基于GPS的微小卫星定姿及定轨研究
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摘要
微小卫星的定姿&定轨技术在空间中的应用是目前国内外学者研究的热点。本文基于一具体的微小卫星结构方案，探讨了有关微小卫星定姿&定轨的方法，并进行了计算仿真。全文分为七个章节，主要包括如下内容：
第一章，绪论。
第二章，深入分析了GPS系统地面应用和空间应用的差异，研究了空间GPS应用环境对空间飞行器定姿、定轨的影响，以及对GPS接收机性能的要求。
第三章，建立了卫星轨道动力学模型，设计了GPS和运动方程组合的卡尔曼滤波器，并针对不同轨道高度的微小卫星进行了定位仿真。
第四章，介绍了利用GPS确定微小卫星姿态的几种方法，分析了GPS确定微小卫星定姿过程中的误差，建立了微小卫星姿态动力学模型，设计了几种利用GPS确定微小卫星姿态的Kalman滤波器，并对几种Kalman滤波器的仿真结果进行比较分析。
第五章，建立了速率陀螺的测量模型、太阳敏感器的测量模型，并分别设计了两种不同组合的卡尔曼滤波器。
第六章，提出了卫星构形方案和组成卫星表面的外法线向量概念以及卫星天线接受GPS卫星信号时的可见性判断准则，设计了三种卫星天线构形，并利用三种不同的天线构形进行了姿态求解仿真。为了能够反映三种天线构形的区别，选择了不同长度的基线和不同精度的陀螺分别进行姿态求解，最后对计算仿真结果进行了分析，并给出了最优的天线阵。
第七章，提出了一种新的整周模糊度求解和卫星姿态确定算法。
Micro-satellite attitude and orbit determination is a key technology in the space application activities, which has being researched by many scholars. Regarding the project design of the Micro-satellite layout, a series of methods are discussed for Micro-satellite attitude and orbit determination and the simulation is done in this paper. The papar is divided into seven chapters, as following:
Chap. 1 is an introduction to the topics which are studied in the paper.
In chapter 2, analyzing the difference of GPS application on Earth and in the space, The influence on attitude and orbit determinationing is researched which is resulted from space circumstance, and the high quality of onboard GPS receiver is required.
In chapter 3, the orbit dynamics models are established, the Kalman Filter of the GPS and kinematics equation combined are designed,and simulations of different orbit Micro-satellite are done.
In chapter 4,some methods of Micro-satellite attitude determination using GPS are introduced,and the attitude errors are analysed. The Kalman filter in Micro-satellite attitude determination is designed,and simulation results are compared.
In chapter 5, the measure models of rate gyro and sun sensor are established, and two different Kalman filters are designed respectively.
In chapter 6,the project of Micro-satellite layout is introduced,and three satellite antenna arrays are designed in this part. The concept of the outer normal vector of the plane is established, and the judgement rule of visibility is given when the antennas receive signals of the GPS satellites.The attitude simulations are carried using three different antenna arrays. At last, simulation results are analysed and the optimization antenna array is selected.
In chapter 7, the new methods of Integer Ambiguity Resolution and attitude determination are introduced.
第一章，绪论。
第二章，深入分析了GPS系统地面应用和空间应用的差异，研究了空间GPS应用环境对空间飞行器定姿、定轨的影响，以及对GPS接收机性能的要求。
第三章，建立了卫星轨道动力学模型，设计了GPS和运动方程组合的卡尔曼滤波器，并针对不同轨道高度的微小卫星进行了定位仿真。
第四章，介绍了利用GPS确定微小卫星姿态的几种方法，分析了GPS确定微小卫星定姿过程中的误差，建立了微小卫星姿态动力学模型，设计了几种利用GPS确定微小卫星姿态的Kalman滤波器，并对几种Kalman滤波器的仿真结果进行比较分析。
第五章，建立了速率陀螺的测量模型、太阳敏感器的测量模型，并分别设计了两种不同组合的卡尔曼滤波器。
第六章，提出了卫星构形方案和组成卫星表面的外法线向量概念以及卫星天线接受GPS卫星信号时的可见性判断准则，设计了三种卫星天线构形，并利用三种不同的天线构形进行了姿态求解仿真。为了能够反映三种天线构形的区别，选择了不同长度的基线和不同精度的陀螺分别进行姿态求解，最后对计算仿真结果进行了分析，并给出了最优的天线阵。
第七章，提出了一种新的整周模糊度求解和卫星姿态确定算法。
Micro-satellite attitude and orbit determination is a key technology in the space application activities, which has being researched by many scholars. Regarding the project design of the Micro-satellite layout, a series of methods are discussed for Micro-satellite attitude and orbit determination and the simulation is done in this paper. The papar is divided into seven chapters, as following:
Chap. 1 is an introduction to the topics which are studied in the paper.
