CN104567923B - A kind of scaling method suitable for non-co-planar gyro group - Google Patents

Abstract

A kind of scaling method suitable for non-co-planar gyro group, step is：(1) gyrounit is placed on turntable or spacecraft, controlling turntable or spacecraft carries out uniform rotation around the multiple rotating shafts comprising three rotating shafts of non-co-planar；(2) in rotation process, the attitude for obtaining turntable or spacecraft is calculated using the output of gyrounit, then new breath amendment is carried out to calculating the attitude for obtaining using turntable frame angular data or star sensor measurement data, the equivalent normal drift of each gyro and revised turntable attitude or spacecraft attitude under dynamic are obtained, statistics obtains the equivalent normal drift average of each gyro；(3) control turntable or spacecraft recovers resting state, the attitude for obtaining turntable or spacecraft is calculated using the output of gyrounit, the equivalent normal drift of each gyro and revised turntable attitude or spacecraft attitude under static state are obtained, statistics obtains the equivalent normal drift average of each gyro；(4) it is calculated the installation deviation of each gyro, often floats and scale factor error.

Description

A kind of scaling method suitable for non-co-planar gyro group

Technical field

The present invention relates to a kind of Gyro Calibration method, can be used for the in-orbit utilization star sensor measurement of spacecraft and realizes that gyro is pacified The inclined on-orbit calibration of dress deviation, scale coefficient error and gyro zero, it is also possible to for ground using high precision turntable to gyro group It is fixed that the installation deviation of part, scale coefficient error and gyro zero are biased rower.

Background technology

After mounting, the sensitive direction of principal axis of each gyro needs to carry out gyrounit relative to the installation direction of its reference mirror Demarcate, the calibration factor of each gyro and zero is also required to demarcate partially.Typically adopt frock and the upset of 12 positions to be demarcated, but side Method is only applicable to the gyro of orthogonal installation from principle.

Spacecraft carries out accurate measurement before transmission to the installation of star sensor and gyro, and binds the installation matrix of accurate measurement.But It is affected by vibrations in emission process, and after entering the orbit thermal deformation impact, the actual installation position of star sensor and gyro Put and all change relative to the installation matrix bound.Affected by bias instaility in addition, the zero of gyro can also change partially, Therefore high-precision navigation and gesture stability need to determine the rower that is installed into of the relative star sensor of gyro, are biased to the zero of gyro Rower is fixed.

Existing scaling method is only applicable to the demarcation of the gyro for being close to orthogonal at present, during algorithmic derivation, adopts With small angle approximation, when two gyros are not to be close to vertical, this small angle approximation brings larger error, thus uses When the demarcation of nonopiate installation gyro, its precision can be significantly reduced.

The content of the invention

Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided a kind of to be applied to non-co-planar gyro The scaling method of group, for non-co-planar gyro group, no longer carries out small angle approximation but using accurate expression formula, solves and adopt With star sensor or high precision turntable data to the nonopiate problem for installing Gyro Calibration.

The present invention technical solution be：A kind of scaling method suitable for non-co-planar gyro group, comprises the steps：

(1) gyrounit is placed on turntable or spacecraft, described gyrounit includes three non-coplanar gyros, It is designated as gyro i, i=1,2,3；Three coordinate axess of turntable or spacecraft body series are designated as into x, y, z, are selected comprising non-co-planar The common P of three rotating shafts_mIndividual rotating shaft, is designated as A_P, P=1,2,3 ..., P_m, P_m>=3, P=1 is made, step (2) is gone to；

(2) if P >=P_m+ 1, then proceed to step (3)；Turntable or spacecraft are controlled otherwise around A_PAxle uniform rotation；Turning In the rotation process of platform or spacecraft, the attitude and body for obtaining turntable or spacecraft is calculated using the output of gyrounit It is the rotational speed omega of three coordinate axess_j；Then using the star sensor carried in the framework angular data or spacecraft of turntable itself Attitude measurement data carry out new breath amendment to calculating the attitude for obtaining, obtain the equivalent normal drift b of each gyro under dynamic_iAnd amendment Turntable attitude afterwards or spacecraft attitude；Meanwhile, after judging that the equivalent normal drift of gyro is stable, start statistical equivalent and often float average With rotating speed averageJ=x, y, z, re-execute this step after making P=P+1；

