A method and device for on-orbit calibration of scale factor

Abstract

The present invention relates to the field of data processing, and specifically to an on-orbit calibration method and device for a scale factor. The present application uses a star sensor to obtain the attitude data of a spacecraft after maneuvering, and converts it into an angular acceleration signal in a test mass coordinate system. Combined with the excitation voltage read out by the inertial sensor, a Kalman filter is constructed to complete the on-orbit calibration of the angular scale factor, and then the on-orbit calibration of the linear scale factor is completed through the conversion relationship between the angular scale factor and the linear scale factor. By considering related factors such as linear acceleration and angular acceleration, the calibration process can more comprehensively consider the motion state of the spacecraft and provide more accurate calibration. During the maneuvering process of calibrating the scale factor, other parameters such as the center of mass offset and stiffness of the spacecraft inertial sensor can be calibrated at the same time. Through the technical solution of the present application, the increase of additional mass can be reduced, unnecessary control complexity can be avoided, the reliability of the system can be improved, and the cost can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of data processing, and in particular to an on-orbit calibration method and device for a scale factor. Background Art

[0002] In previous studies, traditional scale factor calibration methods have been widely used. However, given the unique scientific missions and design structures of spacecraft, those traditional methods can no longer meet the requirements. In recent years, the following two traditional methods are generally used to calibrate the scale factor: First, ignore the effect of non-conservative forces and only use the thrust of the thruster as the only force source to calibrate the scale factor. However, as far as spacecraft are concerned, in the electrostatic suspension mode, non-conservative forces become the main output of inertial sensors, so this influence cannot be ignored. Second, place an attracting mass around the electrode cage and use the gravitational force between the attracting mass and the electrode cage to perform on-orbit calibration. The disadvantage of this method is that it requires additional mass, and it is also necessary to study the control reliability of the movement of the attracting mass position, which increases the cost. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides an on-orbit calibration method and device for a scale factor to solve the problem that the traditional scale factor calibration scheme ignores the effect of non-conservative forces, cannot meet the unique needs of spacecraft, and increases additional mass and control reliability research, thereby increasing costs.

[0004] In a first aspect, an embodiment of the present invention provides an on-orbit calibration method for a scale factor, the method comprising:

[0005] angular acceleration of the spacecraft after the maneuver by a star sensor, wherein the star sensor is arranged on the spacecraft;

[0006] Acquiring an excitation voltage read by the inertial sensor, wherein the excitation voltage is generated by an electrostatic driving force acting on a test mass of the inertial sensor;

[0007] Acquire an actual value of a scale factor of the spacecraft based on the linear acceleration of the spacecraft, the angular acceleration and the excitation voltage;

[0008] The actual value of the scale factor is calibrated to obtain a calibrated scale factor.

[0009] Furthermore, the angular acceleration after the spacecraft maneuvers by the star sensor includes:

[0010] Acquiring an attitude signal detected by the star sensor, wherein the attitude signal is generated by the inertial sensor after the spacecraft maneuvers;

[0011] The attitude signal is analyzed to obtain the angular acceleration of the spacecraft.

[0012] Further, the obtaining the actual value of the scale factor of the spacecraft based on the linear acceleration of the spacecraft, the angular acceleration and the excitation voltage includes:

[0013] Acquire a preset relationship table, wherein the preset relationship table includes a corresponding relationship between a preset linear acceleration, a preset angular acceleration, a preset excitation voltage, and a preset scaling factor;

[0014] Based on the linear acceleration, the angular acceleration and the excitation voltage, a target corresponding relationship is searched from the preset relationship table, and an actual value of the scaling factor is determined based on the target corresponding relationship.

[0015] Further, the actual value of the scale factor includes: an angular scale factor and a linear scale factor;

[0016] The step of calibrating the actual value of the scale factor to obtain the calibrated scale factor includes:

[0017] constructing a Kalman filter using the angular acceleration and the excitation voltage, and calibrating the angular scale factor by using the Kalman filter to obtain a calibrated angular scale factor;

[0018] The calibrated linear scale factor is calculated from the calibrated angular scale factor.

