CN108168549B - A kind of satellite communication in moving attitude detecting method - Google Patents

A kind of satellite communication in moving attitude detecting method Download PDF

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CN108168549B
CN108168549B CN201810248181.8A CN201810248181A CN108168549B CN 108168549 B CN108168549 B CN 108168549B CN 201810248181 A CN201810248181 A CN 201810248181A CN 108168549 B CN108168549 B CN 108168549B
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satellite communication
micromechanical gyro
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CN108168549A (en
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尉建强
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XI'AN DAHENG TIANCHENG IT Co.,Ltd.
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Shaanxi Bo Shi Measurement And Control Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Gyroscopes (AREA)

Abstract

The invention discloses a kind of satellite communication in moving attitude detecting methods, the device that this method uses includes satellite communication in moving, microprocessor, attitude detection module and complementary filter, and the attitude detection module includes X-axis attitude detection module, Y-axis attitude detection module and Z axis attitude detection module；This approach includes the following steps：One, the foundation of three-axis reference and the laying of attitude detection module；Two, signal is acquired and is uploaded in real time；Three, the acquisition of three axis Weighted Fusion magnitude of angular velocity of satellite communication in moving；Four, the acquisition of satellite communication in moving attitude angle；Five, the correction of satellite communication in moving attitude angle.Reasonable design of the present invention first passes through the fusion of the homologous sensor of multiple micromechanical gyros, then by the fusion of micromechanical gyro and the heterologous sensor of accelerometer, can accurately obtain satellite communication in moving posture, at low cost, and reliability is high, and precision is high, highly practical.

Description

A kind of satellite communication in moving attitude detecting method
Technical field
The invention belongs to micro- inertia navigation attitude technical fields, more particularly, to a kind of satellite communication in moving attitude detecting method.
Background technology
Satellite communication in moving is the important branch of satellite communication, is substantially to move satellite communication in moving on motion carrier to, is utilized Fixed satellite communication resource is established with target satellite under movement or stationary state and the broadband mobile of satellite link is kept to defend Star communication system.Satellite communication in moving equipment is particular in that antenna gain is high, wave beam is narrow, and antenna is placed in and random does not stop On the carrier of movement, it is ensured that communication quality just must make antenna beam always to satelloid.International Telecommunication Union provides：Ku frequencies The error in pointing of section Vehicular satellite earth station should be less than 0.5 °；When antenna pointing error is more than 0.2 °, then it must reduce transmitting Power avoids interfering with adjacent satellite.Therefore, satellite communication in moving needs the accurate attitude angle for measuring carrier that could work normally.
Micromechanics aviation attitude system has many advantages, such as small, light weight, low in energy consumption, is answered extensively in communication in moving field With.But there are larger drift errors for micromechanical gyro, therefore it is very crucial to improve attitude accuracy.In order to improve precision, often Achieved the purpose that better than single sensor by the information fusion of multiple sensors.Common method is the multiple heterologous sensings of fusion The data of device are learnt from other's strong points to offset one's weaknesses to improve the quality and robustness of output signal, but this method is often without redundancy, cannot Effectively carry out Fault Isolation.Another kind is that multiple homologous gyros are formed array, is fused into a degree of precision output, core It is the design of software filter, i.e., by the analysis identification to micromechanical gyro array measurement, design optimal filter is estimated The size of gyro items error is counted out, and to metrical information compensation correction, obtains the degree of precision estimated value to input angle speed. If Chinese invention patent " the Virtual Realization method of gyro " this method of Publication No. CN301144719A is by several micromechanics Gyro forms micromechanical gyro array, and redundancy detection is carried out to same angular speed.The method estimated indirectly by using Kalman is right Micromechanical gyro rate random walk is estimated, to correct gyro output.But this method in the dynamic case will be differentiated Rate is assumed to normal distribution, and not in full conformity with actual conditions, effect is bad under current intelligence.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of satellite it is dynamic in Logical Attitute detecting device, reasonable design and at low cost is easy to use, first passes through the homologous sensor of multiple micromechanical gyros Fusion, then by the fusion of micromechanical gyro and the heterologous sensor of accelerometer, can accurately obtain satellite communication in moving posture, At low cost, reliability is high, and precision is high, highly practical.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of satellite communication in moving Attitute detecting device, It is characterized in that：Include satellite communication in moving on carrier, the microprocessor that connects with satellite communication in moving, defend for detecting The attitude detection module of star communication in moving posture and the complementary filter for connecting and being used for attitude updating with microprocessor, the posture Detection module includes for detecting the X-axis attitude detection module of satellite communication in moving X-direction, for detecting satellite communication in moving Y-axis The Y-axis attitude detection module in direction and Z axis attitude detection module for detecting satellite communication in moving Z-direction, the X-axis posture Detection module includes X-axis accelerometer and multiple X-axis micromechanical gyros, and the Y-axis attitude detection module includes Y-axis accelerometer With multiple Y-axis micromechanical gyros, the Z axis attitude detection module includes Z axis accelerometer and multiple Z axis micromechanical gyros, institute X-axis micromechanical gyro, Y-axis micromechanical gyro, Z axis micromechanical gyro, X-axis accelerometer, Y-axis accelerometer and Z axis is stated to accelerate The output end of degree meter connects with the input terminal of microprocessor, the X-axis micromechanical gyro, Y-axis micromechanical gyro, Z axis microcomputer The quantity all same of tool gyro.
A kind of above-mentioned satellite communication in moving Attitute detecting device, it is characterised in that：Further include data storage, the data Memory connects with microprocessor.
A kind of above-mentioned satellite communication in moving Attitute detecting device, it is characterised in that：The microprocessor is microcontroller, FPGA Microcontroller, DSP microcontrollers or ARM microcontroller.
A kind of above-mentioned satellite communication in moving Attitute detecting device, it is characterised in that：The microprocessor passes through communication module With host computer into row data communication, the communication module is bluetooth module, WIFI module, GPRS communication modules or ZigBee moulds Block.
A kind of above-mentioned satellite communication in moving Attitute detecting device, it is characterised in that：The X-axis micromechanical gyro, the Y-axis Micromechanical gyro, the Z axis micromechanical gyro quantity be not less than 3.
