coordinate system of the gyroscope to the satellite system; , are the measurement of the gyroscope and the zero drift noise, respectively.

[0037] like figure 1 As shown, O is the center of mass of the satellite, the Z-axis points to the center of the earth, the Y-axis points to the direction opposite to the normal direction of the orbital plane, and the X-axis points to satisfy the right-hand rule, that is, the LVLH c...

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Abstract

The invention provided an inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method. According to the inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method, relative navigation and attitude determination of non-cooperative targets are realized via following steps: formation satellite attitude integration dynamical equation is used, and observability problems of the system are solved via using a large amount of inter-satellite measurement and gyro measurement data combined with Kalman smoothing algorithm, wherein the formation satellite attitude integration dynamical equation is composed of attitude dynamics constructed from quaternion error under inertial frame, and relative motion dynamics constructed under track satellite orbit frame, only based on gyro and inter-satellite measurement information. Compared with existing technology, advantages of the inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method are that: system configuration requirements are simple, only inter-satellite measurement and gyro information is needed, dependence of the system on orientation systems such as star sensor is reduced, and system reliability is increased; the inter-satellite measurement and gyro attitude orbit integrated smoothing estimation method can be used for satellites of non-cooperated formation; an indirect measurement equation is adopted, coupling properties of an observation matrix are poor, algorithm calculation is simple, and engineering application is convenient.

Description

[0001] technical field [0002] The invention relates to satellite autonomous formation technology, in particular to an attitude-orbit integration filter design method only relying on inter-satellite measurement and gyroscope. [0003] Background technique [0004] Satellite formation flying is an important technology, but it is no longer a new idea. China's Tiangong-1 has successfully completed the rendezvous and docking test in orbit. The current satellite formation missions are used in multi-satellite stereo imaging, synthetic aperture radar and other fields. Among them, the maintenance of formation configuration and attitude pointing of satellites are the main prerequisites for determining the completion of on-orbit missions. For non-cooperative target satellites, due to the lack of communication links to them, the accuracy of ground orbit determination is low, and the independent determination of satellite attitude and orbit is the only way to realize its sho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/24
CPCG01C21/24
Inventor 任家栋朱虹王静吉朱文山张艳召张朝兴叶立军
Owner 上海航天控制工程研究所
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