[0019] Further, the step of constructing a Kalman filter using the angular acceleration and the excitation voltage, and calibrating the angular scale factor using the Kalman filter to obtain a calibrated angular scale factor includes:

[0020] constructing a Kalman filter using the angular acceleration and the excitation voltage;

[0021] Acquiring operating parameters of a Kalman filter and determining an update equation of the Kalman filter, wherein the operating parameters include state variables, an initial state estimate, and a covariance matrix;

[0022] Initialize the state variables and covariance matrix of the Kalman filter, and use the initialized state variables and system model to perform predictions to obtain prediction results;

[0023] Comparing the angular acceleration with the prediction result to obtain a comparison result, and calculating the Kalman gain using the comparison result;

[0024] According to the prediction results, the Kalman gain and the update equation, the updated state estimate and the updated covariance matrix are determined, and the measurement update and state update steps are repeated until the convergence condition is met or the specified number of iterations is reached to obtain a calibrated angular scale factor, wherein in each iteration, the angular scale factor is gradually improved according to the newly obtained measurement results and the previous state estimate.

[0025] Further, the calculating the calibrated line scale factor by the calibrated angular scale factor comprises:

[0026] Obtaining the conversion relationship between the angular scale factor and the linear scale factor;

[0027] Calculating a calibrated line scale factor based on the conversion relationship and the calibrated angular scale factor;

[0028] Furthermore, the method further comprises:

[0029] Obtaining a theoretical value of a scale factor of the spacecraft;

[0030] The calibration result is determined by comparing the theoretical value of the scale factor with the actual value.

[0031] In a second aspect, an embodiment of the present invention provides an on-orbit calibration device for a scale factor, the device comprising:

[0032] A detection module, used for detecting the angular acceleration of the spacecraft after the maneuver occurs through a star sensor, wherein the star sensor is arranged on the spacecraft;

[0033] an acquisition module, configured to acquire an excitation voltage read out by the inertial sensor, wherein the excitation voltage is generated by an electrostatic driving force acting on a test mass of the inertial sensor;

[0034] A processing module, configured to obtain an actual value of a scale factor of the spacecraft based on the linear acceleration of the spacecraft, the angular acceleration and the excitation voltage;

[0035] The calibration module is used to calibrate the actual value of the scale factor to obtain the scale factor after the scale factor is calibrated.

[0036] In a third aspect, an embodiment of the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0037] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method of the first aspect or any corresponding embodiment thereof.

[0038] This application uses a star sensor to obtain the attitude data of the spacecraft after maneuvering, and converts it into an angular acceleration signal in the test mass coordinate system. Combined with the excitation voltage read out by the inertial sensor, a Kalman filter is constructed to complete the on-orbit calibration of the angular scale factor, and then the on-orbit calibration of the linear scale factor is completed through the conversion relationship between the angular scale factor and the linear scale factor. By considering related factors such as linear acceleration and angular acceleration, the calibration process can more comprehensively consider the motion state of the spacecraft and provide more accurate calibration. During the maneuvering process of calibrating the scale factor, other parameters such as the center of mass offset and stiffness of the spacecraft inertial sensor can be calibrated at the same time. Through the technical solution of the present application, the increase of additional mass can be reduced, unnecessary control complexity can be avoided, the reliability of the system can be improved, and costs can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 is a flow chart of an on-orbit calibration method of a scale factor according to some embodiments of the present invention;

[0041] Figure 2 is a schematic diagram of electrode distribution of a sensitive structure of an inertial sensor according to an embodiment of the present invention;

[0042] Figure 3 is a schematic diagram of the excitation voltage corresponding to the three-axis angular acceleration according to some embodiments of the present invention;

[0043] Figure 4 is a schematic diagram of a star sensor reading a satellite angular acceleration signal according to some embodiments of the present invention;

[0044] Figure 5 is a schematic diagram of an angular scale factor estimated by Kalman filtering according to some embodiments of the present invention;

[0045] Figure 6 is a schematic diagram comparing the angular acceleration measurement values ​​of a star sensor and the inertial sensor readout values ​​after the Kalman filter estimates the scaling factor according to some embodiments of the present invention;

[0046] Figure 7 is a structural block diagram of an on-orbit calibration device for a scale factor according to an embodiment of the present invention;

[0047] Figure 8 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0049] According to an embodiment of the present invention, a method and apparatus for in-orbit calibration of a scale factor are provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0050] In this embodiment, a method for on-orbit calibration of a scale factor is provided. Figure 1 FIG. 1 is a flow chart of an on-orbit calibration method of a scale factor according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0051] Step S11, measuring the angular acceleration of the spacecraft after the maneuver occurs through a star sensor, wherein the star sensor is arranged on the spacecraft.