In chapter 2, analyzing the difference of GPS application on Earth and in the space, The influence on attitude and orbit determinationing is researched which is resulted from space circumstance, and the high quality of onboard GPS receiver is required.
In chapter 3, the orbit dynamics models are established, the Kalman Filter of the GPS and kinematics equation combined are designed,and simulations of different orbit Micro-satellite are done.
In chapter 4,some methods of Micro-satellite attitude determination using GPS are introduced,and the attitude errors are analysed. The Kalman filter in Micro-satellite attitude determination is designed,and simulation results are compared.
In chapter 5, the measure models of rate gyro and sun sensor are established, and two different Kalman filters are designed respectively.
In chapter 6,the project of Micro-satellite layout is introduced,and three satellite antenna arrays are designed in this part. The concept of the outer normal vector of the plane is established, and the judgement rule of visibility is given when the antennas receive signals of the GPS satellites.The attitude simulations are carried using three different antenna arrays. At last, simulation results are analysed and the optimization antenna array is selected.
In chapter 7, the new methods of Integer Ambiguity Resolution and attitude determination are introduced.
引文
[1] B.Green,P.Axelrad,GPS Space Application,NAVIGATION:Journal of The lnstitude of Navigation,Vol.36,No.3,Fall 1989.
[2] Paul T.Pixley,Challenges of Space Station Navigation,NAVIGATION,Journal of The Institude of Navigation,Vol.32,No.4,Winter 1985-1986.
[3] James Rome,Low-Orbit Navigation Concepts,NAVIGATION:Journal of The Institude of Navigation,Vol.35,No.3,Fall 1988.
[4] Peter V.W.Loomis and Robort P.Denaro,Worldwide Differential GPS for Space Shuttle Landing Operations,IEEE P.L&N Simposium 1990.
[5] Alan D.Wylie,Howard G.deVenzin,Onboard Rendezvous Navigation for the Space Shuttle,NAVIGATION:Journal of the Institute of Navigation,Vol.39,No.3,Fall 1992.
[6] C.Chao,H.Bernstein,Onboard Stationkeeping of Geosynchronous Satellites Using a Global System Receiver,Journal of Guidance,Control,and Dynamics,Vol.17,No.4,July-Augest 1994.
[7] Paul S.Jorgensen,Navigation Low Attitude Satellites Using the Current Four Navstar/GPS Satellite,Navigation,Journal of The Institude of Navigation,Vol.30,No.3,1983.
[8] W.P.Birmingham,B.L.Miller and W.L.Stein,Experimental Results of Using the GPS for Landsat 4 Onboard Navigation,NAVIGATION:Journal of The Institude of Navigation,Vol.30,No.3,Fall 1983.
[9] Mr.Kenn Gold and Dr.George Born etc.,GPS Orbit Determination for the Extreme Ultraviolet Explorer(EUVE),Proceedings of ION-1993 International Meeting.
[10] Willy Bertiger,Yoaz Bar-Server,Bruce Haines etc.,The First Earth Orbiter with Precise GPS Positioning:Topex/Poserdon,Procedings of ION- 1993 International Meeting.
[11] Yoaz E.Bar-Server,Thomas P.Yunck and sien-chong Wu,GPS-Based Orbit Determination and Point Positioning Under Selective Availability, Proceeding of ION-1993 International Meeting.
