基于扩展卡尔曼滤波的星敏感器在轨几何标定
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摘要
星敏感器在轨几何标定是消除其系统测量误差,提高姿态确定精度的有效手段之一。目前利用星对角距相等进行星敏感器在轨标定时,大多采用最小二乘求得全局最优的静态待标定参数,但没有完全反映出恒星相机工作期间受外太空环境变化导致内部参数发生的微小动态变化。为了进一步提高星敏感器参数的在轨标定精度,文章在对星图识别结果预处理的基础上,引入扩展卡尔曼滤波对当前星图时刻对应的相机参数进行实时标定,动态获取当前最优参数值。利用该文所提方法对"资源三号"01/02星国产星敏感器进行在轨标定,试验结果表明所提方法能够有效标定当前星敏感器的参数误差,其精度优于传统的最小二乘标定方法,验证了该方法具有更好的适应性和可靠性,为星敏感器的在轨几何标定提供了一种技术参考,可用于卫星在轨实时标定或地面卫星姿态后处理。
The geometric calibration of star tracker on orbit is one of the effective means to eliminate the systematic measurement error and improve the accuracy of attitude determination. As to the present calibration method with star-pair angular distances, the least square method is mostly used to obtain the globally optimal static parameters to be calibrated, which does not fully characterize the small dynamic changes of internal parameters caused by the variations of outer space environment during the operation of star cameras. In order to further improve the on-orbit calibration accuracy of star tracker parameters, based on the preprocessing of the star map recognition results, this paper introduces Extended Kalman Filter(EKF)to calibrate the camera parameters corresponding to the current star map moments in real time and dynamically obtain the current optimal parameter values. Using the method proposed in the article, the ZY-301/02 domestic star tracker is calibrated on orbit. The test results show that the proposed method can effectively calibrate the parameter error of the current star tracker, with better accuracy, adaptability and reliability than the traditional least square method. The proposed method can be used for real-time satellite orbit calibration or ground satellite attitude post-processing, providing a technical reference for on-orbit geometry calibration of star tracker.
The geometric calibration of star tracker on orbit is one of the effective means to eliminate the systematic measurement error and improve the accuracy of attitude determination. As to the present calibration method with star-pair angular distances, the least square method is mostly used to obtain the globally optimal static parameters to be calibrated, which does not fully characterize the small dynamic changes of internal parameters caused by the variations of outer space environment during the operation of star cameras. In order to further improve the on-orbit calibration accuracy of star tracker parameters, based on the preprocessing of the star map recognition results, this paper introduces Extended Kalman Filter(EKF)to calibrate the camera parameters corresponding to the current star map moments in real time and dynamically obtain the current optimal parameter values. Using the method proposed in the article, the ZY-301/02 domestic star tracker is calibrated on orbit. The test results show that the proposed method can effectively calibrate the parameter error of the current star tracker, with better accuracy, adaptability and reliability than the traditional least square method. The proposed method can be used for real-time satellite orbit calibration or ground satellite attitude post-processing, providing a technical reference for on-orbit geometry calibration of star tracker.
引文
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[14]孙利,江洁,李健,等.多视场星敏感其结构参数标定方法[J].北京航空航天大学学报,2015,41(8):1532-1538.SUN Li,JIANG Jie,LI Jian,et al.Structural Parameter Calibration Method for Multiple Field of View Star Tracker[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(8):1532-1538.(in Chinese)
