TY - JOUR
T1 - Novel dual vector quaternions based adaptive extended two-step filter for pose and inertial parameters estimation of a free-floating tumbling space target
AU - Hou, Xianghao
AU - Yuan, Jianping
N1 - Publisher Copyright:
© IMechE 2018.
PY - 2019/6
Y1 - 2019/6
N2 - Estimating the parameters of an uncooperative space target is essential to the on-orbit service missions. A good parameter estimation can provide sufficient prior knowledge for the further operations. This paper proposes a novel dual vector quaternions based adaptive extended two-step filter (DVQ-AETSF) to estimate the pose and inertial parameters of a free-floating tumbling space target. Firstly, both of the rotational and translational motions are modeled by the dual vector quaternions (DVQ). Then, by using the DVQ-based system model, the DVQ-AETSF is designed. The proposed DVQ-AETSF mainly consists of a traditional Kalman filter prediction procedure in the first step and an adaptive regularized Newton iteration technique in the second step. The new proposed two-step filter aims to deal with the high nonlinearities in the measurements equations. By using the proposed DVQ-AETSF, both of the pose and initial parameters of a free floating tumbling space target under large errors of initial guesses and high measurement noise can be well estimated. Finally, the proposed DVQ-AETSF is validated by mathematical simulations to show its performance.
AB - Estimating the parameters of an uncooperative space target is essential to the on-orbit service missions. A good parameter estimation can provide sufficient prior knowledge for the further operations. This paper proposes a novel dual vector quaternions based adaptive extended two-step filter (DVQ-AETSF) to estimate the pose and inertial parameters of a free-floating tumbling space target. Firstly, both of the rotational and translational motions are modeled by the dual vector quaternions (DVQ). Then, by using the DVQ-based system model, the DVQ-AETSF is designed. The proposed DVQ-AETSF mainly consists of a traditional Kalman filter prediction procedure in the first step and an adaptive regularized Newton iteration technique in the second step. The new proposed two-step filter aims to deal with the high nonlinearities in the measurements equations. By using the proposed DVQ-AETSF, both of the pose and initial parameters of a free floating tumbling space target under large errors of initial guesses and high measurement noise can be well estimated. Finally, the proposed DVQ-AETSF is validated by mathematical simulations to show its performance.
KW - Autonomous rendezvous and docking
KW - Dual vector quaternions
KW - On-orbit servicing
KW - Parameter estimation
KW - Two-step filter
UR - http://www.scopus.com/inward/record.url?scp=85049875737&partnerID=8YFLogxK
U2 - 10.1177/0954410018784145
DO - 10.1177/0954410018784145
M3 - 文章
AN - SCOPUS:85049875737
SN - 0954-4100
VL - 233
SP - 2570
EP - 2591
JO - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
IS - 7
ER -