Predictive Filtering for Microsatellite Control System

265 Pages·2020·21.496 MB·English

by  Lu Cao, Xiaoqian Chen, Bing Xiao

Predictive Filtering for Microsatellite
Control System

Predictive Filtering for
Microsatellite Control
System
Lu Cao
NationalInnovationInstituteofDefenseTechnology
ChineseAcademyofMilitarySciences
Beijing,China
Xiaoqian Chen
NationalInnovationInstituteofDefenseTechnology
ChineseAcademyofMilitarySciences
Beijing,China
Bing Xiao
SchoolofAutomation
NorthwesternPolytechnicalUniversity
Xi’an,China
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Contents
Listoffigures xiii
Listoftables xvii
Listofalgorithms xix
Biography xxi
Preface xxiii
Acknowledgments xxv
Symbolsandabbreviations xxvii
1. Overview
1.1 Introduction 1
1.2 Microsatellitecontrolsystemanditsdesign 2
1.2.1 Microsatellitecontrolsystem 2
1.2.2 Microsatellitecontrolsystemdesign 3
1.3 Attitudeandorbitdeterminationsubsystemdesign 4
1.3.1 Sensorsformicrosatellitecontrolsystem 5
1.3.2 Stateestimationmethoddesign 6
1.4 Reviewofnonlinearfiltering 9
1.4.1 NonlinearKalmanfiltering 9
1.4.2 Predictivefiltering 11
1.4.3 Particlefiltering 12
1.4.4 Robustfiltering 13
1.4.5 Nonlinearfiltersappliedtosatellitecontrolsystem 14
1.5 Motivationsforpredictivefilteringformicrosatellitecontrol
systems 15
1.6 Whatisinthisbook 16
Part I
Preliminaries
2. Fundamentalofpredictivefiltering
2.1 Introduction 21
2.2 Basicprobabilityofrandomvector 21
2.2.1 Randomvector 22
2.2.2 Meanvector 23
vii
viii Contents
2.2.3 Covariancematrix 23
2.2.4 Normaldistributionrandomvector 24
2.2.5 Whitenoiseprocess 24
2.3 Preliminarydefinitionsandlemma 25
2.4 Desiredpropertiesoffilter 26
2.5 Basictheoryofpredictivefiltering 27
2.5.1 Derivationofpredictivefilter 27
2.5.2 Estimationperformanceofpredictivefilter 29
2.6 Summary 34
3. Modelingofmicrosatellitecontrolsystem
3.1 Introduction 35
3.2 Definitionofcoordinateframes 36
3.3 Modelingofsinglemicrosatellitecontrolsystem 36
3.3.1 Mathematicalmodelofattitudecontrolsystem 37
3.3.2 Mathematicalmodeloforbitcontrolsystem 38
3.4 Modelingofmicrosatelliteformationflyingcontrolsystem 38
3.4.1 Definitionofdimensionlessexpressions 39
3.4.2 Assumptionofsmalleccentricity 40
3.4.3 J2andatmosphericdragperturbations 41
3.4.4 Orbitpropagationofthechiefmicrosatellite 44
3.4.5 Effectofperturbationforcesonrelativemotion 49
3.4.6 Systemequationofrelativemotion 56
3.4.7 Modelingofmicrosatelliteformationflyingcontrolsystem 64
3.5 Modelingofdistributedmicrosatelliteattitudecontrolsystem 65
3.6 Summary 66
Part II
Sigma-point predictive filtering for microsatellite
control system
4. Unscentedpredictivefilter
4.1 Introduction 69
4.2 Unscentedpredictivefilter 70
4.3 EstimationperformanceofUPF 71
4.3.1 Estimationaccuracyofmodelingerror 72
4.3.2 Estimationaccuracyofsystemstates 75
4.4 Covarianceconstraintanalysis 82
4.5 StochasticstabilityofUPF 84
4.5.1 Boundednessanalysisofstateestimationcovariance 84
4.5.2 Boundednessanalysisofstateestimationerrors 84
4.6 Applicationtomicrosatelliteattitudecontrolsystem 91
4.6.1 Measurementmodelofstarsensors 91
4.6.2 Simulationresults 92
Contents ix
