采用微小卫星姿态运动学、动力学方程,以磁强计/太阳敏感器为姿态敏感器进行姿态确定,研究了一种基于融合反馈的改进联邦滤波算法,提出了一种基于观测新息修改的信息分配原则.给出了由四元数描述卫星姿态的误差状态方程,并对观测矢量进行推导,获得了基于角速度的观测方程,丰富了观测模型.仿真结果表明:基于角速度观测方程的引入,增强了观测信息的利用率,进而提高了姿态确定的精度,降低了计算量,保证了可靠性.%A new smallsat attitude determination algorithm based on fusion-feedback federal filtering and new information distribution principle based on measurement information is presented using smallsat attitude dynamics, magnetometer and sun sensor. Satellite attitude state error equation using quaternion is shown and a new measurement equation about attitude rate is presented based on research on measurement vectors that enriches the measurement model. Simulation results indicate that the use efficiency of measurement information is enhanced due to the attitude rate measurement equation and the accuracy of attitude determination is enhanced. Moreover. the load of computation is reduced and reliability is ensured by the improved federal filtering.
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