CN108313329A - A kind of satellite platform data dynamic fusion system and method - Google Patents
A kind of satellite platform data dynamic fusion system and method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors
- B64G1/369—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors using gyroscopes as attitude sensors
Abstract
Include optical fibre gyro the invention discloses a kind of satellite platform data dynamic fusion system, the attitude angular velocity for measuring satellite, and the attitude angular velocity of the satellite is sent to attitude prediction module；Star sensor, the posture information for providing satellite, the posture information include attitude quaternion and three-axis attitude angle；Guiding device provides attitude of satellite relative variation for the attitudes vibration by resolving satellite；Information assigning module, described information distribution module provides first information distribution coefficient to the first subfilter, and provides the second information sharing scheme to the second subfilter；Data fusion module is connected with first subfilter and the second subfilter respectively；And attitude rectification module, it is connected respectively with the attitude prediction module and the data fusion module, error state variable overall situation estimated value for being exported according to the data fusion module is modified the attitude prediction value of attitude prediction module output, to obtain the posture information of satellite.
Description
Technical field
The present invention relates to space attitude control technology fields, and specifically, the present invention relates to a kind of superelevation attitude stabilities
Satellite platform data dynamic fusion system and method.
Background technology
The posture information of satellite is the important evidence that satellite is correctly completed aerial mission.It is right with the development of space technology
The attitude of satellite determines that precision and reliability propose increasingly higher demands.It needs to carry out high stability to satellite platform certain
Control field needs that the posture of high-precision sensor and high-reliability is used to determine algorithm to obtain accurate posture information.
However, being mostly star sensor in the current sensor to attitude of satellite high-acruracy survey.Due to star sensor
Measurement accuracy is limited, it is possible to the index request of certain high-precision satellite platforms be not achieved.Therefore, satellite high-precision determine appearance and
When high stability controls, high-precision fixed appearance and the high stability control of platform cannot be met by determining appearance using star sensor and optical fibre gyro
System, so as to cause satellite observation task to fail.
In view of this, it is urgent to provide a kind of satellite platform data dynamic fusion system and method for superelevation attitude stability,
To realize high-precision fixed appearance and high stability control.
Invention content
The object of the present invention is to provide a kind of satellite platform data dynamic fusion system of superelevation attitude stability and sides
Method uses the optical device guiding device of higher precision to determine appearance component as satellite, utilizes guiding device, star sensor, optical fiber
The algorithm of gyro data fusion, and guiding device and star sensor respectively advantage are combined, to realize the high-precision fixed appearance of satellite
It is controlled with high stability.
To achieve the above object, the present invention uses following technical scheme.
According to an aspect of the present invention, a kind of satellite platform data dynamic fusion system is provided, which is characterized in that packet
It includes：
Optical fibre gyro, the attitude angular velocity for measuring satellite, and the attitude angular velocity of the satellite is sent to appearance
State estimates module；
Star sensor, the posture information for providing satellite, the posture information include attitude quaternion and three-axis attitude
Angle；
Guiding device provides attitude of satellite relative variation for the attitudes vibration by resolving satellite；
Information assigning module, described information distribution module provide first information distribution coefficient to the first subfilter, and
The second information sharing scheme is provided to the second subfilter；
Data fusion module is connected with first subfilter and the second subfilter respectively, wherein the star is sensitive
The attitude angular velocity and described information distribution module that device institute output satellite posture information, the optical fibre gyro are exported are exported
First information distribution coefficient be transmitted to first subfilter together, first subfilter is generated based on these information
And export the first attitude parameter error estimate and be sent to data fusion module, the attitude of satellite phase that the guiding device is exported
The second information that the attitude angular velocity and described information distribution module exported to variable quantity, the optical fibre gyro is exported point
Distribution coefficient is transmitted to second subfilter together, and second subfilter is generated based on these information and exports the second appearance
State parameter error estimated value is simultaneously sent to the data fusion module, and the data fusion module is according to first attitude parameter
Error estimate and the second attitude parameter error estimate carry out data information fusion, complete to obtain error state variable
Office's estimated value；And
Attitude rectification module is connected with the attitude prediction module and the data fusion module respectively, for according to institute
The error state variable overall situation estimated value for stating data fusion module output, to the attitude prediction value of attitude prediction module output
It is modified, to obtain the posture information of satellite.
