Single-axis accelerometer based attitude measurement system and attitude measurement method thereof

Abstract

The invention relates to a single-axis accelerometer and three-axis magnetic field sensor based attitude measurement system and an attitude measurement method thereof. The system includes: an accelerometer, a three-axis magnetic field sensor, a GNSS module and a data processing module. The accelerometer is a Z axial direction single-axis accelerometer in orthogonal arrangement with a forward shaft and used for measuring gravitational acceleration component so as to obtain the triangle relationship between a ground carrier's roll angle and pitch angle. The data processing module is used for acquiring geomagnetic field model, geomagnetic inclination information and magnetic declination information according to a position information look-up table, and combining the triangle relationship between the ground carrier's roll angle and pitch angle and the three component arrays of a geomagnetic field under a carrier coordinate system to finally work out a course angle, the pitch angle and the roll angle. The new attitude measurement method provided by the invention can realize exact calculation of the carrier attitude angle under a carrier stationary or low speed moving state, can reduce a measurement amount, and avoids introduction of more measurement noise.

Description

technical field [0001] The present invention relates to carrier attitude measurement technology, in particular to an attitude measurement system and attitude measurement method based on a single-axis acceleration sensor and a three-axis magnetic field sensor, and is especially suitable for low-speed motions such as communication between satellites at rest and rapid deployment (no speed per hour). More than 20km) in-vehicle satellite communication and other fields. Background technique [0002] Due to its wide coverage and stable signal quality, satellite communication can provide seamless communication services for ground fixed, ground mobile, aviation and maritime users. According to the "Interim Measures for the Administration of the Installation and Use of Mobile Platform Earth Stations in Fixed Satellite Service Communication Networks" (hereinafter referred to as the "Measures") issued by the Radio Management Bureau of the Ministry of Industry and Information Technology ...

AI Technical Summary

Problems solved by technology

During the working process of this type of attitude measurement module, a small forward acceleration will cause a large elevation angle error, for example: 1m s -2 The forward acceleration will cause a pitch angle error of about 5.7°, which will reduce the accuracy of roll angle measurement and ultimately greatly affect the accuracy of magnetic heading angle measurement.

At the same time, the two-axis acceleration sensor introduces two measurement noises, which will have a certain impact on the measurement accuracy of the inclination angle.

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