CN109631870B - Satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation - Google Patents

Satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation Download PDF

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CN109631870B
CN109631870B CN201910094388.9A CN201910094388A CN109631870B CN 109631870 B CN109631870 B CN 109631870B CN 201910094388 A CN201910094388 A CN 201910094388A CN 109631870 B CN109631870 B CN 109631870B
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turntable
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CN109631870A (en
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王林
魏国
王国臣
袁保伦
樊振方
罗晖
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National University of Defense Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The invention belongs to the field of optical measurement, and particularly discloses a satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation, which comprises the following steps: 1. establishing a constraint coordinate system of a sensitive axis of the optical gyroscope; 2. fixing a gyro assembly mounting base tool and adjusting an autocollimator; 3. determining the projection of a rotating shaft vector of the single-axis rate turntable in an optical reference mirror coordinate system and an optical gyro sensitive axis constraint coordinate system; 4. and determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system, and realizing the correction of the attitude lead-out of the satellite-borne optical gyro assembly. The invention fully utilizes the high-precision measurement information output by the optical gyro component, and has simple operation and short time consumption; the extraction of the attitude information of the gyro assembly is realized under the constraint coordinate system of the gyro sensitive shaft, and the high-precision three-axis turntable coordinate system or the standard hexahedron coordinate system is not needed to be used as a transition coordinate system, so that the influence caused by the deformation of the shock absorber is avoided.

Description

Satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation
Technical Field
The invention belongs to the field of optical measurement, and particularly relates to a satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation.
Background
The optical gyroscope has the advantages of all solid state, good reliability, long service life and high measurement precision, and is widely applied to various satellites. The system component formed by the optical gyroscope can measure the attitude change of the satellite, and can provide required information for a satellite attitude control system and attitude reference information for other loads on the satellite.
When the optical gyro assembly provides attitude reference information for the satellite load, the attitude of the gyro assembly needs to be led out through the optical reference mirror. Due to the existence of installation errors, the coordinate system of the mirror surface of the optical reference mirror is not consistent with the coordinate system of the optical gyro assembly, and the installation relation between the gyro assembly and the optical reference mirror needs to be corrected so as to realize high-precision posture extraction. According to the traditional method, a high-precision three-axis turntable coordinate system or a standard hexahedral coordinate system is used as a transition coordinate system, the installation error of the gyro component is calibrated under the transition coordinate system, and the attitude of the gyro component is led out by calibrating the installation relation between an optical reference mirror and the transition coordinate system by using the transition coordinate system as a reference. Therefore, in the process of calibrating the installation relationship between the gyro component and the optical reference mirror, the calibration is usually completed by means of a high-precision three-axis turntable, a standard hexahedron, a gyrotheodolite, a north reference and other equipment, and the method is complex in operation, multiple in error source and long in time consumption. In addition, the installation error process of the gyro assembly is also influenced by the deformation of a shock absorber of the gyro assembly under the transition coordinate system, a new error source is added, and the attitude leading-out precision of the gyro assembly is further influenced. In order to solve the above problems, it is necessary to find a method for correcting the posture of an optical gyro assembly, which is simple in operation, short in time consumption and high in precision.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method is independent of a high-precision three-axis turntable, a gyrotheodolite and a north reference, only uses a common single-axis rate turntable and an autocollimator, and fully utilizes high-precision information output by an optical gyro component to achieve the aim of correcting the installation relation between the gyro component and an optical reference mirror, and is simple to operate and short in consumed time; in addition, the problem of leading-out of the attitude information of the gyro component under the gyro sensitive axis constraint coordinate system is solved, a high-precision three-axis turntable coordinate system or a standard hexahedron coordinate system is not needed to be used as a transition coordinate system, and the influence caused by deformation of the shock absorber is avoided. By solving the two key technical problems, the high-precision posture extraction of the gyro assembly is realized.
