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为提升空间非合作编队任务中卫星态势感知能力和工程冗余度,结合姿态和两星相对位置的耦合信息,提出了一种无角度测量信息的姿态与相对轨道一体化滤波算法。滤波器系统方程取惯性系下的误差四元数姿态和卫星轨道系下相对运动表述,通过扩展卡尔曼滤波实现对卫星姿态指向、陀螺零偏、相对位置速度的联合有效估计。针对跟飞和绕飞两种典型卫星编队模式和不同相对运动构型尺度下该滤波器的局部可观测性进行了比较与分析。地面仿真实验表明,相对导航位置误差0.3 m,相对速度估计误差10-4m/s,卫星姿态估计误差0.05°,陀螺零偏估计误差10-4(°)/s,满足编队卫星任务需求。
In order to improve the satellite situational awareness and redundancy of the space non-cooperative formation task, this paper proposes an attitudeless and relative orbit integrated filtering algorithm of non-angular measurement information based on the coupled information of attitude and relative position of two stars. In the filter system equation, the quaternion error of quaternion under the inertial system and the relative motion representation of the satellite orbital system are used to estimate the joint attitude of the satellite, the gyro zero offset and the relative position speed by extended Kalman filter. The local observability of this filter is compared and analyzed for two typical satellite formation modes with and around the fly and different relative motion configuration scales. The ground simulation experiments show that the relative navigation position error is 0.3 m, the relative velocity estimation error is 10-4 m / s, the satellite attitude estimation error is 0.05 ° and the gyro zero bias estimation error is 10-4 (°) / s, which meets the mission requirements of formation satellites.