【作者】 陈刚；

【导师】 刘昆；

【作者基本信息】 国防科学技术大学 ， 航空宇航科学与技术， 2005， 硕士

【摘要】 从20世纪60年代JPL实验室将自主智能控制技术应用于航天器以来,尽可能地提高航天器的自主运行水平已是航天器发展的大趋势。多传感器信息处理技术是航天器自主运行技术中的重要内容。本文针对卫星自主智能控制的特点,重点研究了多传感器信息融合技术及故障诊断理论。由于惯性系统正由框架式平台系统逐步向捷联系统过渡,因此本文还对基于光纤陀螺的捷联姿态更新算法进行了研究。本文的主要研究工作包括以下内容:1.基于信息融合估计理论,研究和总结了多传感器信息融合的结构及算法。在经典Kalman滤波估计理论的基础上,利用最优线性融合理论,分别给出了集中式Kalman滤波及各种分散式Kalman滤波的算法,并分析了各种算法的优缺点。2.研究了卫星姿态确定系统多子样旋转矢量算法。由于光纤陀螺仪输出为角速率信号,而传统的旋转矢量算法输出为角增量信号,采用角增量提取算法,旋转矢量精度会大幅大降。最后提出了一种最优旋转矢量算法,分析结果表明,该算法能够很好的克服输入角速率信号精度会降低的缺陷。3.利用联邦Kalman滤波算法分别对采用GPS、磁强计和采用惯性陀螺、红外地平仪、星敏感器的两种卫星姿态确定方案进行了建模和仿真。仿真结果表明,联合滤波算法可以有效的提高卫星姿态确定精度。4.分析和讨论了卫星多传感器故障检测技术。分别讨论了冗余多传感器故障检测技术,专用观测器故障检测技术及递阶多重模型故障检测技术。通过仿真表明递阶多重模型故障检测技术适用于传感器软故障的检测。最后介绍了基于递阶联合滤波器的系统重构策略。更多还原

【Abstract】 Since the technology of intelligent control was first used in the spacecraft in the 60’s 20th century by JPL laboratory, the high performance of spacecraft autonomy has been one of the important goals pursued by the spacecraft designing engineer. Multi-sensor fusion theory is the important part of the autonomy control technology. This dissertation mainly studies information fusion estimation theory and its application to spacecraft control; automatic diagnosis and system recovery; strap-down attitude algorithm of fiber optic gyro and its error propagation. The major researching contents are summarized as follows:1. Based on the information fusion estimation theory, various information fusion structures and their algorithm are summarized. Use the traditional Kalman filter algorithm and optimal linear fusion theory to export the centralized and the decentralized algorithm, then, analyze the strongpoint and the defect of various structures.2. Introduce the traditional two samples rotation vector algorithm and three samples rotation vector algorithm, which fit the incremental angular condition. But, the output of fiber optic gyro is angular rate of the vehicle, the error would increase serious if use traditional algorithm. So, a new algorithm is proposed in this thesis, it is proved that the new algorithm can reach satisfactory result by analysis.3. Carry out the simulation of the Kalman filter based on the GPS/magnetometer attitude determination system and the INS/CNS/ infrared earth sensors attitude determination system. The results show that it can improve attitude determination accuracy by fusion theory.4. Analyze the fault-detection method for multi-sensor, include fault-detection theory of redundance sensors, special observation state technology and hierarchic multi-model filter detection technology which is proved effective for soft-fault detection by simulation. At last, give a kind of system reconstruction tactic based on hierarchic alliance structure of federal filters.更多还原