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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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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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

基于光学自准直的星载光学陀螺组件姿态引出方法Attitude extraction method of spaceborne optical gyro assembly based on optical self-collimation

技术领域technical field

本发明属于光学测量领域，特别涉及一种基于光学自准直的星载光学陀螺组件姿态引出方法。The invention belongs to the field of optical measurement, and in particular relates to an attitude extraction method of a spaceborne optical gyro assembly based on optical self-collimation.

背景技术Background technique

光学陀螺具有全固态、可靠性好、使用寿命长及测量精度高的优点，在各类卫星上得到了广泛应用。光学陀螺构成的系统组件可以测量卫星的姿态变化，既可以为卫星姿态控制系统提供所需信息，也可以为卫星上的其它载荷提供姿态基准信息。Optical gyroscopes have the advantages of all-solid-state, good reliability, long service life and high measurement accuracy, and have been widely used in various satellites. The system components formed by the optical gyroscope can measure the attitude change of the satellite, which can not only provide the required information for the satellite attitude control system, but also provide attitude reference information for other loads on the satellite.

光学陀螺组件为卫星载荷提供姿态基准信息的时候，需要通过光学基准镜引出陀螺组件的姿态。由于安装误差的存在，光学基准镜的镜面坐标系与光学陀螺组件自身的坐标系并不一致，需要校正陀螺组件与光学基准镜之间的安装关系进而实现高精度的姿态引出。传统的方法需要将高精度三轴转台坐标系或者标准六面体坐标系作为过渡坐标系，将陀螺组件的安装误差标定到此过渡坐标系下，进而以过渡坐标系为基准，通过标定光学基准镜与过渡坐标系之间的安装关系以引出陀螺组件姿态。因此，在标定陀螺组件与光学基准镜之间的安装关系过程中，通常需要借助高精度三轴转台、标准六面体、陀螺经纬仪、北向基准等设备来完成标定，操作繁琐、误差源多、耗时较长。另外，在过渡坐标系下标定陀螺组件的安装误差过程中还会受陀螺组件减振器形变的影响，增加了新的误差源，进一步影响陀螺组件姿态引出精度。针对以上的问题，有必要寻找一种操作简单、耗时较短、精度高的光学陀螺组件姿态引出校正方法。When the optical gyro assembly provides attitude reference information for the satellite load, the attitude of the gyro assembly needs to be extracted through the optical reference mirror. Due to the existence of installation errors, the mirror coordinate system of the optical reference mirror is inconsistent with the coordinate system of the optical gyro assembly itself. It is necessary to correct the installation relationship between the gyro assembly and the optical reference mirror to achieve high-precision attitude extraction. The traditional method needs to use the high-precision three-axis turntable coordinate system or the standard hexahedron coordinate system as the transition coordinate system, and calibrate the installation error of the gyro component to this transition coordinate system, and then use the transition coordinate system as the benchmark, by calibrating the optical reference mirror and the transition coordinate system. The installation relationship between the transition coordinate systems leads to the attitude of the gyro assembly. Therefore, in the process of calibrating the installation relationship between the gyro component and the optical reference mirror, it is usually necessary to use high-precision three-axis turntable, standard hexahedron, gyro theodolite, north reference and other equipment to complete the calibration. longer. In addition, in the process of calibrating the installation error of the gyro assembly in the transition coordinate system, it will also be affected by the deformation of the gyro assembly shock absorber, which adds a new error source and further affects the attitude extraction accuracy of the gyro assembly. In view of the above problems, it is necessary to find a simple, time-consuming and high-precision attitude extraction and correction method for the optical gyro assembly.

发明内容SUMMARY OF THE INVENTION

本发明要解决的技术问题就在于：不依赖于高精度三轴转台、陀螺经纬仪、北向基准，仅使用一般的单轴速率转台和自准直仪，并充分利用光学陀螺组件自身输出的高精度信息，达到校正陀螺组件与光学基准镜之间安装关系的目的，并且操作要简单、耗时要短；此外，要解决陀螺敏感轴约束坐标系下陀螺组件姿态信息的引出问题，不需要借助高精度三轴转台坐标系或者标准六面体坐标系作为过渡坐标系，避免减振器形变带来的影响。通过解决以上两个关键技术问题，实现陀螺组件高精度姿态引出。The technical problem to be solved by the present invention is: instead of relying on a high-precision three-axis turntable, a gyro theodolite, and a north reference, only a general single-axis rate turntable and an autocollimator are used, and the high-precision output of the optical gyro assembly itself is fully utilized. information, to achieve the purpose of correcting the installation relationship between the gyro component and the optical reference mirror, and the operation should be simple and time-consuming; in addition, to solve the problem of eliciting the attitude information of the gyro component in the gyro-sensitive axis constraint coordinate system, it is not necessary to use high The precision three-axis turntable coordinate system or the standard hexahedron coordinate system is used as the transition coordinate system to avoid the influence of the deformation of the shock absorber. By solving the above two key technical problems, the high-precision attitude extraction of the gyro component is realized.

为解决上述技术问题，本发明提出的解决方案为：In order to solve the above-mentioned technical problems, the solution proposed by the present invention is:

基于光学自准直的星载光学陀螺组件姿态引出方法，包括以下步骤：The attitude extraction method of spaceborne optical gyro assembly based on optical self-collimation includes the following steps:

(1)建立光学陀螺敏感轴约束坐标系，其中以X陀螺敏感轴oxg为约束坐标系的xb轴，约束坐标系的yb轴在X陀螺敏感轴oxg与Y陀螺敏感轴oyg构成的平面内，约束坐标系的zb轴与xb轴、yb轴构成右手正交坐标系，并将光学陀螺敏感轴约束坐标系作为光学陀螺组件的体坐标系；(1) Establish an optical gyro sensitive axis constraint coordinate system, in which the X gyro sensitive axis ox g is used as the x b axis of the constraint coordinate system, and the y b axis of the constraint coordinate system is between the X gyro sensitive axis ox g and the Y gyro sensitive axis oy g In the formed plane, the z b axis of the constraint coordinate system, the x b axis, and the y b axis constitute a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as the body coordinate system of the optical gyro component;