[12] Penina Axelrad, Ward L M.Spacecraft Attitude Estimation Using GPS:Methodology and Results for RADCAL.Journal of Guidance Control and Dynamics, 1996, 19(6): 1201-1209.
[13] Penny Saunders, Gregory Barton.GPS on the International Space Station Alpha.Proceedings of the National Technical Meeting, California, 1995:631-639.
[14] 罗建军．空间站伴随卫星控制及 GPS 应用研究．博士学位论文．西安：西北工业大学，1999.
[15] 罗建军．卫星导航的系统延拓与空间应用．西北工业大学研究生讲义，2000.
[16] Cohen C E.Attitude Determination Using GPS. Ph.D.Thesis,Stanford University,1992.
[17] Bar-ltzhack I Y, et al.Algorithms for Attitude Determination Using GPS.A Collection of Technical Papers of AIAA Guidance,Navigation,and Control Conference,New Orleans,1997: 841-851.
[18] E.J.Lefferts,F.L.Markley,M.D.Shuster.Kalman Filter for Spacecraft Attitude Estimation. Journal of Guidance Control and Dynamics,1995,5(5):417-429.
[19] Stephen J. Fujikawa,Darrell F.Zimbelman, Spacecraft Attitude Determination By Kalman Filtering of Global Positioning System Signals. Journal of Guidance Control and Dynamics,
1995, 18(6):1365-1371.
[20] 袁建平，文群，郑諤．GPS在航空航天中的应用．西安：西北工业大学出版社，2000.
[21] Bruce Chesley,Penina Axelred.An Integrated GPS Attitude Determination System for JAWSAT. Proceedings of ION-GPS'94.
[22] John L.Crassidis, F.Landis Markley and E.Glenn Lightsey,"optimal integer resolution for attitude determination using Global positioning system signals",AAS 98-331.
[23] Yong Li,"a new approach for attitude determination using GPS carrier phase measurements",AIAA-2000-4467.
[24] A.S.Ramesh,K.s.Jaganath,M.Kurian and M.P.Ramachandran,"attitude determination from control points imaged by meteorological payload",IAF-01-A.3.10.
[25] 章仁为 编著．卫星轨道姿态动力学与控制．北京：北京航空航天大学出版社，1998．
[26] 刘延柱著．航天器姿态动力学，国防工业出版社，1995．
[27] 胡恒章主编．航天器控制，宇航出版社，1997．
[28] 张志．航天飞行器GPS定位技术研究．博士学位论文．西安：西安工业大学，1995．
[29] 雷穆禄，郁永熙著．卫星转动动力学，上海交通大学出版社，1996．
[30] 韦娟．四元数在空间站姿态控制中的应用．硕士学位论文．西安：西北工业大学，1999．
[31] 顾启泰著．应用仿真技术，国防工业出版社，1995．
[32] 秦永元，张洪钺，汪叔华 编著．卡尔曼滤波与组合导航原理，西北工业大学出版社，1998．
[33] 袁信，俞济祥，陈哲 编著．导航系统，航空工业出版社，1992．
[34] 程云鹏编．矩阵论，西北工业大学出版社，1999．
[35] A．盖尔布．应用最优估计理论，国防工业出版社，1980．
[36] 申功勋 孙建峰著．信息融合理论在惯性／天文／GPS组合导航系统中的应用，国防工业出版社，1998．
[37] 邓自立著．最优滤波理论及其应用，哈尔滨：哈尔滨工业出版社，2000．
[38] Stephen J.Fujikawa,Darrell F.Zimbelman, Spacecraft Altitude Determination by Kalman Filtering of Global Positioning System Signal, Journal of Guidance,Control,And Dynamics,Vo1.18, No.6.
[39] E.J.Lefferts,F.L.Markley, M.D.Shuster, Kalman Filtering for Spacecraft Attitude Estimation,J.Guidance,AIAA 82-0070R,SET.-OCT.1982.
[40] R.Campana,L.Marradi,"GPS Attitude Determination by Adaptive Kalman Filtering",lON GPS'99,14-17 Seotember 1999,Nashville,TN.
