多通道鲁棒故障卫星参数估计算法
Multichannel Robust Parameters Estimation for Disabled Satellites

采用矢量对偶四元数，对空间中的故障卫星进行了运动学与动力学的建模。同时，针对空间复杂环境可能对测量产生干扰导致测量失效的情况，设计了一种基于联邦滤波算法的多通道鲁棒故障卫星参数估计算法。基于此新模型与算法，在相机测量失效的情况下，故障卫星的位姿与质量参数能够得到鲁棒的一体化估计。仿真结果证明，所设计的参数估计算法能够在测量失效的情况下对故障卫星的位姿参数与质量参数做出有效估计。
Based on the dual vector quaternions, this paper modeled both the kinematics and dynamics of the disabled satellites. In addition, considering the complex space environment may lead to the measurements failure of the target, a novel robust federal Kalman filter based algorithm (DVQ-REKF) is proposed by this paper. By utilizing the designed algorithm, both the pose and inertial parameters can be estimated in the same time when the measurements by each of the monocular camera on the service satellite failed for a certain period of time. Finally, the simulation shows the validity of the designed DVQ-REKF