scholarly journals Relative Status Determination for Spacecraft Relative Motion Based on Dual Quaternion

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Jun Sun ◽  
Shijie Zhang ◽  
Xiande Wu ◽  
Fengzhi Guo ◽  
Yaen Xie
Keyword(s):  
Relative Motion ◽  
Dynamic Models ◽  
Attitude Determination ◽  
System State ◽  
Dual Quaternion ◽  
Dynamics Model ◽  
Navigation Problem ◽  
Spacecraft Formation ◽  
Navigation Algorithm ◽  
Relative Status

For the two-satellite formation, the relative motion and attitude determination algorithm is a key component that affects the flight quality and mission efficiency. The relative status determination algorithm is proposed based on the Extended Kalman Filter (EKF) and the system state optimal estimate linearization. Aiming at the relative motion of the spacecraft formation navigation problem, the spacecraft relative kinematics and dynamics model are derived from the dual quaternion in the algorithm. Then taking advantage of EKF technique, combining with the dual quaternion integrated dynamic models, considering the navigation algorithm using the fusion measurement by the gyroscope and star sensors, the relative status determination algorithm is designed. At last the simulation is done to verify the feasibility of the algorithm. The simulation results show that the EKF algorithm has faster convergence speed and higher accuracy.

scholarly journals Simulation on Spacecraft Formation Flight and Formation Reconfiguration

2018 ◽  
Vol 160 ◽  
pp. 05011
Author(s):  
Chao Li Ye Yan ◽  
Yue-neng Yang
Keyword(s):  
Absolute Error ◽  
Formation Flight ◽  
Orbital Dynamics ◽  
Dynamics Model ◽  
Simulation Test ◽  
Spacecraft Formation ◽  
Formation Reconfiguration ◽  
Ground Investigation ◽  
Spatial Exploration ◽  
Impulse Formation

Spacecraft formation flight refers to two or more spacecraft according to a certain formation or arrangement of flight, it has important application value for deep spatial exploration, spatial science experiment, ground investigation and military and so. This paper studies the spacecraft formation flight design and formation reconfiguration based on STK. Firstly, the Clohessy-Wiltshire (CW) equation is used to describe the relative motion of the near-circular orbit and deduce the relative orbital dynamics model. Then, based on the dynamic method of the CW equation, the spatial circular formation is designed and the STK is applied to simulate it. Finally, based on the above formation, a simple multi-impulse formation reconfiguration is performed and the simulation test is verified by STK. The simulation results show that the absolute error of orbital elements of the spacecraft is calculated by the relative orbital dynamics model is less than 10-5, and the expected formation can be completed under the condition of two-body environment, and the feasibility of simple multi-pulse formation reconfiguration is proved successfully.

Simplified Design of Dual Quaternion Strapdown Inertial Navigation Integration Algorithms

2012 ◽  
Vol 239-240 ◽  
pp. 1421-1427
Author(s):  
Yu Rong Lin ◽  
Liang Chen ◽  
Zhen Xian Fu
Keyword(s):  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Dual Quaternion ◽  
Velocity Increment ◽  
Time Performance ◽  
Navigation Algorithm ◽  
Integration Algorithms ◽  
Simplified Algorithm ◽  
The Cost ◽  
Strapdown Inertial Navigation

Dual quaternion navigation algorithm gain higher accuracy than traditional strapdown inertial navigation algorithm at the cost of real-time performance. In order to reduce tremendous computation amount of the former, a simplified design scheme for navigation integration algorithms is presented in this paper. First, based on update principle and computation rules of dual quaternion we separate rotational and translational increment information from dual quaternion increment, and deduce exact solutions defined by the spiral vector for thrust velocity increment, gravitational velocity increment and displacement increment. Then, considering characteristics of a strapdown inertial navigation system, implementation schemes of simplified integration algorithms for dual quaternion differential equations in three frames, including thrust velocity coordinates, gravitational velocity coordinates and position coordinates, are designed separately. Under the premise of ensuring the accuracy advantage of the original dual quaternion inertial navigation algorithm, the proposed simplified algorithm significantly improve the computational efficiency. This will lay favorable foundation for engineering realization of the dual quaternion strapdown inertial navigation algorithm.

scholarly journals A Submillimeter-Level Relative Navigation Technology for Spacecraft Formation Flying in Highly Elliptical Orbit