(2)将光学陀螺组件固定到安装基座工装上，然后将安装基座工装固定到调平后的单轴速率转台上，进而将光学基准镜固定到光学陀螺组件的中心位置，其中，光学基准镜为立方镜，最后定义光学基准镜的坐标系，光学基准镜坐标系定义为：以光学基准镜的一个侧面的法线为xp轴，以与其相邻的侧面、顶面的法线为yp轴、zp轴，并且xp轴、yp轴、zp轴构成右手正交坐标系；(2) Fix the optical gyro assembly to the mounting base tooling, then fix the mounting base tooling to the leveled single-axis rate turntable, and then fix the optical reference mirror to the center of the optical gyro assembly, wherein the optical The reference mirror is a cube mirror, and finally the coordinate system of the optical reference mirror is defined. The coordinate system of the optical reference mirror is defined as: taking the normal of one side of the optical reference mirror as the x p axis, and taking the normal of the adjacent side and top surface as the are y p -axis, z p -axis, and x p -axis, y p -axis, z p -axis constitute a right-handed orthogonal coordinate system;

(3)确定单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影，包括以下步骤：(3) Determine the projection of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system, including the following steps:

(3.1)光学基准镜的法线zp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影up，包括以下步骤：(3.1) When the normal z p axis of the optical reference mirror faces the sky, determine the projection up p of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system, including the following steps:

(3.1.1)首先控制单轴速率转台回归零位，然后将自准直仪放到水平台上，进而调节水平台的高度及自准直仪的光轴；(3.1.1) First control the uniaxial rate turntable to return to zero position, then put the autocollimator on the water platform, and then adjust the height of the water platform and the optical axis of the autocollimator;

(3.1.2)使自准直仪瞄准光学基准镜垂直于xp轴法线的镜面，然后进行自准直读数，得到俯仰角读数θ1；(3.1.2) Aim the autocollimator at the mirror surface of the optical reference mirror perpendicular to the normal line of the x p -axis, and then carry out self-collimation readings to obtain the pitch angle reading θ 1 ;

(3.1.3)保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针旋转360°k，然后静止30s，继而控制单轴速率转台绕旋转轴顺时针旋转360°k，然后静止30s，进而控制单轴速率转台绕旋转轴顺时针旋转180°，然后保持静止不动，并再次利用自准直仪进行自准直读数，得到俯仰角读数θ2；此外，以上所述的k值为正整数，且其取值范围为3≤k≤7；并且单轴速率转台绕旋转轴旋转过程中需要记录保存光学陀螺组件的输出值；(3.1.3) Keep the autocollimator stationary, control the single-axis rate turntable to rotate 360°k counterclockwise around the rotation axis, then stand still for 30s, and then control the single-axis rate turntable to rotate clockwise around the rotation axis for 360°k, then Stand still for 30s, and then control the single-axis rate turntable to rotate 180° clockwise around the rotation axis, then keep still, and use the autocollimator again to perform autocollimation readings to obtain the pitch angle reading θ 2 ; in addition, the above-mentioned The value of k is a positive integer, and its value range is 3≤k≤7; and the output value of the optical gyro component needs to be recorded and saved during the rotation of the single-axis rate turntable around the rotation axis;

(3.1.4)保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针旋转90°，此时自准直仪瞄准光学基准镜垂直于yp轴法线的镜面，继而进行自准直读数，得到俯仰角读数θ3；保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针继续旋转180°，继而进行自准直读数，得到俯仰角读数θ4；最后，控制单轴速率转台回归零位；(3.1.4) Keep the autocollimator still, and control the uniaxial rate turntable to rotate 90° counterclockwise around the rotation axis. At this time, the autocollimator is aimed at the mirror surface of the optical reference mirror that is perpendicular to the normal line of the y p axis, and then proceed to Auto-collimation reading, obtain the pitch angle reading θ 3 ; keep the auto-collimator stationary, control the single-axis rate turntable to continue to rotate 180° counterclockwise around the rotation axis, and then carry out the self-collimation reading, obtain the pitch angle reading θ 4 ; Finally, control the single-axis rate turntable to return to the zero position;

(3.1.5)重复步骤(3.1.2)～(3.1.4)两次，其中，第一次重复以上所述步骤时，步骤(3.1.2)中得到的俯仰角读数记为θ1′，步骤(3.1.3)中得到的俯仰角读数记为θ2′，(3.1.4)中得到的俯仰角读数分别记为θ3′、θ4′；第二次重复以上所述步骤时，步骤(3.1.2)中得到的俯仰角读数记为θ1″，步骤(3.1.3)中得到的俯仰角读数记为θ2″，步骤(3.1.4)中得到的俯仰角读数分别记为θ3″、θ4″；(3.1.5) Repeat steps (3.1.2) to (3.1.4) twice, wherein, when repeating the above steps for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ 1 ′ , the pitch angle readings obtained in step (3.1.3) are denoted as θ 2 ′, and the pitch angle readings obtained in (3.1.4) are denoted as θ 3 ′ and θ 4 ′ respectively; when repeating the above steps for the second time , the pitch angle reading obtained in step (3.1.2) is marked as θ 1 ", the pitch angle reading obtained in step (3.1.3) is marked as θ 2 ", the pitch angle reading obtained in step (3.1.4) is respectively Denoted as θ 3 ″, θ 4 ″;

(3.1.6)确定光学基准镜的法线zp轴朝向天向时，单轴速率转台旋转轴矢量与光学基准镜坐标系的xp轴、yp轴、zp轴的夹角，其中，单轴速率转台旋转轴矢量与xp轴的夹角为

Figure GDA0002462591620000021
单轴速率转台旋转轴矢量与yp轴的夹角为
Figure GDA0002462591620000022
单轴速率转台旋转轴矢量与zp轴的夹角为
Figure GDA0002462591620000023
因此，单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影up为up＝[α1 β1 γ1]T；(3.1.6) Determine the angle between the rotation axis vector of the single-axis rate turntable and the xp -axis, yp -axis, and zp -axis of the optical reference mirror coordinate system when the normal zp -axis of the optical reference mirror faces the sky, where , the angle between the rotation axis vector of the single-axis rate turntable and the x p axis is
Figure GDA0002462591620000021
The angle between the rotation axis vector of the uniaxial rate turntable and the y p axis is
Figure GDA0002462591620000022
The angle between the rotation axis vector of the single axis rate turntable and the z p axis is
Figure GDA0002462591620000023
Therefore, the projection u p of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system is u p =[α 1 β 1 γ 1 ] T ;

(3.2)光学基准镜的法线yp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影ep，包括以下步骤：(3.2) When the normal y p axis of the optical reference mirror faces the sky, determine the projection ep of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system, including the following steps:

(3.2.1)首先将光学陀螺组件的安装基座工装绕xp轴逆时针旋转90°，并将安装基座工装固定到调平后的单轴速率转台上，此时光学基准镜的法线yp轴朝向天向；(3.2.1) First, rotate the mounting base tooling of the optical gyro assembly 90° counterclockwise around the x p axis, and fix the mounting base tooling on the leveled single-axis rate turntable. At this time, the method of the optical reference mirror The line y p axis faces the sky direction;