In one embodiment of the invention, the attitude prediction module is connected with described information distribution module, is used for institute
State the first information distribution coefficient and the second information sharing scheme in control information assigning module.
In one embodiment of the invention, first subfilter and the second subfilter are federal Kalman's filter
Wave device.
In one embodiment of the invention, the first information distribution coefficient and the second information sharing scheme coefficient are added
Equal to 1.
In one embodiment of the invention, the attitude prediction module, data fusion module and attitude rectification module
It is arranged in same senior filter.
According to another aspect of the present invention, a kind of satellite platform data dynamic fusion method is provided, using satellite platform
Data dynamic fusion system, includes the following steps：
By optical fibre gyro output satellite attitude angular velocity to attitude prediction module；
The posture measuring satellite angular velocities that attitude of satellite information that star sensor is exported, the optical fibre gyro are exported
And the first information distribution coefficient that information assigning module is exported inputs the first subfilter together, to obtain the first posture ginseng
Number error estimate, and it is sent to data fusion module；
The measuring satellite angular velocities that attitude of satellite relative variation that guiding device is exported, the optical fibre gyro are exported
And the second information sharing scheme that described information distribution module is exported inputs the second subfilter together, to obtain the second appearance
State parameter error estimated value, and it is sent to the data fusion module；
By data fusion module to received the first attitude parameter error estimate and the second attitude parameter error
Estimated value carries out data information fusion, and obtains error state variable overall situation estimated value；And
The attitude prediction value that the attitude prediction module is exported by the error state variable overall situation estimated value into
Row is corrected, to obtain the posture information of satellite.
In another embodiment of the present invention, satellite platform data dynamic fusion method further includes：
The first flag bit of the optical fibre gyro, the second flag bit of the star sensor, the guiding device are judged respectively
Third flag bit it is whether effective；
If first flag bit, the second flag bit and third flag bit are effective, the optical fiber top is judged respectively
The second standard deviation formed between the first standard deviation and the optical fibre gyro and guiding device that are formed between spiral shell and star sensor
Whether respectively within the scope of presetting first threshold range and second threshold；
If so, determining that the optical fibre gyro, star sensor and guiding device are effective.
In another embodiment of the present invention, according to first subfilter and second subfilter to described
The influence of satellite platform data dynamic fusion system is of different sizes and distributes different first information distribution coefficients and the second information
Distribution coefficient.
In another embodiment of the present invention, the first information distribution coefficient and the addition of the second information sharing scheme etc.
In 1.
In another embodiment of the present invention, the attitude prediction module, data fusion module and attitude rectification mould
Block is arranged in same senior filter.
It is an advantage of the current invention that in order to ensure high-precision fixed appearance and the high stability control of satellite, surveyed in the attitude of satellite
Measure the guiding device that link introduces higher precision.Since the accuracy of attitude determination of guiding device is better than 0.3 rad (3 σ), precision is compared to mesh
The preceding high magnitude of widely applied Rotating Platform for High Precision Star Sensor, to meet certain satellites to high-precision particular/special requirement.Into one
For step, by developing the data anastomosing algorithm of guiding device, star sensor and optical fibre gyro, and Federated Kalman Filtering is designed
Device had both improved the attitude measurement accuracy of satellite in this way, simultaneously as the information fusion of multi-sensor, also greatly improves data
Validity, to realize high-acruracy survey and the high stability control of satellite.In addition, method disclosed by the invention is that satellite is high-precision
Degree determines appearance and high stability control field provides a kind of new thinking, while enhancing the reliability of Satellite Attitude Determination, has preferable
Future in engineering applications and promotional value.
Description of the drawings
For the above and other advantages and features for each embodiment that the present invention is furture elucidated, refer to the attached drawing is presented
The more specific description of various embodiments of the present invention.It is appreciated that these attached drawings only describe the exemplary embodiments of the present invention, therefore
It is not to be regarded as being restriction on its scope.In the accompanying drawings, in order to cheer and bright, identical or corresponding component will use identical or class
As mark indicate.
Fig. 1 shows the structural schematic diagram of satellite platform data dynamic fusion system according to an embodiment of the invention.
Fig. 2 shows according to an embodiment of the invention satellite platform data dynamic fusion is carried out using Kalman filter
The schematic diagram of calculating.
Fig. 3 shows the flow chart of satellite platform data dynamic fusion method according to an embodiment of the invention.
