High Precision Attitude Determination Method for Star Camera Based on UKF

Yu WANG; Wei-jiao JIANG

doi:10.3788/gzxb20204901.0128001

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 JIANG³

Author Affiliations

¹Xi'an Research Institute of Surveying and Mapping, Xi'an 710054, China

²State Key Laboratory of Geo-information Engineering, Xi'an 710054, China

³School 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 Copy Citation Text

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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
Number	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)
Gyroscope error(″/s)	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

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Gyroscope error(″/s)	Attitude precision of EKF(″/3σ)			Attitude precision of UKF(″/3σ)
Gyroscope error(″/s)	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

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Gyroscope error(″/s)	Attitude precision of EKF(″/3σ)			Attitude precision of UKF(″/3σ)
Gyroscope error(″/s)	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

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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