Acta Photonica Sinica, Volume. 49, Issue 1, 0128001(2020)
High Precision Attitude Determination Method for Star Camera Based on UKF
Figures & Tables(12)
Fig. 1. 基于UKF的恒星相机和陀螺联合定姿算法流程The diagram of attitude determination algorithm for star camera and gyroscope based on UKF
Table 1. Simulative data parameters of star camera and gyroscope
View tableView in ArticleTable 1. Simulative data parameters of star camera and gyroscope
Equatorial radius of the earth/m Semi-major axis of satellite orbit/m Inclination angle of satellite orbit/(°) Right ascension of ascending node Right ascension rate of ascending node Optical axis angle of star camera/(°) Optical axis direction vector of star camera 6 371 000 6 863 963 97.371 6 rad(140 000) 0.000 1 114.9 (0.8, 0.5, -0.1) (-0.8, 0.5, -0.1)
Table 2. Explanation of simulative experiments
View tableView in ArticleTable 2. Explanation of simulative experiments
Number Star camera parameters Gyroscope parameters Error/(″) Frequency/Hz Error/(″) Frequency/Hz 1 5 5 0.2~2.4 10 2 2 5 0.2~2.4 10 3 1 5 0.2~2.4 10
Table 3. Results of simulative experiment 1
View tableView in ArticleTable 3. Results of simulative experiment 1
Gyroscope error(″/s) Attitude precision of EKF(″/3σ) Attitude precision of UKF(″/3σ) Pitch Roll Yaw Pitch Roll Yaw 0.2 0.72 0.43 0.39 0.67 0.42 0.37 0.4 0.75 0.52 0.47 0.73 0.47 0.43 0.6 0.82 0.64 0.60 0.79 0.58 0.56 0.8 0.94 0.77 0.74 0.85 0.66 0.63 1.0 1.03 0.89 0.90 0.94 0.80 0.77 1.2 1.17 1.08 1.03 1.06 0.92 0.88 1.4 1.34 1.18 1.20 1.13 1.02 1.01 1.6 1.48 1.37 1.29 1.28 1.21 1.12 1.8 1.62 1.55 1.48 1.41 1.27 1.31 2.0 1.74 1.64 1.67 1.56 1.370 8 1.36 2.2 1.95 1.77 1.81 1.68 1.570 7 1.58 2.4 1.95 2.01 2.12 1.72 1.699 1 1.67
Table 4. Results of simulative experiment 2
View tableView in ArticleTable 4. Results of simulative experiment 2
Gyroscope error(″/s) Attitude precision of EKF(″/3σ) Attitude precision of UKF(″/3σ) Pitch Roll Yaw Pitch Roll Yaw 0.2 0.35 0.24 0.21 0.40 0.26 0.22 0.4 0.41 0.30 0.28 0.43 0.30 0.26 0.6 0.45 0.40 0.39 0.45 0.35 0.32 0.8 0.56 0.49 0.47 0.52 0.42 0.40 1.0 0.64 0.61 0.61 0.58 0.50 0.47 1.2 0.76 0.72 0.65 0.63 0.58 0.56 1.4 0.84 0.80 0.79 0.71 0.66 0.63 1.6 0.95 0.92 0.92 0.76 0.73 0.72 1.8 1.05 1.05 1.01 0.85 0.81 0.80 2.0 1.16 1.15 1.10 0.92 0.88 0.88 2.2 1.30 1.26 1.33 1.01 0.95 0.94 2.4 1.34 1.36 1.42 1.12 1.02 1.01
Table 5. Results of simulative experiment 3
View tableView in ArticleTable 5. Results of simulative experiment 3
Gyroscope error(″/s) Attitude precision of EKF(″/3σ) Attitude precision of UKF(″/3σ) Pitch Roll Yaw Pitch Roll Yaw 0.2 0.24 0.16 0.14 0.28 0.19 0.16 0.4 0.27 0.21 0.19 0.30 0.22 0.19 0.6 0.33 0.27 0.27 0.34 0.25 0.24 0.8 0.39 0.36 0.35 0.36 0.30 0.28 1.0 0.48 0.41 0.42 0.41 0.34 0.32 1.2 0.55 0.52 0.50 0.45 0.39 0.38 1.4 0.60 0.60 0.57 0.51 0.45 0.44 1.6 0.70 0.69 0.67 0.54 0.51 0.50 1.8 0.76 0.75 0.75 0.61 0.56 0.55 2.0 0.84 0.82 0.79 0.64 0.61 0.60 2.2 0.97 0.91 0.93 0.70 0.66 0.66 2.4 1.01 1.01 1.01 0.76 0.73 0.73
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Yu WANG, Wei-jiao JIANG. High Precision Attitude Determination Method for Star Camera Based on UKF[J]. Acta Photonica Sinica, 2020, 49(1): 0128001
Paper Information
Received: Jul. 25, 2019
Accepted: Oct. 24, 2019
Published Online: Mar. 19, 2020
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