摘要
针对无陀螺或陀螺失效等情况下的飞行器姿态确定问题,基于无冗余姿态描述形式修正Rodrigues参数,提出了仅利用星敏感器矢量观测信息来确定飞行器姿态的UPF(Unscented Particle Filter)算法。UPF利用UKF(Unscented Kalman Filter)得到粒子滤波的重要性密度函数,从而克服了标准的粒子滤波没有考虑最新量测信息和UKF只能应用于噪声为高斯分布的不足。修正Rodrigues参数描述飞行器姿态具有简洁高效的特点,通过切换方法避免了奇异性现象。仿真结果表明,该姿态确定算法可以取得比UKF更快的滤波收敛性和更高的滤波精度,并且比四元数算法计算效率提高近10%。
An attitude determination algorithm is proposed using unscented particle filter （UPF） with the modified Rodrigues parameter representing the attitude, under both gyroless and gyro-disable modes. The UPF uses the unscented Kalman filter （UKF） to generate sophisticated proposal distributions. It can not only avoid the limitation of the UKF which only apply to Gaussian distribution, but also avoid the limitation of the standard PF which can not include the new measurements. The modified Rodrigues parameters are simple and efficient in the attitude representations. The singularity problem no longer appears when using modified Rodrigues parameters （ MRP ） switching method. Simulation results demonstrate that the attitude determination algorithm has faster convergence rate and higher accuracy compared with UKF, and it shows a reduction of about 10% in computational load compared with that using the quatemion estimation algorithm.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第2期148-152,共5页
Journal of Chinese Inertial Technology
基金
国防高技术研究发展计划项目(2008AA8013110C)
关键词
姿态确定
UPF
修正Rodrigues参数
星敏感器
attitude determination
unscented particle filter
modified Rodrigues parameter
star sensor
