基于对偶四元数的双星编队相对位姿测量  

Bi-satellite formation relative position and attitude measurement based on dual quaternion

作　　者：李静[1] 王惠南[2] 付世勇[1] 刘海颖[3] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]南京航空航天大学航天学院,南京210016 [3]南京航空航天大学高新院微小卫星研究中心,南京210016

出　　处：《中国惯性技术学报》2011年第5期575-578,共4页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(60974107);南京航空航天大学基本科研业务专项(2010219)

摘　　要：为了描述编队卫星中主从星的相对位置和姿态信息,提出了基于对偶四元数的编队卫星相对位姿测量算法。以双星编队飞行的位姿运动为主线,运用对偶四元数工具,充分发挥其能以最简洁的形式表示一般性刚体运动的优点,对卫星轨道和姿态进行分析并建立了对偶四元数位姿模型。同时设计类GPS测量技术来测量编队卫星的相对位置和姿态,该技术载波相位波长和伪码码元比GPS的更短,可获得更高精度的相对测量信号。由于状态方程和观测方程的非线性特征,使用UKF滤波来消除随机噪声对量测过程的干扰。实验结果表明,所设计的算法能够有效估计系统误差,卫星的位置误差和四元数误差收敛于零,验证了该算法的有效性。In order to describe relative position and attitude information of formation flying satellites,a novel dual quaternion based satellite formation flying position and attitude measurement technique is put forward.Guided by bi-satellite formation flying position and attitude movement,and under the help of dual quaternion,the complex satellite formation flying position and attitude measurement model is constructed which has such merits as simple form of rigid body movement expression.Then a GPS-like measurement modal is put forward,and the observation equation is constructed for the position and attitude measurement,which owns shorter carrier phase wavelength and pseudo code symbol than those of GPS.At last,a refined UKF filter is applied to eliminate the system noise during the measurement process.Simulation is added to further improve its correctness and efficiency in solving formation flying satellite relative position and attitude measurement problem,in which the relative position error and the quaternion error converge to zero.

关 键 词：双星编队 对偶四元数 位姿测量 类GPS UKF滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]