gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»UJEDLUgyroscopy-44Research ArticleСтатьиПрименение обобщенного фильтра Калмана с сингулярной декомпозицией при оценке ориентации наноспутников на основе кинематических и динамических моделейSVD-Aided EKF for Nanosatellite Attitude Estimation Based on Kinematic and Dynamic Relationshttps://orcid.org/0000-0002-3924-5422Джильден-ГулерД.Cilden-GulerD.

Джильден-Гулер Демет, доцент

Стамбул

Istanbul

https://orcid.org/0000-0003-4115-341XГаджиевЧюHajiyevCh.

Гаджиев Чингиз, доктор наук, профессор

Istanbul

Стамбульский технический университетРоссияIstanbul Technical UniversityRussian FederationСтамбульский технический университет.РоссияIstanbul Technical UniversityRussian Federation202318052025314138156Copyright © Джильден-Гулер Д., Гаджиев Ч., 20252025Джильден-Гулер Д., Гаджиев Ч.Cilden-Guler D., Hajiyev C.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/44

В статье определяются углы ориентации малых спутников по измерениям звездных датчиков и интегрирующих гироскопов. Дрейф гироскопов учитывается путем добавления смещения нуля в вектор состояния и его оценивания. В качестве метода оценивания применяется двухэтапный фильтр нетрадиционной структуры. На первом этапе используется сингулярная декомпозиция (СД) для формирования измерений, определяющих ориентацию. На втором – сформированные линейные измерения обрабатываются с помощью обобщенного фильтра Калмана (ОФК). Эти два этапа объединены в единый алгоритм ОФК-СД, что обеспечивает высокую точность оценивания ориентации спутника.

В предложенном алгоритме ОФК-СД используются два типа моделей – кинематическая (без учета динамики движения спутника) и полная, учитывающая и динамику. Чтобы определить уровень, при котором погрешность ОФК-СД- фильтра, обрабатывающего полную модель, превысит результат обработки им кинематической модели, рассматриваются несколько вариантов априорных значений неопределенностей знания главного момента инерции спутника.

Small satellite attitude angles are estimated using measurements of star trackers and rate gyro in this study. The issue related to gyro drifts is overcome by adding the bias terms into the state vector in order to estimate them. As an estimation method, two-stage non-tradi tional filter is used. In the first stage, singular value decomposition (SVD) is used for de termining the attitude measurements. As a second stage, an extended Kalman filter (EKF) is designed based on linear attitude measurements. These two stages are integrated for the whole estimation algorithm in order to have estimations with high accuracy, and it is called SVD-Aided EKF.

The proposed SVD-Aided EKF is used with two attitude models of satellite: only the kine matics model which does not include the dynamics of a satellite, and both kinematics and dynamics relations. Several scales of uncertainties on the principal moment of inertia of the satellite are considered in order to determine the level when estimation error of the kinemat ics and dynamics-based filter exceeds the error of the case using only kinematics relations.

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The authors declare that there are no conflicts of interest present.