In order to solve the technical problems, the solution proposed by the invention is as follows:
the attitude leading-out method of the satellite-borne optical gyro component based on optical auto-collimation comprises the following steps:
(1) establishing an optical gyro sensitive axis constraint coordinate system in which an X gyro is sensitiveShaft oxgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as a body coordinate system of the optical gyro component;
(2) fixing the optical gyro assembly on a mounting base tool, fixing the mounting base tool on a leveled single-axis rate turntable, and further fixing an optical reference mirror at the central position of the optical gyro assembly, wherein the optical reference mirror is a cubic mirror, and finally defining a coordinate system of the optical reference mirror, and the coordinate system of the optical reference mirror is defined as: taking the normal of one side surface of the optical reference mirror as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes form a right-hand orthogonal coordinate system;
(3) determining the projection of the rotation axis vector of the single-axis velocity rotary table in the optical reference mirror coordinate system, comprising the following steps:
(3.1) Normal z of optical reference mirrorpDetermining the projection u of the rotating shaft vector of the single-shaft speed turntable in the optical reference mirror coordinate system when the shaft faces the sky directionpThe method comprises the following steps:
(3.1.1) firstly controlling the single-axis rate turntable to return to a zero position, then placing the autocollimator on a horizontal table, and further adjusting the height of the horizontal table and the optical axis of the autocollimator;
(3.1.2) making the autocollimator aiming optical reference mirror perpendicular to xpMirror surface of normal line of shaft, then making autocollimation reading to obtain pitch angle reading theta1；
(3.1.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 ° k counterclockwise around the axis of rotation, then stationary for 30s, then controlling the single-axis rate turntable to rotate 360 ° k clockwise around the axis of rotation, then stationary for 30s, then controlling the single-axis rate turntable to rotate 180 ° clockwise around the axis of rotation, then keeping stationary, and again using the autocollimator to go intoPerforming auto-collimation reading to obtain a pitch angle reading theta2(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.1.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees anticlockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be vertical to ypThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained3(ii) a Keeping the autocollimator still, controlling the single-shaft rate rotary table to rotate 180 degrees around the rotary shaft anticlockwise continuously, and then performing autocollimation reading to obtain a pitch angle reading theta4(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.1.5) repeating steps (3.1.2) - (3.1.4) twice, wherein when the steps are repeated for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1', the pitch angle reading obtained in step (3.1.3) is noted as θ2The pitch angle readings taken in', (3.1.4) are respectively noted as θ3′、θ4'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1", the pitch angle reading obtained in step (3.1.3) is recorded as θ2Respectively recording the pitch angle readings obtained in the step (3.1.4) as theta3″、θ4″；
(3.1.6) determination of the Normal z of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes being
Figure GDA0002462591620000021
Rotation axis vector and y of single-axis rate turntablepThe angle of the axes being
Figure GDA0002462591620000022
Single axis rate turntable axis of rotation vector and zpThe angle of the axes being
Figure GDA0002462591620000023
Thus, the projection u of the rotation axis vector of the single axis rate turret in the optical reference mirror coordinate systempIs up＝[α1β1γ1]T；
(3.2) Normal y of optical reference mirrorpDetermining the projection e of the rotating axis vector of the single-axis rate turntable in the optical reference mirror coordinate system when the axis faces the sky directionpThe method comprises the following steps:
(3.2.1) firstly, winding the installation base tool of the optical gyro assembly around xpThe shaft rotates 90 degrees anticlockwise, the mounting base tool is fixed on the leveled single-shaft speed turntable, and the normal y of the optical reference mirror at the momentpThe axis is towards the sky direction;
(3.2.2) adjusting the optical axis of the autocollimator so that the autocollimator aims the optical reference mirror perpendicular to xpMirror surface of the normal line of the shaft, and finally, performing auto-collimation reading to obtain a pitch angle reading theta5；
(3.2.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta6(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.2.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees clockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be perpendicular to zpThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained7(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.2.5) repeating steps (3.2.2) - (3.2.4) twice, wherein the first repeating step is repeatedDuring the above steps, the pitch angle reading obtained in step (3.2.2) is recorded as θ5', the pitch angle reading obtained in step (3.2.3) is noted as θ6The pitch angle readings taken in', (3.2.4) are noted as θ7'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.2.2) is recorded as θ5", the pitch angle reading obtained in step (3.2.3) is recorded as θ6"(3.2.4) the pitch reading is recorded as θ7″；