Fig. 4 shows the flow chart of the method for the validity according to an embodiment of the invention for judging multiple sensors.
Specific implementation mode
In the following description, with reference to each embodiment, present invention is described.However, those skilled in the art will recognize
Know can in the case of neither one or multiple specific details or with it is other replacement and/or addition method, material or component
Implement each embodiment together.In other situations, it is not shown or well known structure or operation is not described in detail in order to avoid making the present invention
Each embodiment aspects it is obscure.Similarly, for purposes of explanation, specific quantity and configuration are elaborated, in order to provide right
The comprehensive understanding of the embodiment of the present invention.However, the present invention can be implemented in the case of no specific detail.Further, it should be understood that
Each embodiment shown in the accompanying drawings is illustrative expression and is not drawn necessarily to scale.
In the present specification, the reference of " one embodiment " or " embodiment " is meaned to combine embodiment description
A particular feature, structure, or characteristic is included at least one embodiment of the invention.Occur in everywhere in this specification short
Language is not necessarily all referring to the same embodiment " in one embodiment ".
Below in conjunction with the accompanying drawings to a kind of specific reality of satellite platform data dynamic fusion system and method provided by the invention
The mode of applying is described in detail.
Fig. 1 shows the structural schematic diagram of satellite platform data dynamic fusion system 100 according to an embodiment of the invention.
As shown in Figure 1, satellite platform data dynamic fusion system 100 may include：Optical fibre gyro 110, star sensor 120,
Guiding device 130, the first subfilter 150 being connected respectively with the optical fibre gyro 110 and the star sensor 120, respectively with
The second connected subfilter 160 of the optical fibre gyro 110 and the guiding device 130, respectively with first subfilter 150
The information assigning module 140 being connected with second subfilter 160, the attitude prediction mould being connected with the optical fibre gyro 110
Block 171, the data fusion module 172 being connected respectively with first subfilter 150 and second subfilter 160, with
And the attitude rectification module 173 being connected respectively with the attitude prediction module 171 and the data fusion module 172.
In one embodiment of the invention, the optical fibre gyro 110 is for measuring three axis angular rate of satellite (or posture
Angular speed), and three axis angular rate of output satellite and it is sent to the attitude prediction module 171.Star sensor 120 is for providing
Attitude of satellite information, the posture information may include attitude angle.And 120 output satellite posture informations of star sensor, optical fiber top
The first information distribution coefficient that the attitude angular velocity and information assigning module 140 that spiral shell 110 is exported are exported is transmitted to together
First subfilter 150, the first subfilter 150 are generated based on these information and export the first attitude parameter error estimate simultaneously
It is sent to data fusion module 172.Wherein, the attitude of satellite information that the star sensor 120 is exported includes quaternary number and three
Axis attitude angle.
Guiding device 130 is for measuring attitude of satellite relative variation.And the attitude of satellite that guiding device 130 is exported is opposite
The second letter that the attitude angular velocity and described information distribution module 140 that variable quantity, the optical fibre gyro 110 are exported are exported
Breath distribution coefficient is transmitted to the second subfilter 160 together, and the second subfilter 160 is generated based on these information and exported second
Attitude parameter error estimate is simultaneously sent to the data fusion module 172.
Furthermore, the multi-sensor (hereinafter, optical fibre gyro, star sensor, guiding device are referred to as it is how quick
Sensor) fusion during, in order to meet the high-precision that star sensor 120 is not achieved, and introduce novel single machine guiding device
130.The guiding device 130 is in measurement accuracy than 120 high magnitudes of the star sensor.The guiding device 130 is substantially
For optical device.During in-orbit, picture point and its situation of change that can be by bright star on its detector focal plane calculate
The attitudes vibration of satellite.The guiding device 130 exports the asterism coordinate of itself screening by asterism extraction algorithm, is obtained with resolving
Then asterism coordinate obtains the Vector Message of asterism on the detector by data processing.It should be noted the guiding device
The absolute pose of 130 not output satellites, but output satellite posture relative variation.
The data fusion module 172 respectively with first subfilter 150 and 160 phase of the second subfilter
Even, for according to the first attitude parameter error estimate and the second attitude parameter error estimate, carrying out data information fusion, with
Obtain error state variable overall situation estimated value.
The attitude rectification module 173 respectively with 172 phase of the attitude prediction module 171 and the data fusion module
Even, for the error state variable overall situation estimated value according to the data fusion module 172, to the attitude prediction module 171
The attitude prediction value of output is modified, to obtain revised attitude of satellite information, including attitude angle and attitude quaternion.
