ﻛﺎرﺑﺮد اﻟﮕﻮرﻳﺘﻢ qEKF در ﺗﺨﻤﻴﻦ وﺿﻌﻴﺖ ﻣﺎﻫﻮاره ﺑﺎ اﺳﺘﻔﺎده از ﺣﺴﮕﺮﻫﺎي ﻣﻐﻨﺎﻃﻴﺴﻲ و ﺧﻮرﺷﻴﺪ

Usinge The qEKF Algorithm for Satellite Attitude Estimation with Two Magnetometer & Sun Sensors

ﺗﻌﻴﻴﻦ و ﻛﻨﺘﺮل وﺿﻌﻴﺖ ﻣﻮﺿﻮﻋﻲ اﺳﺖ ﻛﻪ ﻫﻤﺮاه ﺑﺎ ﺗﻮﺳﻌﻪ ﻓﻨﺎوري ﻣﺎﻫﻮاره ﺑﺎ اﻗﺒﺎل ﻣﻮاﺟﻪ ﺷﺪه اﺳﺖ. ﻃﻲ ﺳﺎلﻫﺎي ﮔﺬﺷﺘﻪ روشﻫﺎي ﻗﻄﻌﻲ و ﺗﻜﺮاري ﺑﺮاي ﺗﻌﻴﻴﻦ وﺿﻌﻴﺖ ﻣﺎﻫﻮارهﻫﺎ ﺑﻪ ﻣﻨﻈﻮر ﺑﻬﺒﻮد ﻋﻤﻠﻜﺮد اﻳﻦ ﺗﻌﻴﻴﻦ وﺿﻌﻴﺖ، ﺗﻮﺳﻌﻪ ﻓﺮاواﻧﻲ ﻳﺎﻓﺘﻪ و اﻟﮕﻮرﻳﺘﻢﻫﺎي ﻣﺘﻨﻮﻋﻲ در اﻳﻦ ﺣﻮزه اراﻳﻪ ﺷﺪه اﺳﺖ. زﻳﺮﺳﻴﺴﺘﻢ ﺗﻌﻴﻴﻦ وﺿﻌﻴﺖ ﺗﺄﻣﻴﻦ ﻛﻨﻨﺪه دادهﻫﺎي ورودي ﻣﻮردﻧﻴﺎز اﻟﮕﻮرﻳﺘﻢﻫﺎي ﺗﻌﻴﻴﻦ ﻣﻮﻗﻌﻴﺖ و ﻛﻨﺘﺮل وﺿﻌﻴﺖ ﻣﺎﻫﻮاره اﺳﺖ،. در ﻣﺎﻫﻮارهﻫﺎي ﻛﻪ در ﻣﺪارﻫﺎي ﻧﺰدﻳﻚ ﺑﻪ زﻣﻴﻦ ﻗﺮار ﻣﻲﮔﻴﺮﻧﺪ و از ﺣﺴﮕﺮﻫﺎي ﻣﺤﺪودي ﺑﺮاي ﺗﻌﻴﻴﻦ وﺿﻌﻴﺖ ﺑﻬﺮه ﻣﻲﮔﻴﺮﻧﺪ، ﺑﻪ ﻃﻮرﻣﻌﻤﻮل از ﺗﺮﻛﻴﺐ روشﻫﺎي ﻗﻄﻌﻲ و ﺗﻜﺮاري ﺗﻌﻴﻴﻦ وﺿﻌﻴﺖ و در ﺷﺮاﻳﻄﻲ ﻛﻪ دادهﻫﺎي ﻳﻜﻲ از ﺣﺴﮕﺮﻫﺎ از دﺳﺘﺮس ﺧﺎرج ﺷﻮد، از ﺳﻮﺋﻴﭻ ﺑﻴﻦ اﻳﻦ روشﻫﺎ اﺳﺘﻔﺎده ﻣﻲﮔﺮدد. روشﻫﺎي ﻗﻄﻌﻲ و ﺗﻜﺮاري داراي ﻣﺰاﻳﺎ و ﻣﻌﺎﻳﺒﻲ ﮔﻮﻧﺎﮔﻮﻧﻲ ﻫﺴﺘﻨﺪ و در اﻳﻦ ﻣﻘﺎﻟﻪ ﺑﺎ اﺳﺘﻔﺎده از اﻳﺪه ﺗﺮﻛﻴﺐ روشﻫﺎي ﻗﻄﻌﻲ و ﺗﻜﺮاري، روش qEKF ﺑﺮاي ﺗﻌﻴﻴﻦ وﺿﻌﻴﺖ ﻣﺎﻫﻮاره ﺑﻪ ﻛﺎر ﮔﺮﻓﺘﻪ ﻣﻲﺷﻮد. در ﺗﻮﺳﻌﻪ ﻣﺒﺎﻧﻲ رﻳﺎﺿﻲ اﻟﮕﻮرﻳﺘﻢ QEKF، از اﻳﺪه ﻓﻴﻠﺘﺮ ﻛﺎﻟﻤﻦ ﺗﻮﺳﻌﻪ ﻳﺎﻓﺘﻪ ﺑﺮاي اﺻﻼح روش ﺗﻜﺮاري Quest اﺳﺘﻔﺎده ﻣﻲﺷﻮد و در ﻧﺘﻴﺠﻪ روﺷﻲ ﺟﺪﻳﺪ ﺑﺮاي ﺗﺨﻤﻴﻦ ﺑﺮدار ﺣﺎﻟﺖ ﺗﺸﻜﻴﻞ ﺷﺪه از ﺣﺎﻟﺖﻫﺎي وﺿﻌﻴﺖ و ﻏﻴﺮ وﺿﻌﻴﺖ ﻣﺎﻫﻮاره ﺗﻮﺳﻌﻪ داده ﻣﻲ ﺷﻮد. ﺑﺮاي ارزﻳﺎﺑﻲ ﻋﻤﻠﻜﺮد روش ﭘﻴﺸﻨﻬﺎدي، ﺷﺒﻴﻪﺳﺎزيﻫﺎي ﻣﺨﺘﻠﻔﻲ ﺑﺮاي ﻳﻚ ﻣﺎﻫﻮاره در ﻣﺪار ﻧﺰدﻳﻚ ﺑﻪ زﻣﻴﻦ ﻛﻪ داراي ﺣﺴﮕﺮﻫﺎي ﺧﻮرﺷﻴﺪ، ﻣﻐﻨﺎﻃﻴﺴﻲ و ژﻳﺮوﺳﻜﻮپ ﺳﻪ ﻣﺤﻮره اﺳﺖ، اﻧﺠﺎم ﮔﺮﻓﺘﻪ و ﻧﺘﺎﻳﺞ ﺑﺎ روش SOAR ﻣﻘﺎﻳﺴﻪ ﺷﺪه اﺳﺖ. ﺑﺮرﺳﻲ ﻧﺘﺎﻳﺞ ﻧﺸﺎن دﻫﻨﺪه ﻋﻤﻠﻜﺮد ﻗﺎﺑﻞ ﻗﺒﻮل روش ﭘﻴﺸﻨﻬﺎدي در ﻗﻴﺎس ﺑﺎ دﻳﮕﺮ روشﻫﺎ در ﺗﺨﻤﻴﻦ وﺿﻌﻴﺖ ﻣﺎﻫﻮاره و ﺑﺎﻳﺎس ژﻳﺮوﺳﻜﻮپﻫﺎﺳﺖ.

In recent years, according to progress of aerospace industries particularly satellites it has been paying much attention to attitude determination of satellite. Attitude determination of satellite in various ways, such as: radio, radar, optical methods and using GPS, q and kalman filter is done, that each of these methods has advantages and disadvantages. Due to disturbance in space, high accuracy in attitude determination, various algorithms to obtain properly accurately attitude, desirable access to position, velocity and time of satellite to achieve desired attitude determination satellite are considered a top priority. However in this Paper, first we review the various methods for attitude determination satellite and then examine of operation and relations of algorithms discussed. This Paper focus on the advantages and disadvantages of qEKF algorithm in compare to other methods are available.