Sigma-Point Kalman Filtering for Spacecraft Attitude and Rate Estimation using Magnetometer Measurements
Sigma-Point Kalman Filtering for Spacecraft Attitude and Rate Estimation using Magnetometer Measurements
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DOI：
10.1109/taes.2011.5751266
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发表时间：
2008-08
影响因子：
4.4
通讯作者：
M. Abdelrahman;Sang-Young Park
中科院分区：
文献类型：
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作者：
M. Abdelrahman;Sang-Young Park
提出了一种航天器三轴姿态和速率估计的通用算法。这里介绍的滤波器概念是相当普遍的，适用于各种传感器系统。滤波器的结构是建立在动量交换装置的存在下，使用航天器的非线性动力学。然后用航天器动力学扩充四元数运动学来表示滤波过程动力学。磁力计测量值及其相应的时间导数被用来表示滤波器测量模型。该滤波器的设计是为了适应航天器在低地球轨道，所以除了航天器的磁残差的空气动力阻力作为干扰力矩的过程动力学。为了测试滤波器，使用了一个真实的测试用例，其中使用了一个磁力计和光纤陀螺仪来确定姿态和速率。利用蒙特-卡罗仿真方法研究了初始姿态和角速度沿轴向均匀分布时滤波器的性能。该滤波器显示了在5度内估计姿态和在每个轴上的0.03度/秒的数量级上的速率的能力。
A generalized algorithm for spacecraft three-axis attitude and rate estimation is presented. The filter concept presented here is quite general and applicable to a wide range of sensor systems. The structure of the filter is built using spacecraft nonlinear dynamics in the presence of momentum exchange devices. Then quaternion kinematics are augmented with spacecraft dynamics to represent the filter process dynamics. Magnetometer measurements and their corresponding time derivatives are utilized to represent the filter measurement model. The filter is designed to suit spacecraft in low-Earth orbits, so the aerodynamic drag in addition to spacecraft magnetic residuals are included as disturbance torques to the process dynamics. To test the filter EgyptSat-1 is used as a real test case where a magnetometer and fiber-optic gyros are used for attitude and rate determination. A Monte-Carlo simulation is then applied to study the performance of the proposed filter with initial attitude and angular velocity sampled from a uniform distribution, each axis respectively. The filter shows the capability of estimating the attitude within 5 deg and rate on the order of 0.03 deg/s in each axis.