In one embodiment of the invention, first subfilter 150 and second subfilter 160 can be
Federated Kalman Filter.In other parts embodiment, first subfilter 150 and second subfilter 160
It can also be other kinds of filter.
In one embodiment of the invention, the attitude prediction module 171 is connected with described information distribution module 140,
For controlling first information distribution coefficient and second information sharing scheme in described information distribution module 140.Described
One information sharing scheme is added with second information sharing scheme is equal to 1, can eliminate between subfilter due to common
Correlation caused by optical fibre gyro information, respective filter can be independently filtered.And in other embodiments, the letter
Breath distribution module directly controls first information distribution coefficient and the second information sharing scheme.As shown in Figure 1, first information distribution system
Number isSecond information sharing scheme isThe first information distribution coefficient and the second information sharing scheme are added
Equal to 1, i.e.,In addition, the first attitude parameter error estimate is δ Xc1,Pc1；Second attitude parameter error estimate is
δXc2, Pc2, error state variable overall situation estimated value is δ Xcg,Pcg.δ X are the estimation of error state variable, and P is the mean square error of estimation
Poor battle array, β are information sharing scheme；The meaning of subscript g is the filter result established in all measurements, i.e., global estimation, i (i=
1,2) it is subfilter, c is common reference system optical fibre gyro.
State of the angular velocity information (including angular velocity information and three axis angular rates) that optical fibre gyro 110 exports as system
Information utilizes, and optical fibre gyro 110 simultaneously participated in two subfilters (that is, the first subfilter and second subfilter)
Filtering, information are met information conservation principle and are allocated between each subfilter by two subfilter shares：
Wherein,For system noise variance intensity battle array.Procedural information is allocated by above information sharing principle, is disappeared
In addition to the correlation brought between subfilter (that is, the first subfilter and described second subfilter) due to sharing gyro information
Property so that the filtering of each subfilter can be carried out independently.
The first information distribution coefficient and the second information sharing scheme meet Law of conservation of information.According to first son
The influence of filter 150 and second subfilter 160 to the satellite platform data dynamic fusion system it is of different sizes and
Distribute different first information distribution coefficient and the second information sharing scheme.For example, the sensitivity coefficient of the star sensor 120 compared with
Small, precision is relatively low, smaller to the systematic influence, therefore, relatively small value is set to first information distribution coefficient.And guiding
The sensitivity coefficient of device 130 is larger, and precision is higher, larger to the systematic influence, therefore, phase is set to the second information sharing scheme
To smaller value.The present invention to the distribution of first information distribution coefficient and the second information sharing scheme need to according to actual conditions and
It is fixed, and it is not limited to the case where above-mentioned illustrated.
In addition, in an embodiment of the present invention, the attitude prediction module 171, data fusion module 172 and posture are repaiied
Positive module 173 is arranged in same senior filter 170.
Guiding device 130, star sensor 120, optical fibre gyro 110 data anastomosing algorithm in, using 130 conduct of guiding device
Attitude sensor part.Although in view of the measurement accuracy of the guiding device 130 is higher by an amount than star sensor 120
Grade, but the guiding device 130 can only measure the relative variation of the attitude of satellite since inside does not have star pattern matching, it can not
Obtain the absolute pose of satellite.Although and the star sensor 120 can sensitive satellite absolute pose, measurement accuracy is not
It is enough, complementation is combined with each other and formed therefore, it is necessary to the two, could effectively realize mission requirements.In addition, the guiding device 130
Although high certainty of measurement, it has the slow shortcoming of output frequency, it is therefore desirable to defeated to the data of the guiding device 130
Go out and do corresponding interpolation processing, to meet the needs of on algorithm.