(3.2.2)调节自准直仪的光轴，使得自准直仪瞄准光学基准镜垂直于xp轴法线的镜面，最后进行自准直读数，得到俯仰角读数θ5；(3.2.2) Adjust the optical axis of the autocollimator so that the autocollimator is aimed at the mirror surface of the optical reference mirror perpendicular to the normal line of the x p axis, and finally carries out the autocollimation reading to obtain the pitch angle reading θ 5 ;

(3.2.3)保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针旋转360°k，然后静止30s，继而控制单轴速率转台绕旋转轴顺时针旋转360°k，然后静止30s，进而控制单轴速率转台绕旋转轴顺时针旋转180°，然后保持静止不动，并再次利用自准直仪进行自准直读数，得到俯仰角读数θ6；此外，以上所述的k值为正整数，且其取值范围为3≤k≤7；并且单轴速率转台绕旋转轴旋转过程中需要记录保存光学陀螺组件的输出值；(3.2.3) Keep the autocollimator stationary, control the single-axis rate turntable to rotate 360°k counterclockwise around the rotation axis, and then stand still for 30s, and then control the single-axis rate turntable to rotate clockwise around the rotation axis for 360°k, then Stand still for 30s, and then control the single-axis rate turntable to rotate 180° clockwise around the rotation axis, then keep still, and use the autocollimator again to perform autocollimation readings to obtain the pitch angle reading θ 6 ; in addition, the above-mentioned The value of k is a positive integer, and its value range is 3≤k≤7; and the output value of the optical gyro component needs to be recorded and saved during the rotation of the single-axis rate turntable around the rotation axis;

(3.2.4)保持自准直仪静止不动，控制单轴速率转台绕旋转轴顺时针旋转90°，此时自准直仪瞄准光学基准镜垂直于zp轴法线的镜面，继而进行自准直读数，得到俯仰角读数θ7；最后，控制单轴速率转台回归零位；(3.2.4) Keep the autocollimator stationary, and control the single-axis rate turntable to rotate 90° clockwise around the rotation axis. At this time, the autocollimator is aimed at the mirror surface of the optical reference mirror that is perpendicular to the normal line of the zp axis, and then proceed to Auto-collimate the reading to obtain the pitch angle reading θ 7 ; finally, control the single-axis rate turntable to return to the zero position;

(3.2.5)重复步骤(3.2.2)～(3.2.4)两次，其中，第一次重复以上所述步骤时，步骤(3.2.2)中得到的俯仰角读数记为θ5′，步骤(3.2.3)中得到的俯仰角读数记为θ6′，(3.2.4)中得到的俯仰角读数记为θ7′；第二次重复以上所述步骤时，步骤(3.2.2)中得到的俯仰角读数记为θ5″，步骤(3.2.3)中得到的俯仰角读数记为θ6″，(3.2.4)中得到的俯仰角读数记为θ7″；(3.2.5) Repeat steps (3.2.2) to (3.2.4) twice, wherein, when repeating the above steps for the first time, the pitch angle reading obtained in step (3.2.2) is recorded as θ 5 ′ , the pitch angle reading obtained in step (3.2.3) is denoted as θ 6 ′, and the pitch angle reading obtained in (3.2.4) is denoted as θ 7 ′; when repeating the above steps for the second time, step (3.2. The pitch angle reading obtained in 2) is denoted as θ 5 ″, the pitch angle reading obtained in step (3.2.3) is denoted as θ 6 ″, and the pitch angle reading obtained in (3.2.4) is denoted as θ 7 ″;

(3.2.6)确定光学基准镜的法线yp轴朝向天向时，单轴速率转台旋转轴矢量与光学基准镜坐标系的xp轴、yp轴、zp轴的夹角，其中，单轴速率转台旋转轴矢量与xp轴的夹角为

Figure GDA0002462591620000031
单轴速率转台旋转轴矢量与zp轴的夹角为
Figure GDA0002462591620000032
单轴速率转台旋转轴矢量与yp轴的夹角为
Figure GDA0002462591620000033
因此光学基准镜的法线yp轴朝向天向时，单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影ep为ep＝[α2 β2 γ2]T；(3.2.6) Determine the angle between the rotation axis vector of the single-axis rate turntable and the xp -axis, yp -axis, and zp -axis of the optical reference mirror coordinate system when the normal yp -axis of the optical reference mirror faces the sky, where , the angle between the rotation axis vector of the single-axis rate turntable and the x p axis is
Figure GDA0002462591620000031
The angle between the rotation axis vector of the single axis rate turntable and the z p axis is
Figure GDA0002462591620000032
The angle between the rotation axis vector of the uniaxial rate turntable and the y p axis is
Figure GDA0002462591620000033
Therefore, when the normal y p axis of the optical reference mirror faces the sky, the projection ep of the rotation axis vector of the uniaxial rate turntable in the optical reference mirror coordinate system is ep = [α 2 β 2 γ 2 ] T ;

(4)确定单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，包括以下步骤：(4) Determine the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system, including the following steps:

(4.1)光学基准镜的法线zp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，包括以下步骤：(4.1) When the normal z p axis of the optical reference mirror faces the sky, determine the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system, including the following steps:

(4.1.1)步骤(3.1.3)中单轴速率转台绕旋转轴逆时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.1.1) When the single-axis rate turntable rotates 360°k counterclockwise around the rotation axis in step (3.1.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台逆时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA0002462591620000034
为：
Figure GDA0002462591620000035
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate counterclockwise in the above process
Figure GDA0002462591620000034
for:
Figure GDA0002462591620000035

其次，根据姿态四元数微分方程

Figure GDA0002462591620000036
采用双子样姿态算法对姿态四元数进行更新，其中q为姿态四元数，
Figure GDA0002462591620000041
为旋转角速度，且双子样姿态算法采用如下所述更新方式：Second, according to the attitude quaternion differential equation
Figure GDA0002462591620000036
The attitude quaternion is updated using the Gemini-like attitude algorithm, where q is the attitude quaternion,
Figure GDA0002462591620000041
is the rotational angular velocity, and the Gemini pose algorithm adopts the following update method:

Figure GDA0002462591620000042
且有
Figure GDA0002462591620000043
Figure GDA0002462591620000042
and have
Figure GDA0002462591620000043

