Data processing method and device based on satellite gyroscope

Abstract

The present application provides a data processing method and device based on a satellite gyroscope, wherein the data processing method based on a satellite gyroscope includes: receiving the original measurement value of the gyroscope, and determining the installation matrix of the gyro measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion of the inertial system corresponding to the star sensor to the current measurement system; obtaining the previous quaternion estimate and the previous zero-position estimate; calculating the initial current quaternion estimate according to the original measurement value, the previous quaternion estimate, the previous zero-position estimate and the installation matrix; determining the deviation quaternion measurement error according to the initial current quaternion estimate and the attitude quaternion; updating the initial current quaternion estimate and the previous zero-position estimate according to the deviation quaternion measurement error and preset filtering parameters, and obtaining the current quaternion estimate and the current zero-position estimate. This method improves the zero-position estimation accuracy and attitude control accuracy of the gyroscope.

Description

Technical Field

[0001] The present application relates to the field of MEMS gyroscope technology, and in particular to a data processing method based on a satellite gyroscope. The present application also relates to a data processing device based on a satellite gyroscope, a computing device, a computer-readable storage medium, and a computer program product. Background Art

[0002] The MEMS gyroscope is a satellite angular velocity measurement sensor. Its main function is to provide angular velocity information for the satellite. It has the advantages of low cost, small size, and light weight. However, due to the manufacturing process and other reasons, its measurement accuracy is relatively low. The star sensor is a satellite attitude measurement sensor. It confirms the current position of the satellite by collecting star maps. Due to the temperature change on orbit, the optical axis of the star sensor will produce a certain measurement deviation, which has a great impact on the measurement accuracy of the star sensor. Therefore, a data processing method is urgently needed to improve the measurement accuracy of the star sensor. Summary of the invention

[0003] In view of this, the embodiment of the present application provides a data processing method based on a satellite gyroscope. The present application also relates to a data processing device based on a satellite gyroscope, a computing device, a computer-readable storage medium and a computer program product to solve the above problems existing in the prior art.

[0004] According to a first aspect of an embodiment of the present application, a data processing method based on a satellite gyroscope is provided, comprising:

[0005] Receive the original measurement value of the gyroscope, and determine the installation matrix of the gyro measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion of the inertial system corresponding to the star sensor to the current measurement system;

[0006] Get the last quaternary estimate and the last zero-bit estimate;

[0007] calculating an initial current quaternion estimate based on the original measurement, the previous quaternion estimate, the previous null estimate, and the installation matrix;

[0008] Determining a deviation quaternion measurement error based on the initial current quaternion estimate and the attitude quaternion;

[0009] The initial current quaternion estimation value and the previous zero-bit estimation value are updated according to the deviation quaternion measurement error and the preset filtering parameters to obtain a current quaternion estimation value and a current zero-bit estimation value.

[0010] According to a second aspect of an embodiment of the present application, there is provided a data processing device based on a satellite gyroscope, comprising:

[0011] A receiving module is configured to receive the original measurement value of the gyroscope, and determine the installation matrix of the gyroscope measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion of the inertial system corresponding to the star sensor to the current measurement system;

[0012] An acquisition module configured to acquire a previous quaternary estimate and a previous zero-bit estimate;

[0013] a calculation module configured to calculate an initial current quaternion estimate based on the original measurement value, the previous quaternion estimate, the previous zero-bit estimate, and the installation matrix;

[0014] a determination module configured to determine a deviation quaternion measurement error based on the initial current quaternion estimate and the attitude quaternion;

[0015] The updating module is configured to update the initial current quaternion estimation value and the previous zero-bit estimation value according to the deviation quaternion measurement error and the preset filtering parameters to obtain the current quaternion estimation value and the current zero-bit estimation value.

[0016] According to a third aspect of an embodiment of the present application, a computing device is provided, including:

[0017] Memory and processor;

[0018] The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above-mentioned data processing method based on the satellite gyroscope are implemented.

[0019] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program / instruction, and when the computer program / instruction is executed by a processor, the steps of the above-mentioned satellite gyroscope-based data processing method are implemented.

[0020] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, comprising a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned satellite gyroscope-based data processing method.