[15]刘宇,戴东凯,伏思华,等.星敏感器内参数标定误差研究[J].光学与光电技术,2017,15(6):77-83.LIU Yu,DAI Dongkai,FU Sihua,et al.Research on the Calibration Errors of Star Tracker Intrinsic Parameters[J].Optics&Optoelectronic Technology,2017,15(6):77-83.(in Chinese)
[16]张友民,戴冠中,张洪才.卡尔曼滤波计算方法研究进展[J].控制理论与应用,1995(5):529-538.ZHANG Youmin,DAI Guanzhong,ZHANG Hongcai.The New Development of Kalman Filtering Algorithms[J].Control Theory and Applications,1995(5):529-538.(in Chinese)
[17]张洪才,张友民,贺志斌.一种鲁棒自适应推广卡尔曼滤波及其在飞行状态估计中的应用[J].信息与控制,1992,21(6):343-348.ZHANG Hongcai,ZHANG Youmin,HE Zhibin.A Robust Adaptive Extended Kalman Filter and Its Application to Flight State Estimation[J].Information and Control,1992,21(6):343-348.(in Chinese)
[18]马平.卡尔曼滤波算法的收敛速度[J].山东师大学报(自然科学版),1997(3):325-328.MA Ping.Convergence Rate of Kalman Filter Algorithm[J].Journal of Shandong Normal University(Natural Science),1997(3):325-328.(in Chinese)
[19]谢俊峰,唐新明,莫凡,等.资源三号国产星敏感器事后定姿方案设计与系统实现[J].武汉大学学报(信息科学版),2017,42(4):434-440.XIE Junfeng,TANG Xinming,MO Fan,et al.Domestic Stellar Image Post-processing Project Design and System Implementation for ZY-3 Satellite[J].Geomatics and Information Science of Wuhan University,2017,42(4):434-440.(in Chinese)
[20]毛燕清,徐玉玲,甘雅婧,等.资源三号卫星影像在1:1万地形图更新中应用研究[J].江西测绘,2018(3):29-31.MAO Yanqing,XU Yuling,GAN Yajing,et al.The Application of ZY3 Satellite Images in Updating 1:10000 Topographic Maps[J].Jiangxi Surveying and Mapping,2018(3):29-31.(in Chinese)
[21]唐新明,谢俊峰,张过.测绘卫星技术总体发展和现状[J].航天返回与遥感,2012,33(3):17-24.TANG Xinming,XIE Junfeng,ZHANG Guo.Development and Status of Mapping Satellite Technology[J].Spacecraft Recovery&Remote Sensing,2012,33(3):17-24.(in Chinese)
[22]岳阳阳.双CCD星敏感器标定方法研究[D].长沙:国防科学技术大学,2015.YUE Yangyang.Calibration Method of Double-CCD Star Sensor[D].Changsha:National University of Defense Technology,2015.(in Chinese)
[23]孙利,江洁,李健,等.多视场星敏感器结构参数标定方法[J].北京航空航天大学学报,2015,41(8):1532-1538.SUN Li,JIANG Jie,LI Jian,et al.Structural Parameter Calibration Method for Multiple Filed of View Star Tracker[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(8):1532-1538.(in Chinese)
[2]王晓东.大视场高精度星敏感器技术研究[D].长春:中国科学院研究生院(长春光学精密机械与物理研究所),2003.WANG Xiaodong.Research on High-precision Star Sensor Technology for Large Field of View[D].Changchun:Chinese Academy of Sciences(Changchun Institute of Optics,Fine Mechanics and Physics),2003.(in Chinese)
[3]梁斌,朱海龙,张涛,等.星敏感器技术研究现状及发展趋势[J].中国光学,2016,9(1):16-29.LIANG Bin,ZHU Hailong,ZHANG Tao,et al.Research Status and Development Tendency of Star Tracker Technique[J].Chinese Journal of Optics,2016,9(1):16-29.(in Chinese)
[4]JU G.Autonomous Star Sensing,Pattern Identification,and Attitude Determination for Spacecraft:An Analytical and Experimental Study[D].College Station,Texas:Texas A&M University,2001.
[5]SAMAAN M A.Toward Faster and More Accurate Star Tracker Using Recursive Centroiding and Star Identification[D].College Station,Texas:Texas A&M University,2003:25-29.
[6]郝雪涛,张广军,江洁.星敏感器模型参数分析与校准方法研究[J].光电工程,2005,32(3):5-8.HAO Xuetao,ZHANG Guangjun,JIANG Jie.Star Tracker Model Parameter Analysis and Calibration Method[J].Opto-electronic Engineering,2005,32(3):5-8.(in Chinese)
[7]刑飞,董瑛,武延鹏,等.星敏感器参数分析与自主校正[J].清华大学学报(自然科学版),2005,45(11):1484-1488.XING Fei,DONG Ying,WU Yanpeng,et al.Star Tracker Parametric Analysis for Autonomous Calibration[J].Journal of Tsinghua University(Science and Technology),2005,45(11):1484-1488.(in Chinese)