其中，

Figure GDA0002462591620000044
分别表示tk-1、tk时刻的姿态四元数，σ为[tk-1,tk-1]时间段Δt内的旋转矢量，|σ|为σ的模值，Δθ1、Δθ2分别表示旋转角速度
Figure GDA0002462591620000045
在时间段
Figure GDA0002462591620000046
和时间段
Figure GDA0002462591620000047
内所对应的角增量；in,
Figure GDA0002462591620000044
represent the attitude quaternion at time t k-1 and t k respectively, σ is the rotation vector in the time period Δt of [t k-1 ,t k-1 ], |σ| is the modulus value of σ, Δθ 1 , Δθ 2 respectively represent the rotational angular velocity
Figure GDA0002462591620000045
in the time period
Figure GDA0002462591620000046
and time period
Figure GDA0002462591620000047
The corresponding angular increment within;

继而，根据姿态四元数微分方程解算得到单轴速率转台逆时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA0002462591620000048
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the counterclockwise rotation of the single-axis rate turntable is obtained.
Figure GDA0002462591620000048

最后，确定逆时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影u+表示为：Finally, the projection u + of the rotation axis vector of the single-axis rate turntable in the counterclockwise rotation in the optical gyro sensitive axis constraint coordinate system is determined as:

Figure GDA0002462591620000049
Figure GDA0002462591620000049

其中，

Figure GDA00024625916200000410
表示姿态四元数
Figure GDA00024625916200000411
第2至第4个分量组成的矢量，‘||’表示矢量模值；in,
Figure GDA00024625916200000410
Represents an attitude quaternion
Figure GDA00024625916200000411
The vector composed of the 2nd to 4th components, '||' represents the vector modulus value;

(4.1.2)步骤(3.1.3)中单轴速率转台绕旋转轴顺时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.1.2) When the single-axis rate turntable rotates 360°k clockwise around the rotation axis in step (3.1.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台顺时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA00024625916200000412
为：
Figure GDA00024625916200000413
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate clockwise in the above process
Figure GDA00024625916200000412
for:
Figure GDA00024625916200000413

其次，根据姿态四元数微分方程

Figure GDA00024625916200000414
采用双子样姿态算法对姿态四元数进行更新；Second, according to the attitude quaternion differential equation
Figure GDA00024625916200000414
The attitude quaternion is updated by the Gemini-like attitude algorithm;

继而，根据姿态四元数微分方程解算得到单轴速率转台顺时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA00024625916200000415
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the clockwise rotation of the single-axis rate turntable is obtained.
Figure GDA00024625916200000415

最后，确定顺时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影u-表示为：Finally, the projection u of the rotation axis vector of the single-axis rate turntable in clockwise rotation in the optical gyro-sensitive axis-constrained coordinate system is determined as:

Figure GDA00024625916200000416
Figure GDA00024625916200000416

(4.1.3)根据步骤(4.1.1)、(4.1.2)求得的u+、u-来确定光学基准镜的法线zp轴朝向天向时，单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影ub为：(4.1.3) According to the u + and u - obtained in steps (4.1.1) and (4.1.2), determine the rotation axis vector of the uniaxial rate turntable when the normal z p axis of the optical reference mirror faces the sky direction The projection u b in the optical gyro sensitive axis constraint coordinate system is:

Figure GDA00024625916200000417
Figure GDA00024625916200000417

(4.2)光学基准镜的法线yp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，包括以下步骤：(4.2) When the normal y p axis of the optical reference mirror faces the sky, determine the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system, including the following steps:

(4.2.1)步骤(3.2.3)中单轴速率转台绕旋转轴逆时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.2.1) When the single-axis rate turntable rotates 360°k counterclockwise around the rotation axis in step (3.2.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台逆时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA0002462591620000051
为：
Figure GDA0002462591620000052
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate counterclockwise in the above process
Figure GDA0002462591620000051
for:
Figure GDA0002462591620000052

其次，根据姿态四元数微分方程

Figure GDA0002462591620000053
采用双子样姿态算法对姿态四元数进行更新；Second, according to the attitude quaternion differential equation
Figure GDA0002462591620000053
The attitude quaternion is updated by the Gemini-like attitude algorithm;

继而，根据姿态四元数微分方程解算得到单轴速率转台逆时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA0002462591620000054
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the counterclockwise rotation of the single-axis rate turntable is obtained.
Figure GDA0002462591620000054

最后，确定逆时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影e+表示为：Finally, determine the projection e + of the rotation axis vector of the single-axis rate turntable when it rotates counterclockwise in the optical gyro-sensitive axis constraint coordinate system, expressed as:

Figure GDA0002462591620000055
Figure GDA0002462591620000055

(4.2.2)步骤(3.2.3)中单轴速率转台绕旋转轴顺时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.2.2) When the single-axis rate turntable rotates 360°k clockwise around the rotation axis in step (3.2.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台顺时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA0002462591620000056
为：
Figure GDA0002462591620000057
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate clockwise in the above process
Figure GDA0002462591620000056
for:
Figure GDA0002462591620000057

其次，根据姿态四元数微分方程

Figure GDA0002462591620000058
采用双子样姿态算法对姿态四元数进行更新；Second, according to the attitude quaternion differential equation
Figure GDA0002462591620000058
The attitude quaternion is updated by the Gemini-like attitude algorithm;

继而，根据姿态四元数微分方程解算得到单轴速率转台顺时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA0002462591620000059
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the clockwise rotation of the single-axis rate turntable is obtained.
Figure GDA0002462591620000059

最后，确定顺时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影e-表示为：Finally, determine the projection e of the rotation axis vector of the single-axis rate turntable when rotating clockwise in the optical gyro-sensitive axis-constrained coordinate system - expressed as:

Figure GDA00024625916200000510
Figure GDA00024625916200000510

(4.2.3)根据步骤(4.2.1)、(4.2.2)求得的e+、e-来确定光学基准镜的法线yp轴朝向天向时，单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影eb为：(4.2.3) According to the e + and e - obtained in steps (4.2.1) and (4.2.2), determine the rotation axis vector of the uniaxial rate turntable when the normal y p axis of the optical reference mirror faces the sky direction The projection e b in the optical gyro sensitive axis constraint coordinate system is:

Figure GDA00024625916200000511
Figure GDA00024625916200000511

(5)确定光学陀螺敏感轴约束坐标系与光学基准镜坐标系之间的安装关系

Figure GDA00024625916200000512
其中，
Figure GDA0002462591620000061
进而当光学陀螺组件姿态信息需要引出时即可校正光学陀螺敏感轴约束坐标系与光学基准镜坐标系之间的安装关系
Figure GDA0002462591620000062
实现高精度姿态信息引出。(5) Determine the installation relationship between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system
Figure GDA00024625916200000512
in,
Figure GDA0002462591620000061
Then, when the attitude information of the optical gyro component needs to be extracted, the installation relationship between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system can be corrected.
Figure GDA0002462591620000062
Realize high-precision attitude information extraction.