[0052] The spacecraft in the embodiment of the present application is the Taiji-3 satellite. Since the Taiji-3 satellite cannot use the earth's magnetic field to drive the magnetic torquer, the environmental noise it faces also needs to be reconsidered. In terms of accuracy requirements, the acceleration noise index of the Taiji-3 satellite is 10 -15 ms -2 / Hz 1 / 2 The magnitude is much higher than Tai Chi No. 1 3 10 -9 ms -2 / / Hz 1 / 2 The on-orbit calibration accuracy of the scale factor is required to be less than 0.04%; Taiji-3 adopts a new design layout, with two inertial sensor systems on each satellite, and the electrode distribution of each inertial sensor sensitive structure is different from that of other satellites, such as Figure 2 Therefore, the present application provides an on-orbit parameter calibration scheme for the Taiji-3 inertial sensor.

[0053] In an embodiment of the present application, the angular velocity and angular acceleration of the spacecraft after the maneuver is performed by the inertial sensor, including: acquiring an attitude signal detected by a star sensor, wherein the attitude signal is generated by the inertial sensor after the spacecraft maneuvers; and analyzing the attitude signal to obtain the angular acceleration of the spacecraft.

[0054] When the spacecraft maneuvers, the star sensor can detect the attitude information of the spacecraft relative to the inertial space, including the attitude angle and attitude angular velocity of the spacecraft. By analyzing the attitude signal detected by the star sensor, the linear acceleration and angular acceleration of the spacecraft can be obtained. Specifically, the process of analyzing the attitude signal to obtain the linear acceleration and angular acceleration can be divided into the following steps: Step 1, pre-process the attitude signal detected by the star sensor to remove the influence of factors such as noise and interference. Step 2, use appropriate mathematical algorithms and models to process the pre-processed attitude signal. For example, algorithms such as Kalman filtering or extended Kalman filtering can be used to filter and estimate the attitude signal. Step 3, by analyzing the filtered and estimated attitude signal, the angular acceleration of the spacecraft is obtained. This process can be achieved by integrating or differentiating the attitude signal.

[0055] It should be noted that the Taiji Project plans to have three satellites form an equilateral triangle gravitational wave detection constellation orbiting the sun at an orbit of about 50 million kilometers from the earth. Due to the long distance from the earth, the earth's magnetic field cannot be used to drive the magnetic torquer, so three sets of microthrusters are used to drive a single satellite. The thrust range of the microthruster is 2 to 100 micronewtons, with a thrust resolution of 0.1 micronewtons. According to the law of rigid body rotation, it can generate a torque of about 10 to the negative 6th power Newton-meter to 10 to the negative 4th power Newton-meter.

[0056] Step S12, obtaining an excitation voltage read out by the inertial sensor, wherein the excitation voltage is generated by an electrostatic driving force acting on a test mass of the inertial sensor.

[0057] In an embodiment of the present application, the test mass in the inertial sensor is a key component, which is subject to an external electrostatic driving force. This electrostatic driving force is generated by an excitation voltage and is related to the structure and design of the sensor. The inertial sensor is correctly connected to the corresponding circuit or system and ensures that the sensor can be powered normally. This usually involves connecting the power line and the signal line. Set an appropriate excitation voltage value according to the requirements of the sensor. This excitation voltage can be provided by an external power supply or controller. When setting the excitation voltage, it is necessary to follow the specifications and operating guidelines of the sensor, ensure that the voltage value is within the appropriate range, and use appropriate measuring equipment or interfaces to read the excitation voltage output by the inertial sensor.

[0058] Figure 3It is a schematic diagram of the excitation voltage corresponding to the three-axis angular acceleration. Figure 4 This is a schematic diagram of the corresponding star sensor reading the satellite angular acceleration signal. It should be noted that the star sensor is mainly used to determine the attitude information of the satellite relative to the inertial space, so it usually does not directly read the satellite angular acceleration signal. Correspondingly, inertial sensors are used to measure the six-degree-of-freedom inertial information of the satellite, including the angular acceleration and linear acceleration of the three axes, but their signal output is usually an analog voltage signal, rather than directly giving angle or velocity information.