[0021] The data processing method based on the satellite gyroscope provided in the present application receives the original measurement value of the gyroscope, and determines the installation matrix from the gyro measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion from the inertial system corresponding to the star sensor to the current measurement system; obtains the previous quaternion estimation value and the previous zero-position estimation value; calculates the initial current quaternion estimation value according to the original measurement value, the previous quaternion estimation value, the previous zero-position estimation value and the installation matrix; determines the deviation quaternion measurement error according to the initial current quaternion estimation value and the attitude quaternion; updates the initial current quaternion estimation value and the previous zero-position estimation value according to the deviation quaternion measurement error and preset filtering parameters to obtain the current quaternion estimation value and the current zero-position estimation value.

[0022] By using the method provided in the embodiment of the present application, the error quaternion measured by the star sensor and the zero position deviation of the MEMS gyro are used as state variables, and the extended Kalman filter algorithm is used to filter the attitude data measured by the star sensor and the angular velocity data measured by the gyro. By iteratively optimizing the error influence of the star sensor and the gyro, the gyro zero position estimation value and the star quaternion estimation value are obtained. By using the method provided in the embodiment of the present application, the zero position estimation accuracy of the gyro reaches 0.001° / s, and the attitude control accuracy can reach 0.01°. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a flow chart of a data processing method based on a satellite gyroscope provided in one embodiment of the present application;

[0024] Figure 2 It is a processing flow chart of a data processing method for a satellite gyroscope for performing zero bias correction, provided in one embodiment of the present application;

[0025] Figure 3 It is a structural schematic diagram of a data processing device based on a satellite gyroscope provided in one embodiment of the present application;

[0026] Figure 4 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0028] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0029] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0030] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards in the relevant regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0031] First, the terms involved in one or more embodiments of the present application are explained.

[0032] MEMS gyroscope: Satellite angular velocity measurement sensor is an inertial sensor based on micro-electromechanical system technology, mainly used to measure and control the angular velocity and angle of an object.

[0033] Star sensor: A high-precision space attitude measurement device that uses stars as a reference system. It detects stars at different positions on the celestial sphere and performs calculations to provide accurate space orientation and reference for aerospace vehicles.

[0034] The MEMS gyroscope is a satellite angular velocity measurement sensor, and its main function is to provide angular velocity information for the satellite. It has the advantages of low cost, small size, and light weight. However, due to reasons such as the manufacturing process, its measurement accuracy is relatively low. The star sensor is a satellite attitude measurement sensor that confirms the current position of the satellite by collecting star maps. Due to temperature changes on orbit, the optical axis of the star sensor will produce a certain measurement deviation, which has a great impact on the measurement accuracy of the star sensor. The present application provides a method for zero bias correction of a MEMS gyroscope.

[0035] In the present application, a data processing method based on a satellite gyroscope is provided. The present application also relates to a data processing device based on a satellite gyroscope, a computing device, a computer-readable storage medium and a computer program product, which are described in detail one by one in the following embodiments.

[0036] Figure 1 A flow chart of a data processing method based on a satellite gyroscope provided according to an embodiment of the present application is shown, which specifically includes the following steps:

[0037] Step 102: receiving the original measurement value of the gyroscope, and determining the installation matrix from the gyro measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion from the inertial system corresponding to the star sensor to the current measurement system.

[0038] The data processing method provided in the embodiment of the present application uses the error quaternion measured by the star sensor and the zero position deviation of the MEMS gyro as state variables, and uses the EKF (Extended Kalman Filter Algorithm) to filter the attitude data measured by the star sensor and the angular velocity data measured by the gyro, and performs feedback, and optimizes the error influence of the star sensor and the gyro through iteration. Thus, the gyro zero position estimation value and the star sensor quaternion estimation value are obtained. Therefore, the estimation accuracy of the gyro zero position and the attitude control accuracy are improved through this method.

[0039] The method provided by the present application first receives the original measurement value of the gyroscope, and simultaneously determines the installation matrix and attitude quaternion corresponding to the gyroscope.

[0040] The original measurement value is specifically the actual measurement value of the MEMS gyroscope. In the embodiment provided in the present application, Represents the original measurement value.

[0041] In the implementation scheme provided in the present application, the installation matrix of the gyro measurement system to the current measurement system (also referred to as the current system) is used The installation matrix is ​​a mathematical matrix that describes the installation direction and position relationship of the gyro measurement system (usually installed on a satellite, aircraft or other carrier) relative to the local system (i.e. the carrier's own coordinate system). The installation matrix is ​​crucial for accurately converting gyro measurement data to the local system.

