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

An acceleration sensor, single-axis acceleration technology, applied in the direction of measuring devices, measuring angles, instruments, etc., can solve the problems of elevation angle error, error, affecting the accuracy of magnetic heading angle measurement, etc.

Active Publication Date: 2015-06-10
NAT ASTRONOMICAL OBSERVATORIES CHINESE ACAD OF SCI
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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 rol

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

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Embodiment Construction

[0047] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0048] Firstly, the coordinate system and angle definitions used in the calculation are given.

[0049] 1) Geographic coordinate system: such as image 3 As shown, taking the center of gravity O of the carrier as the origin, the positive N-axis points to the geographic north, the E-axis positively points to the geographic east, and the D-axis vertically points to the center of the earth, forming an orthogonal right-handed system with the N-axis and the E-axis.

[0050] O is the origin of the geographic coordinate system and the geomagnetic field coordinate system. The geographic coordinate system ONED is the reference system defined by the attitude angle. Under the simple gravity model, the gravity field points to the cen...

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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 ...

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Application Information

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IPC IPC(8): G01C1/00
CPCG01C21/165
Inventor 胡超艾国祥马利华裴军庞峰李圣明王鹏张杰胡正群王晓岚黄康
Owner NAT ASTRONOMICAL OBSERVATORIES CHINESE ACAD OF SCI
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