Meanwhile a kind of the invention also discloses method and steps simple, reasonable design and realizing convenient, attitude detection accuracy Satellite communication in moving attitude detecting method high, using effect is good, which is characterized in that this approach includes the following steps：
Step 1: the foundation of three-axis reference and the laying of attitude detection module：Using the center of gravity of satellite communication in moving as coordinate Origin O, it is X-axis positive direction to cross coordinate origin O and be directed toward the carrier direction of advance, crosses coordinate origin O and perpendicular to the load It is Y-axis positive direction that body vertical section, which is directed toward on the right side of the carrier, crosses coordinate origin O perpendicular to plane where X-axis and Y-axis and is directed toward institute It is Z axis positive direction to state below carrier, establishes three-axis reference；Then, the X-axis pros set up X-axis accelerometer and Multiple X-axis micromechanical gyros set up Y-axis accelerometer and multiple Y-axis micromechanical gyros, in the Z in the Y-axis pros Axis pros set up Z axis accelerometer and multiple Z axis micromechanical gyros；
Step 2: signal acquisition in real time and upload：Multiple X-axis micromechanical gyros are according to the preset sampling time The X-axis angular speed of satellite communication in moving is acquired respectively, and the X-axis angular speed of collected satellite communication in moving is sent to micro- Processor；Wherein, i-th of X-axis micromechanical gyro is in the X-axis angular speed of the collected satellite communication in moving of k-th of sampling instant xωi(k), j-th of X-axis micromechanical gyro is x in the X-axis angular speed of the collected satellite communication in moving of k-th of sampling instantωj(k), I ≠ j, i=1,2 ..., m, j=1,2 ..., m；
Multiple Y-axis micromechanical gyros are according to the preset sampling time respectively to the Y-axis angle of satellite communication in moving speed Degree is acquired, and the Y-axis angular speed of collected satellite communication in moving is sent to microprocessor；Wherein, a-th of Y-axis microcomputer Tool gyro is y in the Y-axis angular speed of the collected satellite communication in moving of k-th of sampling instantωa(k), b-th of Y-axis micromechanical gyro It is y in the Y-axis angular speed of the collected satellite communication in moving of k-th of sampling instantωb(k), a ≠ b, a=1,2 ..., m, b=1, 2,…,m；
Multiple Z axis micromechanical gyros are according to the preset sampling time respectively to the Z axis angle of satellite communication in moving speed Degree is acquired, and the Z axis angular speed of collected satellite communication in moving is sent to microprocessor；Wherein, c-th of Z axis microcomputer Tool gyro is z in the Z axis angular speed of the collected satellite communication in moving of k-th of sampling instantωc(k), d-th of Z axis micromechanical gyro It is z in the Z axis angular speed of the collected satellite communication in moving of k-th of sampling instantωd(k), c ≠ d, c=1,2 ..., m, d=1, 2,…,m；
M is the quantity of X-axis micromechanical gyro, Y-axis micromechanical gyro or Z axis micromechanical gyro, and k is the nature more than 1 Number, multiple X-axis micromechanical gyros are ranked up according to by coordinate origin O to the X-axis positive direction sequencing, Duo Gesuo It states Y-axis micromechanical gyro to be ranked up according to by coordinate origin O to the Y-axis positive direction sequencing, multiple Z axis microcomputers Tool gyro is ranked up according to by coordinate origin O to the Z axis positive direction sequencing；
X-axis accelerometer is acquired the X-axis acceleration of satellite communication in moving according to the preset sampling time, and will The X-axis acceleration of collected satellite communication in moving is sent to microprocessor, and Y-axis accelerometer is according to the preset sampling time The Y-axis acceleration of satellite communication in moving is acquired, and the Y-axis acceleration of collected satellite communication in moving is sent to microprocessor Device, Z axis accelerometer are acquired the Z axis acceleration of satellite communication in moving according to the preset sampling time, and will acquisition To the Z axis acceleration of satellite communication in moving be sent to microprocessor；Wherein, X-axis accelerometer is collected in k-th of sampling instant Satellite communication in moving X-axis acceleration be xf(k), Y-axis accelerometer is in the collected satellite communication in moving of k-th of sampling instant Y-axis acceleration is yf(k), Z axis accelerometer is z in the z acceleration of the collected satellite communication in moving of k-th of sampling instantf(k)；
Step 3: the acquisition of three axis Weighted Fusion magnitude of angular velocity of satellite communication in moving：Using microprocessor to multiple X-axis Micromechanical gyro is weighted fusion in the X-axis angular speed of the collected satellite communication in moving of k-th of sampling instant, obtains k-th The X-axis Weighted Fusion magnitude of angular velocity x ' of sampling instant satellite communication in movingω(k), using microprocessor to multiple Y-axis micromechanics Gyro is weighted fusion in the Y-axis angular speed of the collected satellite communication in moving of k-th of sampling instant, when obtaining k-th of sampling Carve the Y-axis Weighted Fusion magnitude of angular velocity y ' of satellite communication in movingω(k), existed to multiple Z axis micromechanical gyros using microprocessor The Z axis angular speed of the collected satellite communication in moving of k-th of sampling instant is weighted fusion, obtains k-th of sampling instant satellite The Z axis Weighted Fusion magnitude of angular velocity z ' of communication in movingω(k)；
Step 4: the acquisition of satellite communication in moving attitude angle：Using microprocessor according to formula
Obtain satellite communication in moving k-th of sampling instant pitching angle theta (k) and satellite Roll angle ψ (k) of the communication in moving in k-th of sampling instant；Wherein, g is acceleration of gravity；
Step 5: the correction of satellite communication in moving attitude angle：
Step 501 is judged using microprocessorOrIt is No establishment, whenWithIt is invalid, execute step 502；WhenOrIt sets up, executes step 503；Wherein, A (k) indicates to adopt for k-th The acceleration modulus value at sample moment, A (k-1) indicate the acceleration modulus value of -1 sampling instant of kth, K1Indicate the first sampling of setting Number, K2Indicate the second sampling number of setting, K1> ρ1, K2> ρ2, ρ1And ρ2It is constant, δ1Indicate the speed change threshold value of setting, δ2Indicate the turning threshold value of setting；
Step 502, whenWithIt is invalid, illustrate that satellite is dynamic In lead to uniform rectilinear movement, complementary filter is transferred using microprocessor, and input ψ (k) and x 'ω(k), the cross after being corrected Roll angle ψ ' (k)；Complementary filter is transferred using microprocessor, and inputs θ (k) and y 'ω(k), pitching angle theta after being corrected ' (k)；Wherein, first complementary filter includes the first high-pass filter and the first low-pass filter, the first high pass filter The transmission function of wave device isThe transmission function of first low-pass filter iskpFor Proportional Feedback constant, kiFor integral feedback constant；
Step 503, whenIt sets up, illustrates satellite communication in moving variable motion, whenIt sets up, illustrates satellite communication in moving turning motion, then complementary filter is transferred using microprocessor, it will Proportional Feedback constant kpWith integral feedback constant kiEqual zero setting, and input ψ (k) and x 'ω(k), the roll angle ψ ' after being corrected (k)；
Complementary filter is transferred using microprocessor, by Proportional Feedback constant kpWith integral feedback constant kiEqual zero setting, and it is defeated Enter θ (k) and y 'ω(k), pitching angle theta ' (k) after being corrected.
Above-mentioned method, it is characterised in that：The acquisition of three axis Weighted Fusion magnitude of angular velocity of step 3 Satellite communication in moving, tool Body process is as follows：
The acquisition of step 301, satellite communication in moving X-axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3011, using microprocessor according to formulaObtain i-th of X-axis micromechanics top Variance of the spiral shell in k-th of sampling instantUsing microprocessor according to formulaObtain j-th of X Variance of the axis micromechanical gyro in k-th of sampling instantWherein, e is positive integer, and 1≤e≤k,Indicate i-th of X-axis The X-axis angular speed mean value of micromechanical gyro,Indicate the X-axis angular speed mean value of j-th of X-axis micromechanical gyro；
Step 3012, using microprocessor according to formulaObtain i-th of X The support of axis micromechanical gyro and j-th of X-axis micromechanical gyro in k-th of sampling instantWherein, τ indicates two microcomputers The sensitivity mutually supported between tool gyro, τ > 0, and
Step 3013 establishes X-axis Support matrix using microprocessor to m X-axis micromechanical gyroI.e.Wherein,Indicate first X-axis micromechanical gyro and second X-axis micromechanical gyro in kth The support of a sampling instant,When indicating that first X-axis micromechanical gyro and m-th of X-axis micromechanical gyro are sampled at k-th The support at quarter,Indicate second X-axis micromechanical gyro and m-th of X-axis micromechanical gyro k-th of sampling instant branch Degree of holding；
Step 3014, using microprocessor according to formulaI-th of X-axis micromechanical gyro is obtained in kth The degree of support s that a sampling instant is supported by other micromechanical gyrosi(k)；
Step 3015, using microprocessor according to formulaI-th of X-axis micromechanical gyro is obtained The weighting coefficient w of k sampling instanti(k)；
Step 3016, using microprocessor according to formulaWhen obtaining k-th of sampling Carve the X-axis Weighted Fusion magnitude of angular velocity x ' of satellite communication in movingω(k)；
The acquisition of step 302, satellite communication in moving Y-axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3021, using microprocessor according to formulaObtain a-th of Y-axis micromechanics top Variance of the spiral shell in k-th of sampling instantUsing microprocessor according to formulaObtain b-th of Y Variance of the axis micromechanical gyro in k-th of sampling instantWherein,Indicate the Y-axis angular speed of a-th of Y-axis micromechanical gyro Mean value,Indicate the Y-axis angular speed mean value of b-th of Y-axis micromechanical gyro；
Step 3022, using microprocessor according to formulaObtain a-th of Y The support of axis micromechanical gyro and b-th of Y-axis micromechanical gyro in k-th of sampling instantWherein,
Step 3023 establishes Y-axis Support matrix using microprocessor to m Y-axis micromechanical gyroI.e.Wherein,Indicate first Y-axis micromechanical gyro and second Y-axis micromechanical gyro in kth The support of a sampling instant,When indicating that first Y-axis micromechanical gyro and m-th of Y-axis micromechanical gyro are sampled at k-th The support at quarter,Indicate second Y-axis micromechanical gyro and m-th of Y-axis micromechanical gyro k-th of sampling instant branch Degree of holding；
Step 3025, using microprocessor according to formulaA-th of Y-axis micromechanical gyro is obtained The degree of support s that k sampling instant is supported by other micromechanical gyrosa(k)；
Step 3026, using microprocessor according to formulaA-th of Y-axis micromechanical gyro is obtained to exist The weighting coefficient w of k-th of sampling instanta(k)；
Step 3027, using microprocessor according to formulaWhen obtaining k-th of sampling Carve the Y-axis Weighted Fusion magnitude of angular velocity y ' of satellite communication in movingω(k)；
The acquisition of step 303, satellite communication in moving Z axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3031, using microprocessor according to formulaObtain c-th of Z axis micromechanics top Variance of the spiral shell in k-th of sampling instantUsing microprocessor according to formulaObtain d-th of Z Variance of the axis micromechanical gyro in k-th of sampling instantWherein,Indicate the Z axis angular speed of c-th of Z axis micromechanical gyro Mean value,Indicate the Z axis angular speed mean value of d-th of Z axis micromechanical gyro；
Step 3032, using microprocessor according to formulaObtain c-th of Z The support of axis micromechanical gyro and d-th of Z axis micromechanical gyro in k-th of sampling instantWherein,
Step 3033 establishes Z axis Support matrix using microprocessor to m Z axis micromechanical gyroI.e.Wherein,Indicate first Z axis micromechanical gyro and second Z axis micromechanical gyro in kth The support of a sampling instant,When indicating that first Z axis micromechanical gyro and m-th of Z axis micromechanical gyro are sampled at k-th The support at quarter,Indicate the support of second Z axis micromechanical gyro and m-th of Z axis micromechanical gyro in k-th of sampling instant Degree；
Step 3036, using microprocessor according to formulaC-th of Z axis micromechanical gyro is obtained The degree of support s that k sampling instant is supported by other micromechanical gyrosc(k)；
Step 3037, using microprocessor according to formulaC-th of Z axis micromechanical gyro is obtained to exist The weighting coefficient w of k-th of sampling instantc(k)；
Step 3038, using microprocessor according to formulaIt obtains sampling at k-th The Z axis Weighted Fusion magnitude of angular velocity z ' led in moment satelliteω(k)。
Above-mentioned method, it is characterised in that：2 in step 501<ρ1<10,2<ρ2<10, the speed change threshold value δ of the setting1's Value range is 1 × 10-3<δ1<1×10-2, the turning threshold value δ2Value range be 0.01<δ2<0.05；Institute in step 502 State Proportional Feedback constant kpWith the integral feedback constant kiMeet：ki=ω2, Indicate damping value, andω expression handing-over frequencies, 0<ω<1.
