中国空间科学技术2012，Vol.32Issue(3)：7-14,8.DOI:10.3780/j.issn.1000-758X.2012.03.002
基于IMM-UKF的航天器相对位姿确定算法
Vision-based IMM-UKF Spacecraft Relative Position and Attitude Determination Algorithm
摘要
Abstract
In the process of spacecraft relative navigation, the relative distance measurement information is susceptible to disturbances, which results in great uncertainty of measurement error. In general, filtering algorithm based on a single model cannot identify the noise and it is difficult to obtain accurate navigation results. As for the limitation of circle orbit assumption, close-relative motion equation (Lawden equation) was studied in the inertial coordinate system using Clohessy-Wiltshire (C-W) equation, and the two equations were established based on the model set. Considering the characteristics of the navigation sensors, a vision-based dynamical algorithm of relative position and attitudes estimation using interacting multiple model (IMM-UKF) algorithm was designed based on the Rodrigues parameters and UKF filtering algorithm. The stability and precision of the relative orbit and attitudes determination are certified by using this algorithm under the condition of computation efficiency guarantee.关键词
相对位姿/视觉导航/交互式多模型/无迹卡尔曼滤波/航天器Key words
Relative position and attitudes/Vision-based navigation/Interacting multiple model Unscented Kalman filter/Spacecraft引用本文复制引用
岳晓奎,李彬,赵凯..基于IMM-UKF的航天器相对位姿确定算法[J].中国空间科学技术,2012,32(3):7-14,8.基金项目
国家自然科学基金(11172235),高等学校博士学科点专项科研基金(20106102110003)资助项目 （11172235）
