CN115435769A - Novel four-axis satellite-borne angular displacement measurement system and control method - Google Patents
Novel four-axis satellite-borne angular displacement measurement system and control method Download PDFInfo
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- CN115435769A CN115435769A CN202211067259.9A CN202211067259A CN115435769A CN 115435769 A CN115435769 A CN 115435769A CN 202211067259 A CN202211067259 A CN 202211067259A CN 115435769 A CN115435769 A CN 115435769A
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 49
- 238000005259 measurement Methods 0.000 title claims abstract description 45
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- 230000006978 adaptation Effects 0.000 claims abstract description 10
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- 238000009434 installation Methods 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/66—Ring laser gyrometers
- G01C19/661—Ring laser gyrometers details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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Abstract
The invention relates to the field of measuring equipment, in particular to a novel four-axis satellite-borne angular displacement measuring system and a control method. Including magnetic shield casing, angle displacement sensor subassembly and control circuit. The angular displacement sensor assembly comprises four-frequency differential laser gyroscopes and four groups of adaptive circuits, the four-frequency differential laser gyroscopes form a pyramid structure, and the four-frequency differential laser gyroscopes are connected with the four groups of adaptive circuits in a one-to-one correspondence mode. The control circuit comprises a power supply and distribution module, a control processing module and a sensor control module, the power supply and distribution module provides power for the control processing module and the sensor control module, the control processing module is connected with the sensor control module, and the sensor control module is respectively connected with the four groups of adaptation circuits one by one through cables. The reliability of the angular displacement measurement system is effectively improved, the alternating magnetic field interference resistance of the system is improved, and the light and small design is realized.
Description
Technical Field
The invention relates to the field of measuring equipment, in particular to a novel four-axis satellite-borne angular displacement measuring system and a control method.
Background
With the improvement of the observation resolution of the remote sensing satellite to the ground, the influence of micro-angular vibration caused by various interference factors in the space environment on the attitude stability and the pointing accuracy of the satellite is more and more obvious. The angular displacement measurement system based on the laser gyroscope is used as an effective angular vibration measurement means, and has great significance for improving pointing accuracy and assisting geometric correction of images.
The currently used angular displacement device is a triaxial measurement system, the interior of the triaxial measurement system comprises three orthogonally-installed four-frequency differential laser gyroscopes, and a control circuit is a single circuit, so that the reliability is poor, and the long-term use requirement cannot be met. In addition, according to the use condition of the four-frequency differential laser gyro, the gyro is sensitive to the interference of an alternating magnetic field, and the measurement precision of the system can be influenced by the alternating change of the earth magnetic field existing in the track period.
Disclosure of Invention
The invention provides a novel four-axis satellite-borne angular displacement measurement system and a control method, and aims to solve the problems that an existing angular displacement measurement system is low in reliability and is easily interfered by an alternating magnetic field.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention provides a novel four-axis satellite-borne angular displacement measuring system which comprises a magnetic shielding shell, an angular displacement sensor assembly arranged in the magnetic shielding shell and a control circuit arranged outside the magnetic shielding shell.
The angular displacement sensor assembly comprises four-frequency differential laser gyroscopes and four groups of adaptive circuits, wherein the four-frequency differential laser gyroscopes form a pyramid structure, and are connected with the four groups of adaptive circuits in a one-to-one correspondence manner.
The control circuit comprises a power supply and distribution module, a control processing module and a sensor control module, wherein the power supply and distribution module provides power for the control processing module and the sensor control module, and the control processing module is connected with the sensor control module; the sensor control module is respectively connected with the four groups of adaptation circuits one by one through cables to form four groups of measurement links, and the four groups of measurement links are mutually independent and mutually backup.
Furthermore, the magnetic shielding shell is made of soft magnetic alloy materials, the solid structure is adopted at the structural bearing position of the magnetic shielding shell, and the lattice structure is adopted at the structural non-bearing position of the magnetic shielding shell.
Further, the magnetic shield shell is designed by adopting a honeycomb structure.
Further, the adaptation circuit comprises a power supply circuit and a pre-amplifier circuit.