[41] 周凤歧，强文鑫，阙志宏编著，现代控制理论及其应用，电子科技大学出版社，1994．
[42] H. C. Gelderloos, S. I. Sheikh and B. W. Schipper,GPS Attitude System Integrated with an Inertial System for Space applications, Guidance and Control 1997,Advances in the Astronautical Sciences,Vol.94 pp.3-22.
[43] Steven W. Sell, David L. Akin, Design of a Low-Cost Attitude Determination and Control System for a Free-Flying Telerobotic Satellite Servicer,Guidance and Control 1997,Advances in the Astronautical Sciences,Vol.94 pp.23-40.
[44] John J. Dougherty.GPS Modeling for Designing Aerospace Vehicle Navigation Systems.
IEEE Trans. on Aerospace and Electronics Systems, Vol. 31, No. 2, Apr. 1995:695-704.
[45] Upadhyay, T. et al. Automomous GPS/INS Navigation Experiment for Space Transfer Vehicle. IEEE Trans. on Aerospace and Electronic Systems. Vol.29,No.3,July 1993:772-784.
[46] Y. Gao et al. Comparison and Analysis of Centralized, Decentralized and Federated Filters, Navigation: Journal of ION, 1993(1):69-85.
[47] 曲新．和平号痛舍微型卫星，国际太空，1998年1月.
[48] 孙承启．第七屇环太平洋国际空间科学大会和日本未来空间活动，863航天技术通信，1998年2月, pp.1-17.
[49] Cohen,C.E, Attitude Determination Using GPS,Ph.D.Dissertation,Stanford University;Dec. 1992.
[50] Fujikawa, S.J., and Zimbelman, D.F.,Nov.-Dec. Spacecraft Attitude Determination by Kalman Filtering of Global Positioning System Signals, Journal of Guidance, Control and Dynamics, 1995, pp. 1365-1371.
[51] J.K. Brock et al, GPS Attitude Determination and Navigation Flight Experiment, Proceedings of the 1995 ION-GPS, The Institute of Navigation, Palm Springs, CA, Sept.1995.
[52] Shuster, M.D. The Quaternion in the Kalman Filter, AAS/AIAA Astrodymanics Specialist Conference, Victoria, BC, Canada, Aug. 1993, AAS Paper #93-553.
[53] Kenn Gold et al. GPS Orbit Determination in the Presence of Selective Availability for the Extreme Ultraviolet Explorer, Proceedings of the GPS ION-94, 7th International Technical Meeting of the Satellite Division of the Institute of Navigation, Salt Lake City, Utah, September 20-23, 1994, pp.1191-1199.
[54] Cohen, C.E. "Attitude Determination", Global Positioning System: Theory and Application. Parkinson, B.W. and Spilker, J.J. (ed), Vol. Ⅱ, 1996.
[55] 田蔚风 等． 卫星姿态测量信息的卡尔曼滤波技术研究，中国惯性技术学报，1998年第6卷第四期．
[56] 卫星姿态敏感器的进展，航空工业总公司第五○二研究所，一九九五年十二月，
[57] 肖亚伦 编著．航天器飞行动力学原理，北京：宇航出版社，1995．
[58] 刘林 著．航天器轨道理论，北京：国防工业出版社，2000．
[59] 方群，袁建平，郑諤 编著．卫星定位导航基础，西安：西北工业大学出版社，1999．
[2] Paul T.Pixley,Challenges of Space Station Navigation,NAVIGATION,Journal of The Institude of Navigation,Vol.32,No.4,Winter 1985-1986.
[3] James Rome,Low-Orbit Navigation Concepts,NAVIGATION:Journal of The Institude of Navigation,Vol.35,No.3,Fall 1988.
[4] Peter V.W.Loomis and Robort P.Denaro,Worldwide Differential GPS for Space Shuttle Landing Operations,IEEE P.L&N Simposium 1990.
[5] Alan D.Wylie,Howard G.deVenzin,Onboard Rendezvous Navigation for the Space Shuttle,NAVIGATION:Journal of the Institute of Navigation,Vol.39,No.3,Fall 1992.
[6] C.Chao,H.Bernstein,Onboard Stationkeeping of Geosynchronous Satellites Using a Global System Receiver,Journal of Guidance,Control,and Dynamics,Vol.17,No.4,July-Augest 1994.
