量子定位中精跟踪系统状态滤波及控制器设计

量子定位系统中精跟踪系统的跟踪精度是高精度定位的前提。针对卫星平台抖动以及工作环境噪声对量子定位系统跟踪精度的影响,建立了带有卫星平台振动信号模型以及有色噪声信号的精跟踪系统模型;设计了自适应强跟踪卡尔曼滤波器(adaptive strong tracking Kalman filter,ASTKF)算法,对状态扰动和输出噪声进行在线估计;并设计ASTKF对精跟踪系统进行闭环跟踪控制。在系统仿真实验中,对ASTKF进行了数值设计;对带有滤波器和比例积分微分(proportion integration differentiation,PID)控制器的精跟踪系统的控制性能,与仅采用PID控制方法以及采用自抗扰控制方法进行了性能对比实验。结果表明:采用带有所提出的ASTKF的PID控制的跟踪精度相较PID及自抗扰控制精度均有明显提高,可以达到量子定位的精跟踪系统对跟踪精度±2 μrad的要求。

State filtering and controller design for fine tracking system in quantum positioning

The tracking precision of fine tracking system is the premise of high-precision positioning in the quantum positioning system. Considering the influence of satellite platform jitter and working environment noise on the tracking accuracy of quantum positioning system, a fine tracking system model with a satellite platform vibration signal model and colored noise signal is established. An adaptive strong tracking Kalman filter （ASTKF）algorithm is designed to estimate the state disturbance and output noise online. The proportion integrationdifferentiation (PID) controller with ASTKF is designed to perform closed-loop tracking control on the fine tracking system. In the system simulation design, experiments are carried out on the parameters selection of ASTKF. The performance comparison of the fine tracking system with filter and PID controller is compared with the method with PID control or active disturbance rejection control (ADRC). The experimental results show that when adopting PID control with the proposed ASTKF, the tracking accuracy is significantly improved compared with PID or ADRC and can reach the quantum positioning requirement within ±2 μrad.