Further, the power supply and distribution module and the control processing module are both designed for dual-computer cold backup.
Further, the sensor control module comprises four groups of independent sensor control circuits, the four groups of sensor control circuits are correspondingly connected with the four groups of adaptation circuits one by one, and the four groups of sensor control circuits are mutually backed up.
A control method of a novel four-axis satellite-borne angular displacement measurement system comprises the following steps:
s1, powering up an angular displacement measurement system;
s2, performing power-up self-test on the four-frequency differential laser gyroscope, and judging the health state of the four-frequency differential laser gyroscope; if the failure four-frequency differential laser gyro is not found, S3 is executed; otherwise, eliminating the failed four-frequency differential laser gyro, and directly executing S4 by using the remaining three four-frequency differential laser gyros;
s3, periodically and repeatedly carrying out performance detection on the four-frequency differential laser gyros, and selecting three four-frequency differential laser gyros with the best performance according to performance parameters of the four-frequency differential laser gyros;
s4, determining a four-frequency differential laser gyro combination;
s5, acquiring output data of the four-frequency differential laser gyroscope;
s6, performing data conversion by using the zero position and the installation matrix corresponding to the four-frequency differential laser gyro combination;
and S7, obtaining final angular displacement data.
Further, the performance parameters include output noise and angular velocity deviation.
The invention achieves the following beneficial effects:
the invention designs a four-axis measuring system, four sensors are installed in a pyramid structure, so that the sensors are mutually backed up, a new system architecture is provided, a sensor probe is separated from a control circuit, the use is more flexible, the control circuit can intelligently select an applicable sensor combination, and the system reliability is improved. The angular displacement measuring system can meet the use requirements of long service life and high reliability.
The invention designs a magnetic shielding structure in the angular displacement sensor, and carries out lattice design on the structure, thereby not only improving the alternating magnetic field interference resistance effect of the system, but also realizing the light and small design.
Drawings
Fig. 1 is a system architecture diagram of the present invention.
FIG. 2 is a schematic diagram of coordinate axes of a four-axis angular displacement measurement system of the present invention.
Fig. 3 is a schematic view of the magnetic shield structure of the present invention.
Fig. 4 is a flow chart of the control method of the present invention.
Detailed Description
To facilitate an understanding of the present invention by those skilled in the art, specific embodiments thereof are described below with reference to the accompanying drawings.
The invention provides a novel four-axis satellite-borne angular displacement measurement system, which solves the problems that the existing angular displacement measurement system is low in reliability and is easily interfered by an alternating magnetic field. The reliability of the angular displacement measurement system is effectively improved, the alternating magnetic field interference resistance of the system is improved, and the light and small design is realized.
As shown in fig. 1 to 3, the angular displacement measurement system specifically includes a magnetic shield case, an angular displacement sensor assembly disposed in the magnetic shield case, and a control circuit disposed outside the magnetic shield case. In general, the present invention is physically separated into two separate products (an angular displacement sensor assembly and a control circuit) that are connected by a cable. Therefore, the problem that the volume and the weight of the measuring probe are increased to limit installation due to the increase of the gyroscope and the enlargement of the circuit scale is solved, and the purposes of reducing the volume and the weight of the measuring probe and increasing the product applicability are achieved.
Because three four-frequency differential laser gyros in the original triaxial angular displacement measurement system are orthogonally installed, the gyros cannot be mutually backed up. The angular displacement sensor assembly of the invention uses four-frequency differential laser gyros, and the spatial installation of the gyros in a four-axis angular displacement measurement system is designed, so that each gyro in the four gyros can be used as a backup of the other three gyros. And the control circuit is powered on to perform autonomous judgment according to the gyroscope state, and intelligently selects the optimal gyroscope combination for use.
Specifically, the angular displacement sensor assembly comprises four-frequency differential laser gyroscopes and four sets of adaptive circuits, the four-frequency differential laser gyroscopes and the four sets of adaptive circuits are connected in a one-to-one correspondence mode, each gyroscope and the adaptive circuits of the gyroscope are mutually independent, and the four-frequency differential laser gyroscopes form a pyramid structure, so that each gyroscope can generate projection in a measurement coordinate system, the purpose of mutual backup among the four gyroscopes is achieved, and the reliability of the measurement system is improved.