[7] Paul S.Jorgensen,Navigation Low Attitude Satellites Using the Current Four Navstar/GPS Satellite,Navigation,Journal of The Institude of Navigation,Vol.30,No.3,1983.
[8] W.P.Birmingham,B.L.Miller and W.L.Stein,Experimental Results of Using the GPS for Landsat 4 Onboard Navigation,NAVIGATION:Journal of The Institude of Navigation,Vol.30,No.3,Fall 1983.
[9] Mr.Kenn Gold and Dr.George Born etc.,GPS Orbit Determination for the Extreme Ultraviolet Explorer(EUVE),Proceedings of ION-1993 International Meeting.
[10] Willy Bertiger,Yoaz Bar-Server,Bruce Haines etc.,The First Earth Orbiter with Precise GPS Positioning:Topex/Poserdon,Procedings of ION- 1993 International Meeting.
[11] Yoaz E.Bar-Server,Thomas P.Yunck and sien-chong Wu,GPS-Based Orbit Determination and Point Positioning Under Selective Availability, Proceeding of ION-1993 International Meeting.
[12] Penina Axelrad, Ward L M.Spacecraft Attitude Estimation Using GPS:Methodology and Results for RADCAL.Journal of Guidance Control and Dynamics, 1996, 19(6): 1201-1209.
[13] Penny Saunders, Gregory Barton.GPS on the International Space Station Alpha.Proceedings of the National Technical Meeting, California, 1995:631-639.
[14] 罗建军．空间站伴随卫星控制及 GPS 应用研究．博士学位论文．西安：西北工业大学，1999.
[15] 罗建军．卫星导航的系统延拓与空间应用．西北工业大学研究生讲义，2000.
[16] Cohen C E.Attitude Determination Using GPS. Ph.D.Thesis,Stanford University,1992.
[17] Bar-ltzhack I Y, et al.Algorithms for Attitude Determination Using GPS.A Collection of Technical Papers of AIAA Guidance,Navigation,and Control Conference,New Orleans,1997: 841-851.
[18] E.J.Lefferts,F.L.Markley,M.D.Shuster.Kalman Filter for Spacecraft Attitude Estimation. Journal of Guidance Control and Dynamics,1995,5(5):417-429.
[19] Stephen J. Fujikawa,Darrell F.Zimbelman, Spacecraft Attitude Determination By Kalman Filtering of Global Positioning System Signals. Journal of Guidance Control and Dynamics,
1995, 18(6):1365-1371.
[20] 袁建平，文群，郑諤．GPS在航空航天中的应用．西安：西北工业大学出版社，2000.
[21] Bruce Chesley,Penina Axelred.An Integrated GPS Attitude Determination System for JAWSAT. Proceedings of ION-GPS'94.
[22] John L.Crassidis, F.Landis Markley and E.Glenn Lightsey,"optimal integer resolution for attitude determination using Global positioning system signals",AAS 98-331.
[23] Yong Li,"a new approach for attitude determination using GPS carrier phase measurements",AIAA-2000-4467.
[24] A.S.Ramesh,K.s.Jaganath,M.Kurian and M.P.Ramachandran,"attitude determination from control points imaged by meteorological payload",IAF-01-A.3.10.
[25] 章仁为 编著．卫星轨道姿态动力学与控制．北京：北京航空航天大学出版社，1998．
[26] 刘延柱著．航天器姿态动力学，国防工业出版社，1995．
[27] 胡恒章主编．航天器控制，宇航出版社，1997．
[28] 张志．航天飞行器GPS定位技术研究．博士学位论文．西安：西安工业大学，1995．
[29] 雷穆禄，郁永熙著．卫星转动动力学，上海交通大学出版社，1996．
[30] 韦娟．四元数在空间站姿态控制中的应用．硕士学位论文．西安：西北工业大学，1999．
[31] 顾启泰著．应用仿真技术，国防工业出版社，1995．
[32] 秦永元，张洪钺，汪叔华 编著．卡尔曼滤波与组合导航原理，西北工业大学出版社，1998．
[33] 袁信，俞济祥，陈哲 编著．导航系统，航空工业出版社，1992．
[34] 程云鹏编．矩阵论，西北工业大学出版社，1999．
[35] A．盖尔布．应用最优估计理论，国防工业出版社，1980．
[36] 申功勋 孙建峰著．信息融合理论在惯性／天文／GPS组合导航系统中的应用，国防工业出版社，1998．
[37] 邓自立著．最优滤波理论及其应用，哈尔滨：哈尔滨工业出版社，2000．
[38] Stephen J.Fujikawa,Darrell F.Zimbelman, Spacecraft Altitude Determination by Kalman Filtering of Global Positioning System Signal, Journal of Guidance,Control,And Dynamics,Vo1.18, No.6.
