Research on Attitude Detemination Based on Star Sensor/Gyro Integrated System
|School||Harbin Institute of Technology|
|Course||Control Science and Engineering|
|Keywords||Integrated attitude Kalman filter Star sensor Star Tracking Algorithm Semi-physical experiments|
With the continuous expansion of the use of satellite , Satellite attitude determination accuracy put forward higher requirements for satellite attitude determination technology has become the key technology of the satellite . Star sensor and a gyro integrated attitude determination system with high precision and autonomy has been widely appreciated , however, the combination of attitude determination algorithm is high , the star sensor data updates slow, the lack of experimental environment . To solve these problems this paper, the actual background of the satellite attitude determination , to study the star sensor and gyro integrated attitude determination system , designed and built a semi-physical system experimental platform . In this paper, the algorithm and sensor system . First studied several combinations of attitude determination algorithm , select the Kalman filter algorithm based on error quaternion and simplify the filtering formula to obtain a high precision algorithm simulation results . According to the simulation results are analyzed and discussed the gyro accuracy of the data cycle of the star sensor precision star sensor integrated attitude determination algorithm . Secondly , in order to shorten the cycle of star sensor to improve the accuracy of integrated attitude determination system , a new star of the star sensor tracking algorithm . Nova tracking algorithm by use of the gyroscope angular velocity data to complete star point prediction and tracking , guiding star sensor extraction and rapid completion of the star pattern recognition process , thus improving the data update rate of the star sensor . Star tracking algorithm derivation is given on the basis of the combination of attitude determination system , and analyze the tracking coordinate positioning accuracy . Simulated and compared with the traditional star tracking algorithm , the new algorithm can accurately track the location , shorten the star point extraction and star pattern recognition . Finally, the domestic integrated attitude determination system more computer simulation of the algorithm , the lack of experimental validation of the algorithm , designed and built semi-physical experimental system axis turntable -based star sensor gyro integrated attitude , completed The experimental system hardware and software debugging. Studied the problem of synchronization of the data on the experimental process , gives a solution method . In -the-loop experimental platform integrated attitude experimental high static accuracy and dynamic accuracy followed , further validates the feasibility and practicality of the proposed combination of attitude determination algorithm .