(3.2.6) determination of the Normal y of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes being
Figure GDA0002462591620000031
Single axis rate turntable axis of rotation vector and zpThe angle of the axes being
Figure GDA0002462591620000032
Rotation axis vector and y of single-axis rate turntablepThe angle of the axes being
Figure GDA0002462591620000033
The normal y of the optical reference mirrorpProjection e of the rotation axis vector of the single axis rate turntable in the optical reference mirror coordinate system with the axis oriented in the sky directionpIs ep＝[α2β2γ2]T；
(4) Determining the projection of a rotating axis vector of a single-axis rate turntable in a sensitive axis constraint coordinate system of an optical gyroscope, comprising the following steps:
(4.1) Normal z of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.1.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA0002462591620000034
Comprises the following steps:
Figure GDA0002462591620000035
second, differential equation of quaternion according to attitude
Figure GDA0002462591620000036
Updating the attitude quaternion by adopting a binary attitude algorithm, wherein q is the attitude quaternion,
Figure GDA0002462591620000041
the rotation angular velocity is adopted, and the bipartite posture algorithm adopts the following updating mode:
Figure GDA0002462591620000042
and is provided with
Figure GDA0002462591620000043
Wherein,
Figure GDA0002462591620000044
respectively represent tk-1、tkAttitude quaternion at time, σ being [ t ]k-1,tk-1]The rotation vector in time period Δ t, | σ | is the modulus of σ, Δ θ1、Δθ2Respectively representing angular velocities of rotation
Figure GDA0002462591620000045
In a period of time
Figure GDA0002462591620000046
And time period
Figure GDA0002462591620000047
The angular increment corresponding thereto;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA0002462591620000048
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
Figure GDA0002462591620000049
wherein,
Figure GDA00024625916200000410
quaternion representing attitude
Figure GDA00024625916200000411
Vector composed of 2 nd to 4 th components, '| |' denotes vector modulus;
(4.1.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA00024625916200000412
Comprises the following steps:
Figure GDA00024625916200000413
second, the quaternion derivative power according to attitudeProgram for programming
Figure GDA00024625916200000414
Updating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA00024625916200000415
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
Figure GDA00024625916200000416
(4.1.3) u obtained according to the procedures (4.1.1) and (4.1.2)+、u-To determine the normal z of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection u of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
Figure GDA00024625916200000417
(4.2) Normal y of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.2.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA0002462591620000051
Comprises the following steps:
Figure GDA0002462591620000052
second, differential equation of quaternion according to attitude
Figure GDA0002462591620000053
Updating the attitude quaternion by adopting a binary attitude algorithm;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA0002462591620000054
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
Figure GDA0002462591620000055
(4.2.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA0002462591620000056
Comprises the following steps:
Figure GDA0002462591620000057
second, differential equation of quaternion according to attitude
Figure GDA0002462591620000058
Updating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA0002462591620000059
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
Figure GDA00024625916200000510
(4.2.3) e obtained according to the procedures (4.2.1) and (4.2.2)+、e-To determine the normal y of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
Figure GDA00024625916200000511
(5) determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system
Figure GDA00024625916200000512
Wherein,
Figure GDA0002462591620000061
and further, when the attitude information of the optical gyro component needs to be led out, the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the optical reference mirror can be corrected
Figure GDA0002462591620000062
And high-precision posture information extraction is realized.
As a further improvement of the invention, the rotation angular velocity of the single axis rate turret is 10/s.
As a further improvement of the invention, when the single-shaft speed turntable rotates 360 degrees k around the rotating shaft anticlockwise and clockwise, the value of k is 6.
Compared with the prior art, the invention has the advantages that:
(1) the invention does not depend on a high-precision three-axis turntable, a gyrotheodolite and a north reference, only uses a common single-axis rate turntable and an autocollimator, can fully utilize high-precision measurement information output by an optical gyro component, and has simple operation and short time consumption;
(2) the extraction of the attitude information of the gyro assembly is realized under the constraint coordinate system of the gyro sensitive shaft, and the high-precision three-axis turntable coordinate system or the standard hexahedron coordinate system is not needed to be used as a transition coordinate system, so that the influence caused by the deformation of the shock absorber is avoided.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of a constraint coordinate system of a sensitive axis of an optical gyroscope;
FIG. 3 is a schematic diagram of an embodiment of the present invention.