作为本发明的进一步改进，单轴速率转台的旋转角速度为10°/s。As a further improvement of the present invention, the rotational angular velocity of the single-axis rate turntable is 10°/s.

作为本发明的进一步改进，单轴速率转台绕旋转轴逆时针和顺时针旋转360°k时，k取值均为6。As a further improvement of the present invention, when the single-axis rate turntable rotates 360°k counterclockwise and clockwise around the rotation axis, the value of k is both 6.

与现有技术相比，本发明的优点在于：Compared with the prior art, the advantages of the present invention are:

(1)本发明不依赖于高精度三轴转台、陀螺经纬仪、北向基准，仅使用一般的单轴速率转台和自准直仪，能够充分利用光学陀螺组件自身输出的高精度测量信息，并且操作简单、耗时短；(1) The present invention does not rely on a high-precision three-axis turntable, a gyro theodolite, and a north reference, but only uses a general single-axis rate turntable and an autocollimator, which can fully utilize the high-precision measurement information output by the optical gyro assembly itself, and operate Simple and time-consuming;

(2)在陀螺敏感轴约束坐标系下实现陀螺组件姿态信息的引出，不需要借助高精度三轴转台坐标系或者标准六面体坐标系作为过渡坐标系，避免了减振器形变带来的影响。(2) The attitude information of the gyro component can be extracted under the gyro-sensitive axis constraint coordinate system, without the use of the high-precision three-axis turntable coordinate system or the standard hexahedral coordinate system as the transition coordinate system, which avoids the influence of the deformation of the shock absorber.

附图说明Description of drawings

图1为本发明方法的流程示意图；Fig. 1 is the schematic flow chart of the method of the present invention;

图2为光学陀螺敏感轴约束坐标系示意图；Fig. 2 is a schematic diagram of an optical gyro sensitive axis constraint coordinate system;

图3为本发明实施例的示意图。FIG. 3 is a schematic diagram of an embodiment of the present invention.

附图标号：Reference number:

1-单轴速率转台，2-光学陀螺组件，3-光学基准镜，4-自准直仪。1- single-axis rate turntable, 2- optical gyro assembly, 3- optical reference mirror, 4- auto-collimator.

具体实施方式Detailed ways

以下将结合说明书附图和具体实施例对本发明作进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

如图1所示，本发明涉及的基于光学自准直的星载光学陀螺组件姿态引出方法，通过以下步骤：建立光学陀螺敏感轴约束坐标系，固定陀螺组件安装基座工装及调整自准直仪，确定单轴速率转台的旋转轴矢量在光学基准镜坐标系、光学陀螺敏感轴约束坐标系中的投影，确定光学陀螺敏感轴约束坐标系与光学基准镜坐标系之间的安装关系，实现星载光学陀螺组件姿态引出的校正。As shown in FIG. 1 , the method for extracting the attitude of a spaceborne optical gyro assembly based on optical self-collimation involves the following steps: establishing an optical gyro sensitive axis constraint coordinate system, fixing the gyro assembly installation base tooling and adjusting the self-collimation It can determine the projection of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system and the optical gyro sensitive axis constraint coordinate system, and determine the installation relationship between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system. Correction derived from the attitude of the spaceborne optical gyro assembly.

结合具体应用实例，本发明的具体步骤为：In conjunction with specific application examples, the concrete steps of the present invention are:

(1)如图2所示，建立光学陀螺敏感轴约束坐标系，其中以X陀螺敏感轴oxg为约束坐标系的xb轴，约束坐标系的yb轴在X陀螺敏感轴oxg与Y陀螺敏感轴oyg构成的平面内，约束坐标系的zb轴与xb轴、yb轴构成右手正交坐标系，并将光学陀螺敏感轴约束坐标系作为光学陀螺组件的体坐标系；(1) As shown in Figure 2, establish an optical gyro sensitive axis constraint coordinate system, in which the X gyro sensitive axis ox g is used as the x b axis of the constraint coordinate system, and the y b axis of the constraint coordinate system is between the X gyro sensitive axis ox g and the In the plane formed by the Y gyro sensitive axis oy g , the z b axis of the constraint coordinate system, the x b axis, and the y b axis form a right-handed orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as the body coordinate system of the optical gyro component. ;

(2)将光学陀螺组件固定到安装基座工装上，然后将安装基座工装固定到调平后的单轴速率转台上，进而将光学基准镜固定到光学陀螺组件的中心位置，其中，光学基准镜为立方镜，最后定义光学基准镜的坐标系，光学基准镜坐标系定义为：以光学基准镜的一个侧面的法线为xp轴，以与其相邻的侧面、顶面的法线为yp轴、zp轴，并且xp轴、yp轴、zp轴构成右手正交坐标系(图3所示)；(2) Fix the optical gyro assembly to the mounting base tooling, then fix the mounting base tooling to the leveled single-axis rate turntable, and then fix the optical reference mirror to the center of the optical gyro assembly, wherein the optical The reference mirror is a cube mirror, and finally the coordinate system of the optical reference mirror is defined. The coordinate system of the optical reference mirror is defined as: taking the normal of one side of the optical reference mirror as the x p axis, and taking the normal of the adjacent side and top surface as the are the y p axis and the z p axis, and the x p axis, the y p axis, and the z p axis constitute a right-handed orthogonal coordinate system (as shown in Figure 3);

(3)确定单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影，包括以下步骤：(3) Determine the projection of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system, including the following steps:

(3.1)光学基准镜的法线zp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影up，包括以下步骤：(3.1) When the normal z p axis of the optical reference mirror faces the sky, determine the projection up p of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system, including the following steps:

(3.1.1)首先控制单轴速率转台回归零位，然后将自准直仪放到水平台上，进而调节水平台的高度及自准直仪的光轴(图3所示)；(3.1.1) First, control the uniaxial rate turntable to return to the zero position, then place the autocollimator on the water platform, and then adjust the height of the water platform and the optical axis of the autocollimator (as shown in Figure 3);

(3.1.2)使自准直仪瞄准光学基准镜垂直于xp轴法线的镜面，然后进行自准直读数，得到俯仰角读数θ1；(3.1.2) Aim the autocollimator at the mirror surface of the optical reference mirror perpendicular to the normal line of the x p -axis, and then carry out self-collimation readings to obtain the pitch angle reading θ 1 ;