Above-mentioned method, it is characterised in that：The value range 0.01s in preset sampling time described in step 2~ The value range of 1s, the quantity m of the X-axis micromechanical gyro, Y-axis micromechanical gyro or Z axis micromechanical gyro are m > 3.
Above-mentioned method, it is characterised in that：The X-axis angular speed mean value of i-th of X-axis micromechanical gyro in step 3011With The X-axis angular speed mean value of j-th of X-axis micromechanical gyroAcquisition process it is as follows：
When satellite communication in moving is static, using microprocessor according to formulaObtain acquisition start time The X-axis angular speed mean value of i-th of X-axis micromechanical gyro in -1 sampling instant period of kthUsing microprocessor according to Formula is according to formulaIt is micro- to obtain j-th of X-axis in acquisition start time to -1 sampling instant period of kth The X-axis angular speed mean value of mechanical gyroWherein, h is positive integer, and 1≤h≤k-1；
When satellite communication in moving moves, then the X-axis angular speed mean value and j-th of X-axis microcomputer of i-th of X-axis micromechanical gyro The X-axis angular speed mean value of tool gyro isWherein, x 'ω(k-1) -1 sampling instant satellite of kth is indicated The X-axis Weighted Fusion magnitude of angular velocity of communication in moving；
The Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro in step 3021With the Y of b-th of Y-axis micromechanical gyro Axis angular rate mean valueAcquisition process it is as follows：
When satellite communication in moving is static, using microprocessor according to formulaObtain acquisition start time The Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro in -1 sampling instant period of kthUsing microprocessor root According to formula according to formulaObtain b-th of Y-axis in acquisition start time to -1 sampling instant period of kth The Y-axis angular speed mean value of micromechanical gyro
When satellite communication in moving moves, then the Y-axis angular speed mean value of a-th of Y-axis micromechanical gyroIt is micro- with b-th of Y-axis The Y-axis angular speed mean value of mechanical gyroForWherein, y 'ω(k-1) when indicating -1 sampling of kth Carve the Y-axis Weighted Fusion magnitude of angular velocity of satellite communication in moving；
The Z axis angular speed mean value of c-th of Z axis micromechanical gyro in step 3031With the Z of d-th of Z axis micromechanical gyro Axis angular rate mean valueAcquisition process it is as follows：
When satellite communication in moving is static, using microprocessor according to formulaObtain acquisition start time The Z axis angular speed mean value of c-th of Z axis micromechanical gyro in -1 sampling instant period of kthUsing microprocessor root According to formula according to formulaObtain d-th of Z axis in acquisition start time to -1 sampling instant period of kth The Z axis angular speed mean value of micromechanical gyro
When satellite communication in moving moves, the Z axis angular speed mean value of c-th of Z axis micromechanical gyroWith d-th of Z axis microcomputer The Z axis angular speed mean value of tool gyroForWherein, z 'ω(k-1) indicate that -1 sampling instant of kth is defended The Z axis Weighted Fusion magnitude of angular velocity of star communication in moving.
Compared with the prior art, the present invention has the following advantages：
1, used attitude detection modular structure is simple, reasonable design and installation are laid easy, and input cost is relatively low, energy Accurately the angle system of acquisition satellite communication in moving and pitch angle and roll angle attitude data, and realize real-time to what is led in satellite Detection, and testing result is accurate, eliminates error of the satellite communication in moving in variable motion or turning motion, it is highly practical.
2, used attitude detection module and complementary filter using effect is good and attitude detection is accurate, first, posture Multiple X-axis micromechanical gyros, multiple Y-axis micromechanical gyros and multiple Z axis micromechanical gyros can obtain in real time respectively in detection module Take the X-direction of satellite communication in moving, the X-axis angular speed of Y direction and Z-direction, Y-axis angular speed and Z axis angular speed, microprocessor X-axis Weighted Fusion magnitude of angular velocity, Y-axis Weighted Fusion magnitude of angular velocity and the Z axis weighting that device obtains satellite communication in moving by processing are melted Close angle velocity amplitude is to when variable motion or turning motion occur for satellite communication in moving, be defended by micromechanical gyro The attitude angle of star communication in moving；
Second, multiple X-axis accelerometers, Y-axis accelerometer and Z axis accelerometer are respectively to satellite in attitude detection module X-axis acceleration, Y-axis acceleration and the Z axis acceleration of communication in moving are acquired and are sent to microprocessor, and microprocessor is at Reason obtains the pitch angle and roll angle of satellite communication in moving, is that variable motion or turning motion do not occur in order to work as satellite communication in moving When, micromechanical gyro is corrected by accelerometer, to obtain the attitude angle of satellite communication in moving.
3, used X-axis micromechanical gyro, Y-axis micromechanical gyro and Z axis micromechanical gyro are respectively set multiple, be for The collected X-axis angular speed of multiple X-axis micromechanical gyros is weighted fusion, multiple collected Y of Y-axis micromechanical gyro Axis angular rate is weighted fusion and the collected Z axis angular speed of multiple Z axis micromechanical gyros is weighted fusion, in this way can be every Separating out failure micro-mechanical gyroscope so that multiple micromechanical gyros output error after support Weighted Fusion is less than 1 degree, with Simple average precision, which is compared, larger improvement.
4, used complementary filter includes high-pass filter and low-pass filter, and high-pass filter is for eliminating microcomputer The low frequency wonder error of tool gyro, low-pass filter are used to eliminate the high frequency error of accelerometer, by offset partial noise come Improve precision.
5, used satellite communication in moving attitude detecting method step is simple, it is convenient and easy to operate to realize, obtains satellite The attitude accuracy of communication in moving is high.
6, used satellite communication in moving attitude detecting method is easy to operate and using effect is good, is first divided using microprocessor Multiple X-axis micromechanical gyros, multiple Y-axis micromechanical gyros and multiple Z axis micromechanical gyros are not merged, obtain X-axis Weighted Fusion Magnitude of angular velocity, Y-axis Weighted Fusion magnitude of angular velocity and Z axis Weighted Fusion magnitude of angular velocity are to carry out device fusion, root using homologous sensing Support is designed according to the mutual variance of micromechanical gyro in micromechanical gyro array and angular deviation, the micromechanics that is out of order is isolated Gyro, and it is weighted fusion using the redundancy of micromechanical gyro, obtain more accurate magnitude of angular velocity；Then it uses different Source sensor fusion method melts the Weighted Fusion value of micromechanical gyro array with accelerometer by complementary filter It closes, to obtain the accurate attitude angle of satellite communication in moving, uses two-graded fusion method in this way, improve the essence for colluding posture in satellite It spends while having taken into account reliability.
7, in used satellite communication in moving attitude detecting method micromechanical gyro array Weighted Fusion value and acceleration Meter is merged by complementary filter, it is also contemplated that can be judged whether by adding according to the movement characteristic of satellite communication in moving Speedometer is corrected micromechanical gyro, to accurately obtain the attitude angle of satellite communication in moving, improves the essence of attitude angle Degree.