[0059] Step S13, obtaining the actual value of the scale factor of the spacecraft based on the linear acceleration, angular acceleration and excitation voltage of the spacecraft.

[0060] In an embodiment of the present application, the actual value of the scale factor of the spacecraft is calibrated based on the linear acceleration, angular acceleration and excitation voltage, including: obtaining a preset relationship table, wherein the preset relationship table includes the correspondence between the preset linear acceleration, the preset angular acceleration and the preset excitation voltage and the preset scale factor; querying the hit target correspondence from the preset relationship table based on the linear acceleration, the angular acceleration and the excitation voltage, and determining the actual value of the scale factor based on the target correspondence.

[0061] Specifically, first, a preset relationship table needs to be obtained, which contains the corresponding relationship between the preset linear acceleration, the preset angular acceleration, the preset excitation voltage and the preset scale factor. This relationship table is established in advance according to the test quality and the distribution of the sensing electrodes, as shown in Table 1:

[0062]

[0063] Table 1 - Preset relationship table

[0064] After obtaining the preset relationship table, match the current linear acceleration, angular acceleration and excitation voltage with the data in the table. The hit target correspondence is determined by searching the preset relationship table for the closest match to the given linear acceleration, angular acceleration and excitation voltage. According to the hit target correspondence, the corresponding preset scale factor value can be determined. This preset scale factor value can be regarded as an estimated value of the scale factor under the current linear acceleration, angular acceleration and excitation voltage conditions, that is, the actual value. By obtaining the preset relationship table and querying it, the actual value of the scale factor can be determined based on the linear acceleration, angular acceleration and excitation voltage, thereby realizing calibration of the device or system.

[0065] Step S14, calibrating the actual value of the scale factor to obtain a calibrated scale factor.

[0066] In the embodiment of the present application, the actual value of the scale factor includes: an angular scale factor and a linear scale factor.

[0067] In the embodiment of the present application, the actual value of the scale factor is calibrated to obtain the scale factor after the scale factor calibration, including the following steps A1-A2:

[0068] Step A1: construct a Kalman filter using the angular acceleration and the excitation voltage, and calibrate the angular scale factor through the Kalman filter to obtain a calibrated angular scale factor.

[0069] In the embodiment of the present application, a Kalman filter is constructed using angular acceleration and excitation voltage, and the angular scale factor is calibrated by the Kalman filter to obtain a calibrated angular scale factor, including:

[0070] ①Construct a Kalman filter using angular acceleration and excitation voltage.

[0071] Among them, the standard form of the Kalman filter is as follows:

[0072]

[0073]

[0074] is the state transfer matrix in the prediction process, is the gain of input U, W is the estimated process noise, and V is the measurement noise. Among them, the measured value Y is the estimated value X,

[0075] The observation matrix is:

[0076] .

[0077] Because the scale factor has no dynamic characteristics , .

[0078] ② Obtain the working parameters of the Kalman filter and determine the Kalman filter update equation, where the working parameters include state variables, initial state estimates and covariance matrix.

[0079] The covariance matrix is: In the Kalman filter, the state variable is a variable that describes the state of the system. The role of the state variable is to provide information about the current state of the system for prediction and estimation. The next state of the system can be calculated by the information of the current state and the dynamic model of the system. The initial state estimate is an estimate of the initial state of the system. It provides the initial conditions when the Kalman filter starts working, which helps to initialize the filter and speed up the convergence. Usually, the initial state estimate can be estimated based on the prior knowledge of the system. The covariance matrix describes the uncertainty of the state variables in the actual system. The role of the covariance matrix is ​​to measure the changes in the state variables and take these changes into account when updating the state estimate in the filter so that the real state can be approximated as accurately as possible after the update.

[0080] ④ Initialize the state variables and covariance matrix of the Kalman filter, and use the initialized state variables and system model to make predictions to obtain the prediction results.