(3.1.3)保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针旋转360°k，然后静止30s，继而控制单轴速率转台绕旋转轴顺时针旋转360°k，然后静止30s，进而控制单轴速率转台绕旋转轴顺时针旋转180°，然后保持静止不动，并再次利用自准直仪进行自准直读数，得到俯仰角读数θ2；此外，以上所述的k值为正整数，且其取值范围为3≤k≤7，本实施例中k取值为6；并且单轴速率转台绕旋转轴旋转过程中需要记录保存光学陀螺组件的输出值；(3.1.3) Keep the autocollimator stationary, control the single-axis rate turntable to rotate 360°k counterclockwise around the rotation axis, then stand still for 30s, and then control the single-axis rate turntable to rotate clockwise around the rotation axis for 360°k, then Stand still for 30s, and then control the single-axis rate turntable to rotate 180° clockwise around the rotation axis, then keep still, and use the autocollimator again to perform autocollimation readings to obtain the pitch angle reading θ 2 ; in addition, the above-mentioned The value of k is a positive integer, and its value range is 3≤k≤7. In this embodiment, the value of k is 6; and the output value of the optical gyro assembly needs to be recorded and saved during the rotation of the single-axis rate turntable around the rotation axis;

(3.1.4)保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针旋转90°，此时自准直仪瞄准光学基准镜垂直于yp轴法线的镜面，继而进行自准直读数，得到俯仰角读数θ3；保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针继续旋转180°，继而进行自准直读数，得到俯仰角读数θ4；最后，控制单轴速率转台回归零位；(3.1.4) Keep the autocollimator still, and control the uniaxial rate turntable to rotate 90° counterclockwise around the rotation axis. At this time, the autocollimator is aimed at the mirror surface of the optical reference mirror that is perpendicular to the normal line of the y p axis, and then proceed to Auto-collimation reading, obtain the pitch angle reading θ 3 ; keep the auto-collimator stationary, control the single-axis rate turntable to continue to rotate 180° counterclockwise around the rotation axis, and then carry out the self-collimation reading, obtain the pitch angle reading θ 4 ; Finally, control the single-axis rate turntable to return to the zero position;

(3.1.5)重复步骤(3.1.2)～(3.1.4)两次，其中，第一次重复以上所述步骤时，步骤(3.1.2)中得到的俯仰角读数记为θ1′，步骤(3.1.3)中得到的俯仰角读数记为θ2′，(3.1.4)中得到的俯仰角读数分别记为θ3′、θ4′；第二次重复以上所述步骤时，步骤(3.1.2)中得到的俯仰角读数记为θ1″，步骤(3.1.3)中得到的俯仰角读数记为θ2″，步骤(3.1.4)中得到的俯仰角读数分别记为θ3″、θ4″；(3.1.5) Repeat steps (3.1.2) to (3.1.4) twice, wherein, when repeating the above steps for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ 1 ′ , the pitch angle readings obtained in step (3.1.3) are denoted as θ 2 ′, and the pitch angle readings obtained in (3.1.4) are denoted as θ 3 ′ and θ 4 ′ respectively; when repeating the above steps for the second time , the pitch angle reading obtained in step (3.1.2) is marked as θ 1 ", the pitch angle reading obtained in step (3.1.3) is marked as θ 2 ", the pitch angle reading obtained in step (3.1.4) is respectively Denoted as θ 3 ″, θ 4 ″;

(3.1.6)确定光学基准镜的法线zp轴朝向天向时，单轴速率转台旋转轴矢量与光学基准镜坐标系的xp轴、yp轴、zp轴的夹角，其中，单轴速率转台旋转轴矢量与xp轴的夹角为

Figure GDA0002462591620000071
单轴速率转台旋转轴矢量与yp轴的夹角为
Figure GDA0002462591620000072
单轴速率转台旋转轴矢量与zp轴的夹角为
Figure GDA0002462591620000073
因此，单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影up为up＝[α1 β1 γ1]T；(3.1.6) Determine the angle between the rotation axis vector of the single-axis rate turntable and the xp -axis, yp -axis, and zp -axis of the optical reference mirror coordinate system when the normal zp -axis of the optical reference mirror faces the sky, where , the angle between the rotation axis vector of the single-axis rate turntable and the x p axis is
Figure GDA0002462591620000071
The angle between the rotation axis vector of the uniaxial rate turntable and the y p axis is
Figure GDA0002462591620000072
The angle between the rotation axis vector of the single axis rate turntable and the z p axis is
Figure GDA0002462591620000073
Therefore, the projection u p of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system is u p =[α 1 β 1 γ 1 ] T ;

(3.2)光学基准镜的法线yp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影ep，包括以下步骤：(3.2) When the normal y p axis of the optical reference mirror faces the sky, determine the projection ep of the rotation axis vector of the single-axis rate turntable in the optical reference mirror coordinate system, including the following steps:

(3.2.1)首先将光学陀螺组件的安装基座工装绕xp轴逆时针旋转90°，并将安装基座工装固定到调平后的单轴速率转台上，此时光学基准镜的法线yp轴朝向天向；(3.2.1) First, rotate the mounting base tooling of the optical gyro assembly 90° counterclockwise around the x p axis, and fix the mounting base tooling on the leveled single-axis rate turntable. At this time, the method of the optical reference mirror The line y p axis faces the sky direction;

(3.2.2)调节自准直仪的光轴，使得自准直仪瞄准光学基准镜垂直于xp轴法线的镜面，最后进行自准直读数，得到俯仰角读数θ5；(3.2.2) Adjust the optical axis of the autocollimator so that the autocollimator is aimed at the mirror surface of the optical reference mirror perpendicular to the normal line of the x p axis, and finally carries out the autocollimation reading to obtain the pitch angle reading θ 5 ;

(3.2.3)保持自准直仪静止不动，控制单轴速率转台绕旋转轴逆时针旋转360°k，然后静止30s，继而控制单轴速率转台绕旋转轴顺时针旋转360°k，然后静止30s，进而控制单轴速率转台绕旋转轴顺时针旋转180°，然后保持静止不动，并再次利用自准直仪进行自准直读数，得到俯仰角读数θ6；此外，以上所述的k值为正整数，且其取值范围为3≤k≤7，本实施例中k取值为6；并且单轴速率转台绕旋转轴旋转过程中需要记录保存光学陀螺组件的输出值；(3.2.3) Keep the autocollimator stationary, control the single-axis rate turntable to rotate 360°k counterclockwise around the rotation axis, and then stand still for 30s, and then control the single-axis rate turntable to rotate clockwise around the rotation axis for 360°k, then Stand still for 30s, and then control the single-axis rate turntable to rotate 180° clockwise around the rotation axis, then keep still, and use the autocollimator again to perform autocollimation readings to obtain the pitch angle reading θ 6 ; in addition, the above-mentioned The value of k is a positive integer, and its value range is 3≤k≤7. In this embodiment, the value of k is 6; and the output value of the optical gyro assembly needs to be recorded and saved during the rotation of the single-axis rate turntable around the rotation axis;

