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In-Flight Calibration of Pico Satellite Attitude Sensors via Unscented Kalman Filter1

机译：通过无味卡尔曼滤波器对Pico卫星姿态传感器进行飞行中校准1

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摘要

In this paper an Unscented Kalman filter based procedure is proposed for the bias estimation of attitude sensors of a pico satellite. Three axis magnetometers and the rate gyros are used as attitude sensors. At the initial phase, biases of three orthogonally located magnetometers are estimated as well as the attitude and attitude rates of the satellite. During initial period after the orbit injection, gyro measurements are accepted as bias free, since the precise gyros are working accurately and the accumulated gyro biases are negligible. At the second phase, estimated constant magnetometer bias components are taken into account and the algorithm is run for the estimation of the gyro biases that are cumulatively increased by time. As a result, six different bias terms for two different sensors are obtained in two stages where attitude and attitude rates are estimated regularly. For both estimation phases of the procedure Unscented Kalman Filter is used as the estimation algorithm.
机译：本文提出了一种基于无味卡尔曼滤波器的过程，用于微微卫星姿态传感器的偏差估计。三轴磁力计和速率陀螺仪用作姿态传感器。在初始阶段，估计三个正交放置的磁力计的偏差以及卫星的姿态和姿态速率。在轨道注入后的初期，陀螺仪的测量结果被认为是无偏差的，因为精确的陀螺仪工作准确，累积的陀螺仪偏差可忽略不计。在第二阶段，考虑估计的恒定磁力计偏置分量，并运行该算法来估计随时间累积增加的陀螺仪偏置。结果，在两个阶段中获得了两个不同传感器的六个不同偏置项，其中阶段性地估计姿态和姿态速率。对于过程的两个估计阶段，都将Unscented Kalman滤波器用作估计算法。

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  • 来源
    《Gyroscopy and navigation》 |2011年第3期|p.156-163|共8页
  • 作者

    H. E. Soken; Ch. Hajiyev;

  • 作者单位

    The Graduate University for Advanced Studies (SOKENDAI), Japan;

    Istanbul Technical University, Istanbul, Turkey;

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