第4期
第21卷 2013年4月
1004-924X(2013)04-1032-08
文章编号
光学精密工程
Optics and Precision Engineering
基于改进的无迹卡尔曼滤波确
定视线感知相对状态
王晓初，尤政*，赵开春
（清华大学精密测试技术及仪器国家重点实验室，北京100084）
Vol. 21No.4
Apr.2013
摘要：基于视线传感器原理，研究了如何确定摄动作用下两颗卫星间相对状态的间题。采用VISNAV传感器作为相对状态传感器，并应用一种改进滤波算法实现了间题求解，首先，考虑了两颗卫星间相对位置与相对姿态的运动方程及摄动作用的影响，给出了改进的离散系统方程及其误差协方差矩阵的取值方法，避免了复杂协方差矩阵的实时额外求解，降低了算法计算量及实施难度。最后，给出相应的无迹卡尔曼滤波（UKF)算法并通过STK和MATLAB软件进行了数
因索作用的前提下，改进的方法能够在200m的相对距离内达到角秒级的相对姿态确定精度和毫米级的相对位置确定精度，完全可以满足近距离自由飞行卫星间的相对状态确定要求。
关键调：视线传感器；相对状态确定：摄动；改进的无连卡尔受滤波；
中图分类号：V412.42;V474.1
文献标识码：A
doi;10.3788/OPE,20132104.1032
Determinationofvision-basedrelativestate
bymodifiedunscentedKalman filter WANG Xiao-chu,YOU Zheng',ZHAOKai-chun
(StateKeyLaboratory of Precision Measurement Technologyand Instruments，TsinghuaUniversity，Beijing100084，China)*Correspondingauthor,E-mail:yz-dpi@mail.tsinghua.edu.cn
Abstract: On the basis of the principle of a VISNAV sensor, this paper researches how to determine the vision-based relative state between two satellites with disturbances. By taking the VISNAV sensor as a relative state sensor, the problem mentioned above is solved by a modified Kalman filter algo rithm. In consideration of the relative orbit dynamics equation with disturbance and the relative atti-tude kinematic equation, it gives modified discrete equation and a calculation method for the error co-variance matrix. By which the method avoids the complicated real-time operations of large dimensional matrices in every loop and reduces computation amounts. Finally, the corresponding modified Un-scented Kalman Filter (UKF)method followed by a numerical simulation experiment is performed un der STK and MATLAB. Results demonstrate that the method is feasible, effective and has good con-vergence. Under disturbance condition, its determination accuracy in 2oo m is an angle second level
收稿日期：2012-11-14；修订日期：2012-11-26
基金项目：中国博士后科学基金特别资助项目（No.201104127）