In conclusion reasonable design of the present invention and at low cost, easy to use, it is homologous to first pass through multiple micromechanical gyros The fusion of sensor, then by the fusion of micromechanical gyro and the heterologous sensor of accelerometer, can accurately obtain satellite it is dynamic in Logical posture, at low cost, reliability is high, and precision is high, highly practical.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Fig. 1 is the schematic block circuit diagram of satellite communication in moving Attitute detecting device of the present invention.
Fig. 2 is the flow diagram of satellite communication in moving attitude detecting method of the present invention.
Fig. 3 is that the foundation of three-axis reference and attitude detection module are laid in satellite communication in moving attitude detecting method of the present invention Structural schematic diagram.
Fig. 4 is the satellite communication in moving posture obtained using the present invention and the satellite communication in moving appearance measured using High Accuracy Inertial The contrast curve at state angle.
Reference sign:
1-microprocessor；2-X-axis micromechanical gyros；3-X-axis accelerometers；
4-Y-axis micromechanical gyros；5-Y-axis accelerometers；6-Z axis micromechanical gyros；
7-Z axis accelerometers；8-X-axis attitude detection modules；9-Y-axis attitude detection modules；
10-Z axis attitude detection modules；
12-data storages；13-host computers；
14-communication modules；15-satellite communication in moving；17-complementary filters.
Specific implementation mode
A kind of satellite communication in moving Attitute detecting device as shown in Figure 1, include satellite communication in moving 15 on carrier, The microprocessor 1 that connects with satellite communication in moving 15, the attitude detection module for detecting 15 posture of satellite communication in moving and with micro- place Reason device 1 connects and for the complementary filter 17 of attitude updating, the attitude detection module includes for detecting satellite communication in moving The X-axis attitude detection module 8 of 15X axis directions, the Y-axis attitude detection module 9 for detecting satellite communication in moving 15Y axis directions and use In the Z axis attitude detection module 10 of detection satellite communication in moving 15Z axis directions, the X-axis attitude detection module 8 accelerates including X-axis Degree meter 3 and multiple X-axis micromechanical gyros 2, the Y-axis attitude detection module 9 include Y-axis accelerometer 5 and multiple Y-axis micromechanics Gyro 4, the Z axis attitude detection module 10 include Z axis accelerometer 7 and multiple Z axis micromechanical gyros 6, the X-axis micromechanics Gyro 2, Y-axis micromechanical gyro 4, Z axis micromechanical gyro 6, X-axis accelerometer 3, Y-axis accelerometer 5 and Z axis accelerometer 7 Output end connects with the input terminal of microprocessor 1, the X-axis micromechanical gyro 2, Y-axis micromechanical gyro 4, Z axis micromechanics top The quantity all same of spiral shell 6.
Further include data storage 12 in the present embodiment, the data storage 12 connects with microprocessor 1.
In the present embodiment, setting data storage 12 is used to store the attitude data for leading to 15 in satellite, convenient for dividing It analyses and checks.
In the present embodiment, the microprocessor 1 is microcontroller, FPGA microcontrollers, DSP microcontrollers or ARM micro-controls Device processed.
In the present embodiment, the microprocessor 1 is by communication module 14 and host computer 13 into row data communication, the communication Module 14 is bluetooth module, WIFI module, GPRS communication modules or ZigBee module.
In the present embodiment, setting host computer 13 is convenient for the remote monitoring to leading to 15 in satellite.
In the present embodiment, the X-axis micromechanical gyro 2, the Y-axis micromechanical gyro 4, the Z axis micromechanical gyro 6 Quantity is not less than 3.
A kind of satellite communication in moving attitude detecting method as shown in Figures 2 and 3, includes the following steps：
Step 1: the foundation of three-axis reference and the laying of attitude detection module：It is to sit with the center of gravity of satellite communication in moving 15 Origin O is marked, it is X-axis positive direction to cross coordinate origin O and be directed toward the carrier direction of advance, crosses coordinate origin O and perpendicular to described It is Y-axis positive direction that carrier vertical section, which is directed toward on the right side of the carrier, crosses coordinate origin O perpendicular to plane and direction where X-axis and Y-axis It is Z axis positive direction below the carrier, establishes three-axis reference；Then, X-axis accelerometer 3 is set up in the X-axis pros With multiple X-axis micromechanical gyros 2, Y-axis accelerometer 5 and multiple Y-axis micromechanical gyros 4 are set up in the Y-axis pros, The Z axis pros set up Z axis accelerometer 7 and multiple Z axis micromechanical gyros 6；
Step 2: signal acquisition in real time and upload：When multiple X-axis micromechanical gyros 2 are according to preset sampling Between the X-axis angular speed of satellite communication in moving 15 is acquired respectively, and by the X-axis angular speed of collected satellite communication in moving 15 send out It send to microprocessor 1；Wherein, X of i-th of X-axis micromechanical gyro 2 in the collected satellite communication in moving of k-th of sampling instant 15 Axis angular rate is xωi(k), X-axis of j-th of X-axis micromechanical gyro 2 in the collected satellite communication in moving of k-th of sampling instant 15 Angular speed is xωj(k), i ≠ j, i=1,2 ..., m, j=1,2 ..., m；
Multiple Y-axis micromechanical gyros 4 are according to the preset sampling time respectively to the Y-axis angle of satellite communication in moving 15 Speed is acquired, and the Y-axis angular speed of collected satellite communication in moving 15 is sent to microprocessor 1；Wherein, a-th of Y-axis Micromechanical gyro 4 is y in the Y-axis angular speed of the collected satellite communication in moving of k-th of sampling instant 15ωa(k), b-th of Y-axis is micro- Mechanical gyro 4 is y in the Y-axis angular speed of the collected satellite communication in moving of k-th of sampling instant 15ωb(k), a ≠ b, a=1, 2 ..., m, b=1,2 ..., m；
Multiple Z axis micromechanical gyros 6 are according to the preset sampling time respectively to the Z axis angle of satellite communication in moving 15 Speed is acquired, and the Z axis angular speed of collected satellite communication in moving 15 is sent to microprocessor 1；Wherein, c-th of Z axis Micromechanical gyro 6 is z in the Z axis angular speed of the collected satellite communication in moving of k-th of sampling instant 15ωc(k), d-th of Z axis is micro- Mechanical gyro 6 is z in the Z axis angular speed of the collected satellite communication in moving of k-th of sampling instant 15ωd(k), c ≠ d, c=1, 2 ..., m, d=1,2 ..., m；
M is the quantity of X-axis micromechanical gyro 2, Y-axis micromechanical gyro 4 or Z axis micromechanical gyro 6, and k is oneself more than 1 So number, multiple X-axis micromechanical gyros 2 are ranked up according to by coordinate origin O to the X-axis positive direction sequencing, more A Y-axis micromechanical gyro 4 is ranked up according to by coordinate origin O to the Y-axis positive direction sequencing, multiple Z Axis micromechanical gyro 6 is ranked up according to by coordinate origin O to the Z axis positive direction sequencing；
X-axis accelerometer 3 is acquired the X-axis acceleration of satellite communication in moving 15 according to the preset sampling time, And the X-axis acceleration of collected satellite communication in moving 15 is sent to microprocessor 1, Y-axis accelerometer 5 is according to preset Sampling time is acquired the Y-axis acceleration of satellite communication in moving 15, and by the Y-axis acceleration of collected satellite communication in moving 15 Be sent to microprocessor 1, Z axis accelerometer 7 according to the preset sampling time to the Z axis acceleration of satellite communication in moving 15 into Row acquisition, and the Z axis acceleration of collected satellite communication in moving 15 is sent to microprocessor 1；Wherein, X-axis accelerometer 3 exists The X-axis acceleration of the collected satellite communication in moving of k-th of sampling instant 15 is xf(k), when Y-axis accelerometer 5 is sampled at k-th The Y-axis acceleration for carving collected satellite communication in moving 15 is yf(k), Z axis accelerometer 7 is collected in k-th of sampling instant The z acceleration of satellite communication in moving 15 is zf(k)；