(3) P=0, control turntable or spacecraft is made to recover resting state；Calculated using the output of gyrounit and turned The rotational speed omega of three coordinate axess of attitude and body series of platform or spacecraft_j；Then using turntable itself framework angular data or The attitude measurement data of the star sensor carried on person's spacecraft carry out new breath amendment to calculating the attitude for obtaining, and obtain under static state The equivalent normal drift b of each gyro_iWith revised turntable attitude or spacecraft attitude；Meanwhile, judge that the equivalent normal drift of gyro is stable Afterwards, start statistical equivalent and often float averageWith rotating speed average

(4) installation deviation of each gyro after demarcating, often drift and scale factor error are calculated, specially：

Installation column vector O of gyro after demarcation_gm1, O_gm2, O_gm3

O_gm1=O_gm1/||O_gm1||

O_gm2=O_gm2/||O_gm2||

O_gm3=O_gm3/||O_gm3||

O_gm1=(1+M_v11)O_g1+M_v12O_g2+M_v13O_g3

O_gm2=M_v21O_g1+(1+M_v22)O_g2+M_v23O_g3

O_gm3=M_v31O_g1+M_v32O_g2+(1+M_v33)O_g3

The normal drift b of gyro after demarcation_gm1, b_gm2, b_gm3：

b_gm1=M_v14

b_gm2=M_v24

b_gm3=M_v34

The scale factor error coefficient of gyro after demarcation

M_v1, M_v2, M_v3For 4 × 1 column vector, the element representation of each vector is as follows：

M_v1=[M_v11 M_v12 M_v13 M_v14]^T

M_v2=[M_v21 M_v22 M_v23 M_v24]^T

M_v3=[M_v31 M_v32 M_v33 M_v34]^T

O in formula_g1, O_g2, O_g3For gyro turntable or spacecraft body series installation column vector.

In described step (2) and (3), equivalent normal drift and rotating speed average statistical method are as follows：

Start to count season statistics number n=0, equivalent normal drift averageThree axle mean speedsThen adopt Following formula is counted：

N=n+1

When statistics number n>n_thresWhen, statistics terminates, wherein n_thresTo count number threshold value, n is taken_thres≥40。

Present invention advantage compared with prior art is：It is sensitive that the present invention proposes a kind of star during rotating using satellite Device data or high precision turntable framework angular data, the method demarcated by the gyro group on satellite or on turntable, Method does not carry out small angle approximation calculating from principle, it is adaptable to the Accurate Calibration of nonopiate installation gyro.Due to step simply, It is easy to the in-orbit realization of spacecraft, while being also easy to realize using turntable on ground, relative to existing on-orbit calibration method, calculates Amount is little；Simultaneously as least-squares calculation correction is finally adopted in method, when a certain motor-driven phase data is wrong, can not Using the phase data, calculated using other phase datas, fault data is easy to reject, and improves the precision of demarcation.

Description of the drawings

FB(flow block)s of the Fig. 1 for the inventive method.

Specific embodiment

In order to study the scaling method suitable for nonopiate gyro group, first three non-orthogonal peaces of the gyro to bind Dress column vector is the base in linear space, three gyro sensors is accurately stated, each time is then obtained and was rotated The equivalent normal drift of journey and quiescing process installs matrix deviation, calibration factor deviation and the relation often floated with gyro, based on this pass System is proposed suitable for the nonopiate scaling method for installing gyro, as shown in figure 1, comprising the following steps that：

(1) gyrounit comprising three gyros is placed on turntable or spacecraft, three gyros are designated as gyro i, i= 1,2,3；Three coordinate axess of turntable or spacecraft body series are designated as x, y, z；Select multiple comprising three rotating shafts of non-co-planar Rotating shaft, is designated as A_P, P=1,2,3 ..., P_m, P=1 is made, step (2) is gone to；

(2) if P >=P_m+ 1, then step (3) is proceeded to, otherwise：

Control turntable or spacecraft are around A_PUniform rotation；

In the rotation process of turntable or spacecraft, calculated using the output of gyrounit and obtain turntable or spacecraft Attitude, three rotating speeds；

Then using the attitude measurement data of the star sensor carried in the framework angular data or spacecraft of turntable itself New breath amendment is carried out to calculating the attitude for obtaining, obtain under dynamic the equivalent normal drift of each gyro and revised turntable attitude or Spacecraft attitude；Yuhang Publishing House is can be found in specifically, Tu Shancheng chief editors'《Satellite Attitude Dynamics and control》11 chapters of one book Section 5.