Satellite Attitude Determination component in satellite platform data dynamic fusion system of the present invention is by selecting star sensor
120, guiding device 130 and optical fibre gyro 110 are believed with exporting attitude angle information (attitude quaternion and attitude angle) and attitude angular velocity
It ceases (three axis angular rates), the informix of these different forms, different frequency is utilized, and then obtain the posture letter of higher precision
Breath, and by data anastomosing algorithm and designed Federated Kalman Filter, using optical fibre gyro as common reference system
System, combination form optical fibre gyro/star sensor and optical fibre gyro/guiding device two subsystems.The posture exported with optical fibre gyro
Common condition of the angular speed as each subfilter (the first subfilter and the second subfilter), each subfilter is using respectively
The metrical information of sensor provides the partial estimation of common condition and is input to senior filter, office of the senior filter to subfilter
Portion's estimation is merged, and the error state overall situation estimated value of optical fibre gyro posture is obtained, and correction optical fibre gyro is then gone to obtain again
Attitude parameter (attitude prediction value), to obtain the three-axis attitude information of satellite.In this way, being achieved that satellite high-precision, height
Reliability determines appearance demand.
Fig. 2 shows according to an embodiment of the invention satellite platform data dynamic fusion is carried out using Kalman filter
The schematic diagram of calculating.Referring to Fig. 2, in the measurement letter for obtaining each sensor (for example, optical fibre gyro, star sensor, guiding device)
After breath, attitude prediction meter, filtering observed quantity calculating and filter state establishing equation are carried out, establishes the state of two subsystems respectively
Equation, i.e. subsystem 1 and subsystem 2 introduce Kalman filter to respective state equation, and Kalman filtering algorithm is will be first
State equation is done into sliding-model control, one-step prediction is then carried out by recurrence formula, this is the fixation of Kalman filtering algorithm
Step later merges two systems into row information, finally carries out attitude updating, and then obtain the posture information of satellite.
The present invention also provides a kind of satellite platform data dynamic fusion method, this method is melted using satellite platform data dynamic
Collaboration is united.Fig. 3 shows the flow chart of satellite platform data dynamic fusion method according to an embodiment of the invention.
First, in step S210, optical fibre gyro output satellite attitude angular velocity to attitude prediction module.
In step S220, the attitude angle for being exported attitude of satellite information that star sensor is exported, the optical fibre gyro
The first information distribution coefficient that speed and information assigning module are exported inputs the first subfilter together, to obtain the first appearance
State parameter error estimated value, and it is sent to data fusion module.
Step S230, the posture for being exported attitude of satellite relative variation that guiding device is exported, the optical fibre gyro
The second information sharing scheme that angular speed and described information distribution module are exported inputs the second subfilter together, to obtain
Second attitude parameter error estimate, and it is sent to the data fusion module.
Step S240, data fusion module is to the first received attitude parameter error estimate and the second attitude parameter
Error estimate carries out data information fusion, and obtains error state variable overall situation estimated value.
Step S250, the posture that the attitude prediction module is exported by the error state variable overall situation estimated value
Discreet value is modified, to obtain the posture information of satellite.
Above-mentioned steps are described in detail below with reference to Fig. 1 to Fig. 3.
Step S210：Optical fibre gyro output satellite angular speed is to attitude prediction module.
The attitude angular velocity that the optical fibre gyro is exported is a common parameter value.The optical fibre gyro can respectively with other
Sensor forms " optical fibre gyro+star sensor " and " optical fibre gyro+guiding device ", to correspond to two subfilters (first respectively
Subfilter and the second subfilter), each subfilter is mutual indepedent.
Step S220：The attitude angle that the attitude of satellite information and the optical fibre gyro exported by star sensor is exported
The first information distribution coefficient that speed and information assigning module are exported is input to the first subfilter together, to obtain first
Attitude parameter error estimate, and it is sent to data fusion module.
Step S230：The appearance that the attitude of satellite relative variation and the optical fibre gyro exported by guiding device is exported
The second information sharing scheme that state angular speed and described information distribution module are exported is input to the second subfilter together, with
The second attitude parameter error estimate is obtained, and is sent to the data fusion module.
Through the above steps S220 to step S230 it is found that the attitude angular velocity that is exported of the optical fibre gyro as two
The common parameter value of subfilter, each sensor (such as star sensor and guiding device) measure output satellite posture respectively
Information, attitude of satellite relative variation, and respectively with attitude angular velocity and corresponding first information distribution coefficient and
Two information sharing schemes input corresponding subfilter together, to obtain corresponding first and second attitude parameters error estimate,
The partial estimation value of optical fibre gyro is provided.The first information distribution coefficient and the second information sharing scheme, which are added, is equal to 1, can
To eliminate between subfilter due to correlation caused by common optical fibre gyro information, the filtering of respective filter can be only
It is vertical to carry out.
