光学精密工程2013，Vol.21Issue(4)：1032-1039,8.DOI:10.3788/OPE.20132104.1032
基于改进的无迹卡尔曼滤波确定视线感知相对状态
Determination of vision-based relative state by modified unscented Kalman filter
摘要
Abstract
On the basis of the principle of a VISNAV sensor, this paper researches how to determine the vision-based relative state between two satellites with disturbances. By taking the VISNAV sensor as a relative state sensor, the problem mentioned above is solved by a modified Kalman filter algorithm. In consideration of the relative orbit dynamics equation with disturbance and the relative attitude kinematic equation, it gives modified discrete equation and a calculation method for the error co-variance matrix. By which the method avoids the complicated real-time operations of large dimensional matrices in every loop and reduces computation amounts. Finally, the corresponding modified Unscented Kalman Filter (UKF) method followed by a numerical simulation experiment is performed under STK and MATLAB. Results demonstrate that the method is feasible, effective and has good convergence. Under disturbance condition, its determination accuracy in 200 m is an angle second level for the relative attitude and a millimeter level for the relative position, which meets the requirements of determining the relative state between two satellites in a shorter distance.关键词
视线传感器/相对状态确定/摄动/改进的无迹卡尔曼滤波Key words
VISNAV sensor/ relative state determination/ disturbance/ modified Unscented Kalman Filter (UKF)分类
航空航天引用本文复制引用
王晓初,尤政,赵开春..基于改进的无迹卡尔曼滤波确定视线感知相对状态[J].光学精密工程,2013,21(4):1032-1039,8.基金项目
中国博士后科学基金特别资助项目(No.201104127) （No.201104127）
