小卫星多传感器自主导航关键技术研究
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摘要
现代小卫星以其低廉的成本、机动灵活的特点以及快速吸纳新技术的能力,在各个国家正越来越受到重视。本文针对低轨小卫星的技术特点,开展了小卫星自主导航技术与组合导航技术研究,主要研究内容包括以下几个方面:
鉴于磁强计具有体积小、重量轻的特点以及良好的自主导航性能,本文首先深入研究了基于地磁信息的自主导航方法。在此基础上,提出了磁强计/雷达高度计组合定轨的小卫星自主定轨基本方案,设计了地心赤道惯性坐标系下磁强计/雷达高度计组合滤波算法。为有效改善单纯依靠地磁自主导航在精度和可靠性方面的不足,进一步研究了基于星敏感器/红外地球敏感器的自主导航方法和基于紫外敏感器的自主导航方法,以此作为对地磁导航方案的有效补充,设计了基于联邦滤波的小卫星多传感器自主导航方案,有效提高了自主导航系统的精度和可靠性。
针对小卫星非线性定轨特点,将UKF算法(Unscented Kalman Filter)引入到自主导航系统中。针对基于对称采样策略的UKF算法在计算效率方面的不足,提出了改进的基于最小偏度采样策略的SRUKF(Square Root Unscented Kalman Filter)算法,又进一步提出了基于无复位结构的组合导航系统联邦SRUKF滤波算法,从而有效提高了多传感器组合导航系统的定轨精度;同时,还针对多传感器组合导航系统中存在量测周期不一致的问题,提出了实现联邦SRUKF滤波信息同步处理的算法,从而确保了多传感器信息的有效融合。上述研究成果对小卫星导航系统的实际应用具有重要的理论意义和工程价值。
为了提高多传感器组合导航系统的可靠性和容错性能,研究了应用于联邦SRUKF滤波器的故障检测算法;首先,针对常规状态χ2检验法存在的局限性,提出了改进的双状态χ2检验法;然后,采用模糊阈值的方法对残差χ2检验法进行了改进;在此基础上,设计了联邦SRUKF滤波器的容错方案:在主滤波器中使用双状态χ2检验法,在子滤波器中使用改进后的残差χ2检验法,实现对系统渐变故障和突变故障的有效检测和隔离。
最后,为了对本文提出的算法和方案进行有效验证,将专业卫星仿真软件STK(Satellite Tool Kit)与MATLAB相结合,设计并实现了小卫星轨道确定系统软件仿真平台。将上述重要算法在该平台上进行了大量的测试,取得了良好的效果,为算法的实际应用打下了坚实的基础。
Modern small satellites are attracting more and more attention all over the world because of the low-cost, ability of new technologies rapid adopting, and smart flexibility. In this dissertation, the technical characteristics of LEO (low earth orbit) small satellite for the study, the autonomous navigation technology and the integrated navigation technology is carried out, which mainly consist of the following parts:
Firstly, in view of the superiority of geomagnetic navigation method, a scheme of using magnetometer/radar altimeter as the small satellite’s basic autonomous orbit determination sensor is bring forward based on the research of the conventional methods of geomagnetic navigation, so a filtering algorithm in the earth-centered inertial Cartesian coordinate system of this scheme is established. In addition, for enhance the geomagnetic navigation plan’s accuracy and reliability effectively, the star sensor and infrared horizon sensor based autonomous navigation method and the ultraviolet sensor based autonomous navigation method was studied. Taken these two methods as the effective supplement of the geomagnetic navigation plan, a corresponding small satellite multi-sensor autonomous navigation scheme which use federated filtering structure is set up. The autonomous navigation system’s accuracy and reliability are improved.
Secondly, because of the typical nonlinear characteristic of small satellite orbit determination system, the implementation method of unscented Kalman filter (UKF) which based on the symmetrical distributed sampling strategy is analyzed, becaused of the low efficiency of this algorithm, the improved square root unscented Kalman filter (SRUKF) algorithm which uses the minimal skew sampling strategy is put forward. On the basis of it, a federated SRUKF algorithm which combines the federated Kalman filter with the square root unscented Kalman filter is proposed subsequently, it can increase the accuracy of the multi-sensor navigation system. Furthermore, aimed to the problem of the local filters have different intervals, a relevant multi-information fusion filtering algorithm is presented. So the integration of multi-sensor information is ensured. The study mentioned above has important theoretical significance and engineering value to the practical application of the small satellite navigation system.
Thirdly, for the purpose of enhance the reliability and the fault-tolerant performance of the integrated system, the fault detection algorithms of federated SRUKF is studied. For the limitations of state chi-square detection method, the improved double state chi-square detection algorithm is put forward, furthermore, the improved residual chi-square detection method which used fuzzy threshold is discussed. The fault-tolerant scheme and algorithms of small satellite autonomous and integrated system are designed on the basis of it. The double state chi-square detection method is used in the master filter to avoid the gradual fault and the improved residual chi-square detection method is used in the local filters to avoid the abrupt fault, so the gradual faults and abrupt faults are both detected and isolated.
Finally, for verify the proposed schemes and algorithms in this paper effectively; the orbit determination simulation platform for small satellite is constructed. This platform is composed of the professional satellite simulation software STK (satellite tool kit) and MATLAB. The small satellite fault-tolerant multi-sensor integrated navigation system has been simulated on the platform and gained good effect; it laid a solid foundation for the practical application of algorithms.