Step 3: the acquisition of three axis Weighted Fusion magnitude of angular velocity of satellite communication in moving：Using microprocessor 1 to multiple X Axis micromechanical gyro 2 is weighted fusion in the X-axis angular speed of the collected satellite communication in moving of k-th of sampling instant 15, obtains The X-axis Weighted Fusion magnitude of angular velocity x ' of k-th of sampling instant satellite communication in moving 15ω(k), using microprocessor 1 to multiple Y Axis micromechanical gyro 4 is weighted fusion in the Y-axis angular speed of the collected satellite communication in moving of k-th of sampling instant 15, obtains The Y-axis Weighted Fusion magnitude of angular velocity y ' of k-th of sampling instant satellite communication in moving 15ω(k), using microprocessor 1 to multiple Z Axis micromechanical gyro 6 is weighted fusion in the Z axis angular speed of the collected satellite communication in moving of k-th of sampling instant 15, obtains The Z axis Weighted Fusion magnitude of angular velocity z ' of k-th of sampling instant satellite communication in moving 15ω(k)；
Step 4: the acquisition of satellite communication in moving attitude angle：Using microprocessor 1 according to formula
Satellite communication in moving 15 is obtained in the pitching angle theta (k) of k-th of sampling instant and is defended Roll angle ψ (k) of the star communication in moving 15 in k-th of sampling instant；Wherein, g is acceleration of gravity；
Step 5: the correction of satellite communication in moving attitude angle：
Step 501 is judged using microprocessor 1OrIt is No establishment, whenWithIt is invalid, execute step 502；WhenOrIt sets up, executes step 503；Wherein, A (k) indicates to adopt for k-th The acceleration modulus value at sample moment, A (k-1) indicate the acceleration modulus value of -1 sampling instant of kth, K1Indicate the first sampling of setting Number, K2Indicate the second sampling number of setting, K1> ρ1, K2> ρ2, ρ1And ρ2It is constant, δ1Indicate the speed change threshold value of setting, δ2Indicate the turning threshold value of setting；
Step 502, whenWithIt is invalid, illustrate that satellite is dynamic In lead to uniform rectilinear movement, complementary filter 17 is transferred using microprocessor 1, and input ψ (k) and x 'ω(k), after obtaining correction Roll angle ψ ' (k)；Complementary filter 17 is transferred using microprocessor 1, and inputs θ (k) and y 'ω(k), bowing after being corrected Elevation angle theta ' (k)；Wherein, first complementary filter 17 includes the first high-pass filter and the first low-pass filter, and described the The transmission function of one high-pass filter isThe transmission function of first low-pass filter iskpFor Proportional Feedback constant, kiFor integral feedback constant；
Step 503, whenIt sets up, illustrates 15 variable motion of satellite communication in moving, whenIt sets up, illustrates 15 turning motion of satellite communication in moving, then complementary filter is transferred using microprocessor 1 17, by Proportional Feedback constant kpWith integral feedback constant kiEqual zero setting, and input ψ (k) and x 'ω(k), the roll after being corrected Angle ψ ' (k)；
Complementary filter 17 is transferred using microprocessor 1, by Proportional Feedback constant kpWith integral feedback constant kiEqual zero setting, And input θ (k) and y 'ω(k), pitching angle theta ' (k) after being corrected.
In the present embodiment, the acquisition of three axis Weighted Fusion magnitude of angular velocity of step 3 Satellite communication in moving, detailed process is as follows：
The acquisition of step 301, satellite communication in moving X-axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3011, using microprocessor 1 according to formulaObtain i-th of X-axis micromechanics top Variance of the spiral shell 2 in k-th of sampling instantUsing microprocessor 1 according to formulaIt obtains j-th Variance of the X-axis micromechanical gyro 2 in k-th of sampling instantWherein, e is positive integer, and 1≤e≤k,Indicate i-th of X The X-axis angular speed mean value of axis micromechanical gyro 2,Indicate the X-axis angular speed mean value of j-th of X-axis micromechanical gyro 2；
Step 3012, using microprocessor 1 according to formulaObtain i-th of X The support of axis micromechanical gyro 2 and j-th of X-axis micromechanical gyro 2 in k-th of sampling instantWherein, τ expressions two are micro- The sensitivity mutually supported between mechanical gyro, τ > 0, and
Step 3013 establishes X-axis Support matrix using microprocessor 1 to m X-axis micromechanical gyro 2I.e.Wherein,Indicate that first X-axis micromechanical gyro 2 and second X-axis micromechanical gyro 2 exist The support of k-th of sampling instant,Indicate first X-axis micromechanical gyro 2 and m-th of X-axis micromechanical gyro 2 at k-th The support of sampling instant,When indicating that second X-axis micromechanical gyro 2 and m-th of X-axis micromechanical gyro 2 are sampled at k-th The support at quarter；
Step 3014, using microprocessor 1 according to formulaI-th of X-axis micromechanical gyro 2 is obtained to exist The degree of support s that k-th of sampling instant is supported by other micromechanical gyrosi(k)；
Step 3015, using microprocessor 1 according to formulaI-th of X-axis micromechanical gyro 2 is obtained to exist The weighting coefficient w of k-th of sampling instanti(k)；
Step 3016, using microprocessor 1 according to formulaWhen obtaining k-th of sampling Carve the X-axis Weighted Fusion magnitude of angular velocity x ' of satellite communication in moving 15ω(k)；
The acquisition of step 302, satellite communication in moving Y-axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3021, using microprocessor 1 according to formulaObtain a-th of Y-axis micromechanics top Variance of the spiral shell 4 in k-th of sampling instantUsing microprocessor 1 according to formulaIt obtains b-th Variance of the Y-axis micromechanical gyro 4 in k-th of sampling instantWherein,Indicate the Y-axis angle of a-th of Y-axis micromechanical gyro 4 Speed mean value,Indicate the Y-axis angular speed mean value of b-th of Y-axis micromechanical gyro 4；
Step 3022, using microprocessor 1 according to formulaObtain a-th of Y The support of axis micromechanical gyro 4 and b-th of Y-axis micromechanical gyro 4 in k-th of sampling instantWherein,
Step 3023 establishes Y-axis Support matrix using microprocessor 1 to m Y-axis micromechanical gyro 4I.e.Wherein,Indicate that first Y-axis micromechanical gyro 4 and second Y-axis micromechanical gyro 4 exist The support of k-th of sampling instant,Indicate first Y-axis micromechanical gyro 4 and m-th of Y-axis micromechanical gyro 4 at k-th The support of sampling instant,When indicating that second Y-axis micromechanical gyro 4 and m-th of Y-axis micromechanical gyro 4 are sampled at k-th The support at quarter；
Step 3025, using microprocessor 1 according to formulaA-th of Y-axis micromechanical gyro 4 is obtained to exist The degree of support s that k-th of sampling instant is supported by other micromechanical gyrosa(k)；
Step 3026, using microprocessor 1 according to formulaObtain a-th of Y-axis micromechanical gyro 4 In the weighting coefficient w of k-th of sampling instanta(k)；
Step 3027, using microprocessor 1 according to formulaWhen obtaining k-th of sampling Carve the Y-axis Weighted Fusion magnitude of angular velocity y ' of satellite communication in moving 15ω(k)；
The acquisition of step 303, satellite communication in moving Z axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3031, using microprocessor 1 according to formulaObtain c-th of Z axis micromechanics top Variance of the spiral shell 6 in k-th of sampling instantUsing microprocessor 1 according to formulaIt obtains d-th Variance of the Z axis micromechanical gyro 6 in k-th of sampling instantWherein,Indicate the Z axis angle of c-th of Z axis micromechanical gyro 6 Speed mean value,Indicate the Z axis angular speed mean value of d-th of Z axis micromechanical gyro 6；
Step 3032, using microprocessor 1 according to formulaObtain c-th of Z The support of axis micromechanical gyro 6 and d-th of Z axis micromechanical gyro 6 in k-th of sampling instantWherein,
Step 3033 establishes Z axis Support matrix using microprocessor 1 to m Z axis micromechanical gyro 6I.e.Wherein,Indicate that first Z axis micromechanical gyro 6 and second Z axis micromechanical gyro 6 exist The support of k-th of sampling instant,Indicate first Z axis micromechanical gyro 6 and m-th of Z axis micromechanical gyro 6 at k-th The support of sampling instant,When indicating that second Z axis micromechanical gyro 6 and m-th of Z axis micromechanical gyro 6 are sampled at k-th The support at quarter；
Step 3036, using microprocessor 1 according to formulaC-th of Z axis micromechanical gyro 6 is obtained to exist The degree of support s that k-th of sampling instant is supported by other micromechanical gyrosc(k)；
Step 3037, using microprocessor 1 according to formulaObtain c-th of Z axis micromechanical gyro 6 In the weighting coefficient w of k-th of sampling instantc(k)；
Step 3038, using microprocessor 1 according to formulaIt obtains sampling at k-th Lead to 15 Z axis Weighted Fusion magnitude of angular velocity z ' in moment satelliteω(k)。
In the present embodiment, 2 in step 501<ρ1<10,2<ρ2<10, the speed change threshold value δ of the setting1Value range be 1 ×10-3<δ1<1×10-2, the turning threshold value δ2Value range be 0.01<δ2<0.05；Proportional Feedback described in step 502 Constant kpWith the integral feedback constant kiMeet：ki=ω2, Indicate damping value, andω is indicated Handing-over frequency, 0<ω<1.