(3.2.4)保持自准直仪静止不动，控制单轴速率转台绕旋转轴顺时针旋转90°，此时自准直仪瞄准光学基准镜垂直于zp轴法线的镜面，继而进行自准直读数，得到俯仰角读数θ7；最后，控制单轴速率转台回归零位；(3.2.4) Keep the autocollimator stationary, and control the single-axis rate turntable to rotate 90° clockwise around the rotation axis. At this time, the autocollimator is aimed at the mirror surface of the optical reference mirror that is perpendicular to the normal line of the zp axis, and then proceed to Auto-collimate the reading to obtain the pitch angle reading θ 7 ; finally, control the single-axis rate turntable to return to the zero position;

(3.2.5)重复步骤(3.2.2)～(3.2.4)两次，其中，第一次重复以上所述步骤时，步骤(3.2.2)中得到的俯仰角读数记为θ5′，步骤(3.2.3)中得到的俯仰角读数记为θ6′，(3.2.4)中得到的俯仰角读数记为θ7′；第二次重复以上所述步骤时，步骤(3.2.2)中得到的俯仰角读数记为θ5″，步骤(3.2.3)中得到的俯仰角读数记为θ6″，(3.2.4)中得到的俯仰角读数记为θ7″；(3.2.5) Repeat steps (3.2.2) to (3.2.4) twice, wherein, when repeating the above steps for the first time, the pitch angle reading obtained in step (3.2.2) is recorded as θ 5 ′ , the pitch angle reading obtained in step (3.2.3) is denoted as θ 6 ′, and the pitch angle reading obtained in (3.2.4) is denoted as θ 7 ′; when repeating the above steps for the second time, step (3.2. The pitch angle reading obtained in 2) is denoted as θ 5 ″, the pitch angle reading obtained in step (3.2.3) is denoted as θ 6 ″, and the pitch angle reading obtained in (3.2.4) is denoted as θ 7 ″;

(3.2.6)确定光学基准镜的法线yp轴朝向天向时，单轴速率转台旋转轴矢量与光学基准镜坐标系的xp轴、yp轴、zp轴的夹角，其中，单轴速率转台旋转轴矢量与xp轴的夹角为

Figure GDA0002462591620000081
单轴速率转台旋转轴矢量与zp轴的夹角为
Figure GDA0002462591620000082
单轴速率转台旋转轴矢量与yp轴的夹角为
Figure GDA0002462591620000083
因此光学基准镜的法线yp轴朝向天向时，单轴速率转台的旋转轴矢量在光学基准镜坐标系中的投影ep为ep＝[α2 β2 γ2]T；(3.2.6) Determine the angle between the rotation axis vector of the single-axis rate turntable and the xp -axis, yp -axis, and zp -axis of the optical reference mirror coordinate system when the normal yp -axis of the optical reference mirror faces the sky, where , the angle between the rotation axis vector of the single-axis rate turntable and the x p axis is
Figure GDA0002462591620000081
The angle between the rotation axis vector of the single axis rate turntable and the z p axis is
Figure GDA0002462591620000082
The angle between the rotation axis vector of the uniaxial rate turntable and the y p axis is
Figure GDA0002462591620000083
Therefore, when the normal y p axis of the optical reference mirror faces the sky, the projection ep of the rotation axis vector of the uniaxial rate turntable in the optical reference mirror coordinate system is ep = [α 2 β 2 γ 2 ] T ;

(4)确定单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，包括以下步骤：(4) Determine the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system, including the following steps:

(4.1)光学基准镜的法线zp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，包括以下步骤：(4.1) When the normal z p axis of the optical reference mirror faces the sky, determine the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system, including the following steps:

(4.1.1)步骤(3.1.3)中单轴速率转台绕旋转轴逆时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.1.1) When the single-axis rate turntable rotates 360°k counterclockwise around the rotation axis in step (3.1.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台逆时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA0002462591620000084
为：
Figure GDA0002462591620000085
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate counterclockwise in the above process
Figure GDA0002462591620000084
for:
Figure GDA0002462591620000085

其次，根据姿态四元数微分方程

Figure GDA0002462591620000086
采用双子样姿态算法对姿态四元数进行更新，其中q为姿态四元数，
Figure GDA0002462591620000087
为旋转角速度，且双子样姿态算法采用如下所述更新方式：Second, according to the attitude quaternion differential equation
Figure GDA0002462591620000086
The attitude quaternion is updated using the Gemini-like attitude algorithm, where q is the attitude quaternion,
Figure GDA0002462591620000087
is the rotational angular velocity, and the Gemini pose algorithm adopts the following update method:

Figure GDA0002462591620000091
且有
Figure GDA0002462591620000092
Figure GDA0002462591620000091
and have
Figure GDA0002462591620000092

其中，

Figure GDA0002462591620000093
分别表示tk-1、tk时刻的姿态四元数，σ为[tk-1,tk-1]时间段△t内的旋转矢量，|σ|为σ的模值，Δθ1、Δθ2分别表示旋转角速度
Figure GDA0002462591620000094
在时间段
Figure GDA0002462591620000095
和时间段
Figure GDA0002462591620000096
内所对应的角增量；in,
Figure GDA0002462591620000093
represent the attitude quaternion at time t k-1 and t k respectively, σ is the rotation vector in the time period Δt of [t k-1 ,t k-1 ], |σ| is the modulus value of σ, Δθ 1 , Δθ 1 , Δθ 2 respectively represents the rotational angular velocity
Figure GDA0002462591620000094
in the time period
Figure GDA0002462591620000095
and time period
Figure GDA0002462591620000096
The corresponding angular increment within;

继而，根据姿态四元数微分方程解算得到单轴速率转台逆时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA0002462591620000097
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the counterclockwise rotation of the single-axis rate turntable is obtained.
Figure GDA0002462591620000097

最后，确定逆时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影u+表示为：Finally, the projection u + of the rotation axis vector of the single-axis rate turntable in the counterclockwise rotation in the optical gyro sensitive axis constraint coordinate system is determined as:

Figure GDA0002462591620000098
Figure GDA0002462591620000098

其中，

Figure GDA0002462591620000099
表示姿态四元数
Figure GDA00024625916200000910
第2至第4个分量组成的矢量，‘||’表示矢量模值；in,
Figure GDA0002462591620000099
Represents an attitude quaternion
Figure GDA00024625916200000910
The vector composed of the 2nd to 4th components, '||' represents the vector modulus value;