Reference numerals:
1-single axis rate turntable, 2-optical gyro component, 3-optical reference mirror, 4-autocollimator.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in FIG. 1, the method for extracting the attitude of the satellite-borne optical gyro assembly based on optical auto-collimation according to the present invention comprises the following steps: establishing an optical gyro sensitive axis constraint coordinate system, fixing a gyro assembly mounting base tool and adjusting an autocollimator, determining the projection of a rotating axis vector of a single-axis rate turntable in an optical reference mirror coordinate system and the optical gyro sensitive axis constraint coordinate system, determining the mounting relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system, and realizing the correction of the posture lead-out of the satellite-borne optical gyro assembly.
The method comprises the following specific steps of combining specific application examples:
(1) as shown in FIG. 2, an optical gyro sensitive axis constrained coordinate system is established in which the X gyro sensitive axis ox is usedgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as a body coordinate system of the optical gyro component;
(2) fixing the optical gyro assembly on a mounting base tool, fixing the mounting base tool on a leveled single-axis rate turntable, and further fixing an optical reference mirror at the central position of the optical gyro assembly, wherein the optical reference mirror is a cubic mirror, and finally defining a coordinate system of the optical reference mirror, and the coordinate system of the optical reference mirror is defined as: taking the normal of one side surface of the optical reference mirror as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes constitute a right-hand orthogonal coordinate system (shown in FIG. 3);
(3) determining the projection of the rotation axis vector of the single-axis velocity rotary table in the optical reference mirror coordinate system, comprising the following steps:
(3.1) Normal z of optical reference mirrorpDetermining the projection u of the rotating shaft vector of the single-shaft speed turntable in the optical reference mirror coordinate system when the shaft faces the sky directionpThe method comprises the following steps:
(3.1.1) firstly controlling the single-axis rate turntable to return to a zero position, then placing the autocollimator on a horizontal table, and further adjusting the height of the horizontal table and the optical axis of the autocollimator (shown in figure 3);
(3.1.2) making the autocollimator aiming optical reference mirror perpendicular to xpMirror surface of normal line of shaft, then making autocollimation reading to obtain pitch angle reading theta1；
(3.1.3) keeping the autocollimator stationary, control the single axis rate turret to rotate 360 ° k counterclockwise around the axis of rotation, then stationary for 30s, then control the single axis rate turretThe table rotates clockwise for 360 degrees k around the rotating shaft, then stands still for 30s, further controls the single-shaft rate turntable to rotate clockwise for 180 degrees around the rotating shaft, then keeps still, and utilizes the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta2(ii) a In addition, the value of k is a positive integer, and the value range of k is not less than 3 and not more than 7, and k is 6 in this embodiment; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.1.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees anticlockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be vertical to ypThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained3(ii) a Keeping the autocollimator still, controlling the single-shaft rate rotary table to rotate 180 degrees around the rotary shaft anticlockwise continuously, and then performing autocollimation reading to obtain a pitch angle reading theta4(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.1.5) repeating steps (3.1.2) - (3.1.4) twice, wherein when the steps are repeated for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1', the pitch angle reading obtained in step (3.1.3) is noted as θ2The pitch angle readings taken in', (3.1.4) are respectively noted as θ3′、θ4'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1", the pitch angle reading obtained in step (3.1.3) is recorded as θ2Respectively recording the pitch angle readings obtained in the step (3.1.4) as theta3″、θ4″；
(3.1.6) determination of the Normal z of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes being
Figure GDA0002462591620000071
Rotation axis vector and y of single-axis rate turntablepOf shaftsIncluded angle of
Figure GDA0002462591620000072
Single axis rate turntable axis of rotation vector and zpThe angle of the axes being
Figure GDA0002462591620000073
Thus, the projection u of the rotation axis vector of the single axis rate turret in the optical reference mirror coordinate systempIs up＝[α1β1γ1]T；
(3.2) Normal y of optical reference mirrorpDetermining the projection e of the rotating axis vector of the single-axis rate turntable in the optical reference mirror coordinate system when the axis faces the sky directionpThe method comprises the following steps:
(3.2.1) firstly, winding the installation base tool of the optical gyro assembly around xpThe shaft rotates 90 degrees anticlockwise, the mounting base tool is fixed on the leveled single-shaft speed turntable, and the normal y of the optical reference mirror at the momentpThe axis is towards the sky direction;
(3.2.2) adjusting the optical axis of the autocollimator so that the autocollimator aims the optical reference mirror perpendicular to xpMirror surface of the normal line of the shaft, and finally, performing auto-collimation reading to obtain a pitch angle reading theta5；