In the present embodiment, setting 2<ρ1<10,2<ρ2<10, the speed change threshold value δ of the setting1Value range be 1 × 10-3< δ1<1×10-2, the turning threshold value δ2Value range be 0.01<δ2<0.05, it is even in order to ensure to accelerate satellite communication in moving Speed or turning motion accuracy of judgement, and ensure that stability is high.
In the present embodiment, the value range 0.01s~1s in preset sampling time described in step 2, the X-axis The value range of the quantity m of micromechanical gyro 2, Y-axis micromechanical gyro 4 or Z axis micromechanical gyro 6 is m > 3.
In the present embodiment, the X-axis angular speed mean value of i-th of X-axis micromechanical gyro 2 in step 3011With j-th of X-axis The X-axis angular speed mean value of micromechanical gyro 2Acquisition process it is as follows：
When satellite communication in moving 15 is static, using microprocessor 1 according to formulaWhen obtaining acquisition beginning It carves to the X-axis angular speed mean value of i-th of X-axis micromechanical gyro 2 in -1 sampling instant period of kthUsing microprocessor 1 according to formula according to formulaObtain j-th of X in acquisition start time to -1 sampling instant period of kth The X-axis angular speed mean value of axis micromechanical gyro 2Wherein, h is positive integer, and 1≤h≤k-1；
When satellite communication in moving 15 moves, then the X-axis angular speed mean value and j-th of X-axis of i-th X-axis micromechanical gyro 2 are micro- The X-axis angular speed mean value of mechanical gyro 2 isWherein, x 'ω(k-1) indicate that -1 sampling instant of kth is defended The X-axis Weighted Fusion magnitude of angular velocity of star communication in moving 15；
The Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro 4 in step 3021With b-th of Y-axis micromechanical gyro 4 Y-axis angular speed mean valueAcquisition process it is as follows：
When satellite communication in moving 15 is static, using microprocessor 1 according to formulaAcquisition is obtained to start The Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro 4 in moment to -1 sampling instant period of kthUsing microprocessor Device 1 is according to formula according to formulaObtain b in acquisition start time to -1 sampling instant period of kth The Y-axis angular speed mean value of a Y-axis micromechanical gyro 4
When satellite communication in moving 15 moves, then the Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro 4With b-th of Y The Y-axis angular speed mean value of axis micromechanical gyro 4ForWherein, y 'ω(k-1) indicate that kth -1 is adopted The Y-axis Weighted Fusion magnitude of angular velocity of sample moment satellite communication in moving 15；
The Z axis angular speed mean value of c-th of Z axis micromechanical gyro 6 in step 3031With d-th Z axis micromechanical gyro 6 Z axis angular speed mean valueAcquisition process it is as follows：
When satellite communication in moving 15 is static, using microprocessor 1 according to formulaAcquisition is obtained to start The Z axis angular speed mean value of c-th of Z axis micromechanical gyro 6 in moment to -1 sampling instant period of kthUsing microprocessor Device 1 is according to formula according to formulaObtain d in acquisition start time to -1 sampling instant period of kth The Z axis angular speed mean value of a Z axis micromechanical gyro 6
When satellite communication in moving 15 moves, the Z axis angular speed mean value of c-th of Z axis micromechanical gyro 6With d-th of Z axis The Z axis angular speed mean value of micromechanical gyro 6ForWherein, z 'ω(k-1) -1 sampling of kth is indicated The Z axis Weighted Fusion magnitude of angular velocity of moment satellite communication in moving 15.
In the present embodiment, further preferably, the speed change threshold value δ of the setting1=0.003m/s2, the turning threshold of the setting Value δ2=0.03rad/s.
In the present embodiment, further preferably, ρ1=ρ2=5.
In the present embodiment, it is contemplated that X-axis micromechanical gyro 2 variance calculates the support between two X-axis micromechanical gyros 2 DegreeSo as to isolating the X-axis micromechanical gyro 2 to break down, it also is contemplated that 4 variance of Y-axis micromechanical gyro calculates Support between two Y-axis micromechanical gyros 4So as to isolate the Y-axis micromechanical gyro 4 to break down, equally examine 6 variance of Z axis micromechanical gyro has been considered to calculate the support between two Z axis micromechanical gyros 6Occur so as to isolate The Z axis micromechanical gyro 6 of failure, to improve the precision of micromechanical gyro fusion.
In the present embodiment, it should be noted that the attitude data of satellite communication in moving 15 includes satellite communication in moving 15 in X-axis, Y The pitch angle and roll angle of magnitude of angular velocity and satellite communication in moving 15 on axis and Z axis.
In the present embodiment, decision condition is setWithBe because To work asThe variable motion of satellite communication in moving or work asI.e. satellite is dynamic In lead to turning motion, the X-axis of 7 collected satellite communication in moving 15 of X-axis accelerometer 3, Y-axis accelerometer 5 and Z axis accelerometer The Z axis acceleration error of acceleration, the Y-axis acceleration of satellite communication in moving 15 and satellite communication in moving 15 is larger, so by that will compare Example feedback constant kpWith integral feedback constant kiEqual zero setting closes correction of the accelerometer to micromechanical gyro, to obtain satellite The pitch angle and roll angle of communication in moving, to ensure that the error that satellite communication in moving pitch angle and roll angle obtain is small.
In the present embodiment, as shown in figure 4, using the method for the present invention obtain satellite communication in moving 15 attitude angle (i.e. Fig. 4's Estimated value) and High Accuracy Inertial is utilized to obtain the curve graph of attitude angle value (i.e. the reference value of Fig. 4), utilize the method for the present invention The worst error of the roll angle of the satellite communication in moving 15 of acquisition is 0.88 °, and the standard deviation of the roll angle of satellite communication in moving 15 is 0.21 °, the pitch angle worst error of the satellite communication in moving 15 obtained using the method for the present invention is 0.97 °, satellite communication in moving 15 The standard deviation of pitch angle is 0.35 °, meets satellite communication in moving application requirement.
The above is only presently preferred embodiments of the present invention, is not imposed any restrictions to the present invention, every according to the present invention Technical spirit changes any simple modification, change and equivalent structure made by above example, still falls within skill of the present invention In the protection domain of art scheme.

