Research On Filtering And Control Of Fine Tracking System In Quantum Positioning

Quantum positioning system(QPS),as a new positioning technology,has been developed based on quantum mechanics and quantum information theory.QPS can calculate centimeter-level positioning coordinates by precise time difference,which is obtained by transmitting two quantum entangled photon pairs from a quantum satellite to the ground user,after reflecting to the satellite,and after data processing.The premise of QSP to achieve high-precision positioning is to achieve high-precision alignment between ground users and quantum satellites.This process is achieved through the acquisition,tracking and pointing(ATP)system of QPS.ATP system includes nested coarse tracking subsystem and fine tracking subsystem.In this thesis,the filtering and control of fine tracking system in ATP system of QPS are studied.The main research contents in this thesis include the following four aspects:1)Mathematical model establishment and component module device selection analysis of fine tracking system in quantum positioning.In the framework of the quan-tum positioning system,the functions of each module in the fine tracking system and the tasks required to complete the alignment of the beacon light and the quantum light between the stars and the ground are clarified.The structures of each module of the fine tracking system and the functions to be realized are analyzed.The relationship be-tween the module parameters and performance of fine tracking system is analyzed,the actuator,detector and microprocessor of the fine tracking system are further selected.The environment of satellite operation is analyzed,and the vibration signals of satel-lite platform are simulated based on the vibration data obtained by previous orbiting satellites.The mathematical model of fine tracking system with considering satellite platform vibration and environmental noise is established.The structure and working process of the advanced targeting subsystem are analyzed,and a set of implementation scheme to realize the advanced targeting is designed.2)Design of state filter of fine tracking system.Aiming at the mathematical model of fine tracking system with the vibration of satellite platform and noise of working environment,combined with the state disturbance estimator and strong tracking filter,an adaptive strong tracking Kalman filter(ASTKF)is designed,which can estimate the time-varying state disturbance and the state of the system itself on-line,suppress the state disturbance and further reduce the influence of measurement noise on the fine tracking signal.3)Design of adaptive controller of fine tracking system.In order to further improve the tracking accuracy and the robustness of the fine tracking system,a discrete model reference adaptive controller is proposed and designed.According to the Popov's super-stability theorem,the asymptotic stability of the designed model reference adaptive con-troller is proved.The superiority of the proposed controller performance is verified by the system simulation experiment and the comparison of the fine tracking performance with the PID+ASTKF and the auto disturbance rejection controller(ADRC)+ASTKF.4)Realization of dynamic simulation of ATP system.After the above filtering and control algorithms are designed,a Simulink simulation platform of entire ATP system is built,which combines scanning capture,coarse tracking and fine tracking system.A dynamic simulation platform of ATP system is designed based on the GUI development platform of MATLAB.and the users can see the tracking performance of the ATP system in real time and have an intuitive understanding of the working process of the entire ATP system.