Step S240：Pass through the first attitude parameter error estimate and the second appearance received by the data fusion module
State parameter error estimated value carries out data information fusion, and obtains error state variable overall situation estimated value.
When obtain optical fibre gyro the error state variable overall situation estimated value after, by the error state variable overall situation estimated value with
Attitude prediction value is merged.
Step S250：The optical fibre gyro is corrected by the error state variable overall situation estimated value, to obtain
Satellite attitude parameters.
Optical fibre gyro is corrected according to error state variable overall situation estimated value, to obtain satellite attitude parameters, into one
Step obtains the three-axis attitude information of satellite.
Before step S210 is executed, following multiple steps are may further include, for judging having for multiple sensors
Effect property.Fig. 4 shows the flow chart of the method for the validity according to an embodiment of the invention for judging multiple sensors.
In step S201：Judge respectively the first flag bit of the optical fibre gyro, the second flag bit of the star sensor,
Whether the third flag bit of the guiding device is effective.If judging, the first flag bit, the second flag bit and third flag bit are equal
In vain, then stop the execution of the fusion method.
In step S202：If first flag bit, the second flag bit and third flag bit are effective, judge respectively
Second formed between the first standard deviation, the optical fibre gyro and the guiding device that are formed between the optical fibre gyro and star sensor
Whether standard deviation is respectively within the scope of presetting first threshold range, second threshold.
In the present embodiment, first threshold range and second threshold range are E=5/57.3rad.Work as S1<When E, star is quick
Sensor is effective；Work as S2<When E, guiding device is effective.
First standard deviation is
Second standard deviation is
Wherein,θGY--- current time optical fibre gyro integrates to obtain attitude of satellite information Eulerian angles under inertial coodinate system
(rad)；
θST--- attitude of satellite information Eulerian angles (rad) under the inertial coodinate system that current time star sensor obtains；
θSS--- attitude of satellite information Eulerian angles (rad) under the inertial coodinate system that current time guiding device obtains；
θGM--- attitude of satellite information Eulerian angles (rad) under the inertial coodinate system that current time magnetometer obtains.
Step S203：If so, determining that the optical fibre gyro, star sensor, guiding device are effective.
It is secondary so as to the validity progress of the multi-sensor to satellite attitude measurement by executing step S201 to step S203
Judge is disconnected, is merged to select effective sensor data information and the output information of optical fibre gyro to carry out data information.For example,
In the second standard deviation formed between the first standard deviation, optical fibre gyro and the guiding device that are formed between optical fibre gyro and star sensor
Any standard difference meets corresponding presetting first threshold range, second threshold range, then the light corresponding to the standard deviation
Fine gyro and corresponding sensor are effective.
For example, in the data fusion module, the attitude parameter error estimate corresponding to the standard deviation is obtained, and
Data fusion is carried out, to obtain the error state variable overall situation estimated value of the optical fibre gyro, in the attitude rectification mould
Attitude prediction value is corrected by the error state variable overall situation estimated value in block, and obtains the posture of optical fibre gyro
Parameter, and then obtain the posture information of satellite.Certainly, if the first standard formed between the optical fibre gyro and star sensor
Two standard deviations are satisfied by corresponding presetting in the second standard deviation formed between poor, the described optical fibre gyro and guiding device
One threshold range, second threshold range, then the optical fibre gyro and corresponding two sensors corresponding to two standard deviations are to have
Effect.In the data fusion module, the attitude parameter error estimate corresponding to two standard deviations is obtained, and carry out data
Fusion, to obtain the error state variable overall situation estimated value of the optical fibre gyro, to pass through in the attitude rectification module
The error state variable overall situation estimated value is corrected attitude prediction value, and obtains the attitude parameter of optical fibre gyro, into
And obtain the posture information of satellite.
Although described above is various embodiments of the present invention, however, it is to be understood that they are intended only as example to present
, and without limitation.For those skilled in the relevant art it is readily apparent that various combinations, modification can be made to it
Without departing from the spirit and scope of the invention with change.Therefore, the width of the invention disclosed herein and range should not be upper
It states disclosed exemplary embodiment to be limited, and should be defined according only to the appended claims and its equivalent replacement.