[0042] In the embodiment provided in the present application, the attitude quaternion of the star sensor corresponding to the inertial system to the current measurement system is expressed as A star sensor is a high-precision attitude measurement device that uses stars as natural calibration points and determines the attitude of a carrier (such as a satellite, aircraft, etc.) relative to an inertial coordinate system (usually a celestial coordinate system or an inertial reference system) by observing the position of stars in the star sensor's field of view. The calculated attitude is usually expressed in the form of a quaternion. The attitude quaternion from the inertial system to the local system represents the rotation relationship between the carrier's body coordinate system and the inertial coordinate system.

[0043] Specifically, if we know the coordinates of a star in the inertial coordinate system and the observed coordinates of the star under the star sensor, we can then use the measurement data of the star sensor to solve the rotation quaternion between these two coordinate systems.

[0044] In the method provided in the embodiment of the present application, in order to correct the gyro's zero bias, the original measurement value of the gyro must first be obtained. , installation matrix from gyro measurement system to current measurement system , the attitude quaternion of the star sensor corresponding to the inertial system to the current measurement system .

[0045] Step 104: Obtain the last quaternion estimate and the last zero-bit estimate.

[0046] Among them, the previous quaternion estimation value and the previous zero-position estimation value are the estimation values ​​of the previous shot in the process of zero bias correction of the gyroscope. In the method provided in the embodiment of the present application, they need to be processed by iterative optimization. Therefore, it is necessary to use the quaternion estimation value and zero-position estimation value of the previous round to predict the quaternion estimation value and zero-position estimation value of the current round.

[0047] In this embodiment, the last four-element estimate is used Indicates that the previous zero estimate is expressed as If the current round is the first prediction, the last quaternion estimate is the attitude quaternion from the inertial system of the star sensor to the current measurement system, that is, = In the case of the first prediction, there is no need to obtain the previous zero estimate.

[0048] That is, if the current round is the first prediction, the current quaternion estimate and the current zero-position estimate of the current round can be predicted using the attitude quaternion. If the current round is not the first prediction, the previous quaternion estimate and the previous zero-position estimate of the previous round are used for prediction to obtain the current quaternion estimate and the current zero-position estimate.

[0049] Step 106: Calculate an initial current quaternion estimate based on the original measurement value, the previous quaternion estimate, the previous zero-bit estimate and the installation matrix.

[0050] Getting the original measurement , the previous four-element estimate , the previous zero estimate and installation matrix After that, you can make a preliminary estimate of the quaternion estimate and calculate the initial current quaternion estimate. It should be noted that the initial current quaternion estimate at this time is not the final quaternion estimate, and it needs to be adjusted in the subsequent processing.

[0051] In a specific implementation provided in the present application, the initial current quaternion estimate is calculated according to the original measurement value, the previous quaternion estimate, the previous zero position estimate and the installation matrix, including S1062-S1066:

[0052] S1062. Calculate an angular velocity estimate according to the original measurement value, the installation matrix, and the previous zero-position estimate.

[0053] In the method provided in the embodiment of the present application, the estimated value of the inertial angular velocity is first calculated. , calculating an angular velocity estimate according to the original measurement value, the installation matrix and the last zero position estimate, comprising:

[0054] Determine a current measurement estimate value according to the original measurement value and the previous zero-bit estimate value;

[0055] An angular velocity estimate is determined based on the current measurement estimate and the installation matrix.

[0056] Specifically, the angular velocity estimate is calculated based on the original measurement value, the installation matrix and the last zero position estimate. See the following formula 1:

[0057] Formula 1

[0058] in, is the current measurement estimate, which represents the actual measurement data of the gyroscope. is the original measurement value, The current measurement estimate can be calculated by subtracting the previous zero-bit estimate from the original measurement value. The purpose is to subtract the previous zero-bit estimate from the actual measurement data to obtain the current measurement estimate.

[0059] Getting the current measurement estimate After that, you can further install the matrix Calculate angular velocity estimate .

[0060] S1064: Determine the attitude quaternion change corresponding to the angular velocity estimation value.

[0061] After calculating the angular velocity estimate, the attitude quaternion change corresponding to the angular velocity estimate can be further calculated. In practical applications, the attitude quaternion change further includes component information in three directions.