[39] E.J.Lefferts,F.L.Markley, M.D.Shuster, Kalman Filtering for Spacecraft Attitude Estimation,J.Guidance,AIAA 82-0070R,SET.-OCT.1982.
[40] R.Campana,L.Marradi,"GPS Attitude Determination by Adaptive Kalman Filtering",lON GPS'99,14-17 Seotember 1999,Nashville,TN.
[41] 周凤歧，强文鑫，阙志宏编著，现代控制理论及其应用，电子科技大学出版社，1994．
[42] H. C. Gelderloos, S. I. Sheikh and B. W. Schipper,GPS Attitude System Integrated with an Inertial System for Space applications, Guidance and Control 1997,Advances in the Astronautical Sciences,Vol.94 pp.3-22.
[43] Steven W. Sell, David L. Akin, Design of a Low-Cost Attitude Determination and Control System for a Free-Flying Telerobotic Satellite Servicer,Guidance and Control 1997,Advances in the Astronautical Sciences,Vol.94 pp.23-40.
[44] John J. Dougherty.GPS Modeling for Designing Aerospace Vehicle Navigation Systems.
IEEE Trans. on Aerospace and Electronics Systems, Vol. 31, No. 2, Apr. 1995:695-704.
[45] Upadhyay, T. et al. Automomous GPS/INS Navigation Experiment for Space Transfer Vehicle. IEEE Trans. on Aerospace and Electronic Systems. Vol.29,No.3,July 1993:772-784.
[46] Y. Gao et al. Comparison and Analysis of Centralized, Decentralized and Federated Filters, Navigation: Journal of ION, 1993(1):69-85.
[47] 曲新．和平号痛舍微型卫星，国际太空，1998年1月.
[48] 孙承启．第七屇环太平洋国际空间科学大会和日本未来空间活动，863航天技术通信，1998年2月, pp.1-17.
[49] Cohen,C.E, Attitude Determination Using GPS,Ph.D.Dissertation,Stanford University;Dec. 1992.
[50] Fujikawa, S.J., and Zimbelman, D.F.,Nov.-Dec. Spacecraft Attitude Determination by Kalman Filtering of Global Positioning System Signals, Journal of Guidance, Control and Dynamics, 1995, pp. 1365-1371.
[51] J.K. Brock et al, GPS Attitude Determination and Navigation Flight Experiment, Proceedings of the 1995 ION-GPS, The Institute of Navigation, Palm Springs, CA, Sept.1995.
[52] Shuster, M.D. The Quaternion in the Kalman Filter, AAS/AIAA Astrodymanics Specialist Conference, Victoria, BC, Canada, Aug. 1993, AAS Paper #93-553.
[53] Kenn Gold et al. GPS Orbit Determination in the Presence of Selective Availability for the Extreme Ultraviolet Explorer, Proceedings of the GPS ION-94, 7th International Technical Meeting of the Satellite Division of the Institute of Navigation, Salt Lake City, Utah, September 20-23, 1994, pp.1191-1199.
[54] Cohen, C.E. "Attitude Determination", Global Positioning System: Theory and Application. Parkinson, B.W. and Spilker, J.J. (ed), Vol. Ⅱ, 1996.
[55] 田蔚风 等． 卫星姿态测量信息的卡尔曼滤波技术研究，中国惯性技术学报，1998年第6卷第四期．
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