(3.2.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta6(ii) a In addition, the value of k is a positive integer, and the value range of k is not less than 3 and not more than 7, and k is 6 in this embodiment; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.2.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees clockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be perpendicular to zpMirror with normal axisThen, the auto-collimation reading is carried out to obtain the pitch angle reading theta7(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.2.5) repeating steps (3.2.2) - (3.2.4) twice, wherein the pitch angle reading obtained in step (3.2.2) when the above steps are repeated for the first time is recorded as θ5', the pitch angle reading obtained in step (3.2.3) is noted as θ6The pitch angle readings taken in', (3.2.4) are noted as θ7'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.2.2) is recorded as θ5", the pitch angle reading obtained in step (3.2.3) is recorded as θ6"(3.2.4) the pitch reading is recorded as θ7″；
(3.2.6) determination of the Normal y of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes being
Figure GDA0002462591620000081
Single axis rate turntable axis of rotation vector and zpThe angle of the axes being
Figure GDA0002462591620000082
Rotation axis vector and y of single-axis rate turntablepThe angle of the axes being
Figure GDA0002462591620000083
The normal y of the optical reference mirrorpProjection e of the rotation axis vector of the single axis rate turntable in the optical reference mirror coordinate system with the axis oriented in the sky directionpIs ep＝[α2β2γ2]T；
(4) Determining the projection of a rotating axis vector of a single-axis rate turntable in a sensitive axis constraint coordinate system of an optical gyroscope, comprising the following steps:
(4.1) Normal z of optical reference mirrorpWhen the axis is towards the sky direction, the optical gyro sensor determines the rotating axis vector of the single-axis rate turntableA projection in a sensitive axis constrained coordinate system, comprising the steps of:
(4.1.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA0002462591620000084
Comprises the following steps:
Figure GDA0002462591620000085
second, differential equation of quaternion according to attitude
Figure GDA0002462591620000086
Updating the attitude quaternion by adopting a binary attitude algorithm, wherein q is the attitude quaternion,
Figure GDA0002462591620000087
the rotation angular velocity is adopted, and the bipartite posture algorithm adopts the following updating mode:
Figure GDA0002462591620000091
and is provided with
Figure GDA0002462591620000092
Wherein,
Figure GDA0002462591620000093
respectively represent tk-1、tkAttitude quaternion at time, σ being [ t ]k-1,tk-1]The rotation vector in period △ t, | σ | is the modulus of σ, Δ θ1、Δθ2Respectively representing angular velocities of rotation
Figure GDA0002462591620000094
In a period of time
Figure GDA0002462591620000095
And time period
Figure GDA0002462591620000096
The angular increment corresponding thereto;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA0002462591620000097
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
Figure GDA0002462591620000098
wherein,
Figure GDA0002462591620000099
quaternion representing attitude
Figure GDA00024625916200000910
Vector composed of 2 nd to 4 th components, '| |' denotes vector modulus;
(4.1.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA00024625916200000911
Comprises the following steps:
Figure GDA00024625916200000912
second, differential equation of quaternion according to attitude
Figure GDA00024625916200000913
Updating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA00024625916200000914
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
Figure GDA00024625916200000915
(4.1.3) u obtained according to the procedures (4.1.1) and (4.1.2)+、u-To determine the normal z of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection u of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
Figure GDA00024625916200000916
(4.2) Normal y of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.2.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA0002462591620000101
Comprises the following steps:
Figure GDA0002462591620000102
second, differential equation of quaternion according to attitude
Figure GDA0002462591620000103
Updating the attitude quaternion by adopting a binary attitude algorithm;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA0002462591620000104
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
Figure GDA0002462591620000105
(4.2.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure GDA0002462591620000106
Comprises the following steps:
Figure GDA0002462591620000107
second, differential equation of quaternion according to attitude
Figure GDA0002462591620000108
Updating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure GDA0002462591620000109
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
Figure GDA00024625916200001010
(4.2.3) e obtained according to the procedures (4.2.1) and (4.2.2)+、e-To determine the normal y of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
Figure GDA00024625916200001011
(5) determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system
Figure GDA00024625916200001012
Wherein,
Figure GDA00024625916200001013
and further, when the attitude information of the optical gyro component needs to be led out, the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the optical reference mirror can be corrected
Figure GDA0002462591620000111
And high-precision posture information extraction is realized.
