测绘学报 ›› 2024, Vol. 53 ›› Issue (5): 879-888.doi: 10.11947/j.AGCS.2024.20230228

• 大地测量学与导航 • 上一篇    下一篇

Schmidt算法在导航卫星自主定轨中的应用

宋小勇1,2(), 杨元喜1,2, 毛悦1,2, 阮仁桂1,2, 王龙1,2   

  1. 1.地理信息工程国家重点实验室,陕西 西安 710054
    2.西安测绘研究所,陕西 西安 710054
  • 收稿日期:2023-06-16 修回日期:2024-05-14 发布日期:2024-06-19
  • 作者简介:宋小勇(1968—),男,博士,高级工程师,研究方向为空间大地测量数据处理、卫星导航技术。E-mail:sxyong@21cn.com
  • 基金资助:
    国家自然科学基金(42388102)

Schmidt Kalman filter in autonomous orbit determination of navigation satellites

Xiaoyong SONG1,2(), Yuanxi YANG1,2, Yue MAO1,2, Rengui RUAN1,2, Long WANG1,2   

  1. 1.State Key Laboratory of Geo-Information Engineering, Xi'an 710054, China
    2.Research Institute of Surveying and Mapping, Xi'an 710054, China
  • Received:2023-06-16 Revised:2024-05-14 Published:2024-06-19
  • About author:SONG Xiaoyong (1968—), male, PhD, senior engineer, majors in space geodetic data processing, satellite navigation technique. E-mail: sxyong@21cn.com
  • Supported by:
    The National Natural Science Foundation of China(42388102)

摘要:

针对现有导航卫星自主定轨采用的等效观测Kalman滤波算法精度难以进一步提升的问题,本文将顾及卫星间状态量协方差信息的Schmidt分布式算法应用于自主定轨,给出了逐观测量处理的Schmidt分布式算法测量更新和时间更新计算公式,提出了采用平方根滤波方法解决Schmidt分布式算法用于星间链路定轨时协方差阵非负定问题。仿真和实测数据自主定轨结果表明,相比等效观测分布式滤波算法,本文方法能够有效提升自主定轨精度。

关键词: 导航卫星, 星间链路, 自主定轨, BDS, 分布式滤波

Abstract:

To further improve the accuracy of autonomous orbit determination (AOD) of BDS navigation satellites with the equivalent observation Kalman filter, the Schmidt Kalman filter algorithm is applied, considering the cross covariance information between two correlated satellite states of the inter-satellite link observation. The formula for the measurement update and time update of Schmidt Kalman filter according to the observation one by one is deduced, and the square root filtering is also used to ensure the positive definite of the covariance matrix of state variable. The simulation and observed data test result of autonomous orbit determination shows that the Schmidt Kalman filter algorithm can perceptibly improve the AOD accuracy compared with the equivalent observation Kalman filter.

Key words: navigation satellite, inter-satellite link, autonomous orbit determination, BDS, decentralized filtering

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