Sensors ◽  
2020 ◽  
Vol 20 (22) ◽  
pp. 6524
Author(s):  
Xiaoliang Wang ◽  
Deren Gong ◽  
Yifei Jiang ◽  
Qiankun Mo ◽  
Zeyu Kang ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Formation Flying ◽  
Dynamic Models ◽  
Elliptical Orbit ◽  
Relative Navigation ◽  
Estimation Errors ◽  
Spacecraft Formation ◽  
Spacecraft Formation Flying ◽  
Orbit Dynamic ◽  
Range Rate

Spacecraft formation flying (SFF) in highly elliptical orbit (HEO) has attracted a great deal of attention in many space exploration applications, while precise guidance, navigation, and control (GNC) technology—especially precise ranging—are the basis of success for such SFF missions. In this paper, we introduce a novel K-band microwave ranging (MWR) equipment for the on-orbit verification of submillimeter-level precise ranging technology in future HEO SFF missions. The ranging technique is a synchronous dual one-way ranging (DOWR) microwave phase accumulation system, which achieved a ranging accuracy of tens of microns in the laboratory environment. The detailed design and development process of the MWR equipment are provided, ranging error sources are analyzed, and relative orbit dynamic models for HEO formation scenes are given with real perturbations considered. Moreover, an adaptive Kalman filter algorithm is introduced for SFF relative navigation design, incorporating process noise uncertainty. The performance of SFF relative navigation while using MWR is tested in a hardware-in-the-loop (HIL) simulation system within a high-precision six degrees of freedom (6-DOF) moving platform. The final range estimation errors from MWR using the adaptive filter were less than 35 μm and 8.5 μm/s for range rate, demonstrating the promising accuracy for future HEO formation mission applications.

scholarly journals Nonlinear inversion method based on dynamics model modification

2019 ◽  
Vol 288 ◽  
pp. 01003
Author(s):  
Faping Zhang ◽  
Kai Wu
Keyword(s):  
Dynamic Models ◽  
Error Function ◽  
Experimental Results ◽  
Inversion Method ◽  
Nonlinear Inversion ◽  
Forward Modelling ◽  
Dynamics Model ◽  
Model Modification ◽  
Simulation Results ◽  
The Cost

In the fields of modern aviation system, subgrade vehicle system and complex mechanical system, there is a problem that parameters of most dynamic models are inaccurate. This problem results in a large difference between the model results and the experimental results. In order to solve this problem, this paper build a nonlinear inversion method based on dynamics model modification (NIDM). Firstly, the error relationship was obtained by integrating the experimental data with the simulation results of the forward modelling model by the cost function and penalty function. Then, the problem of error function minimization was solved by using the parameter iteration generated by particle swarm optimization algorithm, and the corrected parameters of the forward modelling model were obtained. Finally, the method was tested by building a vehicle suspension vibration model and a pavement excitation model as test samples. The test results show that the fitting degree between the simulation results and the experimental results can be effectively improved by modifying the parameters of the dynamic model based on the NIDM method.

scholarly journals Accurate Attitude Determination Based on Adaptive UKF and RBF Neural Network Using Fusion Methodology for Micro-IMU Applied to Rotating Environment

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Lei Wang ◽  
Zhi Min Meng ◽  
Ying Guan
Keyword(s):  
Neural Network ◽  
Attitude Determination ◽  
Unscented Kalman Filter ◽  
Measurement Data ◽  
Dynamic Environment ◽  
Measurement Unit ◽  
System State ◽  
Residual Vector ◽  
Estimation Process ◽  
Attitude Tracking

Focusing on the issue of attitude tracking for low-cost and small-size Micro-Electro-Mechanical System (MEMS) Inertial Measurement Unit (IMU) in high dynamic environment, an Adaptive Unscented Kalman Filter (AUKF) method combining sensor fusion methodology with Artificial Neural Network (ANN) is proposed. The different control strategies are adopted by fusing multi-MEMS inertial sensors under various dynamic situations. The AUKF attitude determination approach utilizing the MEMS sensor and Global Positioning System (GPS) can provide reliable estimation in these situations. In particular, the adaptive scale factor is used to adaptively weaken or enhance the effects on new measurement data according to the predicted residual vector in the estimation process. In order to solve the problem that the new measurement data is not available in case of GPS fault, an attitude algorithm based on Radial Basis Function (RBF)-ANN feedback correction is proposed for AUKF. The estimated deviation of predicted system state can be provided based on RBF-ANN in GPS-denied environment. The corrected predicted system state is used for the estimation process in AUKF. An experimental platform was setup to simulate the rotation of the spinning projectile. The experimental results show that the proposed method has better performance in terms of attitude estimation than other representative methods under various dynamic situations.

