| 摘要: |
| 针对深空探测器姿态估计问题，提出了一种基于星敏感器的深空飞行器姿态估计新型算法，用李群替代了传统的四元数来描述姿态，避免了四元数转换为姿态矩阵产生的非唯一性和复杂计算等问题。该算法给出了基于星敏感器的姿态观测方程和空间中刚体的运动学模型在李群下的描述并提出了一种基于李群的滤波算法，完成了深空飞行器动态姿态的确定。该线性化模型解决了传统非线性模型在滤波过程中产生的误差，同时省去了四元数转化为姿态矩阵的步骤，减少了计算量。最后，仿真实验中对比了传统的基于四元数的姿态确定算法，可以看出该算法具有更好的稳定性和准确性。 |
| 关键词: 深空探测器 星敏感器 姿态估计 李群滤波 |
| DOI：10.15982/j.issn.2095-7777.2020.20171117002 |
| 分类号:V41 |
| 基金项目: |
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| An Attitude Estimation Method Based on LIE Group Representation for Deep Space Probe |
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XU Hao1,2, PEI Fujun1,2, JIANG Ning1,2
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1.Faculty of Information Technology，Beijing University of Technology, Beijing 100124，China;2.Beijing Key Laboratory of Computational Intelligence and Intelligent System，Beijing 100124，China
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| Abstract: |
| A novel algorithm for attitude estimation of deep spacecraft based on star sensor is proposed. The Lie group is used to describe the attitude，which avoids the non-uniqueness and complex calculation of the quaternion conversion into the attitude matrix. A description of the motion model based on star sensor and the kinematics model of space rigid body in Lie group is given. A method based on Lie group is proposed to determine the dynamic attitude of deep spacecraft. The linearization model solves the errors generated by the traditional nonlinear model in the filtering process，and eliminates the steps of converting the quaternion into the attitude matrix and reduces the computational complexity. In the simulation，the proposed method is compared with the traditional quaternion attitude determination algorithm. The results prove that the algorithm has better stability and accuracy. |
| Key words: deep space probe star sensor attitude estimation LIE group filter |