In addition, the rotation angular velocity of the single-axis rate turn table in each of the above steps is 10 °/s.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (3)

1. The method for extracting the attitude of the satellite-borne optical gyro component based on optical auto-collimation is characterized by comprising the following steps: comprises the following steps
(1) Establishing a constraint coordinate system of the sensitive axis of the optical gyro, wherein the sensitive axis ox of the X gyro is usedgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as a body coordinate system of the optical gyro component;
(2) fixing the optical gyro assembly on a mounting base tool, fixing the mounting base tool on a leveled single-axis rate turntable, and further fixing an optical reference mirror at the central position of the optical gyro assembly, wherein the optical reference mirror is a cubic mirror, and finally defining a coordinate system of the optical reference mirror, and the coordinate system of the optical reference mirror is defined as: taking the normal of one side surface of the optical reference mirror as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes form a right-hand orthogonal coordinate system;
(3) determining the projection of the rotation axis vector of the single-axis velocity rotary table in the optical reference mirror coordinate system, comprising the following steps:
(3.1) Normal z of optical reference mirrorpDetermining the projection u of the rotating shaft vector of the single-shaft speed turntable in the optical reference mirror coordinate system when the shaft faces the sky directionpThe method comprises the following steps:
(3.1.1) firstly controlling the single-axis rate turntable to return to a zero position, then placing the autocollimator on a horizontal table, and further adjusting the height of the horizontal table and the optical axis of the autocollimator;
(3.1.2) making the autocollimator aiming optical reference mirror perpendicular to xpMirror surface of normal line of shaft, then making autocollimation reading to obtain pitch angle reading theta1；
(3.1.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta2(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.1.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees anticlockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be vertical to ypThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained3(ii) a Keeping the autocollimator still, controlling the single-shaft rate rotary table to rotate 180 degrees around the rotary shaft anticlockwise continuously, and then performing autocollimation reading to obtain a pitch angle reading theta4(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.1.5) repeating steps (3.1.2) - (3.1.4) twice, wherein when the steps are repeated for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1', the pitch angle reading obtained in step (3.1.3) is noted as θ2The pitch angle readings taken in', (3.1.4) are respectively noted as θ3′、θ4'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1", the pitch angle reading obtained in step (3.1.3) is recorded as θ2Respectively recording the pitch angle readings obtained in the step (3.1.4) as theta3″、θ4″；
(3.1.6) determination of the Normal z of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes being
Figure FDA0002462591610000011
Rotation axis vector and y of single-axis rate turntablepThe angle of the axes being
Figure FDA0002462591610000021
Single axis rate turntable axis of rotation vector and zpThe angle of the axes being
Figure FDA0002462591610000022
Thus, the projection u of the rotation axis vector of the single axis rate turret in the optical reference mirror coordinate systempIs up＝[α1β1γ1]T；
(3.2) Normal y of optical reference mirrorpDetermining the projection e of the rotating axis vector of the single-axis rate turntable in the optical reference mirror coordinate system when the axis faces the sky directionpThe method comprises the following steps:
(3.2.1) firstly, winding the installation base tool of the optical gyro assembly around xpThe shaft rotates 90 degrees anticlockwise, the mounting base tool is fixed on the leveled single-shaft speed turntable, and the normal y of the optical reference mirror at the momentpThe axis is towards the sky direction;
(3.2.2) adjusting the optical axis of the autocollimator so that the autocollimator aims the optical reference mirror perpendicular to xpMirror surface of the normal line of the shaft, and finally, performing auto-collimation reading to obtain a pitch angle reading theta5；
(3.2.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta6(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.2.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees clockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be perpendicular to zpThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained7(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.2.5) repeating steps (3.2.2) - (3.2.4) twice, wherein the pitch angle reading obtained in step (3.2.2) when the above steps are repeated for the first time is recorded as θ5', the pitch angle reading obtained in step (3.2.3) is noted as θ6The pitch angle readings taken in', (3.2.4) are noted as θ7'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.2.2) is recorded as θ5", the pitch angle reading obtained in step (3.2.3) is recorded as θ6"(3.2.4) the pitch reading is recorded as θ7″；