After judging that the equivalent normal drift of gyro is stable, start statistical equivalent and often float averageRotating speed averageStart during statistics to reset each statistical variable, even statistics number n=0, equivalent normal drift averageThree axle mean speeds

Start statistics：

N=n+1

When statistics number n>n_thresWhen, statistics terminates, wherein n_thresTo count number threshold value, n is taken_thres=40.Here b_i Newly to cease the equivalent normal drift of revised each gyro, ω_jIt is that three rotating speed of body series for obtaining is exported using gyro.

P=P+1 is made to re-execute step (2)；

(3) P=0, control turntable or spacecraft is made to recover resting state；

The attitude for obtaining turntable or spacecraft, three rotating speeds are calculated using the output of gyrounit；

Then using the attitude measurement data of the star sensor carried in the framework angular data or spacecraft of turntable itself New breath amendment is carried out to calculating the attitude for obtaining, obtain under static state the equivalent normal drift of each gyro and revised turntable attitude or Spacecraft attitude；

After judging that the equivalent normal drift of gyro is stable, start statistical equivalent and often float averageRotating speed averageThe same step of statistical method (2)；

(4) it is calculated the installation deviation of each gyro, often floats and scale factor error, specially：

M_v1, M_v2, M_v3For 4 × 1 column vector, the element representation of each vector is as follows：

M_v1=[M_v11 M_v12 M_v13 M_v14]^T

M_v2=[M_v21 M_v22 M_v23 M_v24]^T

M_v3=[M_v31 M_v32 M_v33 M_v34]^T

Calculate：

O_gm1=(1+M_v11)O_g1+M_v12O_g2+M_v13O_g3

O_gm2=M_v21O_g1+(1+M_v22)O_g2+M_v23O_g3

O_gm3=M_v31O_g1+M_v32O_g2+(1+M_v33)O_g3

b_gm1=M_v14

b_gm2=M_v24

b_gm3=M_v34

O_gm1=O_gm1/||O_gm1||

O_gm2=O_gm2/||O_gm2

O_gm3=O_gm3/||O_gm3||

O in formula_g1, O_g2, O_g3For gyro body coordinate system installation column vector,

O_gm1, O_gm2, O_gm3：For the installation column vector of gyro after demarcation

For the gyro scale factor error coefficient obtained after demarcation

b_gm1, b_gm2, b_gm3：Often float for gyro obtained by calibrating

The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.

Claims (2)

1. a kind of scaling method suitable for non-co-planar gyro group, it is characterised in that comprise the steps：

(1) gyrounit is placed on turntable or spacecraft, described gyrounit includes three non-coplanar gyros, is designated as Gyro i, i=1,2,3；Three coordinate axess of turntable or spacecraft body series are designated as into x, y, z, are selected comprising non-co-planar three The common P of the rotating shaft of gyro_mIndividual rotating shaft, is designated as A_P, P=1,2,3 ..., P_m, P_m>=3, P=1 is made, step (2) is gone to；

(2) if P >=P_m+ 1, then proceed to step (3)；Turntable or spacecraft are controlled otherwise around A_PAxle uniform rotation；In turntable or In the rotation process of person's spacecraft, the attitude and body series three for obtaining turntable or spacecraft is calculated using the output of gyrounit The rotational speed omega of individual coordinate axess_j；Then using the appearance of the star sensor carried in the framework angular data or spacecraft of turntable itself State measurement data carries out new breath amendment to calculating the attitude for obtaining, and obtains the equivalent normal drift b of each gyro under dynamic_iWith it is revised Turntable attitude or spacecraft attitude；Meanwhile, after judging that the equivalent normal drift of gyro is stable, start statistical equivalent and often float averageWith turn Fast averageJ=x, y, z, re-execute this step after making P=P+1；

(3) P=0, control turntable or spacecraft is made to recover resting state；Using gyrounit output calculate obtain turntable or The rotational speed omega of three coordinate axess of attitude and body series of person's spacecraft_j；Then using the framework angular data or boat of turntable itself The attitude measurement data of the star sensor carried on its device carry out new breath amendment to calculating the attitude for obtaining, and obtain each top under static state The equivalent normal drift b of spiral shell_iWith revised turntable attitude or spacecraft attitude；Meanwhile, after judging that the equivalent normal drift of gyro is stable, open Beginning statistical equivalent often floats averageWith rotating speed average

(4) the installation column vector of each gyro after demarcating, often drift and scale factor error coefficient are calculated, specially：

