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Journals >
Acta Photonica Sinica >
Volume 49 >
Issue 1 >
Page 0128001 > Article
Acta Photonica Sinica
Vol. 49, Issue 1, 0128001 (2020)
High Precision Attitude Determination Method for Star Camera Based on UKF
Yu WANG
1、2
and Wei-jiao JIANG
3
Author Affiliations
1
Xi'an Research Institute of Surveying and Mapping, Xi'an 710054, China
2
State Key Laboratory of Geo-information Engineering, Xi'an 710054, China
3
School of Communication Engineering, Xidian University, Xi'an 710071, China
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DOI:
10.3788/gzxb20204901.0128001
Cite this Article
Yu WANG, Wei-jiao JIANG. High Precision Attitude Determination Method for Star Camera Based on UKF[J]. Acta Photonica Sinica, 2020, 49(1): 0128001
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Fig. 1.
基于UKF的恒星相机和陀螺联合定姿算法流程The diagram of attitude determination algorithm for star camera and gyroscope based on UKF
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Fig. 2.
Pitch angle results of experiment
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Fig. 3.
Roll angle results of experiment 3
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Fig. 4.
Yaw angle results of experiment 3
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Fig. 5.
Pitch angle comparison of UKF
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Fig. 6.
Roll angle comparison of UKF
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Fig. 7.
Yaw angle comparison of UKF
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Equatorial radius of the earth/m
Semi-major axis of satellite orbit/m
Inclination angle of satellite orbit/(°)
Right ascension of ascending node
Right ascension rate of ascending node
Optical axis angle of star camera/(°)
Optical axis direction vector of star camera
6 371 000
6 863 963
97.371 6
rad(140 000)
0.000 1
114.9
(0.8, 0.5, -0.1)
(-0.8, 0.5, -0.1)
Table 1.
Simulative data parameters of star camera and gyroscope
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Number
Star camera parameters
Gyroscope parameters
Error/(″)
Frequency/Hz
Error/(″)
Frequency/Hz
1
5
5
0.2~2.4
10
2
2
5
0.2~2.4
10
3
1
5
0.2~2.4
10
Table 2.
Explanation of simulative experiments
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Gyroscope error(″/s)
Attitude precision of EKF(″/3σ)
Attitude precision of UKF(″/3σ)
Pitch
Roll
Yaw
Pitch
Roll
Yaw
0.2
0.72
0.43
0.39
0.67
0.42
0.37
0.4
0.75
0.52
0.47
0.73
0.47
0.43
0.6
0.82
0.64
0.60
0.79
0.58
0.56
0.8
0.94
0.77
0.74
0.85
0.66
0.63
1.0
1.03
0.89
0.90
0.94
0.80
0.77
1.2
1.17
1.08
1.03
1.06
0.92
0.88
1.4
1.34
1.18
1.20
1.13
1.02
1.01
1.6
1.48
1.37
1.29
1.28
1.21
1.12
1.8
1.62
1.55
1.48
1.41
1.27
1.31
2.0
1.74
1.64
1.67
1.56
1.370 8
1.36
2.2
1.95
1.77
1.81
1.68
1.570 7
1.58
2.4
1.95
2.01
2.12
1.72
1.699 1
1.67
Table 3.
Results of simulative experiment 1
View in the Article
Gyroscope error(″/s)
Attitude precision of EKF(″/3σ)
Attitude precision of UKF(″/3σ)
Pitch
Roll
Yaw
Pitch
Roll
Yaw
0.2
0.35
0.24
0.21
0.40
0.26
0.22
0.4
0.41
0.30
0.28
0.43
0.30
0.26
0.6
0.45
0.40
0.39
0.45
0.35
0.32
0.8
0.56
0.49
0.47
0.52
0.42
0.40
1.0
0.64
0.61
0.61
0.58
0.50
0.47
1.2
0.76
0.72
0.65
0.63
0.58
0.56
1.4
0.84
0.80
0.79
0.71
0.66
0.63
1.6
0.95
0.92
0.92
0.76
0.73
0.72
1.8
1.05
1.05
1.01
0.85
0.81
0.80
2.0
1.16
1.15
1.10
0.92
0.88
0.88
2.2
1.30
1.26
1.33
1.01
0.95
0.94
2.4
1.34
1.36
1.42
1.12
1.02
1.01
Table 4.
Results of simulative experiment 2
View in the Article
Gyroscope error(″/s)
Attitude precision of EKF(″/3σ)
Attitude precision of UKF(″/3σ)
Pitch
Roll
Yaw
Pitch
Roll
Yaw
0.2
0.24
0.16
0.14
0.28
0.19
0.16
0.4
0.27
0.21
0.19
0.30
0.22
0.19
0.6
0.33
0.27
0.27
0.34
0.25
0.24
0.8
0.39
0.36
0.35
0.36
0.30
0.28
1.0
0.48
0.41
0.42
0.41
0.34
0.32
1.2
0.55
0.52
0.50
0.45
0.39
0.38
1.4
0.60
0.60
0.57
0.51
0.45
0.44
1.6
0.70
0.69
0.67
0.54
0.51
0.50
1.8
0.76
0.75
0.75
0.61
0.56
0.55
2.0
0.84
0.82
0.79
0.64
0.61
0.60
2.2
0.97
0.91
0.93
0.70
0.66
0.66
2.4
1.01
1.01
1.01
0.76
0.73
0.73
Table 5.
Results of simulative experiment 3
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Yu WANG, Wei-jiao JIANG. High Precision Attitude Determination Method for Star Camera Based on UKF[J]. Acta Photonica Sinica, 2020, 49(1): 0128001
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Paper Information
Category: 遥感与传感器
Received: Jul. 25, 2019
Accepted: Oct. 24, 2019
Published Online: Jan. 25, 2020
The Author Email:
DOI:
10.3788/gzxb20204901.0128001
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