火箭上面级星敏感器/陀螺组合定姿实时仿真系统  

Real-time simulation system for star tracker and gyro integrated attitude determination of launch vehicle upper stage

作　　者：张利宾[1] 崔乃刚[1] 浦甲伦[1] 

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《中国惯性技术学报》2010年第5期585-590,共6页Journal of Chinese Inertial Technology

基　　金：航天科技创新基金(CASC20090201)

摘　　要：针对运载火箭上面级惯性导航设备提供的姿态信息随时间累积而误差逐渐增大的问题,提出了基于扩展卡尔曼滤波的星敏感器/陀螺组合姿态确定算法,并为加快工程样机研制设计了基于Matlab/dSPACE平台的实时仿真系统。基于地心第二轨道坐标系和上面级体坐标系,给出了姿态角定义,推导了姿态转换矩阵。通过分析组合定姿方案和姿态状态估计方法,设计了基于误差四元数的滤波器;为减少算法的计算量,采用了离线计算次优增益矩阵的方法。进行了星敏感器在回路中的半实物仿真。仿真结果表明组合定姿精度优于50″,且能够准确估计陀螺常值漂移。该算法精度高,速度快,实时仿真系统具有很好的参考和应用价值。In view that the attitude error of inertial navigation system increases with time in upper-stage launch vehicle, an integrated star-tracker/gyro attitude determination algorithm via extended Kalman filter is put forward. And a realtime simulation system is designed by using Mattab/dSPACE for developing its engineering prototype. The attitude transformation matrix is derived using the second geocentric-orbit coordinate and the upper stage body coordinate to define attitude angles. A filter with error quatemion is established by analyzing the integrated attitude determination scheme and the attitude estimation method. A sub-optimal method of off-line calculating gain matrixes is used to reduce the computation burden. A semi-physical simulation with the star tracker is accomplished. The simulation results show that the accuracy is superior to 50＂, and the constant bias ofgyro can be estimated exactly. The algorithm is characterized by high precision and quick computation convergence, and the real-time simulation system is valuable for reference and application.

关 键 词：上面级 实时仿真 姿态确定 星敏感器 陀螺 

分 类 号：U666.1[交通运输工程—船舶及航道工程]