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Atomic spin gyroscope and magnetometer tightly-integrated attitude determination method based on ant colony PF (Particle Filter) algorithm

A technology of atomic spin and atomic magnetic strength, applied in instruments, measuring devices, steering sensing equipment, etc., can solve problems such as nonlinear noise and non-Gaussian system, and achieve the effect of improving accuracy

Active Publication Date: 2013-12-11
BEIHANG UNIV +1
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Problems solved by technology

[0005] The technical solution problem of the present invention is: overcome the deficiencies in the prior art, propose a kind of atomic white-spin gyroscope based on ant colony PF algorithm and the magnetometer tight combination fixed attitude method, solve system nonlinearity and noise non-Gaussian problem, with Quickly obtain high-precision attitude information, and can accurately estimate gyro drift, and realize long-term, high-precision combined attitude determination of various types of spacecraft

Method used

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  • Atomic spin gyroscope and magnetometer tightly-integrated attitude determination method based on ant colony PF (Particle Filter) algorithm
  • Atomic spin gyroscope and magnetometer tightly-integrated attitude determination method based on ant colony PF (Particle Filter) algorithm
  • Atomic spin gyroscope and magnetometer tightly-integrated attitude determination method based on ant colony PF (Particle Filter) algorithm

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Embodiment Construction

[0017] Such as figure 1 As shown, the specific implementation steps of the present invention are as follows:

[0018] Step 1. First, after compensating the inertial measurement information measured by the atomic gyroscope, the gyroscope output data, through the attitude calculation, obtain the carrier attitude information, the process is as follows:

[0019] Step 1. Inertial measurement information, that is, the output data obtained by the atomic gyroscope measurement, and the gyroscope drift estimated by the information fusion algorithm To correct the ε in the output data of the compensated gyroscope ω=K×V+ε+ζ, and then obtain the attitude information of the carrier through attitude calculation; the step 1 specifically includes the following steps:

[0020] Step 1.1. Set the initial posture as Calculate the initial attitude quaternion q(0) matrix:

[0021]

[0022] Step 1.2. Update the attitude quaternion matrix as:

[0023] q ( n + 1 ) = { cos Δφ 2 I +...

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Abstract

The invention provides an atomic spin gyroscope / magnetometer tightly-integrated attitude determination method based on an ant colony PF (Particle Filter) algorithm and relates to an SERF (spin-exchange relaxation free) atomic spin gyroscope / magnetometer integrated attitude determination method. The method comprises the following steps of: firstly, acquiring inertial angular velocity information by utilizing the atomic spin gyroscope, then carrying out gyroscope error compensation, and carrying out an attitude algorithm to acquire attitude information of a carrier; secondly, acquiring terrestrial magnetism measurement information by utilizing an atom magnetometer, and carrying out terrestrial magnetism matching on the terrestrial magnetism measurement information, so as to acquire terrestrial magnetism vector information; finally, merging the terrestrial magnetism vector information and the attitude information of the carrier in a tightly-integrated manner by utilizing the ant colony particle filter algorithm to solve nonlinearity and noise non-Gaussian problems of a system, working out the attitude information of the high precision carrier, estimating the gyroscopic drift, carrying out feedback and correction on the attitude of the carrier, and compensating the gyroscopic drift; at last, realizing online correction on random gyroscope errors of an SERF-based atomic spin gyroscope / magnetometer tightly-integrated attitude determination system, and finishing the long-time and high-precision integrated attitude determination of a moving carrier.

Description

Technical field [0001] The invention relates to an atomic spin gyroscope and magnetometer tightly combined attitude determination method based on an ant colony PF algorithm, which can realize full-region, all-time, all-weather, long-term, high-precision autonomous attitude determination, and autonomy Strong, good concealment, low cost, can be widely used in many fields such as underwater detectors, aircraft, missiles, spacecraft, etc. Background technique [0002] In order to meet the urgent needs of space-based ground observation, precision weapon strikes, space and underwater exploration and development, various spacecraft and underwater detectors must have autonomous operation and management capabilities, and high-precision autonomous attitude determination is spacecraft autonomous The core technology bottleneck of operation and management. Since the atomic spin effect can be used to simultaneously achieve ultra-high-precision inertial and magnetic field measurement in the st...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C19/58G01C25/00
Inventor 全伟吕琳房建成龙华保陈熙刘翔吴双卿
Owner BEIHANG UNIV
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