CN109781102A - Attitude measurement method and system based on double super platforms - Google Patents
Attitude measurement method and system based on double super platforms Download PDFInfo
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- CN109781102A CN109781102A CN201910033212.2A CN201910033212A CN109781102A CN 109781102 A CN109781102 A CN 109781102A CN 201910033212 A CN201910033212 A CN 201910033212A CN 109781102 A CN109781102 A CN 109781102A
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Abstract
The present invention provides a kind of attitude measurement methods and system based on double super platforms, comprising: kinematics characteristic is introduced attitude measurement model, quasi-static attitude measurement is carried out using double super platforms, obtains the measurement data of star sensor；Kinematics characteristic based on measurand carries out dynamic measurement error amendment using measurement data of the smooth filtering method to star sensor；In conjunction with the dynamic characteristic of double super platforms, the measurement data of star sensor is solved, attitudes vibration curve after inverting smothing filtering by Taylor's formula expansion, and carry out piecewise polynomial interpolation, obtains the high-acruracy survey result in full-time sky.The present invention is suitable for double super platforms of " high-precision high steady ", does not depend on high performance gyro, high-precision attitude measurement only can be realized by star sensor.
Description
Technical field
The present invention relates to attitude kinematics fields, and in particular, to the high-precision attitude measurement method based on double super platforms
And system.
Background technique
With the continuous development of satellite fields, present satellites field has gradually been transformed into from the requirement of qualitative functionalization high-precision
The quantification application of degree.Attitude measurement accuracy is one of the important indicator for representing satellite comprehensive performance, directly determines satellite
Quantification application level.In order to meet the every field such as measurement, meteorology, the national defence technical requirements growing to space science,
Need to carry out the research of satellite high-precision attitude measurement method.
The attitude measurement accuracy of satellite is mainly determined by attitude sensor and high-precision fixed appearance algorithm.It is currently mainly used
Attitude sensor has gyro, star sensor, earth sensor, sun sensor etc..Gyro provides angular velocity information in real time, independently
Property it is strong, do not influenced vulnerable to the external world, but gyro has drift, angular speed error can constantly accumulate with the time；Star sensor essence
Highest is spent, but is involved great expense, measurement frequency is lower, and there are high frequency measurement noises.Earth sensor (such as infrared horizon) and
Cost is relatively low for sun sensor (such as magnetometer), and visual field captures relatively easily, but precision is not high, through frequently as satellite initial attitude
Attitude sensor after capture or failure under safe mode.
Since there are respective advantage and disadvantage for attitude sensor, in order to improve attitude measurement accuracy, common method is colourful
State sensor integrated attitude determination.The appearance scheme of determining of current high-precision satellite mainstream both at home and abroad is that star sensor+gyro joint determines appearance.Benefit
With the drift of the high-precision amendment gyro of star sensor；It is surveyed using the dynamic of the High-precision angle Restrained Integration star sensor of gyro
Measure error.Bian Zhiqiang, Cheng Weiqiang, Xue's filial piety mend, Yu Yongjiang " algorithm is determined based on the attitude of satellite of gyro and star sensor " (see
" spacecraft engineering ", 2011, the phase of volume 20 the 2nd, page number 29-34) in a text, describe a kind of based on gyro and star sensor
The expanded Kalman filtration algorithm of real-time online, can real-time update update posture and gyroscopic drift.This method is widely used in respectively
Class high-precision satellite, but restriction of this method by attitude sensor performance, and rely on the metrical information of high accuracy gyroscope.
Traditional satellite attitude measurement method does not consider the kinematics characteristic of measurand, and measurement accuracy is sensitive by measurement
Device and joint determine the decision of appearance algorithm.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of, and the high-precision attitude based on double super platforms is surveyed
Measure method and system.