Furthermore, the adaptation circuit comprises a power circuit and a front discharge circuit, the power circuit realizes the power supply and power on and off control of the gyroscope, and the front discharge circuit realizes the conditioning and amplification of gyroscope signals.
The control circuit comprises a power supply and distribution module, a control processing module and a sensor control module. The power supply and distribution module has the main functions of converting a primary power supply into a secondary power supply for use in a system and has the functions of surge suppression, overcurrent and current-limiting protection; specifically, the power supply and distribution module provides power for the control processing module and the sensor control module. The control processing module has the main functions of communicating with external equipment and transmitting data, scheduling the inside of the system, and performing autonomous judgment and intelligent selection on the gyroscope state. The sensor control module comprises four groups of independent sensor control circuits, wherein the four groups of sensor control circuits are mutually backed up, and the main functions of the sensor control module are to perform frequency stabilization control and current stabilization control on the gyroscope and ensure that the gyroscope is in the optimal working state.
The control processing module is respectively connected with the four groups of sensor control circuits of the sensor control module one by one, the four groups of sensor control circuits are correspondingly connected with the four groups of adaptation circuits one by one, one group of sensor control circuits, one group of adaptation circuits and one four-frequency differential laser gyro form a group of measurement links, four groups of measurement links are totally formed, and the four groups of measurement links are mutually independent and mutually backup.
Further, in order to improve the system reliability, the control circuit is designed to be backed up, wherein the power supply module and the control processing module are designed to be dual-computer cold standby. Through the design, the backup design and the fault isolation in the system are realized, and the reliability of the system is improved.
In order to improve the alternating magnetic field resistance of the system, a magnetic shielding structure needs to be designed. If the magnetic shielding structure is designed on the outer layer of the gyroscope combination, the volume and the weight of the gyroscope are obviously increased although the magnetic shielding effect is improved on the premise of ensuring the high rigidity of the structure, and the gyroscope is not beneficial to the application of products under the severe requirements of the use environment on the weight and the volume of a system.
Based on the above reasons, in the design of the magnetic shielding structure, the traditional mode of simply adding a shielding box outside the gyroscope is not adopted, but the whole equipment shell is made of a magnetic shielding material, so that the whole shielding effect is formed. The magnetic shielding shell is made of soft magnetic alloy materials, the magnetic shielding shell is of a solid structure at a structural bearing position and is of a lattice structure at a structural non-bearing position, and the magnetic shielding shell is designed in a honeycomb structure. The structure can ensure that the rigidity meets the requirement, and simultaneously, the structure volume and the weight are minimized. According to the magnetic shielding characteristic, the more the number of layers of the magnetic shielding is, the better the magnetic shielding effect is, the dot matrix hollow structure form is equivalent to the design of two layers of magnetic shielding, and the magnetic shielding effect of the system is improved.
As shown in fig. 4, a control method of a novel four-axis satellite-borne angular displacement measurement system includes the following steps:
s1, powering up an angular displacement measurement system;
s2, simultaneously powering up the four-frequency differential laser gyroscope, firstly carrying out self-checking on initial operation parameters of the gyroscope, and judging the health state of the four-frequency differential laser gyroscope; if the failure four-frequency differential laser gyroscope is not found, self-calibrating the gyroscope, and executing S3; otherwise, eliminating the failed four-frequency differential laser gyro, and directly executing S4 by using the remaining three four-frequency differential laser gyros;
s3, periodically and repeatedly carrying out performance detection on the four-frequency differential laser gyros, and selecting three four-frequency differential laser gyros with the best performance according to performance parameters such as output noise, angular velocity deviation and the like of the four-frequency differential laser gyros;
s4, determining a four-frequency differential laser gyro combination;
s5, acquiring output data of the four-frequency differential laser gyroscope;
s6, performing data conversion by using the zero position and the installation matrix corresponding to the four-frequency differential laser gyro combination;
and S7, obtaining final angular displacement data.
