星敏感器陀螺姿态确定系统在轨标定研究
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摘要
姿态敏感器在轨标定本质上是实时地消除各种因素所致的系统性姿态误差,随着航天任务对姿态精度需求逐渐提高,在轨标定应用将越来越广泛。本文以星敏感器、陀螺组成的姿态确定系统为基本研究对象,对星敏感器在轨标定和姿态敏感器安装标定进行研究。本文主要内容细分如下:
1.针对星敏感器成像过程中成像参数漂移造成星敏姿态输出具有系统性误差的问题,本文使用与航天器自身姿态无关的星角距不变原则对包括星敏感器像平面主点偏移、焦距偏差和镜头畸变在内的星敏感器主要成像参数进行了标定指标函数的建立,并对使用遗传算法对指标函数进行求解进行研究。
2.在传统的Shuster提出的测量方差基础上,进一步在机理上提出了两种可能的方差形式——光锥方差和镜头畸变方差,相应给出了方差的影响方式。
3.针对星敏感器在航天器姿态机动过程中出现姿态信息输出延迟和姿态方差增大问题,进行了机理建模和补偿方法的研究,并基于Kalman滤波方法对上述问题作出修正。
4.针对星敏感器、陀螺组成的姿态确定系统在轨安装标定,为了真正实现确定航天器关键部件姿态,引入可以给出有效姿态信息的光学有效载荷,实现绝对安装方位标定。进行姿态敏感器间安装参数建模,以星敏感器为标定基准敏感器,建立陀螺、光学有效载荷相对星敏感器的相对安装参数矩阵,使得星敏感器、陀螺等姿态敏感器输出的姿态信息直接与航天器有效载荷关联,进而保证姿态确定的直接、有效性。在建立标定模型的基础上,依据不同需求进行了标准EKF、偏差隐式EKF、偏差显式EKF和UKF算法应用在安装标定领域的研究。
5.针对姿态敏感器安装参数标定中系统维数大、计算量重的问题,基于线性分段常值方法、李导数秩条件、奇异值分解等可观性分析方法,以标准状态EKF为例进行可观性分析,并基于可观性分析对标定系统进行降维研究。
The essense of in-orbit calibration on attitude sensors is that it can reduce the sysyemerror e?ectively. With the increasing demand of precision, in-orbit calibration will be ap-plied more and more widely. This paper takes the attitude determination system composedof star tracker and gyroscopes as research object, focuses on two major aspects:researchon the factors in?uencing the results from star tracker, calibration model is bulit and ef-fective method is proposed; research on the alignment among attitude sensors, definitebase sensor is given, payload is added, and then several estimator is presented for thecalibration, in the end a reducing dimensions calibration scheme is proposed.
1.Traditional used measure variance is based on the simplified by the assumptionof small FOV. And with the development of star tracker, larger FOV is more and morecommon. In this situation, a new, fine variance model is needed to be studied. This paperpresents two theoretical models, one is called light cone variance and the other is calleddistortion variance.
2.The drift of imaging parameters of star tracker could a?ects the results of attitudedetermination, this paper presents a method to calibrate the principle points drift, focaldrift, distortion of star lens using equal angular criterion. A genetic algorithm is used tosolve the problem.
3.When star tracker rotates fast, the precision of the star tracker output will be a lagsignal, and the magnitude of measure variance will get larger. A model is proposed, anda calibration method is presented.
4.Alignment calibration on the system composed of star tracker, gyroscopes andoptic payload is researched. Since the payload is added to the calibration. Obsolute cali-bration can be proceeding. Several estimators are given, and the comparation is analyzed.
5.For the high dimension of calibration system this paper proposed, a reduced di-mension calibraiton system based on the analysis is presented.
