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首页> 外文期刊>Acta astronautica >Parameter estimation of a three-axis spacecraft simulator using recursive least-squares approach with tracking differentiator and Extended Kalman Filter
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Parameter estimation of a three-axis spacecraft simulator using recursive least-squares approach with tracking differentiator and Extended Kalman Filter

机译：使用带有跟踪微分器和扩展卡尔曼滤波器的递归最小二乘法的三轴航天器模拟器参数估计

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Spacecraft simulators are widely used to study the dynamics, guidance, navigation, and control of a spacecraft on the ground. A spacecraft simulator can have three rotational degrees of freedom by using a spherical air-bearing to simulate a frictionless and microgravity space environment. The moment of inertia and center of mass are essential for control system design of ground-based three-axis spacecraft simulators. Unfortunately, they cannot be known precisely. This paper presents two approaches, i.e. a recursive least-squares (RLS) approach with tracking differentiator (TD) and Extended Kalman Filter (EKF) method, to estimate inertia parameters. The tracking differentiator (TD) filter the noise coupled with the measured signals and generate derivate of the measured signals. Combination of two TO filters in series obtains the angular accelerations that are required in RLS (TD-TD-RLS). Another method that does not need to estimate the angular accelerations is using the integrated form of dynamics equation. An extended TD (ETD) filter which can also generate the integration of the function of signals is presented for RLS (denoted as ETD-RLS). States and inertia parameters are estimated simultaneously using EKF. The observability is analyzed. All proposed methods are illustrated by simulations and experiments. (C) 2015 IAA. Published by Elsevier Ltd. All rights reserved.
机译：航天器模拟器广泛用于研究地面上航天器的动力学，制导，导航和控制。通过使用球形空气轴承来模拟无摩擦和微重力的太空环境，航天器模拟器可以具有三个旋转自由度。惯性矩和质心对于基于地面的三轴航天器模拟器的控制系统设计至关重要。不幸的是，它们不能被精确地知道。本文提出了两种方法，即具有跟踪微分（TD）和扩展卡尔曼滤波（EKF）方法的递归最小二乘（RLS）方法来估计惯性参数。跟踪微分器（TD）对与测量信号耦合的噪声进行滤波，并生成测量信号的导数。两个串联的TO滤波器的组合获得RLS（TD-TD-RLS）所需的角加速度。不需要估计角加速度的另一种方法是使用动力学方程的积分形式。针对RLS（表示为ETD-RLS），提出了一种扩展的TD（ETD）滤波器，它也可以生成信号功能的积分。使用EKF同时估计状态和惯性参数。分析可观察性。通过仿真和实验说明了所有提出的方法。 （C）2015年IAA。由Elsevier Ltd.出版。保留所有权利。

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