基于l_(1)-TSXKF的航天器姿控系统状态偏差估计  

State and bias estimation of spacecraft attitude control system based on l_(1)-TSXKF

作　　者：陈雪芹[1] 杨伯毓 吴凡 岳程斐 曹喜滨[1] CHEN Xueqin;YANG Boyu;WU Fan;YUE Chengfei;CAO Xibin(Research Center of Satellite Technology,Harbin Institute of Technology,Harbin 150001,China;Institute of Space Science and Applied Technology,Harbin Institute of Technology(Shenzhen),Shenzhen 518055,China)

机构地区：[1]哈尔滨工业大学卫星技术研究所,哈尔滨150001 [2]哈尔滨工业大学(深圳)空间科学与应用技术研究院,深圳518055

出　　处：《航空学报》2024年第16期153-164,共12页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(11972130,62303138,12372045,62188101);黑龙江省头雁计划项目。

摘　　要：研究考虑非高斯噪声特性的航天器姿态控制系统状态与偏差估计问题。首先,建立含偏差的航天器姿控系统模型,并给出了非高斯特性噪声表达形式。然后,采用l_(1)范数卡尔曼滤波(l_(1)-KF)算法并结合数学仿真,验证了在卡尔曼滤波算法中引入l_(1)范数,可以避免系统受非高斯过程噪声的影响,但l_(1)-KF算法无法实现对状态和偏差的同时估计,且仅适用于姿态稳定控制过程中的估计。于是,在l_(1)-KF算法的基础上,考虑系统转动惯量时变和偏差时变的复杂情况,结合时变转动惯量实时辨识,设计l_(1)范数二阶外源性卡尔曼滤波(l_(1)-TSXKF)算法,对航天器姿态机动过程中的状态和偏差同时进行估计。数学仿真结果表明,l_(1)-TSXKF算法可以减少系统非高斯特性的影响,在航天器姿态机动过程中,可快速得到高精度的姿态、未知偏差估计结果,有利于航天器在轨应用。The state and bias estimation problem of spacecraft attitude control system considering non-Gaussian noise characteristics is studied.Firstly,a spacecraft attitude control system model with bias is established,and the ex⁃pression for the non-Gaussian characteristic noise is given.Then,through l_(1)-norm Kalman Filtering(l_(1)-KF)algorithm and mathematical simulation,it is verified that the introduction of l_(1)-norm into the Kalman filtering algorithm can avoid the influence of non-Gaussian process noise.However,the l_(1)-KF algorithm cannot achieve simultaneous estimation of state and bias,and is only suitable for estimation of attitude stability control process.Therefore,on the basis of l_(1)-KF algorithm,considering the complex situation of time-varying moment of inertia and time-varying bias of the system,as well as real-time identification of time-varying moment of inertia,an l_(1)-norm Two-Stage eXogenous Kalman Filtering(l_(1)-TSXKF)algorithm is designed to estimate the state and bias of the spacecraft during attitude maneuver.The math⁃ematical simulation results show that the l_(1)-TSXKF algorithm can reduce the influence of non-Gaussian characteristics of the system and obtain high precision attitude and bias estimation results quickly in the process of spacecraft attitude maneuver,which is conducive to the application of spacecraft in orbit.

关 键 词：航天器 姿控系统 偏差估计 状态估计 转动惯量辨识 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]