基于星敏感器四元数的卫星角速度预测滤波算法

为在无陀螺或陀螺故障时可用星敏感器估计姿态角速度，在扩展卡尔曼滤波（EKF）和非线性预测滤波的基础上提出了基于四元数的卫星角速度估计算法，并给出了相应的模型。该算法对角速度建模精度的要求较低，无需卫星动力学方程，方法简单且易于实现。仿真结果表明，算法的精度较高。虽然仍受噪声和步长的影响，但相对基于EKF和最小模型误差的角速度估计算法，其性能改善较大。

Star-Sensor-Quaternion based Predictive Filtering for Attitude Rate Estimator

For estimating attitude rate by star sensor where no gyro or when gyro failed,the quaternion estimating algorithm of angle rate for satellite was put forward based on extended Kalman filter(EKF) and nonlinear predictive filtering in this paper.The model was given.The algorithm had low requirement to the modeling accuracy of angle rate and no need of kinetic equation for satellite,which was simple and easy to implement.The simulation results showed that the accuracy of the algorithm was rather high.Although affected by noise and step,its performance was improved comparing to the angle estimating algorithm of EKF and the least model error.