CN114370930A - Method for measuring satellite structure micro-angle vibration by using MHD micro-angle vibration sensor - Google Patents
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Abstract
The invention discloses a method for measuring micro-angular vibration of a satellite structure by using an MHD micro-angular vibration sensor, which comprises the following steps: the MHD micro-angular vibration sensor measures initial data, and stores the initial data into a storage unit after high-frequency sampling so as to finish data acquisition; carrying out missing value processing, denoising processing, scale factor processing, angle integral obtaining, first-order trend removing and constant value drift compensation on the collected high-frequency initial data to realize the pretreatment of the sensor data; and performing discrete Fourier transform on the preprocessed data to obtain frequency and amplitude information, namely satellite structure micro-angle vibration information measured by the MHD micro-angle vibration sensor. The invention can realize the measurement of the micro-angle vibration of the satellite structure under the conditions of high precision, small volume and low cost, and the result can be used for the real-time measurement of the satellite in orbit.
Description
Technical Field
The invention belongs to the field of inertial measurement and signal processing, relates to a high-precision micro-angular vibration measurement method for aerospace application, and particularly relates to a method for measuring micro-angular vibration of a satellite structure by using an MHD micro-angular vibration sensor.
Background
With the development of modern spacecrafts, especially high-precision spacecrafts represented by high-resolution earth observation remote sensing satellites, deep space exploration remote sensing spacecrafts and deep space laser communication satellites, the high-precision spacecrafts are extremely sensitive to micro-vibration disturbance effects, and the problem of micro-vibration disturbance of a space structure becomes a main factor for limiting the further improvement of the attitude control precision and stability of the high-precision spacecrafts.
At present, sensors which can be used for measuring micro-angular vibration of an in-orbit spacecraft space structure comprise a fiber optic gyroscope, an accelerometer, an angular velocity sensor and the like. The highest measurement precision of the fiber-optic gyroscope can reach 0.0003 degree/h, the main measurement frequency range is a low frequency range, generally lower than 10Hz, and the maximum measurement frequency range can reach 500 Hz. However, the high-precision fiber-optic gyroscope requires that the length of the optical fiber reaches several km, so that the size reaches several hundred mm, meanwhile, the precision of the fiber-optic gyroscope is obviously influenced by temperature, and the polarization of light also has great influence on the precision of the fiber-optic gyroscope. The accelerometer measuring method is to place the accelerometers at different positions of the carrier platform and calculate the three-axis vibration angular acceleration by acquiring the linear acceleration. The method occupies less space and is simple to implement. However, the accuracy is difficult to guarantee due to the fact that one more conversion step is needed.
Compared with a fiber optic gyroscope, the measurement accuracy of a Magnetohydrodynamics (MHD) micro-angle vibration sensor can reach 25 mu rad/s at most, the bandwidth can reach 1000Hz, and the fiber optic gyroscope has good high-frequency characteristics. Meanwhile, the size of the MHD micro-angle vibration sensor is smaller, taking an ARS-15 MHD sensor of the ATA company in the United states as an example, the size of the MHD micro-angle vibration sensor reaches 30mm multiplied by 20mm, and the MHD micro-angle vibration sensor is at least one order of magnitude smaller than that of a fiber-optic gyroscope with the same precision. Compared with methods such as an accelerometer, a gyroscope, a laser radar and an optical communication terminal, the MHD micro-angular vibration sensor is the most direct, effective and reliable instrument for measuring micro-angular vibration information of a spacecraft and an effective load in orbit at present.
Compared with inertial sensing elements such as a gyroscope and the like for measuring angular velocity, the MHD micro-angular vibration sensor is poor in low-frequency characteristic and good in high-frequency characteristic, and can measure broadband spatial structure micro-angular vibration information of an in-orbit payload of a spacecraft from several Hertz to one kilohertz by reasonably arranging and combining the sensor.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a method for measuring the micro-angular vibration of a satellite structure by using an MHD micro-angular vibration sensor, which can realize the measurement of the micro-angular vibration of the satellite structure under the conditions of high precision, small volume and low cost.
The purpose of the invention is realized by the following technical scheme.
