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A fusion method of star-sensing and gyroscope data suitable for attitude maneuvering conditions

A technology of attitude maneuvering and data fusion, which can be used in combined navigators, navigation calculation tools, etc., can solve the problem of inaccurate attitude estimation, achieve good engineering operability, simple algorithm principle, and avoid the linearization requirements of Kalman filtering.

Active Publication Date: 2021-01-29
SHANGHAI AEROSPACE CONTROL TECH INST
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method suitable for fusion of star sensor and gyroscope data under any attitude maneuvering situation, and solve the problem of inaccurate attitude estimation during the attitude period of the existing extended Kalman filter algorithm

Method used

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  • A fusion method of star-sensing and gyroscope data suitable for attitude maneuvering conditions
  • A fusion method of star-sensing and gyroscope data suitable for attitude maneuvering conditions
  • A fusion method of star-sensing and gyroscope data suitable for attitude maneuvering conditions

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Embodiment Construction

[0017] The method of the present invention will be further described in detail in conjunction with examples below.

[0018] First: Based on the principle of least squares, determine the star-sensitive measurement gain coefficient K xm

[0019]

[0020] Among them, σ tl is the gyro integral attitude white noise, σ xm Measure attitude white noise for Xingmin.

[0021] Description: σ tl and σ xm It can be estimated online based on measurement data, or can be determined by betting on the ground.

[0022] Specifically: if the current beat of the gyroscope fails, it can be regarded as σ tl →∞, at this time K xm = 1; similarly, if Xingmin’s current beat fails, it can be regarded as σ xm →∞, at this time K xm =0

[0023] Second: Estimate the attitude based on the upper beat and the current gyroscope measured angular velocity One-step recursion to get the current shooting posture

[0024]

[0025] in: for The norm of , Φ is the Euler axis rotation angle, fo...

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Abstract

The invention relates to a data fusion method for star sensors and gyroscopes suitable for attitude maneuvering conditions. Based on the least square principle, the star sensor measurement gain coefficient is determined; based on the estimated attitude of the previous beat and the current gyroscope measured angular velocity, the current beat is obtained by one-step recursion. Attitude: Fusion of star-min measurement attitude data and gyroscope recursive attitude data. The invention adopts the least square method to fuse the star-sensing data and the gyro integral data, utilizes the characteristic of the gyro integral attitude noise to improve the attitude estimation accuracy, utilizes the characteristic of the star-sensing measurement value to keep the attitude from diverging, and solves the problem of the existing extended Cal Mann filter algorithm inaccurate attitude estimation during attitude maneuvers.

Description

technical field [0001] The invention relates to a data fusion method between a star sensor (hereinafter referred to as "star sensor") and a gyroscope of a spacecraft attitude and orbit control system. Background technique [0002] Kalman filtering is one of the most commonly used algorithms in information fusion algorithms, and it is mainly used for real-time fusion of dynamic multi-sensor redundant data. The main point is to correct the uncertainty of the model by means of measurement, overcome the discreteness of measurement with the continuity of the model, and suppress the uncertainty of the model with the certainty of measurement. When the state equation and the measurement equation of the system are both linear and the system noise and sensor measurement noise are both Gaussian white noise, the application of the classical Kalman filter algorithm can provide the only statistically optimal estimate for the fused data. After the data is fused with the Kalman filter, the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/24
CPCG01C21/20G01C21/24
Inventor 叶立军丰保民朱虹尹海宁任家栋
Owner SHANGHAI AEROSPACE CONTROL TECH INST
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