[8]谢俊峰,龚健雅,江万寿.一种改进的恒星相机在轨检校方法[J].测绘科学,2009,34(2):121-123.XIE Junfeng,GONG Jianya,JIANG Wanshou.An Improved On-orbit Calibration Method for Stellar Camera[J].Science of Surveying and Mapping,2009,34(2):121-123.(in Chinese)
[9]钟红军,杨孟飞,卢欣.星敏感器标定方法研究[J].光学学报,2010,30(5):1343-1348.ZHONG Hongjun,YANG Mengfei,LU Xin.Calibration Method of Star Tracker[J].Atca Optica Sinica,2010,30(5):1343-1348.(in Chinese)
[10]王之卓.摄影测量原理[M].北京:测绘出版社,1979.WANG Zhizhuo.Photogrammetric Principle[M].Beijing:Sino Maps,1979.(in Chinese)
[11]冯文灏.近景摄影测量[M].武汉:武汉大学出版社,2002.FENG Wenhao.Close Range Photogrammetry[M].Wuhan:Wuhan University Press,2002.(in Chinese)
[12]谢俊峰,江万寿,龚健雅.顾及星像点分布的恒星相机在轨检校[J].北京航空航天大学学报,2011,37(10):1271-1276.XIE Junfeng,JIANG Wanshou,GONG Jianya.On-orbit Calibration of Stellar Camera Considering Distribution of Star Image Points[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(10):1271-1276.(in Chinese)
[13]李江操.基于星敏感器的星图识别算法的研究[D].成都:中国科学院大学(中国科学院光电技术研究所),2018.LI Jiangcao.Research of Star Identification Algorithm Based on Star Tracker[D].Chengdu:University of Chinese Academy of Sciences,2018.(in Chinese)
[14]孙利,江洁,李健,等.多视场星敏感其结构参数标定方法[J].北京航空航天大学学报,2015,41(8):1532-1538.SUN Li,JIANG Jie,LI Jian,et al.Structural Parameter Calibration Method for Multiple Field of View Star Tracker[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(8):1532-1538.(in Chinese)
[15]刘宇,戴东凯,伏思华,等.星敏感器内参数标定误差研究[J].光学与光电技术,2017,15(6):77-83.LIU Yu,DAI Dongkai,FU Sihua,et al.Research on the Calibration Errors of Star Tracker Intrinsic Parameters[J].Optics&Optoelectronic Technology,2017,15(6):77-83.(in Chinese)
[16]张友民,戴冠中,张洪才.卡尔曼滤波计算方法研究进展[J].控制理论与应用,1995(5):529-538.ZHANG Youmin,DAI Guanzhong,ZHANG Hongcai.The New Development of Kalman Filtering Algorithms[J].Control Theory and Applications,1995(5):529-538.(in Chinese)
[17]张洪才,张友民,贺志斌.一种鲁棒自适应推广卡尔曼滤波及其在飞行状态估计中的应用[J].信息与控制,1992,21(6):343-348.ZHANG Hongcai,ZHANG Youmin,HE Zhibin.A Robust Adaptive Extended Kalman Filter and Its Application to Flight State Estimation[J].Information and Control,1992,21(6):343-348.(in Chinese)
[18]马平.卡尔曼滤波算法的收敛速度[J].山东师大学报(自然科学版),1997(3):325-328.MA Ping.Convergence Rate of Kalman Filter Algorithm[J].Journal of Shandong Normal University(Natural Science),1997(3):325-328.(in Chinese)
[19]谢俊峰,唐新明,莫凡,等.资源三号国产星敏感器事后定姿方案设计与系统实现[J].武汉大学学报(信息科学版),2017,42(4):434-440.XIE Junfeng,TANG Xinming,MO Fan,et al.Domestic Stellar Image Post-processing Project Design and System Implementation for ZY-3 Satellite[J].Geomatics and Information Science of Wuhan University,2017,42(4):434-440.(in Chinese)
[20]毛燕清,徐玉玲,甘雅婧,等.资源三号卫星影像在1:1万地形图更新中应用研究[J].江西测绘,2018(3):29-31.MAO Yanqing,XU Yuling,GAN Yajing,et al.The Application of ZY3 Satellite Images in Updating 1:10000 Topographic Maps[J].Jiangxi Surveying and Mapping,2018(3):29-31.(in Chinese)
[21]唐新明,谢俊峰,张过.测绘卫星技术总体发展和现状[J].航天返回与遥感,2012,33(3):17-24.TANG Xinming,XIE Junfeng,ZHANG Guo.Development and Status of Mapping Satellite Technology[J].Spacecraft Recovery&Remote Sensing,2012,33(3):17-24.(in Chinese)
[22]岳阳阳.双CCD星敏感器标定方法研究[D].长沙:国防科学技术大学,2015.YUE Yangyang.Calibration Method of Double-CCD Star Sensor[D].Changsha:National University of Defense Technology,2015.(in Chinese)
[23]孙利,江洁,李健,等.多视场星敏感器结构参数标定方法[J].北京航空航天大学学报,2015,41(8):1532-1538.SUN Li,JIANG Jie,LI Jian,et al.Structural Parameter Calibration Method for Multiple Filed of View Star Tracker[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(8):1532-1538.(in Chinese)