GPS/速率陀螺组合Kalman滤波姿态确定算法研究  

Study of kalman filtering attitude determination algorithms for GPS/Rate gyro integrated system

作　　者：罗建军[1] 袁建平[1] 王军武[1] 

机构地区：[1]西北工业大学航天工程学院,西安710072

出　　处：《宇航学报》2003年第2期210-212,共3页Journal of Astronautics

基　　金：国家 8 63课题资助 (课题编号 :863 -2 -2 -4 -8)

摘　　要：建立了 GPS/速率陀螺组合姿态估计系统的模型 ,研究比较了三种典型的 Kalm an滤波姿态确定算法 :状态扩充法、量测量求差法和时变噪声估计跟踪自适应滤波算法。给出了某航天器采用 GPS/速率陀螺组合姿态确定的仿真计算结果 ,并对结果进行了分析。结果表明 ,与传统 Kalman滤波算法比较 ,时变噪声跟踪自适应滤波算法和量测量求差滤波算法能较好地消除 GPS测量中相关时变噪声的影响 ,提高姿态确定的精度 ;而且时变噪声跟踪自适应滤波算法能很好地消除由于噪声统计性能的不确定性对 Kalm an滤波的影响 。GPS/rate gyro integrated attitude determination system,a typical spacecraft attitude determination scheme which uses the measurement information from GPS,rate gyro and spacecraft attitude dynamics to estimate the attitude information and measurement errors of GPS and gyro by filtering algorithms,has the characteristics of high accuracy,good reliability and low cost.In this paper,the models for GPS/rate gyro integrated attitude determination system are established.Three Kalman filtering algorithms including state augment,measurement difference and adaptive Kalman filtering method are given and analyzed.An adaptive Kalman filtering algorithm,which has the characteristic of time varied noise statistic following and estimation,is presented.Simulation results of GPS/rate gyro integrated attitude determination system using these algorithms are carried out and analyzed.Compared with the traditional Kalman filtering algorithm,both the adaptive Kalman filtering algorithm and the measurement difference algorithm can reduce the influence of time varied measurement noise and improve the accuracy of attitude determination,and the adaptive Kalman filter can also mitigate the effect of the uncertainly of noise statistic on Kalman filter,which improves the performance of the attitude determination system.

关 键 词：KALMAN滤波 姿态确定 算法 全球定位系统 速率陀螺 三轴稳定卫星 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]