QMRPF-UKF Master-Slave Filtering for the Attitude Determination of Micro-Nano Satellites Using Gyro and Magnetometer 英文参考文献.docVIP

Sensors 2010, 10, 9935-9947; doi:10.3390/s101109935 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article QMRPF-UKF Master-Slave Filtering for the Attitude Determination of Micro-Nano Satellites Using Gyro and Magnetometer Peiling Cui 1,* and Huijuan Zhang 2 1 School of Instrumentation Science and Optoelectronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China 2 School of Instrumentation Science and Optoelectronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China; E-Mail: lijhem@163.com * Author to whom correspondence should be addressed; E-Mail: peilingcui@; Tel.: +86-010 Received: 17 September 2010; in revised form: 10 October 2010 / Accepted: 15 October 2010 / Published: 5 November 2010 Abstract: In this paper, the problem of estimating the attitude of a micro-nano satellite, obtaining geomagnetic field measurements via a three-axis magnetometer and obtaining angle rate via gyro, is considered. For this application, a QMRPF-UKF master-slave filtering method is proposed, which uses the QMRPF and UKF algorithms to estimate the rotation quaternion and the gyro bias parameters, respectively. The computational complexicity related to the particle filtering technique is eliminated by introducing a multiresolution approach that permits a significant reduction in the number of particles. This renders QMRPF-UKF master-slave filter computationally efficient and enables its implementation with a remarkably small number of particles. Simulation results by using QMRPF-UKF are given, which demonstrate the validity of the QMRPF-UKF nonlinear filter. Keywords: attitude determination; gyro; magnetometer; QMRPF-UKF; master-slave filtering  Sensors 2010, 10 9936 1. Introduction Spacecraft attitude is important for attitude control in many space missions. In the last four decades, a great num