فیلتر کالمن انطباقی بدون بو فازی مبتنی بر اینرسی/آسمانی با الگوریتم کوواریانس تقاطع برای اندازه گیری نگرش ماهواره ای

This paper deals with the attitude determination algorithm for the satellite with an attitude measurement unit that is comprised of one gyroscope and two star trackers installed perpendicularly. Since the data updating rate of star trackers is typically lower than that of the gyro and filter, appropriate compensation is made for star sensors, but this results in more difficulties of determining the performed noise level. A fuzzy adaptive tuning method is used to help tuning, and with modified Rodrigues parameters and rotation vector to represent attitude error, a fuzzy adaptive unscented Kalman filter with minimal skew sampling method is realized, which works as a sub-system and estimates sub-optimal attitude states and gyro bias. Two such sub-systems are federated into the framework of Covariance Intersection algorithm to achieve data fusion for an optimal attitude and gyro bias estimation in system level. Simulation is performed to verify the attitude determination algorithm presented in this paper.