Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation
Main Author: | |
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Publication Date: | 2020 |
Other Authors: | , , , , |
Format: | Conference object |
Language: | eng |
Source: | Repositório Institucional da UNESP |
Download full: | http://hdl.handle.net/11449/205893 |
Summary: | The Rao-Blackwellized particle Filter (RaoBPF) and the Unscented Kalman Filter (UKF) were developed in this work to attitude and gyros bias estimation using simulated orbit and attitude measurement data for CBERS-4 (China Brazil Earth Resources Satellite 4) recently in operation. CBERS-4 was launched in 2014, controlled and operated in shifts by China (Xi'an Control Center) and Brazil (Satellite Control Center). Its orbit is heliosynchronous with an inclination of 98.504 degrees, a semi-major axis of 7148.865 km, eccentricity 1.1 × 10-3, crossing Ecuador at 10h30min in a descending direction with perigee frozen at 90 degrees, which establishes a commitment relationship between a satisfactory amount of solar irradiance, contrast between targets, and the presence of clouds, and providing global coverage every 26 days. The real orbit and attitude measurements were provided by the Satellite Control Center of the National Institute for Space Research (CCS - INPE) for September 1, 2015. The dynamic attitude model is described by quaternions. The available attitude sensors are two Digital Sun Sensors (DSS), two Infrared Earth Sensor (IRES) and a triad of mechanical gyroscopes. The two IRES give direct measurements of roll and pitch angles with a certain level of error. The two DSS are nonlinear functions of roll, pitch, and yaw attitude angles. The gyros furnish the angular measurements in the body frame reference system. Gyros provide direct incremental angles or angular velocities; however, gyros present several sources of error of which the drift is the most troublesome. Such drifts yield along time an accumulation of errors which must be accounted for in the attitude determination process. The RaoBPF estimation method used to attitude and gyros bias estimation is a technique that exploits the state space structure in order to reduce the number of particles, decreasing the processing time, avoiding the computational effort common to the standard particle filter. The logical extension of the RaoBPF provides a more general model that can be divided into purely non-linear and conditionally linear-Gaussian aspects, which explores this structure, marginalizing the conditional linear parts and estimating them using exact filters, such as the Extended Kalman Filter (EKF). The results show that it is possible to achieve precision in determining attitudes within the prescribed requirements using the RaoBPF, with lower computational cost when compared to the standard particle filter and its branches, in addition to having good results such as the UKF. |
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Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimationArtificial satellitesAttitude estimationCBERS-4Gyros biasRao-blackwellized particle filterUnscented kalman filterThe Rao-Blackwellized particle Filter (RaoBPF) and the Unscented Kalman Filter (UKF) were developed in this work to attitude and gyros bias estimation using simulated orbit and attitude measurement data for CBERS-4 (China Brazil Earth Resources Satellite 4) recently in operation. CBERS-4 was launched in 2014, controlled and operated in shifts by China (Xi'an Control Center) and Brazil (Satellite Control Center). Its orbit is heliosynchronous with an inclination of 98.504 degrees, a semi-major axis of 7148.865 km, eccentricity 1.1 × 10-3, crossing Ecuador at 10h30min in a descending direction with perigee frozen at 90 degrees, which establishes a commitment relationship between a satisfactory amount of solar irradiance, contrast between targets, and the presence of clouds, and providing global coverage every 26 days. The real orbit and attitude measurements were provided by the Satellite Control Center of the National Institute for Space Research (CCS - INPE) for September 1, 2015. The dynamic attitude model is described by quaternions. The available attitude sensors are two Digital Sun Sensors (DSS), two Infrared Earth Sensor (IRES) and a triad of mechanical gyroscopes. The two IRES give direct measurements of roll and pitch angles with a certain level of error. The two DSS are nonlinear functions of roll, pitch, and yaw attitude angles. The gyros furnish the angular measurements in the body frame reference system. Gyros provide direct incremental angles or angular velocities; however, gyros present several sources of error of which the drift is the most troublesome. Such drifts yield along time an accumulation of errors which must be accounted for in the attitude determination process. The RaoBPF estimation method used to attitude and gyros bias estimation is a technique that exploits the state space structure in order to reduce the number of particles, decreasing the processing time, avoiding the computational effort common to the standard particle filter. The logical extension of the RaoBPF provides a more general model that can be divided into purely non-linear and conditionally linear-Gaussian aspects, which explores this structure, marginalizing the conditional linear parts and estimating them using exact filters, such as the Extended Kalman Filter (EKF). The results show that it is possible to achieve precision in determining attitudes within the prescribed requirements using the RaoBPF, with lower computational cost when compared to the standard particle filter and its branches, in addition to having good results such as the UKF.University of Brasilia (UnB) Gama Campus (FGA), Área Especial de Indústria, Projeção A, Setor Leste (Gama)University of São Paulo (USP) Lorena School of Engineering (EEL) Estrada Municipal do Campinho, S/N. Ponte NovaNational Institute for Space Research (INPE) Space Mechanics and Control Division (DMC), Avenida dos Astronautas, 1758, Jardim da GranjaSão Paulo State University (UNESP) Guaratinguetá Campus, Av. Dr. Ariberto Pereira da Cunha, 333São Paulo State University (UNESP) Guaratinguetá Campus, Av. Dr. Ariberto Pereira da Cunha, 333Gama Campus (FGA)Universidade de São Paulo (USP)Space Mechanics and Control Division (DMC)Universidade Estadual Paulista (Unesp)Silva, William R.Garcia, Roberta V.Pardal, Paula C.P.M.Santilli, GiancarloKuga, Hélio K.Zanardi, Maria C.S.P.S. [UNESP]2021-06-25T10:22:59Z2021-06-25T10:22:59Z2020-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObjectProceedings of the International Astronautical Congress, IAC, v. 2020-October.0074-1795http://hdl.handle.net/11449/2058932-s2.0-85100942264Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengProceedings of the International Astronautical Congress, IACinfo:eu-repo/semantics/openAccess2021-10-22T19:50:59Zoai:repositorio.unesp.br:11449/205893Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462021-10-22T19:50:59Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation |
title |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation |
spellingShingle |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation Silva, William R. Artificial satellites Attitude estimation CBERS-4 Gyros bias Rao-blackwellized particle filter Unscented kalman filter |
title_short |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation |
title_full |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation |
title_fullStr |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation |
title_full_unstemmed |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation |
title_sort |
Rao-blackwellized particle filter for the cbers-4 attitude and gyros bias estimation |
author |
Silva, William R. |
author_facet |
Silva, William R. Garcia, Roberta V. Pardal, Paula C.P.M. Santilli, Giancarlo Kuga, Hélio K. Zanardi, Maria C.S.P.S. [UNESP] |
author_role |
author |
author2 |
Garcia, Roberta V. Pardal, Paula C.P.M. Santilli, Giancarlo Kuga, Hélio K. Zanardi, Maria C.S.P.S. [UNESP] |
author2_role |
author author author author author |
dc.contributor.none.fl_str_mv |
Gama Campus (FGA) Universidade de São Paulo (USP) Space Mechanics and Control Division (DMC) Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Silva, William R. Garcia, Roberta V. Pardal, Paula C.P.M. Santilli, Giancarlo Kuga, Hélio K. Zanardi, Maria C.S.P.S. [UNESP] |
dc.subject.por.fl_str_mv |
Artificial satellites Attitude estimation CBERS-4 Gyros bias Rao-blackwellized particle filter Unscented kalman filter |
topic |
Artificial satellites Attitude estimation CBERS-4 Gyros bias Rao-blackwellized particle filter Unscented kalman filter |
description |
The Rao-Blackwellized particle Filter (RaoBPF) and the Unscented Kalman Filter (UKF) were developed in this work to attitude and gyros bias estimation using simulated orbit and attitude measurement data for CBERS-4 (China Brazil Earth Resources Satellite 4) recently in operation. CBERS-4 was launched in 2014, controlled and operated in shifts by China (Xi'an Control Center) and Brazil (Satellite Control Center). Its orbit is heliosynchronous with an inclination of 98.504 degrees, a semi-major axis of 7148.865 km, eccentricity 1.1 × 10-3, crossing Ecuador at 10h30min in a descending direction with perigee frozen at 90 degrees, which establishes a commitment relationship between a satisfactory amount of solar irradiance, contrast between targets, and the presence of clouds, and providing global coverage every 26 days. The real orbit and attitude measurements were provided by the Satellite Control Center of the National Institute for Space Research (CCS - INPE) for September 1, 2015. The dynamic attitude model is described by quaternions. The available attitude sensors are two Digital Sun Sensors (DSS), two Infrared Earth Sensor (IRES) and a triad of mechanical gyroscopes. The two IRES give direct measurements of roll and pitch angles with a certain level of error. The two DSS are nonlinear functions of roll, pitch, and yaw attitude angles. The gyros furnish the angular measurements in the body frame reference system. Gyros provide direct incremental angles or angular velocities; however, gyros present several sources of error of which the drift is the most troublesome. Such drifts yield along time an accumulation of errors which must be accounted for in the attitude determination process. The RaoBPF estimation method used to attitude and gyros bias estimation is a technique that exploits the state space structure in order to reduce the number of particles, decreasing the processing time, avoiding the computational effort common to the standard particle filter. The logical extension of the RaoBPF provides a more general model that can be divided into purely non-linear and conditionally linear-Gaussian aspects, which explores this structure, marginalizing the conditional linear parts and estimating them using exact filters, such as the Extended Kalman Filter (EKF). The results show that it is possible to achieve precision in determining attitudes within the prescribed requirements using the RaoBPF, with lower computational cost when compared to the standard particle filter and its branches, in addition to having good results such as the UKF. |
publishDate |
2020 |
dc.date.none.fl_str_mv |
2020-01-01 2021-06-25T10:22:59Z 2021-06-25T10:22:59Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
Proceedings of the International Astronautical Congress, IAC, v. 2020-October. 0074-1795 http://hdl.handle.net/11449/205893 2-s2.0-85100942264 |
identifier_str_mv |
Proceedings of the International Astronautical Congress, IAC, v. 2020-October. 0074-1795 2-s2.0-85100942264 |
url |
http://hdl.handle.net/11449/205893 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Proceedings of the International Astronautical Congress, IAC |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
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UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
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Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
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