scholarly journals Validation of high-precision effects of a movable riverbed simulation using unmanned aerial vehicles and structure from motion

2018 ◽  
Vol 40 ◽  
pp. 02055
Author(s):  
Masatoshi Denda
Keyword(s):  
Unmanned Aerial Vehicles ◽  
High Precision ◽  
Structure From Motion ◽  
Vegetation Dynamics ◽  
Dynamic Models ◽  
High Accuracy ◽  
River Morphology ◽  
Observation Data ◽  
Dynamics Model ◽  
Vegetation Dynamic

For advanced and strategic management of gravel riverbed restoration and stopping of woodland overgrowth, movable riverbed simulations and vegetation dynamic models that can describe a ‘detailed riverbed materials’ transport’ influencing the vegetation dynamics and estimate the creation area of a gravel riverbed are required. As first steps we verified the hypothesis whether high-accuracy observation data using UAV and SfM improve the accuracy of water flow condition and movable riverbed simulation that can describe the riverbed materials’ transport in detail. In the results, High-precision river morphology using UAVs offers the ability to improve the movable riverbed simulation. And these progresses indicated possibilities of UAV and SfM to develop vegetation dynamics model considering the riverbed materials’ transport.

scholarly journals Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

2020 ◽  
pp. 095441002096499
Author(s):  
K Harikumar ◽  
Jinraj V Pushpangathan ◽  
Sidhant Dhall ◽  
M Seetharama Bhat
Keyword(s):  
State Space Model ◽  
Single Step ◽  
Proportional Navigation ◽  
Navigation Problem ◽  
Lateral Dynamics ◽  
Guidance And Control ◽  
Navigation Algorithm ◽  
Waypoint Navigation ◽  
Integrated Guidance And Control ◽  
And Control

A solution to the waypoint navigation problem for the fixed wing micro air vehicles (MAV) having a severe coupling between longitudinal and lateral dynamics, in the framework of integrated guidance and control (IGC) is addressed in this paper. IGC yields a single step solution to the waypoint navigation problem, unlike conventional multiple loop design. The pure proportional navigation (PPN) guidance law is integrated with the coupled MAV dynamics. A multivariable static output feedback (SOF) controller is designed for the linear state space model formulated in IGC framework. A waypoint navigation algorithm is proposed that handles the minimum turn radius constraint of the MAV and also evaluates the feasibility of reaching a waypoint. Non-linear simulations with and without wind disturbances are performed on a high fidelity 150 mm wingspan MAV model to demonstrate the proposed waypoint navigation algorithm.

Optimal sliding model error feedback control for relative motion of Lorentz-augmented spacecraft

2017 ◽  
Vol 232 (4) ◽  
pp. 664-679
Author(s):  
Lu Cao ◽  
Zhidong Zhang ◽  
Jianjun Shi ◽  
Yanrong Wang ◽  
Hengnian Li
Keyword(s):  
Magnetic Field ◽  
Lorentz Force ◽  
Relative Motion ◽  
Formation Flying ◽  
Dynamical Model ◽  
Control Problems ◽  
Error Feedback ◽  
Spacecraft Formation ◽  
Spacecraft Formation Flying ◽  
Unknown Disturbances

Two typical relative motion control problems of Lorentz-augmented spacecraft implemented in the Earth's magnetic field are studied and further discussed. The Lorentz force acts on a charged spacecraft that could actively generate and modulate when it is flying through a magnetic field, and provides a new concept of propellantless propulsion strategy for spacecraft formation flying and hovering system control. It is a fact that the directions of Lorentz force are limited by the local magnetic field. In view of this reason, it does not provide or satisfy the required control acceleration for spacecraft formation flying and hovering timely; therefore, it always works as an auxiliary strategy to reduce the fuel consumptions. Based on the above considerations, a dynamical model for relative motion of charged spacecraft, including the effects of the J2 perturbation and the Lorentz force, is derived and its application to spacecraft formation flying and hovering control problems are discussed. Then, the optimal sliding model error feedback control method is derived based on the novel dynamical model, which is proposed by theory integrating between optimal sliding model control theory and the principle of minimum sliding mode error. Moreover, the optimal design of the required charge for the Lorentz spacecraft and the thruster-output control acceleration has been developed with details. It is shown that the proposed controller owns the advantages of the optimal control theory and has the ability to estimate and offset the unknown disturbances. The numerical simulations are performed to illustrate the efficacy of the proposed dynamical model and controller to maintain the spacecraft formation flying and hovering system with optimal fuel consumptions and high precision in the presence of the unknown disturbances.

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