摘要
在航天器相对姿态测量过程中,由于基于单帧图像的相对姿态测量方法受噪声影响比较大,相对距离较远时,测量的稳定性较差,因此提出采用迭代扩展卡尔曼滤波进行相对姿态估计的方法。首先对卡尔曼滤波进行概述,然后建立基于迭代扩展卡尔曼滤波的航天器间的3D位置和姿态估计系统模型及观测模型,确定系统及测量噪声模型,给出运用卡尔曼滤波方法解决姿态估计问题的具体方法及详细过程,最后通过仿真数据和实测数据对该方法的正确性、可行性进行了验证。
In the process of measuring the relative attitude of a spacecraft, the iterative extended Kalman filter is used to estimate the spacecraft relative attitude, because the measurement of a single frame image is more easily affected by noise and is less stable in longer relative distance. Firstly, an overview of the Kalman filter is provided in the paper. Secondly, the system model and observation model of 3D position and relative attitude between spacecrafts are built based on iterated extended Kalman filtering（IEKF）; the system and noise measurement models are determined; and methods to solve the attitude estimation with IEKF is given out. Finally, the correctness and feasibility of the method are verified by the simulation results and experimental measurements.
出处
《导弹与航天运载技术》
北大核心
2012年第6期48-52,共5页
Missiles and Space Vehicles
关键词
分布式微型航天器
相对姿态估计
迭代扩展卡尔曼滤波
Distributed micro-spacecraft
Relative pose estimation
Iterated extended Kalman filtering