[0081] First, the state variables include angular acceleration, angular velocity, etc. When initializing the state variables, their initial values ​​need to be specified. These initial values ​​can be determined based on prior knowledge of the system, initial measurements, or other reasonable assumptions. At the same time, the covariance matrix is ​​used to describe the uncertainty of the state variables. It represents the correlation between different state variables and their degree of uncertainty. When initializing the covariance matrix, its initial values ​​need to be specified. These initial values ​​can be determined based on factors such as the estimation of system uncertainty and the statistical characteristics of measurement errors.

[0082] Using the initialized state variables and system model, the state at the next moment can be predicted. The system model is a mathematical equation or function that describes the dynamic characteristics of the system. By substituting the current state variables into the system model, the predicted value at the next moment can be calculated. The prediction result is an estimate of the future state of the system, which is based on the current state and the prediction of the system model. After the prediction calculation, the prediction result is obtained. These prediction results are estimates of the possible state of the system at the next moment.

[0083] ⑤ Compare the angular acceleration with the predicted result to obtain a comparison result, and use the comparison result to calculate the Kalman gain.

[0084] The Kalman gain is:

[0085]

[0086] ⑥ Determine the updated state estimate and the updated covariance matrix according to the prediction results, Kalman gain and update equation, repeat the measurement update and state update steps until the convergence condition is met or the specified number of iterations is reached, and obtain the calibrated angular scale factor, wherein in each iteration, the angular scale factor is gradually improved according to the newly obtained measurement results and the previous state estimate.

[0087] In the embodiment of the present application, the angle scale factor is obtained after performing Kalman filter estimation. Figure 5 The angular scale factor is given by The corresponding angular scale factors of the calibration results are recorded in Table 2:

[0088]

[0089] Table 2 - Comparison of true value and calibration result of angular scale factor

[0090] Using the short-period maneuver of the satellite (the maneuver duration is 8000s), we obtained the inertial sensor The calibration results of the angular scale factors of the axes are 0.005%, 0.029%, and 0.020% respectively. According to the calibration results, the voltage combination of the angular acceleration of the inertial sensor is converted into an angular acceleration signal, and this signal is compared with the readout signal of the star sensor. The results are as follows Figure 6 , the two have a high degree of consistency.

[0091] Step A2, calculating the calibrated line scale factor by using the calibrated angle scale factor.

[0092] In an embodiment of the present application, calculating a calibrated line scale factor by using a calibrated angle scale factor includes: obtaining a conversion relationship between the angle scale factor and the line scale factor; calculating the calibrated line scale factor based on the conversion relationship and the calibrated angle scale factor;

[0093] The conversion relationship between the angular scale factor and the linear scale factor is as follows:

[0094]

[0095] The corresponding line scale factors are recorded as follows:

[0096]

[0097] Table 3 - Comparison of true value of line scale factor and calibration result

[0098] The linear scale factor calibration results of the inertial sensor x, y, and z axes have relative accuracies of 0.020%, 0.005%, and 0.029%, respectively.

[0099] In the embodiment of the present application, angular acceleration and excitation voltage are used as inputs to construct a Kalman filter. The angular acceleration information is processed by the Kalman filter to calibrate the angular scale factor. The calibrated angular scale factor is used to calculate the calibrated line scale factor through a specific algorithm or formula. The calibrated angular scale factor is combined with the line scale factor to construct a calibrated scale factor.

[0100] It should be noted that the Kalman filter is a linear optimal estimator that helps improve the accuracy of angular scale factor calibration. It combines measurement data and prior information to estimate the true angular scale factor in an optimal way. By using information such as angular acceleration and excitation voltage, the Kalman filter can adjust and correct the angular scale factor in real time, thereby improving the measurement accuracy of the inertial measurement unit. The calibrated angular scale factor can be used to calculate the calibrated linear scale factor. This helps to ensure the accuracy of linear velocity measurement and provide more reliable results in applications where linear velocity estimation is required. This method establishes the relationship between the angular scale factor and the linear scale factor, so that the measurement results are consistent between different physical quantities. Finally, a calibrated scale factor is constructed based on the calibrated angular scale factor and the calibrated linear scale factor, providing a unified scale factor. This helps to maintain uniformity throughout the system, making the conversion and calculation between different measurement quantities more accurate and reliable. The calibrated scale factor can be used in subsequent signal processing, navigation or control algorithms to improve the performance and accuracy of the system.

