Application of the Backward-Smoothing Extended Kalman Filter to Attitude Estimation and Prediction using Radar Observations
Application of the Backward-Smoothing Extended Kalman Filter to Attitude Estimation and Prediction using Radar Observations
复制标题
后向平滑扩展卡尔曼滤波器在雷达观测姿态估计和预测中的应用
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Kyle Clarke Volpe
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文献类型：
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作者：
Kyle Clarke Volpe
摘要：林肯姿态估计系统(LAES)是为麻省理工学院林肯实验室空间态势感知小组(SSAG)开发的一种新工具，它集成了几个现有的硬件和软件系统，并采用了后向平滑扩展卡尔曼滤波(BSEKF)。LAES的目的是从离散时间雷达图像序列中确定自由翻滚的航天器的旋转运动。原始距离-多普勒回波是使用地面传感器收集的，该传感器由SSAG拥有和运营，并处理成一组距离/横向图像。三维几何模型通过计算机图形程序显示在二维雷达图像的顶部，使分析人员能够旋转模型(并在横向范围内进行缩放)，以便将其与对象的图像对齐。因此，计算机图形学程序计算出的正交投影矩阵来显示计算机模型，同时描述了物体在雷达图像平面上的投影。这些测量基本上是对名义或基线运动的校正，为了生成图像，必须首先假设这些运动。将描述图像平面在惯性空间中的方向的参考运动与描述航天器在图像平面内的姿态的旋转序列相结合，产生最终的姿态测量集，然后将其传递给BSEKF进行处理。目前在空间态势感知小组内使用的现有自由运动软件做出了两个关键假设：1)航天器是对称刚体；2)在成像期间没有干扰力矩作用于航天器。
Abstract : The Lincoln Attitude Estimation System (LAES), a new tool being developed for the Space Situational Awareness Group (SSAG) at MIT Lincoln Laboratory, integrates several existing hardware and software systems, with a backward-smoothing extended Kalman filter (BSEKF). LAES is intended to determine the rotational motion of a freely tumbling spacecraft from a sequence of discrete-time radar images. The raw range-Doppler returns are collected using a ground-based sensor, which is owned and operated by the SSAG, and processed into a set of range/cross-range images. A three-dimensional geometric model is, through computer graphics procedures, displayed on top of the two-dimensional radar images, enabling an analyst to rotate (and scale in cross-range) the model in order to align it to the object's image. Therefore, the orthographic projection matrix that the computer graphics procedures computed to display the computer model, simultaneously describes the projection of the object onto the radar image plane. These measurements are essentially corrections to a nominal or baseline motion which had to be assumed in order to generate the images in the first place. Combining the reference motion, which describes the orientation of the image plane in inertial space, with the sequence of rotations describing the attitude of the spacecraft within the image plane, yields the final set of attitude measurements which are then passed to the BSEKF for processing. The existing free motion software currently in use within the Space Situational Awareness Group makes two critical assumptions: 1) that the spacecraft is a symmetric rigid body and 2) that there are no disturbance torques acting on the spacecraft during the imaging period.
影响因子：
19.5
作者：
TOMASI, C;KANADE, T
通讯作者：
KANADE, T