[0062] In a specific implementation provided in the present application, determining the attitude quaternion change corresponding to the angular velocity estimate value includes:

[0063] Determine the angular velocity three-axis component values ​​and the Euler axis rotation angle corresponding to the angular velocity estimate value;

[0064] Determine three-axis component weights according to the three-axis component values ​​of the angular velocity and the angular velocity estimation value;

[0065] The attitude quaternion change is determined according to the three-axis component weights and the Euler axis rotation angles.

[0066] First, the corresponding three-axis component values ​​and Euler axis rotation angles are calculated based on the estimated angular velocity. The three-axis component values ​​usually refer to the projection or components of the object's rotational angular velocity on three mutually perpendicular axes (usually the X-axis, Y-axis, and Z-axis) in three-dimensional space. These components can be used to fully describe the rotation state of the object in three-dimensional space. For details, see the following formula 2:

[0067] Formula 2

[0068] in, for The second norm, the three-axis component values ​​can be calculated by the above formula 2 , , .

[0069] In addition, determining the Euler axis rotation angle corresponding to the angular velocity estimate value includes:

[0070] Determining an angular velocity second norm corresponding to the angular velocity estimate;

[0071] The Euler axis rotation angle is determined according to the second norm of the angular velocity and the system control duration.

[0072] Euler axis rotation is a way to describe the rotation of a rigid body in three-dimensional space. This method is based on a fixed reference coordinate system and defines a rotation axis and an angle around the axis. It is a common way to represent three-dimensional rotation. For details, see the following formula 3:

[0073] Formula 3

[0074] in, is the Euler axis rotation, for The second norm, is the system control duration. Generally, the system control duration is the system control period. In the method provided in the embodiment of the present application, the period is set to 0.5 seconds.

[0075] The three-axis component values ​​can be calculated by the above formula 2, and the Euler axis rotation angle can be calculated by the above formula 3. That is, the three-axis component weights can be determined according to the three-axis component values ​​of the angular velocity and the angular velocity estimation value, and the attitude quaternion change can be determined according to the three-axis component weights and the Euler axis rotation angle.

[0076] In a specific implementation provided in the present application, the three-axis component values ​​of the angular velocity include a first angular velocity component, a second angular velocity component, and a third angular velocity component;

[0077] Determining three-axis component weights according to the three-axis component values ​​of the angular velocity and the angular velocity estimation value includes:

[0078] Determining an angular velocity second norm corresponding to the angular velocity estimate;

[0079] Determine a first component weight according to the first angular velocity component and the second norm of the angular velocity;

[0080] Determine a second component weight according to the second component of the angular velocity and the second norm of the angular velocity;

[0081] A third component weight is determined according to the third angular velocity component and the second norm of the angular velocity.

[0082] The component weights corresponding to the angular velocity components can be calculated using the angular velocity second norm corresponding to the angular velocity estimation value and each angular velocity component. See the following formula 4:

[0083] Formula 4

[0084] Among them, the first component of angular velocity is , the second component of angular velocity is and the third component of angular velocity is , for Two norm. is the first component weight, is the second component weight, is the third component weight.

[0085] Finally, the attitude quaternion change corresponding to the angular velocity estimate is calculated based on the weights of each component and the Euler axis rotation, see the following formula 5:

[0086] Formula 5

[0087] in, That is the change in attitude quaternion.

[0088] S1066: Determine an initial current quaternion estimation value according to the previous quaternion estimation value and the attitude quaternion change.

[0089] When the change in the attitude quaternion is determined, the initial current quaternion estimation value can be calculated and determined by combining the previous quaternion estimation value. For details, see the following formula 6:

[0090] Formula 6

[0091] in, represents the initial current quaternion estimate, is the previous quaternary estimate, is the change of attitude quaternion.

[0092] Step 108: Determine the deviation quaternion measurement error based on the initial current quaternion estimate and the attitude quaternion.

[0093] Bias quaternion measurement error is used to evaluate the difference between the quaternion representation of attitude or orientation2 and the true value. Quaternion, as a mathematical tool, is widely used to represent rotation in three-dimensional space. However, in practical applications, due to measurement errors, calculation errors or modeling errors, the calculation results of quaternions may have certain deviations.

[0094] In a specific implementation provided in the present application, determining the deviation quaternion measurement error according to the initial current quaternion estimate and the attitude quaternion includes:

[0095] Determining an error quaternion based on the initial current quaternion estimate and the attitude quaternion;

[0096] Obtaining scalar information and vector information of the error quaternion;

[0097] A deviation quaternion measurement error is calculated based on the scalar information and the vector information.