鉴于磁强计具有体积小、重量轻的特点以及良好的自主导航性能,本文首先深入研究了基于地磁信息的自主导航方法。在此基础上,提出了磁强计/雷达高度计组合定轨的小卫星自主定轨基本方案,设计了地心赤道惯性坐标系下磁强计/雷达高度计组合滤波算法。为有效改善单纯依靠地磁自主导航在精度和可靠性方面的不足,进一步研究了基于星敏感器/红外地球敏感器的自主导航方法和基于紫外敏感器的自主导航方法,以此作为对地磁导航方案的有效补充,设计了基于联邦滤波的小卫星多传感器自主导航方案,有效提高了自主导航系统的精度和可靠性。
针对小卫星非线性定轨特点,将UKF算法(Unscented Kalman Filter)引入到自主导航系统中。针对基于对称采样策略的UKF算法在计算效率方面的不足,提出了改进的基于最小偏度采样策略的SRUKF(Square Root Unscented Kalman Filter)算法,又进一步提出了基于无复位结构的组合导航系统联邦SRUKF滤波算法,从而有效提高了多传感器组合导航系统的定轨精度;同时,还针对多传感器组合导航系统中存在量测周期不一致的问题,提出了实现联邦SRUKF滤波信息同步处理的算法,从而确保了多传感器信息的有效融合。上述研究成果对小卫星导航系统的实际应用具有重要的理论意义和工程价值。
为了提高多传感器组合导航系统的可靠性和容错性能,研究了应用于联邦SRUKF滤波器的故障检测算法;首先,针对常规状态χ2检验法存在的局限性,提出了改进的双状态χ2检验法;然后,采用模糊阈值的方法对残差χ2检验法进行了改进;在此基础上,设计了联邦SRUKF滤波器的容错方案:在主滤波器中使用双状态χ2检验法,在子滤波器中使用改进后的残差χ2检验法,实现对系统渐变故障和突变故障的有效检测和隔离。
最后,为了对本文提出的算法和方案进行有效验证,将专业卫星仿真软件STK(Satellite Tool Kit)与MATLAB相结合,设计并实现了小卫星轨道确定系统软件仿真平台。将上述重要算法在该平台上进行了大量的测试,取得了良好的效果,为算法的实际应用打下了坚实的基础。
Modern small satellites are attracting more and more attention all over the world because of the low-cost, ability of new technologies rapid adopting, and smart flexibility. In this dissertation, the technical characteristics of LEO (low earth orbit) small satellite for the study, the autonomous navigation technology and the integrated navigation technology is carried out, which mainly consist of the following parts:
Firstly, in view of the superiority of geomagnetic navigation method, a scheme of using magnetometer/radar altimeter as the small satellite’s basic autonomous orbit determination sensor is bring forward based on the research of the conventional methods of geomagnetic navigation, so a filtering algorithm in the earth-centered inertial Cartesian coordinate system of this scheme is established. In addition, for enhance the geomagnetic navigation plan’s accuracy and reliability effectively, the star sensor and infrared horizon sensor based autonomous navigation method and the ultraviolet sensor based autonomous navigation method was studied. Taken these two methods as the effective supplement of the geomagnetic navigation plan, a corresponding small satellite multi-sensor autonomous navigation scheme which use federated filtering structure is set up. The autonomous navigation system’s accuracy and reliability are improved.
Secondly, because of the typical nonlinear characteristic of small satellite orbit determination system, the implementation method of unscented Kalman filter (UKF) which based on the symmetrical distributed sampling strategy is analyzed, becaused of the low efficiency of this algorithm, the improved square root unscented Kalman filter (SRUKF) algorithm which uses the minimal skew sampling strategy is put forward. On the basis of it, a federated SRUKF algorithm which combines the federated Kalman filter with the square root unscented Kalman filter is proposed subsequently, it can increase the accuracy of the multi-sensor navigation system. Furthermore, aimed to the problem of the local filters have different intervals, a relevant multi-information fusion filtering algorithm is presented. So the integration of multi-sensor information is ensured. The study mentioned above has important theoretical significance and engineering value to the practical application of the small satellite navigation system.
Thirdly, for the purpose of enhance the reliability and the fault-tolerant performance of the integrated system, the fault detection algorithms of federated SRUKF is studied. For the limitations of state chi-square detection method, the improved double state chi-square detection algorithm is put forward, furthermore, the improved residual chi-square detection method which used fuzzy threshold is discussed. The fault-tolerant scheme and algorithms of small satellite autonomous and integrated system are designed on the basis of it. The double state chi-square detection method is used in the master filter to avoid the gradual fault and the improved residual chi-square detection method is used in the local filters to avoid the abrupt fault, so the gradual faults and abrupt faults are both detected and isolated.
Finally, for verify the proposed schemes and algorithms in this paper effectively; the orbit determination simulation platform for small satellite is constructed. This platform is composed of the professional satellite simulation software STK (satellite tool kit) and MATLAB. The small satellite fault-tolerant multi-sensor integrated navigation system has been simulated on the platform and gained good effect; it laid a solid foundation for the practical application of algorithms.
引文
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