4.7 Applicationtomicrosatelliteformationflyingcontrolsystem 98
4.7.1 MeasurementmodelofPSD 99
4.7.2 Transformedmicrosatelliteformationflyingcontrolsystem 100
4.7.3 ImplementationofUPFinformationflyingcontrolsystem 101
4.7.4 Simulationresults 104
4.8 Summary 110
5. Centraldifferencepredictivefilter
5.1 Introduction 113
5.2 Centraldifferencepredictivefilter 113
5.3 EstimationperformanceofCDPF 115
5.3.1 Estimationaccuracyofmodelingerror 115
5.3.2 Estimationaccuracyofsystemstates 121
5.4 StochasticstabilityofCDPF 124
5.4.1 Boundednessanalysisofstateestimationcovariance 124
5.4.2 Boundednessanalysisofstateestimationerror 125
5.5 Applicationtomicrosatelliteattitudesystemwithlowprecision
sensors 131
5.5.1 Measurementmodelofmagnetometerandsunsensor 131
5.5.2 ImplementationofCDPFforattitudedetermination 131
5.5.3 Simulationresults 132
5.6 Summary 139
6. Cubaturepredictivefilter
6.1 Introduction 141
6.2 Third-degreespherical-radialcubaturerule 142
6.3 Cubaturepredictivefiltering 143
6.4 EstimationperformanceofCPF 143
6.4.1 Estimationaccuracyofmodelingerror 143
6.4.2 Estimationaccuracyofsystemstate 147
6.5 StochasticstabilityofCPF 153
6.5.1 Boundednessanalysisofstateestimationcovariance 153
6.5.2 Boundednessanalysisofstateestimationerror 154
6.6 Applicationtomicrosatelliteattitudecontrolsystem 156
6.7 Applicationtomicrosatelliteformationflyingcontrolsystem 159
6.8 Summary 164
Part III
Predictive variable structure filtering for
microsatellite control system
7. Predictivevariablestructurefilter
7.1 Introduction 167
7.2 Predictivevariablestructurefilterdesign 168
x Contents
7.3 TheoreticalbasisofPVSF 169
7.4 Stabilityofstateestimationerror 170
7.5 PracticalimplementationofPVSF 172
7.5.1 Eliminatingtheeffectofsamplingtime 172
7.5.2 Reducingchattering 174
7.6 StateestimationerrorcovarianceofPSVSF 175
7.7 Applicationtomicrosatellitedistributedattitudecontrolsystem 179
7.7.1 MeasurementmodelofCCDcamera 179
7.7.2 ImplementingPSVSFfordistributedattitudecontrol
system 180
7.7.3 Simulationresults 181
7.8 Applicationtomicrosatelliteformationflyingcontrolsystem 184
7.9 Summary 187
8. Predictiveadaptivevariablestructurefilter
8.1 Introduction 189
8.2 Predictiveadaptivevariablestructurefilter 189
8.3 DerivationofsigmapointPAVSF 193
8.3.1 UnscentedPAVSF 194
8.3.2 CentraldifferencePAVSF 194
8.4 StrongtrackingPAVSF 194
8.4.1 Sequenceorthogonalprinciple 197
8.4.2 DerivationofstrongtrackingPAVSF 197
8.4.3 DerivationofstrongtrackingsigmapointPAVSF 201
8.5 Applicationtomicrosatelliteattitudecontrolsystem 202
8.5.1 Applicationtoattitudecontrolsystemwithlowprecision
sensors 202
8.5.2 Applicationtodistributedattitudecontrolsystem 206
8.6 Summary 209
9. Predictivehigh-ordervariablestructurefilter
9.1 Introduction 211
9.2 Predictivehigh-ordervariablestructurefilter 211
9.3 DerivationoforthogonalPHVSF 214
9.4 HuberPHVSFdesign 217
9.5 Applicationtoattitudecontrolsystemwithlowprecision
sensors 219
9.5.1 SimulationresultinthepresenceofGaussianwhitenoise 221
9.5.2 Simulationresultinthepresenceofheavy-tailednoise 223
9.6 Applicationtodistributedattitudecontrolsystem 224
9.6.1 Simulationresults 225
9.6.2 Quantitativeanalysis 226
9.7 Summary 229