[0098] In the implementation manner provided in the present application, the error quaternion is determined according to the initial current quaternion estimation value and the attitude quaternion. Specifically, see the following formula 7:

[0099] Formula 7

[0100] in, It is the error quaternion, which is used to represent the difference between two quaternions. is the initial current quaternion estimate, is the attitude quaternion.

[0101] The following formula 8 constructs the measurement equation of the error quaternion:

[0102] Formula 8

[0103] in, is the deviation quaternion measurement error, is the error quaternion The scalar part of , , is the error quaternion The vector part of .

[0104] Step 110: Update the initial current quaternion estimation value and the previous zero-bit estimation value according to the deviation quaternion measurement error and preset filtering parameters to obtain a current quaternion estimation value and a current zero-bit estimation value.

[0105] After the deviation quaternion measurement error is determined, the initial current quaternion estimation value and the previous zero-position estimation value can be updated in combination with the deviation quaternion measurement error and preset filtering parameters to obtain the current quaternion estimation value and the current zero-position estimation value.

[0106] In a specific implementation manner provided in the present application, the initial current quaternion estimation value and the previous zero-position estimation value are updated according to the deviation quaternion measurement error and the preset filtering parameter to obtain the current quaternion estimation value and the current zero-position estimation value, including:

[0107] Obtaining a first filtering parameter and a second filtering parameter from the preset filtering parameters;

[0108] Determine a quaternion estimation value update parameter according to the first filtering parameter and the deviation quaternion measurement error, and determine a zero position estimation value update parameter according to the second filtering parameter, the deviation quaternion measurement error and the installation matrix;

[0109] A current quaternion estimation value is determined according to the quaternion estimation value update parameter and the initial current quaternion estimation value, and a current zero-bit estimation value is determined according to the zero-bit estimation value update parameter and the previous zero-bit estimation value.

[0110] In practical applications, the preset filtering parameters are divided into first filtering parameters and second filtering parameters, the first filtering parameters are used to generate update information of the quaternion estimation value, and the second filtering parameters are used to generate update information of the zero-bit estimation value.

[0111] Specifically, refer to the following formula 9, which shows a method for calculating a quaternion estimation value update parameter provided in an embodiment of the present application.

[0112] Formula 9

[0113] in, That is, the update parameter for the quaternion estimate, , and is the first filtering parameter, is the deviation quaternion measurement error.

[0114] Refer to the following formula 10, which shows the calculation method of the zero-bit estimate value update parameter provided by an embodiment of the present application.

[0115] Formula 10

[0116] in, That is, update the parameters for the zero-bit estimate, is the deviation quaternion measurement error, To install the matrix, , , is the second filtering parameter.

[0117] Through the above formula 9 and formula 10, the quaternary estimation value update parameter and the zero-bit estimation value update parameter can be calculated respectively. Then, the initial current quaternary estimation value and the previous zero-bit estimation value are updated using the quaternary estimation value update parameter and the zero-bit estimation value update parameter respectively to generate the current quaternary estimation value and the current zero-bit estimation value. Specifically, refer to the following formula 11 and formula 12, wherein formula 11 is to update the initial current quaternary estimation value according to the quaternary estimation value update parameter, and formula 12 is to update the previous zero-bit estimation value according to the zero-bit estimation value update parameter:

[0118] Formula 11

[0119] Formula 12

[0120] in, is the current quaternion estimate, Update parameters for the quaternion estimate, is the initial current quaternion estimate. is the current zero position estimate, is the previous zero estimate, Update parameters for the null estimate.

[0121] By using the method provided in the embodiment of the present application, the error quaternion measured by the star sensor and the zero position deviation of the MEMS gyro are used as state variables, and the extended Kalman filter algorithm is used to filter the attitude data measured by the star sensor and the angular velocity data measured by the gyro. By iteratively optimizing the error influence of the star sensor and the gyro, the gyro zero position estimation value and the star quaternion estimation value are obtained. By using the method provided in the embodiment of the present application, the zero position estimation accuracy of the gyro reaches 0.001° / s, and the attitude control accuracy can reach 0.01°.