The invention discloses a method for measuring micro-angular vibration of a satellite structure by using an MHD micro-angular vibration sensor, which comprises the following steps of:
the first step is as follows: data acquisition and storage of MHD micro-angular vibration sensor
The MHD micro-angular vibration sensor measures initial data, and stores the initial data into a storage unit after high-frequency sampling so as to finish data acquisition;
the second step is that: MHD micro-angular vibration sensor data preprocessing
The method comprises the following steps of carrying out missing value processing, denoising processing, scale factor processing, angle integral obtaining, first-order trend removing and constant value drift compensation on collected high-frequency initial data to realize preprocessing of sensor data, wherein the specific steps comprise:
(1) checking initial data and processing missing values, wherein the processing method comprises mean value filling, -1 filling and prediction filling;
(2) denoising the data processed in the step (1), wherein the denoising comprises historical data smoothing and Bayesian parameter estimation smoothing;
(3) respectively determining scale factors of the MHD micro-angle vibration sensors on the three axes by analyzing the environmental information, and calibrating the data processed in the step (2) to obtain angle increment data;
(4) integrating the calibrated data to obtain three-axis vibration angle data of the MHD micro-angle vibration sensor;
(5) removing a first-order trend term from the triaxial vibration angle data in the step (4), and compensating constant drift of the sensor;
the third step: satellite structure micro-angle vibration characteristic calculation
And performing discrete Fourier transform on the preprocessed data to obtain frequency and amplitude information, namely satellite structure micro-angle vibration information measured by the MHD micro-angle vibration sensor.
The installation position of the MHD micro-angle vibration sensor on a satellite is as follows: the three MHD micro-angle vibration sensors are respectively arranged at three positions close to the angular vibration axis so as to accurately acquire micro-angle vibration signals.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) compared with a linear accelerometer for measurement, the MHD micro-angular vibration sensor is more direct in angular vibration measurement, simpler in data processing and less in introduced noise.
(2) The sensor used by the invention is directly arranged at the axle center position of the measured satellite structure, so that the data of the sensor can be ensured to fully reflect the vibration characteristic of the structure.
(3) The output of the MHD micro-angle vibration sensor used by the invention is a differential signal, so that the environmental common mode noise can be effectively eliminated. Through the preprocessing of initial data, the drift noise of the sensor can be eliminated, and the measurement precision of the micro-angular vibration is ensured.
(4) The invention can accurately measure the micro-angle vibration characteristic of the satellite structure, thereby enhancing the vibration resistance of the satellite and ensuring the pointing precision and stability of the satellite structure.
Drawings
FIG. 1 is a schematic view of the sensor mounting location of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram showing the installation position of the MHD micro-angular vibration sensor according to the present invention. Wherein the x axis, the y axis and the z axis are the three-axis axes of the micro-angular vibration of the satellite structure. Three MHD micro-angle vibration sensors need to be respectively installed at the axle centers of the three shafts. Depending on the configuration, the sensor may be translated in the axial direction until a suitable mounting position is found. If there is no suitable mounting location axially, it is desirable that the sensor be mounted as close to the shaft as possible to minimize the effects of eccentricity.
Fig. 2 is a flow chart showing a method for measuring the micro-angular vibration of a satellite structure by using an MHD micro-angular vibration sensor according to the present invention, which includes three parts, respectively: data acquisition and storage, data preprocessing and micro-angular vibration characteristic calculation.
The first step is as follows: data acquisition and storage of MHD micro-angular vibration sensor
The MHD micro-angular vibration sensor measures initial data, and stores the initial data into a storage unit after high-frequency sampling, so that data acquisition is completed. Wherein, the installation position of the MHD micro-angle vibration sensor on the satellite is as follows: the three MHD micro-angle vibration sensors are required to be respectively installed at three positions as close to the axis of angular vibration as possible so as to accurately acquire micro-angle vibration signals. The three-axis MHD micro-angle vibration sensor needs to simultaneously measure and collect initial data and put the three-axis data together at the same time. Due to the wide bandwidth of the measurement signal, typically above 1kHz, the sampling frequency is at least greater than 2 kHz.
The second step is that: MHD micro-angular vibration sensor data preprocessing
And (3) carrying out missing value processing, denoising processing, scale factor processing, angle integral obtaining, first-order trend term removing, constant value drift compensation and the like on the collected high-frequency initial data in sequence, thereby completing the preprocessing of the data of the MHD micro-angular vibration sensor. Several steps are described below.
(1) Missing value processing:
and checking initial data, processing missing values, and filling missing values for the missing of one or more samples to obtain complete sensor data. The filling method comprises mean (mode, median) filling, -1 filling, prediction filling and the like.
(2) Denoising: and (3) denoising the data processed in the step (1), specifically comprising historical data smoothing, Bayesian parameter estimation smoothing and other methods.
For random noise of high-frequency angular vibration, sensor data needs to be denoised through an algorithm. The data increment model obtained by using the data after the denoising processing is shown as the following formula:
wherein, Δ T is sampling time; delta NikI is 1,2,3, which is the data increment of the three axes of the MHD micro-angle vibration sensor in the time delta T at the kth moment; delta N'ikAnd i is 1,2 and 3, and MHD micro-angle vibration sensor triaxial data at the k-th moment.