A kind of attitude measurement method based on double super platforms provided according to the present invention characterized by comprising
Quasi-static attitude measurement step: introducing attitude measurement model for kinematics characteristic, is carried out using double super platforms quasi- quiet
State attitude measurement obtains the measurement data of star sensor；
Dynamic measurement error inhibits step: the kinematics characteristic based on measurand, quick to star using smooth filtering method
The measurement data of sensor carries out dynamic measurement error amendment；
Piecewise polynomial interpolation step: in conjunction with the dynamic characteristic of double super platforms, Taylor is pressed to the measurement data of star sensor
Formula expansion solves, attitudes vibration curve after inverting smothing filtering, and carries out piecewise polynomial interpolation, obtains in full-time sky
High-acruracy survey result.
Preferably, the smooth filtering method includes moving average filtering method and interval polynomial approximating method.
Preferably, the moving average filtering method includes expression formula:
In above formula, k is discrete sampling times,For the k moment moving average filtering as a result, ykIt is sensitive for the star at k moment
Device measurement result, 2N+1 are total number of samples.
Preferably, the interval polynomial approximating method uses second order polynomial fit.
Preferably, the moving average filtering method is used for processed offline, the interval polynomial approximating method is used for
Line is handled in real time.
A kind of attitude measurement system based on double super platforms provided according to the present invention, comprising:
Quasi-static attitude measurement module: introducing attitude measurement model for kinematics characteristic, is carried out using double super platforms quasi- quiet
State attitude measurement obtains the measurement data of star sensor；
Dynamic measurement error suppression module: the kinematics characteristic based on measurand, it is quick to star using smooth filtering method
The measurement data of sensor carries out dynamic measurement error amendment；
Piecewise polynomial interpolation module: in conjunction with the dynamic characteristic of double super platforms, Taylor is pressed to the measurement data of star sensor
Formula expansion solves, attitudes vibration curve after inverting smothing filtering, and carries out piecewise polynomial interpolation, obtains in full-time sky
High-acruracy survey result.
Preferably, the smooth filtering method includes moving average filtering method and interval polynomial approximating method.
Preferably, the moving average filtering method includes expression formula:
In above formula, k is discrete sampling times,For the k moment moving average filtering as a result, ykIt is sensitive for the star at k moment
Device measurement result, 2N+1 are total number of samples.
Preferably, the interval polynomial approximating method uses second order polynomial fit.
Preferably, the moving average filtering method is used for processed offline, the interval polynomial approximating method is used for
Line is handled in real time.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention is suitable for double super platforms of " high-precision high steady ", does not depend on high performance gyro, only leans on star sensor
Realize high-precision attitude measurement.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the principle of the present invention figure；
Fig. 2 is conventional satellite platform and contrast schematic diagram of the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
As shown in Figure 1, a kind of high-precision attitude measurement method based on double super platforms provided by the invention, feature exist
In, comprising:
Star sensor equivalent noise angle amendment step:
Utilize the equivalent noise angle of gyro to measure data and satellite orbit data the amendment star sensor of double super platforms.
Step 1: acquiring the raw measurement data of star sensor, obtains satellite body according to the installation matrix of star sensor
The attitude angle of relative inertness coordinate system；
Step 2；According to the orbital data of satellite, the transformational relation of satellite orbit coordinate system and inertial coodinate system is obtained, and
The inertial attitude angle of satellite is gone to the attitude angle of relative orbit coordinate system；
Step 3: the measurement data for introducing attitude sensor (such as star sensor) passes through in conjunction with the kinematical equation of satellite
Linear minimum-variance estimation calculates the measured deviation of star sensor in real time, inhibits the equivalent noise angle of star sensor.
Dynamic measurement error amendment step: the kinematics characteristic based on measurand carries out posture dynamic measurement error
Amendment.
Step 1: in conjunction with the attitude angular velocity variation tendency of the attitude dynamic equations analysis satellite of satellite.The power of satellite
It is writeable to learn equation are as follows:
Wherein,For the true posture angular acceleration of satellite, ω is the true attitude angular velocity of satellite, and I is turning for satellite
Dynamic inertia, T is disturbance torque.
