Применение обобщенного фильтра Калмана с сингулярной декомпозицией при оценке ориентации наноспутников на основе кинематических и динамических моделей

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.

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