[0122] The following combination Figure 2 Taking the application of the satellite gyroscope-based data processing method provided by the present application in gyro bias correction as an example, the satellite gyroscope-based data processing method is further described. Figure 2 A processing flow chart of a data processing method for a satellite gyroscope for performing zero bias correction is shown in an embodiment of the present application, which specifically includes the following steps:

[0123] Step 202: receiving the original measurement value of the gyroscope, and determining the installation matrix from the gyro measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion from the inertial system corresponding to the star sensor to the current measurement system.

[0124] Step 204: Obtain the last quaternion estimate and the last zero-bit estimate.

[0125] Step 206: Determine the current measurement estimate value according to the original measurement value and the previous zero-bit estimate value; determine the angular velocity estimate value according to the current measurement estimate value and the installation matrix.

[0126] Step 208: Determine the three-axis component values ​​of the angular velocity and the Euler axis rotation angles corresponding to the angular velocity estimation value.

[0127] Step 210: Determine the weights of the three-axis components according to the three-axis component values ​​of the angular velocity and the estimated value of the angular velocity; determine the change in the attitude quaternion according to the three-axis component weights and the Euler axis rotation.

[0128] Step 212: Determine the initial current quaternion estimation value according to the previous quaternion estimation value and the attitude quaternion change.

[0129] Step 214: Determine the error quaternion based on the initial current quaternion estimate and the attitude quaternion.

[0130] Step 216: Obtain scalar information and vector information of the error quaternion; calculate the deviation quaternion measurement error based on the scalar information and vector information.

[0131] Step 218: Obtain a first filtering parameter and a second filtering parameter from among the preset filtering parameters.

[0132] Step 220: Determine the quaternion estimation value update parameter according to the first filtering parameter and the deviation quaternion measurement error, and determine the zero position estimation value update parameter according to the second filtering parameter, the deviation quaternion measurement error and the installation matrix.

[0133] Step 222: Determine the current quaternary estimate value according to the quaternary estimate value update parameter and the initial current quaternary estimate value, and determine the current zero-bit estimate value according to the zero-bit estimate value update parameter and the previous zero-bit estimate value.

[0134] By using the method provided in the embodiment of the present application, the error quaternion measured by the star sensor and the zero position deviation of the MEMS gyro are used as state variables, and the extended Kalman filter algorithm is used to filter the attitude data measured by the star sensor and the angular velocity data measured by the gyro. By iteratively optimizing the error influence of the star sensor and the gyro, the gyro zero position estimation value and the star quaternion estimation value are obtained. By using the method provided in the embodiment of the present application, the zero position estimation accuracy of the gyro reaches 0.001° / s, and the attitude control accuracy can reach 0.01°.

[0135] Corresponding to the above method embodiment, the present application also provides an embodiment of a data processing device based on a satellite gyroscope, Figure 3 FIG. 2 shows a schematic diagram of a data processing device based on a satellite gyroscope provided in an embodiment of the present application. Figure 3 As shown, the device comprises:

[0136] The receiving module 302 is configured to receive the original measurement value of the gyroscope, and determine the installation matrix of the gyroscope measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion of the inertial system corresponding to the star sensor to the current measurement system;

[0137] An acquisition module 304 is configured to acquire a previous quaternary estimation value and a previous zero-bit estimation value;

[0138] A calculation module 306, configured to calculate an initial current quaternion estimate based on the original measurement value, the previous quaternion estimate, the previous zero position estimate and the installation matrix;

[0139] A determination module 308, configured to determine a deviation quaternion measurement error based on the initial current quaternion estimate and the attitude quaternion;

[0140] The updating module 310 is configured to update the initial current quaternion estimation value and the previous zero-bit estimation value according to the deviation quaternion measurement error and the preset filtering parameters to obtain a current quaternion estimation value and a current zero-bit estimation value.

[0141] Optionally, the calculation module 306 is further configured to:

[0142] Calculate an angular velocity estimate based on the original measurement, the installation matrix and the last zero estimate;

[0143] Determine the attitude quaternion change corresponding to the angular velocity estimate;

[0144] An initial current quaternion estimation value is determined according to the previous quaternion estimation value and the attitude quaternion change.

[0145] Optionally, the calculation module 306 is further configured to:

[0146] Determine a current measurement estimate value according to the original measurement value and the previous zero-bit estimate value;

[0147] An angular velocity estimate is determined based on the current measurement estimate and the installation matrix.

