Multi-sensor-based micro-satellite attitude determination method

A micro-satellite and method-determining technology, which is applied to instruments, measuring devices, surveying and mapping, and navigation, and can solve problems such as large amount of calculation, divergence, and slow convergence

Inactive Publication Date: 2018-07-13
BEIJING MXTRONICS CORP +1
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Problems solved by technology

However, from the principle of extended Kalman filtering, it can be found that it has a better filtering effect on weak nonlinear systems; when the nonlinearity of the system is relatively strong, there may be multiple extreme points, which may easily lead to slow convergence or even divergence. And the amount of calculation is large

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[0086] Such as figure 1 As shown, it is the basic principle diagram of the attitude determination method based on multiple sensors in the present invention. MEMS gyro is selected as the main attitude sensor, and the magnetometer and sun sensor are used as the auxiliary attitude sensors. An improved federated filtering algorithm is designed to perform Attitude calculation and information fusion.

[0087] Such as figure 2 The basic principle diagram of the improved federated filtering algorithm in the present invention shows that the improved federated filtering algorithm in the present invention is mainly composed of two sub-filters S1, S2 and a main filter M1, and adopts a fusion-feedback structure. The sub-filter S1 completes the measurement update of the magnetometer, and the sub-filter S2 completes the measurement update of the sun sensor; while in the main filter, the MEMS gyro angular velocity integration, state prediction, data fusion and final attitude determination r...

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Abstract

The invention relates to a multi-sensor-based micro-satellite attitude determination method, which determines the attitude of a micro-satellite by using a MEMS gyro, a magnetometer and a sun sensor asattitude determination sensors based on an improved federated filtering algorithm. According to the present invention, the application background of the micro-satellite is fully considered, and the sensors with advantages of low cost, small volume, low power consumption and the like are selected as the attitude sensors, wherein the MEMS gyro is used as the main attitude sensor, the initial attitude determination information is obtained through integral, and the magnetometer and the sun sensor are used as the auxiliary attitude sensors to timely correct the attitude determination result of theMEMS gyros; and the improved federated filtering algorithm is provided, and achieves the attitude calculation and information fusion based on the sensors, such that the attitude determination precision of the micro-satellite attitude determination system is effectively improved, and the advantages of excellent good fault tolerance, good real-time performance and the like are provided.

Description

technical field [0001] The invention relates to a method for determining the attitude of a tiny satellite. Background technique [0002] Attitude Determination and Control System (ADCS) is one of the prerequisites for the normal operation of micro-satellites. [0003] Currently commonly used satellite attitude sensors include gyroscopes, star sensors, sun sensors, and magnetometers. Among them, the gyroscope is the most commonly used as an inertial sensor, and the satellite attitude can be solved by integral. Traditional high-precision gyroscopes are not suitable for micro-satellites due to their high price and high power consumption; MEMS gyroscopes have advantages in terms of size, power consumption, and cost, but their accuracy is not ideal, with large drift and error accumulation over time. shortcoming. Solving the attitude determination accuracy of the micro-satellite attitude determination system based on MEMS sensors is the current primary task. The magnetometer d...

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Application Information

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IPC IPC(8): G01C21/24G01C21/00
CPCG01C21/005G01C21/24
Inventor 倪枫韩逸飞李文杰刘肖姬陈路
Owner BEIJING MXTRONICS CORP
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