(4.1.2)步骤(3.1.3)中单轴速率转台绕旋转轴顺时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.1.2) When the single-axis rate turntable rotates 360°k clockwise around the rotation axis in step (3.1.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台顺时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA00024625916200000911
为：
Figure GDA00024625916200000912
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate clockwise in the above process
Figure GDA00024625916200000911
for:
Figure GDA00024625916200000912

其次，根据姿态四元数微分方程

Figure GDA00024625916200000913
采用双子样姿态算法对姿态四元数进行更新；Second, according to the attitude quaternion differential equation
Figure GDA00024625916200000913
The attitude quaternion is updated by the Gemini-like attitude algorithm;

继而，根据姿态四元数微分方程解算得到单轴速率转台顺时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA00024625916200000914
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the clockwise rotation of the single-axis rate turntable is obtained.
Figure GDA00024625916200000914

最后，确定顺时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影u-表示为：Finally, the projection u of the rotation axis vector of the single-axis rate turntable in clockwise rotation in the optical gyro-sensitive axis-constrained coordinate system is determined as:

Figure GDA00024625916200000915
Figure GDA00024625916200000915

(4.1.3)根据步骤(4.1.1)、(4.1.2)求得的u+、u-来确定光学基准镜的法线zp轴朝向天向时，单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影ub为：(4.1.3) According to the u + and u - obtained in steps (4.1.1) and (4.1.2), determine the rotation axis vector of the uniaxial rate turntable when the normal z p axis of the optical reference mirror faces the sky direction The projection u b in the optical gyro sensitive axis constraint coordinate system is:

Figure GDA00024625916200000916
Figure GDA00024625916200000916

(4.2)光学基准镜的法线yp轴朝向天向时，确定单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，包括以下步骤：(4.2) When the normal y p axis of the optical reference mirror faces the sky, determine the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system, including the following steps:

(4.2.1)步骤(3.2.3)中单轴速率转台绕旋转轴逆时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.2.1) When the single-axis rate turntable rotates 360°k counterclockwise around the rotation axis in step (3.2.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台逆时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA0002462591620000101
为：
Figure GDA0002462591620000102
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate counterclockwise in the above process
Figure GDA0002462591620000101
for:
Figure GDA0002462591620000102

其次，根据姿态四元数微分方程

Figure GDA0002462591620000103
采用双子样姿态算法对姿态四元数进行更新；Second, according to the attitude quaternion differential equation
Figure GDA0002462591620000103
The attitude quaternion is updated by the Gemini-like attitude algorithm;

继而，根据姿态四元数微分方程解算得到单轴速率转台逆时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA0002462591620000104
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the counterclockwise rotation of the single-axis rate turntable is obtained.
Figure GDA0002462591620000104

最后，确定逆时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影e+表示为：Finally, determine the projection e + of the rotation axis vector of the single-axis rate turntable when it rotates counterclockwise in the optical gyro-sensitive axis constraint coordinate system, expressed as:

Figure GDA0002462591620000105
Figure GDA0002462591620000105

(4.2.2)步骤(3.2.3)中单轴速率转台绕旋转轴顺时针旋转360°k时，根据此过程中记录保存的光学陀螺组件的输出值解算此时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影，解算方法如下所述：(4.2.2) When the single-axis rate turntable rotates 360°k clockwise around the rotation axis in step (3.2.3), the rotation of the single-axis rate turntable at this time is calculated according to the output value of the optical gyro component recorded and saved in this process. The projection of the axis vector in the optical gyro sensitive axis constraint coordinate system, the solution method is as follows:

首先，确定以上过程中单轴速率转台顺时针旋转开始t0时刻光学陀螺组件的初始姿态四元数

Figure GDA0002462591620000106
为：
Figure GDA0002462591620000107
First, determine the initial attitude quaternion of the optical gyro assembly at time t 0 when the single-axis rate turntable starts to rotate clockwise in the above process
Figure GDA0002462591620000106
for:
Figure GDA0002462591620000107

其次，根据姿态四元数微分方程

Figure GDA0002462591620000108
采用双子样姿态算法对姿态四元数进行更新；Second, according to the attitude quaternion differential equation
Figure GDA0002462591620000108
The attitude quaternion is updated by the Gemini-like attitude algorithm;

继而，根据姿态四元数微分方程解算得到单轴速率转台顺时针旋转结束tend时刻光学陀螺组件的姿态四元数

Figure GDA0002462591620000109
Then, according to the attitude quaternion differential equation, the attitude quaternion of the optical gyro assembly at the end of the clockwise rotation of the single-axis rate turntable is obtained.
Figure GDA0002462591620000109

最后，确定顺时针旋转时单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影e-表示为：Finally, determine the projection e of the rotation axis vector of the single-axis rate turntable when rotating clockwise in the optical gyro-sensitive axis-constrained coordinate system - expressed as:

Figure GDA00024625916200001010
Figure GDA00024625916200001010

(4.2.3)根据步骤(4.2.1)、(4.2.2)求得的e+、e-来确定光学基准镜的法线yp轴朝向天向时，单轴速率转台的旋转轴矢量在光学陀螺敏感轴约束坐标系中的投影eb为：(4.2.3) According to the e + and e - obtained in steps (4.2.1) and (4.2.2), determine the rotation axis vector of the uniaxial rate turntable when the normal y p axis of the optical reference mirror faces the sky direction The projection e b in the optical gyro sensitive axis constraint coordinate system is:

Figure GDA00024625916200001011
Figure GDA00024625916200001011

(5)确定光学陀螺敏感轴约束坐标系与光学基准镜坐标系之间的安装关系

Figure GDA00024625916200001012
其中，
Figure GDA00024625916200001013
进而当光学陀螺组件姿态信息需要引出时即可校正光学陀螺敏感轴约束坐标系与光学基准镜坐标系之间的安装关系
Figure GDA0002462591620000111
实现高精度姿态信息引出。(5) Determine the installation relationship between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system
Figure GDA00024625916200001012
in,
Figure GDA00024625916200001013
Then, when the attitude information of the optical gyro component needs to be extracted, the installation relationship between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system can be corrected.
Figure GDA0002462591620000111
Realize high-precision attitude information extraction.

此外，以上各步骤中单轴速率转台的旋转角速度均为10°/s。In addition, the rotational angular velocity of the single-axis rate turntable in each of the above steps is 10°/s.

以上所述仅是本发明的优选实施方式，本发明的保护范围并不仅局限于上述实施例，凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理前提下的若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present 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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