[0148] Optionally, the calculation module 306 is further configured to:

[0149] Determine the angular velocity three-axis component values ​​and the Euler axis rotation angle corresponding to the angular velocity estimate value;

[0150] Determine three-axis component weights according to the three-axis component values ​​of the angular velocity and the angular velocity estimation value;

[0151] The attitude quaternion change is determined according to the three-axis component weights and the Euler axis rotation angles.

[0152] Optionally, the calculation module 306 is further configured to:

[0153] Determining an angular velocity second norm corresponding to the angular velocity estimate;

[0154] The Euler axis rotation angle is determined according to the second norm of the angular velocity and the system control duration.

[0155] Optionally, the three-axis component values ​​of the angular velocity include a first angular velocity component, a second angular velocity component and a third angular velocity component;

[0156] The calculation module 306 is further configured to:

[0157] Determining an angular velocity second norm corresponding to the angular velocity estimate;

[0158] Determine a first component weight according to the first angular velocity component and the second norm of the angular velocity;

[0159] Determine a second component weight according to the second component of the angular velocity and the second norm of the angular velocity;

[0160] A third component weight is determined according to the third angular velocity component and the second norm of the angular velocity.

[0161] Optionally, the determining module 308 is further configured to:

[0162] Determining an error quaternion based on the initial current quaternion estimate and the attitude quaternion;

[0163] Obtaining scalar information and vector information of the error quaternion;

[0164] A deviation quaternion measurement error is calculated based on the scalar information and the vector information.

[0165] Optionally, the updating module 310 is further configured to:

[0166] Obtaining a first filtering parameter and a second filtering parameter from the preset filtering parameters;

[0167] Determine a quaternion estimation value update parameter according to the first filtering parameter and the deviation quaternion measurement error, and determine a zero position estimation value update parameter according to the second filtering parameter, the deviation quaternion measurement error and the installation matrix;

[0168] A current quaternion estimation value is determined according to the quaternion estimation value update parameter and the initial current quaternion estimation value, and a current zero-bit estimation value is determined according to the zero-bit estimation value update parameter and the previous zero-bit estimation value.

[0169] Through the device provided in the embodiment of the present application, the error quaternion measured by the star sensor and the zero position deviation of the MEMS gyro are used as state variables, and the extended Kalman filter algorithm is used to filter the attitude data measured by the star sensor and the angular velocity data measured by the gyro. By iteratively optimizing the error influence of the star sensor and the gyro, the gyro zero position estimation value and the star quaternion estimation value are obtained. Through the method provided in the embodiment of the present application, the zero position estimation accuracy of the gyro reaches 0.001° / s, and the attitude control accuracy can reach 0.01°.

[0170] The above is a schematic scheme of a data processing device based on a satellite gyroscope in this embodiment. It should be noted that the technical scheme of the data processing device based on the satellite gyroscope and the technical scheme of the data processing method based on the satellite gyroscope belong to the same concept, and the details not described in detail in the technical scheme of the data processing device based on the satellite gyroscope can be referred to the description of the technical scheme of the data processing method based on the satellite gyroscope.

[0171] Figure 4 The block diagram of a computing device 400 according to an embodiment of the present application is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0172] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0173] In one embodiment of the present application, the above components of the computing device 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0174] The computing device 400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 400 may also be a mobile or stationary server.

[0175] The processor 420 is used to execute the following computer program / instruction, which implements the steps of the above-mentioned satellite gyroscope-based data processing method when executed by the processor.

[0176] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the data processing method based on the satellite gyroscope are of the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the data processing method based on the satellite gyroscope.

[0177] An embodiment of the present specification further provides a computer-readable storage medium storing a computer program / instruction. When the computer program / instruction is executed by a processor, the steps of the above-mentioned satellite gyroscope-based data processing method are implemented.

[0178] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the data processing method based on the satellite gyroscope are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the data processing method based on the satellite gyroscope.

[0179] An embodiment of the present specification also provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned satellite gyroscope-based data processing method when executed by a processor.

[0180] The above is a schematic scheme of a computer program product of this embodiment. It should be noted that the technical scheme of the computer program product and the technical scheme of the data processing method based on the satellite gyroscope are of the same concept, and the details not described in detail in the technical scheme of the computer program product can be referred to the description of the technical scheme of the data processing method based on the satellite gyroscope.