(3.2.6) determination of the Normal y of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes being
Figure FDA0002462591610000023
Single axis rate turntable axis of rotation vector and zpThe angle of the axes being
Figure FDA0002462591610000024
Rotation axis vector and y of single-axis rate turntablepThe angle of the axes being
Figure FDA0002462591610000025
The normal y of the optical reference mirrorpProjection e of the rotation axis vector of the single axis rate turntable in the optical reference mirror coordinate system with the axis oriented in the sky directionpIs ep＝[α2β2γ2]T；
(4) Determining the projection of a rotating axis vector of a single-axis rate turntable in a sensitive axis constraint coordinate system of an optical gyroscope, comprising the following steps:
(4.1) Normal z of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.1.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure FDA0002462591610000031
Comprises the following steps:
Figure FDA0002462591610000032
second, differential equation of quaternion according to attitude
Figure FDA0002462591610000033
Updating the attitude quaternion by adopting a binary attitude algorithm, wherein q is the attitude quaternion,
Figure FDA0002462591610000034
the rotation angular velocity is adopted, and the bipartite posture algorithm adopts the following updating mode:
Figure FDA0002462591610000035
and is provided with
Figure FDA0002462591610000036
Wherein,
Figure FDA0002462591610000037
respectively represent tk-1、tkAttitude quaternion at time, σ being [ t ]k-1,tk-1]The rotation vector in time period Δ t, | σ | is the modulus of σ, Δ θ1、Δθ2Respectively representing angular velocities of rotation
Figure FDA0002462591610000038
In a period of time
Figure FDA0002462591610000039
And time period
Figure FDA00024625916100000310
The angular increment corresponding thereto;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure FDA00024625916100000311
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
Figure FDA00024625916100000312
wherein,
Figure FDA00024625916100000313
quaternion representing attitude
Figure FDA00024625916100000314
Vector composed of 2 nd to 4 th components, '| |' denotes vector modulus;
(4.1.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure FDA00024625916100000315
Comprises the following steps:
Figure FDA00024625916100000316
second, differential equation of quaternion according to attitude
Figure FDA00024625916100000317
Updating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure FDA00024625916100000318
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
Figure FDA0002462591610000041
(4.1.3) u obtained according to the procedures (4.1.1) and (4.1.2)+、u-To determine the normal z of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection u of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
Figure FDA0002462591610000042
(4.2) Normal y of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.2.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure FDA0002462591610000043
Comprises the following steps:
Figure FDA0002462591610000044
second, differential equation of quaternion according to attitude
Figure FDA0002462591610000045
Updating the attitude quaternion by adopting a binary attitude algorithm;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure FDA0002462591610000046
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
Figure FDA0002462591610000047
(4.2.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro components
Figure FDA0002462591610000048
Comprises the following steps:
Figure FDA0002462591610000049
second, differential equation of quaternion according to attitude
Figure FDA00024625916100000410
Updating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Figure FDA00024625916100000411
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
Figure FDA0002462591610000051
(4.2.3) e obtained according to the procedures (4.2.1) and (4.2.2)+、e-To determine the normal y of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
Figure FDA0002462591610000052
(5) determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system
Figure FDA0002462591610000053
Wherein,
Figure FDA0002462591610000054
and further, when the attitude information of the optical gyro component needs to be led out, the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the optical reference mirror can be corrected
Figure FDA0002462591610000055
And high-precision posture information extraction is realized.
2. The attitude derivation method for the optical auto-collimation based satellite-borne optical gyro assembly according to claim 1, wherein the attitude derivation method comprises the following steps: the rotation angular velocity of the single-axis velocity rotary table is 10 DEG/s.
3. The attitude derivation method for the optical auto-collimation based satellite-borne optical gyro assembly according to claim 1, wherein the attitude derivation method comprises the following steps: when the single-shaft speed turntable rotates 360 degrees k around the rotating shaft anticlockwise and clockwise, the k value is 6.
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