(3) And (3) scale factor processing: and (3) respectively determining scale factors of the MHD micro-angle vibration sensors on the three axes by analyzing environmental information such as temperature and the like, and calibrating the data processed in the step (2) to obtain angle increment data.
Multiplying the data increment by a scale factor to obtain the vibration angle increment of the three axes in the time delta T, wherein a vibration angle increment model is shown as the following formula:
wherein, Delta thetaikI is 1,2,3, which is the angle increment of the three axes of the MHD micro-angle vibration sensor in the time delta T at the kth moment; gkiI is 1,2,3 is the scale factor of the three axes of the MHD micro-angular vibration sensor at the k-th instant.
(4) Integrating to obtain angle information: and integrating the calibrated vibration angle increment data to obtain the three-axis vibration angle data of the MHD micro-angle vibration sensor.
The vibration angle model is shown by the following formula:
wherein, thetaikAnd i is 1,2 and 3, and the angle value of the three axes of the MHD micro-angle vibration sensor relative to the 0 moment at the k moment.
(5) Removing the first order trend term and compensating constant drift: and (4) removing a first-order trend term from the triaxial vibration angle data in the step (4), compensating constant drift of the sensor and the like.
The vibration angle data is expressed as follows using a first order linear equation:
wherein, betaikAnd i is 1,2 and 3, which is the real angle value of the three axes of the MHD micro-angular vibration sensor after compensating the constant drift of the sensor and the integral of the angular velocity of the earth rotation at the k-th moment. When the real angle value is set to be 0, the first-order trend term coefficient a can be calculated by using a least square estimation method1、a2、a3And a constant drift amount theta10、θ20、θ30The calculation result can be used to process the angle data.
The third step: satellite structure micro-angle vibration characteristic calculation
And performing discrete Fourier transform on the preprocessed data to obtain frequency and amplitude information, namely satellite structure micro-angle vibration information measured by the MHD micro-angle vibration sensor. Specifically, the method comprises the following steps:
the real angle value theta obtained after data preprocessing1k、θ2k、θ3kPerforming discrete Fourier transform to obtain frequency f of triaxial micro-angular vibration11、f12、……、f1n，f21、f22、……、f2nAnd f31、f32、……、f3nAnd amplitude A of the corresponding frequency11、A12、……、A1n，A21、A22、……、A2nAnd A31、A32、……、A3n. The process can be carried out by selecting and utilizing an own FFT function in MATLAB software or other software.
While the present invention has been described in terms of its functions and operations with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise functions and operations described above, and that the above-described embodiments are illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope or spirit of the invention as defined by the appended claims.
Claims (2)
1. A method for measuring the micro-angular vibration of a satellite structure by using an MHD micro-angular vibration sensor is characterized by comprising the following processes:
the first step is as follows: data acquisition and storage of MHD micro-angular vibration sensor
The MHD micro-angular vibration sensor measures initial data, and stores the initial data into a storage unit after high-frequency sampling so as to finish data acquisition;
the second step is that: MHD micro-angular vibration sensor data preprocessing
The method comprises the following steps of carrying out missing value processing, denoising processing, scale factor processing, angle integral obtaining, first-order trend removing and constant value drift compensation on collected high-frequency initial data to realize preprocessing of sensor data, wherein the specific steps comprise:
(1) checking initial data and processing missing values, wherein the processing method comprises mean value filling, -1 filling and prediction filling;
(2) denoising the data processed in the step (1), wherein the denoising comprises historical data smoothing and Bayesian parameter estimation smoothing;
(3) respectively determining scale factors of the MHD micro-angle vibration sensors on the three axes by analyzing the environmental information, and calibrating the data processed in the step (2) to obtain angle increment data;
(4) integrating the calibrated data to obtain three-axis vibration angle data of the MHD micro-angle vibration sensor;
(5) removing a first-order trend term from the triaxial vibration angle data in the step (4), and compensating constant drift of the sensor;
the third step: satellite structure micro-angle vibration characteristic calculation
And performing discrete Fourier transform on the preprocessed data to obtain frequency and amplitude information, namely satellite structure micro-angle vibration information measured by the MHD micro-angle vibration sensor.
2. The method for measuring the micro-angular vibration of the satellite structure using the MHD micro-angular vibration sensor of claim 1, wherein the mounting position of the MHD micro-angular vibration sensor on the satellite is: the three MHD micro-angle vibration sensors are respectively arranged at three positions close to the angular vibration axis so as to accurately acquire micro-angle vibration signals.
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| CN115950529A (en) * | 2023-03-10 | 2023-04-11 | 天津大学 | Micro-angle resonance signal estimation method and device based on spectrum enhancement and electronic equipment |
| CN115979409A (en) * | 2023-03-22 | 2023-04-18 | 天津大学 | Angular vibration sensor based on magnetohydrodynamics and angular vibration detection method |
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