Since double super platforms have the characteristics that " high-precision high steady ", high-frequency vibration can isolate, therefore disturbance torque T is constant value
Amount or long period amount, and magnitude is smaller.According to above-mentioned formula, it can be deduced that the attitude angle variation of satellite slowly, becomes for long period
Change.
Step 2: the kinematics characteristic based on measurand, using smooth filtering method to the measurement data of star sensor into
The amendment of Mobile state measurement error.The attitude of satellite has long period, slow the characteristics of becoming, thus propose in one kind, long period is smoothly filtered
Wave method improves filtering depth, the high frequency error of peelable attitude measurement.
Smooth filtering method mainly includes moving average filtering method and interval polynomial approximating method.For rolling average
Filtering, expression formula are as follows:
In above formula, k is discrete sampling times,For the k moment average filter as a result, ykIt is surveyed for the star sensor at k moment
Amount is as a result, N is total number of samples.
Inverting interpolation procedure: carrying out inverting interpolation to revised data, obtains the measurement result in full-time sky.
Step 1: multiple segment data being divided into chronological order to the measurement data of all star sensors, every segment data includes
5 measurement data；
Step 2: for every one piece of data, 5 measurement data being subjected to the amendment of equivalent noise angle and dynamic by above-mentioned steps
Measurement error amendment；
Step 3: second order polynomial fit being carried out to 5 revised data, obtains the attitude of satellite in the time zone
The variation relation at angle and time.
Piecewise fitting is carried out to star sensor data through the above way, the measurement result in full-time sky can be obtained.
On the basis of a kind of above-mentioned high-precision attitude measurement method based on double super platforms, the present invention also provides a kind of bases
The high-precision attitude measuring system of Yu Shuanchao platform, comprising:
Quasi-static attitude measurement module: introducing attitude measurement model for kinematics characteristic, is carried out using double super platforms quasi- quiet
State attitude measurement obtains the measurement data of star sensor, provides basis for the dynamic measurement error inhibition of star sensor.
Traditional high-precision attitude measurement method is using star sensor+high accuracy gyroscope+filtering algorithm, measurement accuracy
Kinematics characteristic with satellite platform needs high-precision attitude sensor to guarantee without direct relation.It is proposed in this paper to be based on
The attitude measurement method of double super platforms, in conjunction with the kinematics characteristic of satellite platform " high-precision high steady ", under quasi-static measurement environment
It realizes measurement Error Compensation, the measurement data of high accuracy gyroscope can not depended on, realize high frequency measurement noise suppressed, improve measurement essence
Degree.The comparison of the two can be as shown in Figure 2.
Dynamic measurement error suppression module: the kinematics characteristic based on measurand, it is quick to star using smooth filtering method
The measurement data of sensor carries out dynamic measurement error amendment.
Since double super platforms have the characteristic of " high-precision high steady ", the attitude of satellite has long period, slow the characteristics of becoming, therefore mentions
Out one kind in, long period smooth filtering method, improve filtering depth, the high frequency error of peelable attitude measurement.
Smooth filtering method mainly includes moving average filtering method and interval polynomial approximating method.For rolling average
Filtering, expression formula are as follows:
In above formula, k is discrete sampling times,For the k moment moving average filtering as a result, ykIt is sensitive for the star at k moment
Device measurement result, 2N+1 are total number of samples.As can be seen from the above equation, moving average filtering calculates simple, but to use the k moment
Later metrical information, therefore it is more suitable for processed offline.
And interval polynomial approximating method, it is exactly that the data in section are carried out with fitting of a polynomial, rejects dynamic measurement and miss
Difference.Polynomial fitting method is suitable for online processing in real time, and it is multinomial can directly to carry out section after star sensor measurement data updates
Formula fitting, and export filter result.The characteristics of slow change in-orbit due to double super satellite platforms, fitting of a polynomial order cannot select too
Height, the phenomenon that avoiding the occurrence of " over-fitting high dither ", select second order polynomial fit for double super platforms.
Piecewise polynomial interpolation module: in conjunction with the dynamic characteristic of double super platforms, Taylor is pressed to the measurement data of star sensor
Formula expansion solves, attitudes vibration curve after inverting smothing filtering, and carries out piecewise polynomial interpolation, obtains in full-time sky
High-acruracy survey result.