Claims (8)

1. a kind of satellite communication in moving attitude detecting method, device used by this method includes during the satellite that is mounted on carrier is dynamic Logical (15), the microprocessor (1) to connect with satellite communication in moving (15), the attitude detection for detecting satellite communication in moving (15) posture Module and the complementary filter (17) for connecting and being used for attitude updating with microprocessor (1), the attitude detection module include using In the X-axis attitude detection module (8) of detection satellite communication in moving (15) X-direction, for detecting satellite communication in moving (15) Y direction Y-axis attitude detection module (9) and Z axis attitude detection module (10) for detecting satellite communication in moving (15) Z-direction, it is described X-axis attitude detection module (8) includes X-axis accelerometer (3) and multiple X-axis micromechanical gyros (2), the Y-axis attitude detection mould Block (9) includes Y-axis accelerometer (5) and multiple Y-axis micromechanical gyros (4), and the Z axis attitude detection module (10) includes Z axis Accelerometer (7) and multiple Z axis micromechanical gyros (6), the X-axis micromechanical gyro (2), Y-axis micromechanical gyro (4), Z axis are micro- Mechanical gyro (6), X-axis accelerometer (3), Y-axis accelerometer (5) and Z axis accelerometer (7) output end and microprocessor (1) input terminal connects, the X-axis micromechanical gyro (2), Y-axis micromechanical gyro (4), Z axis micromechanical gyro (6) quantity All same, it is characterised in that：This approach includes the following steps：
Step 1: the foundation of three-axis reference and the laying of attitude detection module：Using the center of gravity of satellite communication in moving (15) as coordinate Origin O, it is X-axis positive direction to cross coordinate origin O and be directed toward the carrier direction of advance, crosses coordinate origin O and perpendicular to the load It is Y-axis positive direction that body vertical section, which is directed toward on the right side of the carrier, crosses coordinate origin O perpendicular to plane where X-axis and Y-axis and is directed toward institute It is Z axis positive direction to state below carrier, establishes three-axis reference；Then, X-axis accelerometer (3) is set up in the X-axis pros With multiple X-axis micromechanical gyros (2), Y-axis accelerometer (5) and multiple Y-axis micromechanical gyros are set up in the Y-axis pros (4), Z axis accelerometer (7) and multiple Z axis micromechanical gyros (6) are set up in the Z axis pros；
Step 2: signal acquisition in real time and upload：Multiple X-axis micromechanical gyros (2) are according to the preset sampling time The X-axis angular speed of satellite communication in moving (15) is acquired respectively, and by the X-axis angular speed of collected satellite communication in moving (15) It is sent to microprocessor (1)；Wherein, i-th of X-axis micromechanical gyro (2) is in the collected satellite communication in moving of k-th of sampling instant (15) X-axis angular speed is xωi(k), j-th of X-axis micromechanical gyro (2) is in the collected satellite of k-th of sampling instant is dynamic The X-axis angular speed of logical (15) is xωj(k), i ≠ j, i=1,2 ..., m, j=1,2 ..., m；
Multiple Y-axis micromechanical gyros (4) are according to the preset sampling time respectively to the Y-axis angle of satellite communication in moving (15) Speed is acquired, and the Y-axis angular speed of collected satellite communication in moving (15) is sent to microprocessor (1)；Wherein, a A Y-axis micromechanical gyro (4) is y in the Y-axis angular speed of the collected satellite communication in moving (15) of k-th of sampling instantωa(k), B Y-axis micromechanical gyro (4) is y in the Y-axis angular speed of the collected satellite communication in moving (15) of k-th of sampling instantωb(k), a ≠ b, a=1,2 ..., m, b=1,2 ..., m；
Multiple Z axis micromechanical gyros (6) are according to the preset sampling time respectively to the Z axis angle of satellite communication in moving (15) Speed is acquired, and the Z axis angular speed of collected satellite communication in moving (15) is sent to microprocessor (1)；Wherein, c A Z axis micromechanical gyro (6) is z in the Z axis angular speed of the collected satellite communication in moving (15) of k-th of sampling instantωc(k), D Z axis micromechanical gyro (6) is z in the Z axis angular speed of the collected satellite communication in moving (15) of k-th of sampling instantωd(k), c ≠ d, c=1,2 ..., m, d=1,2 ..., m；
M is the quantity of X-axis micromechanical gyro (2), Y-axis micromechanical gyro (4) or Z axis micromechanical gyro (6), and k is more than 1 Natural number, multiple X-axis micromechanical gyros (2) are arranged according to by coordinate origin O to the X-axis positive direction sequencing Sequence, multiple Y-axis micromechanical gyros (4) are ranked up according to by coordinate origin O to the Y-axis positive direction sequencing, more A Z axis micromechanical gyro (6) is ranked up according to by coordinate origin O to the Z axis positive direction sequencing；
X-axis accelerometer (3) is acquired the X-axis acceleration of satellite communication in moving (15) according to the preset sampling time, And the X-axis acceleration of collected satellite communication in moving (15) is sent to microprocessor (1), Y-axis accelerometer (5) is according to advance The sampling time of setting is acquired the Y-axis acceleration of satellite communication in moving (15), and by collected satellite communication in moving (15) Y-axis acceleration be sent to microprocessor (1), Z axis accelerometer (7) is according to the preset sampling time to satellite communication in moving (15) Z axis acceleration is acquired, and the Z axis acceleration of collected satellite communication in moving (15) is sent to microprocessor (1)；Wherein, X-axis accelerometer (3) is x in the X-axis acceleration of the collected satellite communication in moving (15) of k-th of sampling instantf (k), Y-axis accelerometer (5) is y in the Y-axis acceleration of the collected satellite communication in moving (15) of k-th of sampling instantf(k), Z axis Accelerometer (7) is z in the z acceleration of the collected satellite communication in moving (15) of k-th of sampling instantf(k)；
Step 3: the acquisition of three axis Weighted Fusion magnitude of angular velocity of satellite communication in moving：Using microprocessor (1) to multiple X-axis Micromechanical gyro (2) is weighted fusion in the X-axis angular speed of the collected satellite communication in moving (15) of k-th of sampling instant, obtains To the X-axis Weighted Fusion magnitude of angular velocity x ' of k-th of sampling instant satellite communication in moving (15)ω(k), using microprocessor (1) to more A Y-axis micromechanical gyro (4) is added in the Y-axis angular speed of the collected satellite communication in moving (15) of k-th of sampling instant Power fusion, obtains the Y-axis Weighted Fusion magnitude of angular velocity y ' of k-th of sampling instant satellite communication in moving (15)ω(k), using microprocessor Device (1) is to multiple Z axis micromechanical gyros (6) in the Z axis angle of the collected satellite communication in moving (15) of k-th of sampling instant speed Degree is weighted fusion, obtains the Z axis Weighted Fusion magnitude of angular velocity z ' of k-th of sampling instant satellite communication in moving (15)ω(k)；
Step 4: the acquisition of satellite communication in moving attitude angle：Using microprocessor (1) according to formula
It is dynamic in the pitching angle theta (k) and satellite of k-th of sampling instant to obtain satellite communication in moving (15) In lead to (15) k-th of sampling instant roll angle ψ (k)；Wherein, g is acceleration of gravity；
Step 5: the correction of satellite communication in moving attitude angle：
Step 501 is judged using microprocessor (1)OrWhether It sets up, whenWithIt is invalid, execute step 502；WhenOrIt sets up, executes step 503；Wherein, A (k) indicates to adopt for k-th The acceleration modulus value at sample moment, A (k-1) indicate the acceleration modulus value of -1 sampling instant of kth, K1Indicate the first sampling of setting Number, K2Indicate the second sampling number of setting, K1> ρ1, K2> ρ2, ρ1And ρ2It is constant, δ1Indicate the speed change threshold value of setting, δ2Indicate the turning threshold value of setting；
Step 502, whenWithIt is invalid, illustrate satellite communication in moving Uniform rectilinear moves, and transfers complementary filter (17) using microprocessor (1), and input ψ (k) and x 'ω(k), after obtaining correction Roll angle ψ ' (k)；Complementary filter (17) is transferred using microprocessor (1), and inputs θ (k) and y 'ω(k), after obtaining correction Pitching angle theta ' (k)；Wherein, the complementary filter (17) includes the first high-pass filter and the first low-pass filter, described The transmission function of first high-pass filter isThe transmission function of first low-pass filter iskpFor Proportional Feedback constant, kiFor integral feedback constant；
Step 503, whenIt sets up, illustrates satellite communication in moving (15) variable motion, whenIt sets up, illustrates satellite communication in moving (15) turning motion, then complementary filter is transferred using microprocessor (1) Wave device (17), by Proportional Feedback constant kpWith integral feedback constant kiEqual zero setting, and input ψ (k) and x 'ω(k), after obtaining correction Roll angle ψ ' (k)；
Complementary filter (17) is transferred using microprocessor (1), by Proportional Feedback constant kpWith integral feedback constant kiEqual zero setting, And input θ (k) and y 'ω(k), pitching angle theta ' (k) after being corrected；
The acquisition of three axis Weighted Fusion magnitude of angular velocity of step 3 Satellite communication in moving, detailed process are as follows：
The acquisition of step 301, satellite communication in moving X-axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3011, using microprocessor (1) according to formulaObtain i-th of X-axis micromechanical gyro (2) in the variance of k-th of sampling instantUsing microprocessor (1) according to formulaObtain jth Variance of a X-axis micromechanical gyro (2) in k-th of sampling instantWherein, e is positive integer, and 1≤e≤k,Indicate i-th The X-axis angular speed mean value of a X-axis micromechanical gyro (2),Indicate the X-axis angular speed mean value of j-th of X-axis micromechanical gyro (2)；
