非合作航天器远程相对状态估计的局部非线性滤波器研究  

Local Nonlinear Filter for Long-distance Relative State Estimation of Non-cooperative Spacecraft

作　　者：李晴 张世源 卢山 夏永江[3] 刘礼城 LI Qing;ZHANG Shiyuan;LU Shan;XIA Yongjiang;LIU Licheng(Shanghai Aerospace Control Technology Institute,Shanghai 201109,China;Shanghai Key Laboratory of Aerospace Intelligent Control Technology,Shanghai 201109,China;Shanghai Academy of Spaceflight Technology,Shanghai 201109,China)

机构地区：[1]上海航天控制技术研究所,上海201109 [2]上海市空间智能控制技术重点实验室,上海201109 [3]上海航天技术研究院,上海201109

出　　处：《上海航天(中英文)》2024年第6期31-38,87,共9页Aerospace Shanghai(Chinese&English)

基　　金：国家自然科学基金(U20B2056)。

摘　　要：针对空间非合作航天器的远程相对状态估计问题,对非合作航天器建立了适用于远距离跟踪的非线性相对运动模型,并对线性状态、非线性状态进行拆分离散,在提高离散精度的同时保留了模型局部非线性的特性。根据该模型中状态方程仅部分非线性、线性与非线性部分相互解耦且相互作用的特点,基于矩阵分块计算提出了局部非线性卡尔曼滤波器(LNKF),并且设计了一种没有信息损失的简化采样点设置方法。该滤波器融合线性运算与非线性运算,在避免状态信息的损失的基础上降低了算法的计算复杂度。将所提算法应用于非合作航天器的远程相对状态估计,与扩展卡尔曼滤波(EKF)算法和容积卡尔曼滤波(CKF)算法进行对比。仿真结果表明:LNKF在保证计算精度的前提下,计算效率明显高于CKF。In order to estimate the long-distance relative state of space non-cooperative spacecraft,a nonlinear relative motion model for the long-distance tracking of non-cooperative space spacecraft is established.The linear and nonlinear states are separated and discretized,by which the discretization accuracy is improved while the local nonlinear characteristics of the model are preserved.In view of the features that the state equation of this model is only partially nonlinear and the linear and nonlinear parts are decoupled from each other while interacting with each other,a local nonlinear Kalman filter(LNKF)is proposed based on matrix partitioning,and a simplified setting method of quadrature points without information loss is designed.This filter combines both linear and nonlinear operations,which reduces the computational complexity of the algorithm on the basis of avoiding the loss of state information.The proposed algorithm is applied to the long-distance relative state estimation for non-cooperative spacecraft,and the simulation results show that the calculation efficiency of the LNKF is significantly higher than that of the extended Kalman filter(EKF)and cubature Kalman filter(CKF)on the premise of ensuring the calculation accuracy.

关 键 词：非合作航天器 相对状态估计 非线性滤波 分块矩阵 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]