In view of the measurement frequency of star sensor is lower, generally 1~4Hz, in order to realize that full-time empty high-precision attitude is surveyed
Amount can carry out piecewise polynomial interpolation to the star sensor measurement data after smothing filtering.In order to avoid the concussion of interpolation high-order, hair
Sheng Longge phenomenon, polynomial order cannot select too high, it is contemplated that the high stability of double super platforms selects second order polynomial fit
?.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that the present invention provides and its other than each device, module, unit
System and its each device, module, unit with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and embedding
Enter the form of the controller that declines etc. to realize identical function.So system provided by the invention and its every device, module, list
Member is considered a kind of hardware component, and to include in it can also for realizing the device of various functions, module, unit
To be considered as the structure in hardware component；It can also will be considered as realizing the device of various functions, module, unit either real
The software module of existing method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of attitude measurement method based on double super platforms characterized by comprising
Quasi-static attitude measurement step: introducing attitude measurement model for kinematics characteristic, carries out quasi-static appearance using double super platforms
State measurement, obtains the measurement data of star sensor；
Dynamic measurement error inhibits step: the kinematics characteristic based on measurand, using smooth filtering method to star sensor
Measurement data carry out dynamic measurement error amendment；
Piecewise polynomial interpolation step: in conjunction with the dynamic characteristic of double super platforms, Taylor's formula is pressed to the measurement data of star sensor
Expansion solves, attitudes vibration curve after inverting smothing filtering, and carries out piecewise polynomial interpolation, obtains the measurement in full-time sky
As a result.
2. the attitude measurement method according to claim 1 based on double super platforms, which is characterized in that the smothing filtering side
Method includes moving average filtering method and interval polynomial approximating method.
3. the attitude measurement method according to claim 2 based on double super platforms, which is characterized in that the rolling average filter
Wave method includes expression formula:
In above formula, k is discrete sampling times,For the k moment moving average filtering as a result, ykIt is surveyed for the star sensor at k moment
Amount is as a result, 2N+1 is total number of samples.
4. the attitude measurement method according to claim 2 based on double super platforms, which is characterized in that the interval polynomial
Approximating method uses second order polynomial fit.
5. the attitude measurement method according to claim 2 based on double super platforms, which is characterized in that the rolling average filter
Wave method is used for processed offline, and the interval polynomial approximating method is for online processing in real time.
6. a kind of attitude measurement system based on double super platforms characterized by comprising
Quasi-static attitude measurement module: introducing attitude measurement model for kinematics characteristic, carries out quasi-static appearance using double super platforms
State measurement, obtains the measurement data of star sensor；
Dynamic measurement error suppression module: the kinematics characteristic based on measurand, using smooth filtering method to star sensor
Measurement data carry out dynamic measurement error amendment；
Piecewise polynomial interpolation module: in conjunction with the dynamic characteristic of double super platforms, Taylor's formula is pressed to the measurement data of star sensor
Expansion solves, attitudes vibration curve after inverting smothing filtering, and carries out piecewise polynomial interpolation, obtains the measurement in full-time sky
As a result.
7. the attitude measurement system according to claim 6 based on double super platforms, which is characterized in that the smothing filtering side
Method includes moving average filtering method and interval polynomial approximating method.
8. the attitude measurement system according to claim 7 based on double super platforms, which is characterized in that the rolling average filter
Wave method includes expression formula:
In above formula, k is discrete sampling times,For the k moment moving average filtering as a result, ykIt is surveyed for the star sensor at k moment
Amount is as a result, 2N+1 is total number of samples.
9. the attitude measurement system according to claim 7 based on double super platforms, which is characterized in that the interval polynomial
Approximating method uses second order polynomial fit.
10. the attitude measurement system according to claim 7 based on double super platforms, which is characterized in that the rolling average
Filtering method is used for processed offline, and the interval polynomial approximating method is for online processing in real time.
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