上海航天（中英文）2024，Vol.41Issue(2)：95-103,120,10.DOI:10.19328/j.cnki.2096-8655.2024.02.013
一种基于Madgwick-EKF融合算法的卫星姿态测量方法
A Satellite Attitude Measurement Method Based on the Madgwick-EKF Fusion Algorithm
史炯锴 1张松勇 1渐开旺 1高迪驹1
作者信息
- 1. 上海海事大学 航运技术与控制工程交通运输行业重点实验室,上海 201306
- 折叠
摘要
Abstract
In response to the issues such as sensor noise interference and gyroscope drift during the attitude measurement of low Earth orbit(LEO)satellites,a satellite attitude measurement method based on the Madgwick-extended Kalman filter(EKF)fusion algorithm is proposed.This method uses the data of multiple sensors,e.g.,gyroscopes,accelerometers,and magnetometers,for fusion,and leverages the advantages of both the Madgwick algorithm and the EKF algorithm to achieve attitude measurement.Initially,the Madgwick algorithm is used to calculate the initial attitude with the data measured by multiple sensors.Subsequently,based on the initial attitude and the measured data,the EKF algorithm is used for data fusion and noise filtering so as to obtain the final accurate attitude estimation.The experimental results indicate that compared with the Madgwick algorithm,the fusion algorithm improves the measurement accuracy by 65.8%,and exhibits high robustness.This method provides an effective solution for the attitude measurement of LEO satellites.关键词
姿态测量/姿态传感器/Madgwick算法/扩展卡尔曼滤波/近地轨道卫星Key words
attitude measurement/attitude sensor/madgwick algorithm/extended kalman filter(EKF)/low earth orbit satellite分类
航空航天引用本文复制引用
史炯锴,张松勇,渐开旺,高迪驹..一种基于Madgwick-EKF融合算法的卫星姿态测量方法[J].上海航天（中英文）,2024,41(2):95-103,120,10.