Installation column vector O of gyro after demarcation_gm1, O_gm2, O_gm3

O_gm1=O_gm1/||O_gm1||

O_gm2=O_gm2/||O_gm2||

O_gm3=O_gm3/||O_gm3||

O_gm1=(1+M_v11)O_g1+M_v12O_g2+M_v13O_g3

O_gm2=M_v21O_g1+(1+M_v22)O_g2+M_v23O_g3

O_gm3=M_v31O_g1+M_v32O_g2+(1+M_v33)O_g3

The normal drift b of gyro after demarcation_gm1, b_gm2, b_gm3：

b_gm1=M_v14

b_gm2=M_v24

b_gm3=M_v34

The scale factor error coefficient of gyro after demarcation

${\tilde{k}}_{gm1}=\left|\right|O_{gm1}\left|\right|-1$

${\tilde{k}}_{gm2}=\left|\right|O_{gm2}\left|\right|-1$

${\tilde{k}}_{gm3}=\left|\right|O_{gm3}\left|\right|-1$

M_v1, M_v2, M_v3For 4 × 1 column vector, the element representation of each vector is as follows：

M_v1=[M_v11 M_v12 M_v13 M_v14]^T

M_v2=[M_v21 M_v22 M_v23 M_v24]^T

M_v3=[M_v31 M_v32 M_v33 M_v34]^T

$M_{v1}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{10}& {\stackrel{\‾}{b}}_{11}& {\stackrel{\‾}{b}}_{12}& {\stackrel{\‾}{b}}_{13}& \mathrm{...}& {\stackrel{\‾}{b}}_{1Pm}\end{array}\right]}^T$

$M_{v2}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{20}& {\stackrel{\‾}{b}}_{21}& {\stackrel{\‾}{b}}_{22}& {\stackrel{\‾}{b}}_{23}& \mathrm{...}& {\stackrel{\‾}{b}}_{2Pm}\end{array}\right]}^T$

$M_{v3}={\left(H^{T}H\right)}^{-1}{H}^T{\left[\begin{array}{cccccc}{\stackrel{\‾}{b}}_{30}& {\stackrel{\‾}{b}}_{31}& {\stackrel{\‾}{b}}_{32}& {\stackrel{\‾}{b}}_{33}& \mathrm{...}& {\stackrel{\‾}{b}}_{3Pm}\end{array}\right]}^T$

$H=\left[\begin{array}{cc}{\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x0}& {\stackrel{\‾}{\mathrm{\ω}}}_{y0}& {\stackrel{\‾}{\mathrm{\ω}}}_{z0}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x1}& {\stackrel{\‾}{\mathrm{\ω}}}_{y1}& {\stackrel{\‾}{\mathrm{\ω}}}_{z1}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x2}& {\stackrel{\‾}{\mathrm{\ω}}}_{y2}& {\stackrel{\‾}{\mathrm{\ω}}}_{z2}\end{array}\right]}^T\right)}^T& 1\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{x3}& {\stackrel{\‾}{\mathrm{\ω}}}_{y3}& {\stackrel{\‾}{\mathrm{\ω}}}_{z3}\end{array}\right]}^T\right)}^T& 1\\ .& .\\ .& .\\ .& .\\ {\left({\left[\begin{array}{ccc}{O}_{g1}^T& O_{g2}^T& O_{g3}^T\end{array}\right]}^T{\left[\begin{array}{ccc}{\stackrel{\‾}{\mathrm{\ω}}}_{xPm}& {\stackrel{\‾}{\mathrm{\ω}}}_{yPm}& {\stackrel{\‾}{\mathrm{\ω}}}_{zPm}\end{array}\right]}^T\right)}^T& 1\end{array}\right]$

O in formula_g1, O_g2, O_g3For gyro turntable or spacecraft body series installation column vector.

2. a kind of scaling method suitable for non-co-planar gyro group according to claim 1, it is characterised in that：Described step Suddenly, in (2) and (3), equivalent normal drift and rotating speed average statistical method are as follows：

Start to count season statistics number n=0, equivalent normal drift averageThree axle mean speeds

Then counted using following formula：

${\stackrel{\‾}{b}}_{iP}=(n\·{\stackrel{\‾}{b}}_{iP}+b_i)/(n+1)$

${\stackrel{\‾}{\mathrm{\ω}}}_{jP}=(n\·{\stackrel{\‾}{\mathrm{\ω}}}_{jP}+{\mathrm{\ω}}_j)/(n+1)$

N=n+1

When statistics number n>n_thresWhen, statistics terminates, wherein n_thresTo count number threshold value, n is taken_thres≥40。