[0181] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0182] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0183] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0184] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0185] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A data processing method based on a satellite gyroscope, characterized in that: include: Receive the original measurement value of the gyroscope, and determine the installation matrix of the gyro measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion of the inertial system corresponding to the star sensor to the current measurement system; Get the last quaternary estimate and the last zero-bit estimate; Determine a current measurement estimate according to the original measurement value and the previous zero-position estimate; determine an angular velocity estimate according to the current measurement estimate and the installation matrix; determine a change in attitude quaternion corresponding to the angular velocity estimate; determine an initial current quaternion estimate according to the previous quaternion estimate and the change in attitude quaternion; Determining a deviation quaternion measurement error based on the initial current quaternion estimate and the attitude quaternion; The initial current quaternion estimation value and the previous zero-bit estimation value are updated according to the deviation quaternion measurement error and the preset filtering parameters to obtain a current quaternion estimation value and a current zero-bit estimation value.

2. The method according to claim 1, characterized in that Determining a change in attitude quaternion corresponding to the angular velocity estimate includes: Determine the angular velocity three-axis component values ​​and the Euler axis rotation angle corresponding to the angular velocity estimate value; Determine three-axis component weights according to the three-axis component values ​​of the angular velocity and the angular velocity estimation value; The attitude quaternion change is determined according to the three-axis component weights and the Euler axis rotation angles.

3. The method according to claim 2, characterized in that Determining the Euler axis rotation angle corresponding to the angular velocity estimate value includes: Determining an angular velocity second norm corresponding to the angular velocity estimate; The Euler axis rotation angle is determined according to the second norm of the angular velocity and the system control duration.

4. The method according to claim 2, characterized in that The three-axis component values ​​of the angular velocity include a first angular velocity component, a second angular velocity component and a third angular velocity component; Determining three-axis component weights according to the three-axis component values ​​of the angular velocity and the angular velocity estimation value includes: Determining an angular velocity second norm corresponding to the angular velocity estimate; Determine a first component weight according to the first angular velocity component and the second norm of the angular velocity; Determine a second component weight according to the second component of the angular velocity and the second norm of the angular velocity; A third component weight is determined according to the third angular velocity component and the second norm of the angular velocity.

5. The method according to claim 1, characterized in that Determining a deviation quaternion measurement error according to the initial current quaternion estimate and the attitude quaternion includes: Determining an error quaternion based on the initial current quaternion estimate and the attitude quaternion; Obtaining scalar information and vector information of the error quaternion; A deviation quaternion measurement error is calculated based on the scalar information and the vector information.

6. The method according to claim 1, characterized in that The method of updating the initial current quaternion estimation value and the previous zero-bit estimation value according to the deviation quaternion measurement error and the preset filtering parameter to obtain the current quaternion estimation value and the current zero-bit estimation value comprises: Obtaining a first filtering parameter and a second filtering parameter from the preset filtering parameters; Determine a quaternion estimation value update parameter according to the first filtering parameter and the deviation quaternion measurement error, and determine a zero position estimation value update parameter according to the second filtering parameter, the deviation quaternion measurement error and the installation matrix; A current quaternion estimation value is determined according to the quaternion estimation value update parameter and the initial current quaternion estimation value, and a current zero-bit estimation value is determined according to the zero-bit estimation value update parameter and the previous zero-bit estimation value.

7. A data processing device based on a satellite gyroscope, characterized in that: include: A receiving module is configured to receive the original measurement value of the gyroscope, and determine the installation matrix of the gyroscope measurement system corresponding to the gyroscope to the current measurement system, and the attitude quaternion of the inertial system corresponding to the star sensor to the current measurement system; An acquisition module configured to acquire a previous quaternary estimate and a previous zero-bit estimate; A calculation module is configured to determine a current measurement estimate according to the original measurement value and the previous zero-position estimate; determine an angular velocity estimate according to the current measurement estimate and the installation matrix; determine a change in attitude quaternion corresponding to the angular velocity estimate; and determine an initial current quaternion estimate according to the previous quaternion estimate and the attitude quaternion change; a determination module configured to determine a deviation quaternion measurement error based on the initial current quaternion estimate and the attitude quaternion; The updating module is configured to update the initial current quaternion estimation value and the previous zero-bit estimation value according to the deviation quaternion measurement error and the preset filtering parameters to obtain the current quaternion estimation value and the current zero-bit estimation value.

8. A computing device, characterized in that include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer program / instructions are executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing a computer program / instruction, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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