1.针对星敏感器成像过程中成像参数漂移造成星敏姿态输出具有系统性误差的问题,本文使用与航天器自身姿态无关的星角距不变原则对包括星敏感器像平面主点偏移、焦距偏差和镜头畸变在内的星敏感器主要成像参数进行了标定指标函数的建立,并对使用遗传算法对指标函数进行求解进行研究。
2.在传统的Shuster提出的测量方差基础上,进一步在机理上提出了两种可能的方差形式——光锥方差和镜头畸变方差,相应给出了方差的影响方式。
3.针对星敏感器在航天器姿态机动过程中出现姿态信息输出延迟和姿态方差增大问题,进行了机理建模和补偿方法的研究,并基于Kalman滤波方法对上述问题作出修正。
4.针对星敏感器、陀螺组成的姿态确定系统在轨安装标定,为了真正实现确定航天器关键部件姿态,引入可以给出有效姿态信息的光学有效载荷,实现绝对安装方位标定。进行姿态敏感器间安装参数建模,以星敏感器为标定基准敏感器,建立陀螺、光学有效载荷相对星敏感器的相对安装参数矩阵,使得星敏感器、陀螺等姿态敏感器输出的姿态信息直接与航天器有效载荷关联,进而保证姿态确定的直接、有效性。在建立标定模型的基础上,依据不同需求进行了标准EKF、偏差隐式EKF、偏差显式EKF和UKF算法应用在安装标定领域的研究。
5.针对姿态敏感器安装参数标定中系统维数大、计算量重的问题,基于线性分段常值方法、李导数秩条件、奇异值分解等可观性分析方法,以标准状态EKF为例进行可观性分析,并基于可观性分析对标定系统进行降维研究。
The essense of in-orbit calibration on attitude sensors is that it can reduce the sysyemerror e?ectively. With the increasing demand of precision, in-orbit calibration will be ap-plied more and more widely. This paper takes the attitude determination system composedof star tracker and gyroscopes as research object, focuses on two major aspects:researchon the factors in?uencing the results from star tracker, calibration model is bulit and ef-fective method is proposed; research on the alignment among attitude sensors, definitebase sensor is given, payload is added, and then several estimator is presented for thecalibration, in the end a reducing dimensions calibration scheme is proposed.
1.Traditional used measure variance is based on the simplified by the assumptionof small FOV. And with the development of star tracker, larger FOV is more and morecommon. In this situation, a new, fine variance model is needed to be studied. This paperpresents two theoretical models, one is called light cone variance and the other is calleddistortion variance.
2.The drift of imaging parameters of star tracker could a?ects the results of attitudedetermination, this paper presents a method to calibrate the principle points drift, focaldrift, distortion of star lens using equal angular criterion. A genetic algorithm is used tosolve the problem.
3.When star tracker rotates fast, the precision of the star tracker output will be a lagsignal, and the magnitude of measure variance will get larger. A model is proposed, anda calibration method is presented.
4.Alignment calibration on the system composed of star tracker, gyroscopes andoptic payload is researched. Since the payload is added to the calibration. Obsolute cali-bration can be proceeding. Several estimators are given, and the comparation is analyzed.
5.For the high dimension of calibration system this paper proposed, a reduced di-mension calibraiton system based on the analysis is presented.
引文
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[5] Appel P. Attitude Estimation from Magnetometer and Earth-albedo-correctedCoarse Sun Sensor Measurements[J]. Acta Astronautica, 2005, 56(1-2):115–126.
[6]李松.数字式太阳敏感器标定与抗干扰分析[D].哈尔滨:哈尔滨工业大学,2009:1–48.
[7] Akella M, Halbert J, Kotamraju G. Rigid Body Attitude Control with Inclinometerand Low-cost Gyro Measurements[J]. Systems & control letters, 2003, 49(2):151–159.
[8]袁彦红.星敏感器在轨标定算法研究[D].哈尔滨:哈尔滨工业大学, 2007:1–74.
[9] Reid D B. Calibration of the Milstar Attitude Determination System[C]//AmericanControl Conference. Chicago, Illinois: IEEE, 1997:557–563.
[10] Erikjebo. Satellite Attitude Determination-three-axis Attitude Determination UsingMagnetometers and a Star Tracker[D]. :Department of Engineering Department ofEngineering Cybernetics,NTNU, 2000.
[11]苏雪峰,覃方君,许江宁,等.一种六加速度计无陀螺惯性导航系统安装误差校准方法研究[J]. JOURNAL OF NAVAL UNIVERSITY OF ENGINEERING,2007, 19(4):102–105.
[12]周红进,许江宁,刘睿.基于加速度计的无陀螺惯性导航系统设计与仿真[J]. SYSTEMS ENGINEERING, 2007, 29(7):1209–1212.
[13]孟红秋.无陀螺及单陀螺捷联惯性导航系统研究[D].哈尔滨:哈尔滨工程大学, 2008:21–48.
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