| 平方根UKF混合滤波在自主光学导航中的应用 |
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| 引用本文： | 隋树林,姚文龙,赵晓伟.平方根UKF混合滤波在自主光学导航中的应用[J].青岛科技大学学报,2007,28(5):451-454. |
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| 作者姓名： | 隋树林 姚文龙 赵晓伟 |
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| 作者单位： | 青岛科技大学自动化与电子工程学院,山东青岛266042 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 提出了一种用于探测器在巡航段的自主光学导航方案,该方案利用光学导航相机以及星敏感器,通过测量星光信息以及天体边缘的信息,得出了探测器的相对位置。在此基础上针对导航系统状态方程和观测方程的非线性问题,进行平方根Unscented卡尔曼滤波(square-root unscented Kalman filter)计算,由此实时确定了探测器的轨道。该方法将平方根滤波和UKF滤波有机结合起来,可更好地提高自主导航系统的准确度和可靠性。通过数学仿真并与EKF滤波过程进行比较,验证了该算法的优越性。
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| 关 键 词： | 自主光学导航 扩展卡尔曼滤波 平方根unscented卡尔曼滤波 |
| 文章编号： | 1672-6987（2007）05-0451-04 |
| 收稿时间： | 2006-12-18 |
| 修稿时间： | 2006年12月18 |
Square-root UKF Mixed Filtering Appling to Autonomous Optical Navigation |
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| SUI Shu-lin,YAO Wen-long,ZHAO Xiao-wei.Square-root UKF Mixed Filtering Appling to Autonomous Optical Navigation[J].Journal of Qingdao University of Science and Technology:Natutral Science Edition,2007,28(5):451-454. |
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| Authors: | SUI Shu-lin YAO Wen-long ZHAO Xiao-wei |
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| Affiliation: | College of Automation and Electronic Engineering;Qingdao University of Science and Technology;Qingdao 266042;China |
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| Abstract: | An autonomous optical navigation scheme for cruise phase is presented in this paper,in which the relative position for probes is based on the star light and body edge data that is measured by star sensor and optical navigation camera respectively.The real time orbit for probes is determined by the SR-UKF(square-root unscented Kalman filter) algorithm,which is aiming at the non-linearity of state equation and observation equation.The arithmetic integrates square-root and UKF to improve the precise and reliability of the autonomous optical navigation system.The simulation results show that the presented algorithm performing better than the EKF. |
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| Keywords: | autonomous optical navigation extended Kalman filter square-root unscented Kalman filter |
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