The system periodically performs self-calibration and judgment on the running state and the performance state of the 4 four-frequency differential laser gyros, and selects the optimal gyro combination in time.
Wherein, FIG. 2 is a schematic coordinate axis and angle of the four-axis angular displacement measurement system of the present inventionThe measurement coordinate system of the displacement measurement system is characterized by a fine measurement reference mirror on the side wall of the structure. Because the angular displacement measurement system is internally provided with four gyros, the zero positions of the four gyros can be respectively obtained by installing the matrix and calibrating the zero positions
And four different combinations of mounting matrices
The 4 combinations are respectively a combination of a gyroscope 1, a gyroscope 2 and a gyroscope 3, a combination of a gyroscope 1, a gyroscope 2 and a gyroscope 4, a combination of a gyroscope 1, a gyroscope 3 and a gyroscope 4, and a combination of a gyroscope 2, a gyroscope 3 and a gyroscope 4.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (8)
1. A novel four-axis satellite-borne angular displacement measurement system is characterized by comprising a magnetic shielding shell, an angular displacement sensor assembly arranged in the magnetic shielding shell and a control circuit arranged outside the magnetic shielding shell;
the angular displacement sensor assembly comprises four-frequency differential laser gyroscopes and four groups of adaptive circuits, wherein the four-frequency differential laser gyroscopes form a pyramid structure, and are connected with the four groups of adaptive circuits in a one-to-one correspondence manner;
the control circuit comprises a power supply and distribution module, a control processing module and a sensor control module, wherein the power supply and distribution module provides power for the control processing module and the sensor control module, and the control processing module is connected with the sensor control module; the sensor control module is respectively connected with the four groups of adaptation circuits one by one through cables to form four groups of measurement links, and the four groups of measurement links are mutually independent and mutually backup.
2. The novel four-axis satellite-borne angular displacement measurement system of claim 1, characterized in that: the magnetic shielding shell is made of soft magnetic alloy materials, the magnetic shielding shell is of a solid structure at a structural bearing position, and is of a lattice structure at a structural non-bearing position.
3. The novel four-axis satellite-borne angular displacement measurement system of claim 2, wherein: the magnetic shielding shell is designed by adopting a honeycomb structure.
4. The novel four-axis satellite-borne angular displacement measurement system of claim 1, wherein: the adaptation circuit comprises a power supply circuit and a front-discharge circuit.
5. The novel four-axis satellite-borne angular displacement measurement system of claim 1, wherein: the power supply and distribution module and the control processing module are both designed by dual-computer cold backup.
6. The novel four-axis satellite-borne angular displacement measurement system of claim 1, characterized in that: the sensor control module comprises four groups of independent sensor control circuits, the four groups of sensor control circuits are correspondingly connected with the four groups of adaptation circuits one by one, and the four groups of sensor control circuits are mutually backed up.
7. A control method of a novel four-axis satellite-borne angular displacement measurement system, which is applied to the novel four-axis satellite-borne angular displacement measurement system of any one of claims 1 to 6, and is characterized in that: the method comprises the following steps:
s1, powering up an angular displacement measurement system;
s2, power-up self-checking of the four-frequency differential laser gyro to judge the health state of the four-frequency differential laser gyro; if the failure four-frequency differential laser gyro is not found, S3 is executed; otherwise, eliminating the failed four-frequency differential laser gyro, and directly executing S4 by using the remaining three four-frequency differential laser gyros;
s3, periodically and repeatedly carrying out performance detection on the four-frequency differential laser gyros, and selecting three four-frequency differential laser gyros with the best performance according to performance parameters of the four-frequency differential laser gyros;
s4, determining a four-frequency differential laser gyro combination;
s5, acquiring output data of the four-frequency differential laser gyroscope;
s6, performing data conversion by using the zero position and the installation matrix corresponding to the four-frequency differential laser gyro combination;
and S7, obtaining final angular displacement data.
8. The control method of the novel four-axis satellite-borne angular displacement measurement system according to claim 7, characterized in that: the performance parameters include output noise and angular velocity deviation.
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