Accelerometer initial attitude calculation method under microgravity field

Abstract

The invention relates to an accelerometer initial attitude calculation method in a microgravity field. Three known external forces determined under a navigation coordinate system are applied to a carrier with a to-be-measured attitude, all-directional components of the three forces on a triaxial accelerometer are measured, a pitch angle, a roll angle and a yaw angle are obtained through rotation matrix calculation, and an all-attitude angle of the carrier is jointly formed. The method is suitable for space and other microgravity field environments, is low in cost, is simple in algorithm design, is high in speed, and achieves the accurate measurement of the initial attitude parameters of the carrier in a microgravity field.

Description

technical field [0001] The invention relates to an aircraft control technology, in particular to a method for calculating an initial attitude of an accelerometer under a microgravity field. Background technique [0002] Determine the initial pose of the object, that is, determine the orientation relationship between the carrier coordinate system and the navigation coordinate system when the object is in the initial state. [0003] In the study of object motion in microgravity field, it is very necessary to determine the initial attitude of the object. In the microgravity field of space, many aerospace vehicles need the initial attitude as the premise input, so as to further control their motion system. [0004] Under the general gravitational field conditions, the existing technology mainly has the following two methods: [0005] (1) In the paper "Design and Implementation of Quadrotor Attitude and Heading Reference System", the author Jiang Qiang determined the initial pi...

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Problems solved by technology

[0007] However, the traditional measurement method based on the accelerometer cannot be applied to the microgravity field, and the attitude angle obtained by the solution is incomplete and lacks the yaw angle; while the attitude sensor such as the gyroscope has high requirements on the working environment such as temperature, and the data is in a long-term working environment. Afterwards, drift will occur, resulting in a decrease in measurement accuracy, and it is not suitable for space environments

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