Claims (10)
1. a kind of satellite platform data dynamic fusion system, which is characterized in that including：
Optical fibre gyro, the attitude angular velocity for measuring satellite, and it is pre- that the attitude angular velocity of the satellite is sent to posture
Estimate module；
Star sensor, the posture information for providing satellite, the posture information include attitude quaternion and three-axis attitude angle；
Guiding device provides attitude of satellite relative variation for the attitudes vibration by resolving satellite；
Information assigning module, described information distribution module provide first information distribution coefficient to the first subfilter, and to the
Two subfilters provide the second information sharing scheme；
Data fusion module is connected with first subfilter and the second subfilter respectively, wherein the star sensor institute
The attitude angular velocity and described information distribution module that output satellite posture information, the optical fibre gyro are exported exported
One information sharing scheme is transmitted to first subfilter together, and first subfilter is based on these information and generates and defeated
Go out the first attitude parameter error estimate and be sent to data fusion module, the attitude of satellite that the guiding device is exported is opposite to be become
The second information distribution system that the attitude angular velocity and described information distribution module that change amount, the optical fibre gyro are exported are exported
Number is transmitted to second subfilter together, and second subfilter is generated based on these information and exports the second posture ginseng
Number error estimate is simultaneously sent to the data fusion module, and the data fusion module is according to the first attitude parameter error
Estimated value and the second attitude parameter error estimate carry out data information fusion, are estimated with obtaining the error state variable overall situation
Evaluation；And
Attitude rectification module is connected with the attitude prediction module and the data fusion module respectively, for according to the number
According to the error state variable overall situation estimated value that Fusion Module exports, the attitude prediction value of attitude prediction module output is carried out
It corrects, to obtain the posture information of satellite.
2. satellite platform data dynamic fusion system according to claim 1, which is characterized in that the attitude prediction module
It is connected with described information distribution module, for the first information distribution coefficient and the second information in the control information assigning module
Distribution coefficient.
3. satellite platform data dynamic fusion system according to claim 1, which is characterized in that first subfilter
It is Federated Kalman Filter with the second subfilter.
4. satellite platform data dynamic fusion system according to claim 1, which is characterized in that the first information distribution
Coefficient and the second information sharing scheme coefficient, which are added, is equal to 1.
5. satellite platform data dynamic fusion system according to claim 1, which is characterized in that the attitude prediction mould
Block, data fusion module and attitude rectification module are arranged in same senior filter.
6. a kind of satellite platform data dynamic fusion method, using satellite platform data dynamic fusion system described in claim 1
System, includes the following steps：
By optical fibre gyro output satellite attitude angular velocity to attitude prediction module；
Posture measuring satellite angular velocities that attitude of satellite information that star sensor is exported, the optical fibre gyro are exported and
The first information distribution coefficient that information assigning module is exported inputs the first subfilter together, is missed with obtaining the first attitude parameter
Poor estimated value, and it is sent to data fusion module；
Measuring satellite angular velocities that attitude of satellite relative variation that guiding device is exported, the optical fibre gyro are exported and
The second information sharing scheme that described information distribution module is exported inputs the second subfilter together, to obtain the second posture ginseng
Number error estimate, and it is sent to the data fusion module；
By data fusion module to received the first attitude parameter error estimate and the second attitude parameter estimation error
Value carries out data information fusion, and obtains error state variable overall situation estimated value；And
The attitude prediction value exported to the attitude prediction module by the error state variable overall situation estimated value is repaiied
Just, to obtain the posture information of satellite.
7. satellite platform data dynamic fusion method according to claim 6, further includes：
Judge respectively the first flag bit of the optical fibre gyro, the second flag bit of the star sensor, the guiding device
Whether three flag bits are effective；
If first flag bit, the second flag bit and third flag bit are effective, judge respectively the optical fibre gyro with
Whether the second standard deviation formed between the first standard deviation and the optical fibre gyro and guiding device that are formed between star sensor
Respectively within the scope of presetting first threshold range and second threshold；
If so, determining that the optical fibre gyro, star sensor and guiding device are effective.
8. satellite platform data dynamic fusion method according to claim 6, which is characterized in that filtered according to first son
The influence of wave device and second subfilter to the satellite platform data dynamic fusion system is of different sizes and distributes different
First information distribution coefficient and the second information sharing scheme.
9. satellite platform data dynamic fusion method according to claim 6, which is characterized in that the first information distribution
Coefficient and the second information sharing scheme, which are added, is equal to 1.
10. satellite platform data dynamic fusion method according to claim 6, which is characterized in that the attitude prediction mould
Block, data fusion module and attitude rectification module are arranged in same senior filter.
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