Step 3012, using microprocessor (1) according to formulaObtain i-th of X-axis The support of micromechanical gyro (2) and j-th X-axis micromechanical gyro (2) in k-th of sampling instantWherein, τ indicates two The sensitivity mutually supported between micromechanical gyro, τ > 0, and
Step 3013 establishes X-axis Support matrix using microprocessor (1) to m X-axis micromechanical gyro (2)I.e.Wherein,Indicate first X-axis micromechanical gyro (2) and second X-axis micromechanical gyro (2) in the support of k-th of sampling instant,Indicate first X-axis micromechanical gyro (2) and m-th of X-axis micromechanical gyro (2) in the support of k-th of sampling instant,Indicate second X-axis micromechanical gyro (2) and m-th of X-axis micromechanical gyro (2) in the support of k-th of sampling instant；
Step 3014, using microprocessor (1) according to formulaI-th of X-axis micromechanical gyro (2) is obtained The degree of support s that k sampling instant is supported by other micromechanical gyrosi(k)；
Step 3015, using microprocessor (1) according to formulaI-th of X-axis micromechanical gyro (2) is obtained to exist The weighting coefficient w of k-th of sampling instanti(k)；
Step 3016, using microprocessor (1) according to formulaObtain k-th of sampling instant The X-axis Weighted Fusion magnitude of angular velocity x ' of satellite communication in moving (15)ω(k)；
The acquisition of step 302, satellite communication in moving Y-axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3021, using microprocessor (1) according to formulaObtain a-th of Y-axis micromechanical gyro (4) in the variance of k-th of sampling instantUsing microprocessor (1) according to formulaObtain b Variance of a Y-axis micromechanical gyro (4) in k-th of sampling instantWherein,Indicate a-th Y-axis micromechanical gyro (4) Y-axis angular speed mean value,Indicate the Y-axis angular speed mean value of b-th of Y-axis micromechanical gyro (4)；
Step 3022, using microprocessor (1) according to formulaObtain a-th of Y-axis The support of micromechanical gyro (4) and b-th Y-axis micromechanical gyro (4) in k-th of sampling instantWherein,
Step 3023 establishes Y-axis Support matrix using microprocessor (1) to m Y-axis micromechanical gyro (4)I.e.Wherein,Indicate first Y-axis micromechanical gyro (4) and second Y-axis micromechanical gyro (4) in the support of k-th of sampling instant,Indicate first Y-axis micromechanical gyro (4) and m-th of Y-axis micromechanical gyro (4) in the support of k-th of sampling instant,Indicate second Y-axis micromechanical gyro (4) and m-th of Y-axis micromechanical gyro (4) in the support of k-th of sampling instant；
Step 3025, using microprocessor (1) according to formulaA-th of Y-axis micromechanical gyro (4) is obtained to exist The degree of support s that k-th of sampling instant is supported by other micromechanical gyrosa(k)；
Step 3026, using microprocessor (1) according to formulaA-th of Y-axis micromechanical gyro (4) is obtained to exist The weighting coefficient w of k-th of sampling instanta(k)；
Step 3027, using microprocessor (1) according to formulaObtain k-th of sampling instant The Y-axis Weighted Fusion magnitude of angular velocity y ' of satellite communication in moving (15)ω(k)；
The acquisition of step 303, satellite communication in moving Z axis Weighted Fusion magnitude of angular velocity, detailed process are as follows：
Step 3031, using microprocessor (1) according to formulaObtain c-th of Z axis micromechanical gyro (6) in the variance of k-th of sampling instantUsing microprocessor (1) according to formulaObtain Variance of the d Z axis micromechanical gyro (6) in k-th of sampling instantWherein,Indicate c-th of Z axis micromechanical gyro (6) Z axis angular speed mean value,Indicate the Z axis angular speed mean value of d-th of Z axis micromechanical gyro (6)；
Step 3032, using microprocessor (1) according to formulaObtain c-th of Z axis The support of micromechanical gyro (6) and d-th Z axis micromechanical gyro (6) in k-th of sampling instantWherein,
Step 3033 establishes Z axis Support matrix using microprocessor (1) to m Z axis micromechanical gyro (6)I.e.Wherein,Indicate first Z axis micromechanical gyro (6) and second Z axis micromechanical gyro (6) in the support of k-th of sampling instant,Indicate first Z axis micromechanical gyro (6) and m-th of Z axis micromechanical gyro (6) in the support of k-th of sampling instant,Indicate second Z axis micromechanical gyro (6) and m-th of Z axis micromechanical gyro (6) in the support of k-th of sampling instant；
Step 3036, using microprocessor (1) according to formulaC-th of Z axis micromechanical gyro (6) is obtained to exist The degree of support s that k-th of sampling instant is supported by other micromechanical gyrosc(k)；
Step 3037, using microprocessor (1) according to formulaC-th of Z axis micromechanical gyro (6) is obtained to exist The weighting coefficient w of k-th of sampling instantc(k)；
Step 3038, using microprocessor (1) according to formulaWhen obtaining sampling at k-th Carve the Z axis Weighted Fusion magnitude of angular velocity z ' for leading to (15) in satelliteω(k)。
2. a kind of satellite communication in moving attitude detecting method described in accordance with the claim 1, it is characterised in that：It further include data storage Device (12), the data storage (12) connect with microprocessor (1).
3. a kind of satellite communication in moving attitude detecting method described in accordance with the claim 1, it is characterised in that：The microprocessor (1) it is microcontroller, FPGA microcontrollers, DSP microcontrollers or ARM microcontroller.
4. a kind of satellite communication in moving attitude detecting method described in accordance with the claim 1, it is characterised in that：The microprocessor (1) by communication module (14) and host computer (13) into row data communication, the communication module (14) is bluetooth module, WIFI moulds Block, GPRS communication modules or ZigBee module.
5. a kind of satellite communication in moving attitude detecting method described in accordance with the claim 1, it is characterised in that：The X-axis micromechanics Gyro (2), the Y-axis micromechanical gyro (4), the Z axis micromechanical gyro (6) quantity be not less than 3.
6. a kind of satellite communication in moving attitude detecting method described in accordance with the claim 1, it is characterised in that：2 in step 501<ρ1< 10,2<ρ2<10, the speed change threshold value δ of the setting1Value range be 1 × 10-3<δ1<1×10-2, the turning threshold value δ2Take Value ranging from 0.01<δ2<0.05；The k of Proportional Feedback constant described in step 502pWith the integral feedback constant kiMeet：ki= ω2, Indicate damping value, andω expression handing-over frequencies, 0<ω<1.
7. a kind of satellite communication in moving attitude detecting method described in accordance with the claim 1, it is characterised in that：It is pre- described in step 2 Value range 0.01s~the 1s in the sampling time first set, the X-axis micromechanical gyro (2), Y-axis micromechanical gyro (4) or The value range of the quantity m of Z axis micromechanical gyro (6) is m > 3.
8. a kind of satellite communication in moving attitude detecting method described in accordance with the claim 1, it is characterised in that：I-th in step 3011 The X-axis angular speed mean value of a X-axis micromechanical gyro (2)With the X-axis angular speed mean value of j-th of X-axis micromechanical gyro (2) Acquisition process it is as follows：
When satellite communication in moving (15) is static, using microprocessor (1) according to formulaWhen obtaining acquisition beginning It carves to the X-axis angular speed mean value of i-th of X-axis micromechanical gyro (2) in -1 sampling instant period of kthUsing microprocessor Device (1) is according to formula according to formulaIt obtains the in acquisition start time to -1 sampling instant period of kth The X-axis angular speed mean value of j X-axis micromechanical gyro (2)Wherein, h is positive integer, and 1≤h≤k-1；
When satellite communication in moving (15) move, then the X-axis angular speed mean value and j-th of X-axis of i-th X-axis micromechanical gyro (2) are micro- The X-axis angular speed mean value of mechanical gyro (2) isWherein, x 'ω(k-1) -1 sampling instant of kth is indicated The X-axis Weighted Fusion magnitude of angular velocity of satellite communication in moving (15)；
The Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro (4) in step 3021With b-th of Y-axis micromechanical gyro (4) Y-axis angular speed mean valueAcquisition process it is as follows：
When satellite communication in moving (15) is static, using microprocessor (1) according to formulaWhen obtaining acquisition beginning It carves to the Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro (4) in -1 sampling instant period of kthUsing microprocessor Device (1) is according to formula according to formulaIt obtains in acquisition start time to -1 sampling instant period of kth The Y-axis angular speed mean value of b-th of Y-axis micromechanical gyro (4)
When satellite communication in moving (15) move, then the Y-axis angular speed mean value of a-th of Y-axis micromechanical gyro (4)With b-th of Y-axis The Y-axis angular speed mean value of micromechanical gyro (4)ForWherein, y 'ω(k-1) indicate that kth -1 is adopted The Y-axis Weighted Fusion magnitude of angular velocity of sample moment satellite communication in moving (15)；
The Z axis angular speed mean value of c-th of Z axis micromechanical gyro (6) in step 3031With d-th Z axis micromechanical gyro (6) Z axis angular speed mean valueAcquisition process it is as follows：
When satellite communication in moving (15) is static, using microprocessor (1) according to formulaWhen obtaining acquisition beginning It carves to the Z axis angular speed mean value of c-th of Z axis micromechanical gyro (6) in -1 sampling instant period of kthUsing microprocessor Device (1) is according to formula according to formulaIt obtains in acquisition start time to -1 sampling instant period of kth The Z axis angular speed mean value of d-th of Z axis micromechanical gyro (6)
When satellite communication in moving (15) move, the Z axis angular speed mean value of c-th of Z axis micromechanical gyro (6)It is micro- with d-th of Z axis The Z axis angular speed mean value of mechanical gyro (6)ForWherein, z 'ω(k-1) -1 sampling of kth is indicated The Z axis Weighted Fusion magnitude of angular velocity of moment satellite communication in moving (15).
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