| UKF与EKF在卫星姿态估计应用中的比较 |
| |
| 引用本文： | 刘星,赵黎平,赵光恒. UKF与EKF在卫星姿态估计应用中的比较[J]. 计算机仿真, 2008, 25(3): 48-52 |
| |
| 作者姓名： | 刘星 赵黎平 赵光恒 |
| |
| 作者单位： | 中国科学院空间科学与应用研究中心,北京,100080;中国科学院光电研究院,北京,100080;中国科学院研究生院,北京,100049;中国科学院光电研究院,北京,100080 |
| |
| 摘 要： | 针对卫星的姿态和角速度估计问题,分别给出基于Unscented卡尔曼滤波(UKF)与推广卡尔曼滤波(EKF)的估计算法,并做了相应比较.为了避免欧拉角带来的奇异问题,UKF选用Rodrigues参数而EKF选用四元数参数法来描述姿态误差.考虑卫星的非线性模型,UKF采用Unscented变换而EKF采用线性化方法对姿态误差进行估计.利用陀螺和磁强计的测量信息,KF和EKF都可得到三轴稳定卫星的姿态估计值,但UKF的收敛速度高于EKF.数值仿真结果表明,当初始姿态存在大偏差时,所给出的UKF的滤波算法性能明显优于EKF.
|
| 关 键 词： | 平淡卡尔曼滤波 推广卡尔曼滤波 姿态估计 |
| 文章编号： | 1006-9348(2008)03-0048-04 |
| 修稿时间： | 2007-03-05 |
Comparison of Unscented Kalman Filtering and Extend Kalman Filtering for Satellite Attitude Estimation |
| |
| LIU Xing,ZHAO Li-ping,ZHAO Guang-heng. Comparison of Unscented Kalman Filtering and Extend Kalman Filtering for Satellite Attitude Estimation[J]. Computer Simulation, 2008, 25(3): 48-52 |
| |
| Authors: | LIU Xing ZHAO Li-ping ZHAO Guang-heng |
| |
| Affiliation: | LIU Xing,ZHAO Li-ping,ZHAO Guang-heng(1. Center for Space Science , Application Research,Chinese Academy of Sciences,Beijing 100080,China,2. Academy of Opto-Electronics,3. Graduate University of Chinese Academy of Sciences,Beijing 100049,China) |
| |
| Abstract: | Two algorithms are presented to solve the satellite attitude and rate estimation problem. One is based on unscented Kalman filter and the other is based on extended Kalman filter. Then a comparison between them is given. To avoid the singular problem from Euler angle, the UKF chooses the Rodrigues parameters and EKF uses the quaternion parameterization to describe the quaternion-error vector. Considering the satellite nonlinear model, unscented transformation is used in UKF and the linearization technique i... |
| |
| Keywords: | Unscented Kalman filter(UKF) Extended Kalman filter(EKF) Attitude estimation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