[0101] Based on this, the present application improves the accuracy and precision of scale factor calibration, thereby improving the measurement quality of the inertial measurement unit. A consistency relationship between the angular scale factor and the linear scale factor is established, so that the measurement results of different physical quantities are interrelated and reliable. A unified scale factor is provided for the system, which is convenient for subsequent signal processing and application use.

[0102] The method provided in the embodiment of the present application can obtain the acceleration and angular velocity of the spacecraft after the maneuver through the star sensor, and detect the excitation voltage in combination with the inertial sensor to calculate the actual value of the scale factor during the calibration of the center of mass offset of the spacecraft, so as to ensure that the spacecraft meets the unique needs and high-precision calibration requirements. Among them, the steps of using the star sensor to obtain the linear acceleration and angular acceleration of the spacecraft after the maneuver, and calculating and calibrating the actual value of the scale factor during the calibration of the center of mass offset of the spacecraft based on the data solve the problem of ignoring the effect of non-conservative forces in the traditional scale factor calibration scheme. By combining relevant factors such as linear acceleration and angular acceleration, the calibration process can more comprehensively consider the motion state of the spacecraft and provide more accurate calibration. Through the technical solution of the present application, the increase of additional mass can be reduced, unnecessary control complexity can be avoided, the reliability of the system can be improved, and the cost can be reduced.

[0103] In an embodiment of the present application, the method further includes: obtaining a theoretical value of a scale factor of the spacecraft; and comparing the theoretical value of the scale factor with an actual value to determine a calibration result.

[0104] Specifically, the theoretical values ​​of each axial acceleration / angular acceleration of the test mass block can be calculated by the following formula:

[0105]

[0106]

[0107]

[0108]

[0109]

[0110] In the formula, , For vertical Counting of induction electrodes on the surface of the electrode cage in the axial direction, are the moments of inertia of the test mass along the x, y, and z axes, respectively. is the displacement vector used to define the torque.

[0111] Combining the above formulas with Table 1, the expressions of the scale factors are as follows:

[0112]

[0113]

[0114] In the formula, represents the vacuum dielectric constant, represents the area of ​​the sensing electrode on the surface of the electrode cage perpendicular to the i-axis, Represents the distance between the sensing electrode and the test mass block along the i-axis direction.

[0115] According to the expressions of each scale factor, the theoretical value of the six-degree-of-freedom scale factor can be calculated. Due to the influence of launch and on-orbit conditions, the scale factor will change, so it is necessary to recalibrate using the attitude signal measured by the star sensor and the voltage readout of the inertial sensor.

[0116] In this embodiment, an on-orbit calibration device for a scale factor is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0117] This embodiment provides an on-orbit calibration device for a scale factor, such as Figure 7 As shown, including:

[0118] A detection module 91 is used for detecting the angular acceleration of the spacecraft after the maneuver occurs through a star sensor, wherein the star sensor is arranged on the spacecraft;

[0119] An acquisition module 92 is used to acquire an excitation voltage read out by the inertial sensor, wherein the excitation voltage is generated by an electrostatic driving force acting on a test mass of the inertial sensor;

[0120] A processing module 93, configured to obtain an actual value of a scale factor of the spacecraft based on the linear acceleration, angular acceleration and excitation voltage of the spacecraft;

[0121] The calibration module 94 is used to calibrate the actual value of the scale factor to obtain a calibrated scale factor.

[0122] In the embodiment of the present application, the detection module 91 is used to obtain the attitude signal detected by the star sensor, wherein the attitude signal is generated by the inertial sensor after the spacecraft maneuvers; and the angular acceleration of the spacecraft is obtained by analyzing the attitude signal.

[0123] In an embodiment of the present application, the processing module 93 is used to obtain a preset relationship table, wherein the preset relationship table includes the correspondence between the preset linear acceleration, the preset angular acceleration, the preset excitation voltage and the preset scale factor; based on the linear acceleration, the angular acceleration and the excitation voltage, the hit target correspondence is queried from the preset relationship table, and the actual value of the scale factor is determined based on the target correspondence.

[0124] In the embodiment of the present application, the actual value of the scale factor includes: an angular scale factor and a linear scale factor;

[0125] In the embodiment of the present application, the calibration module 84 is used to construct a Kalman filter using angular acceleration and excitation voltage, and calibrate the angular scale factor through the Kalman filter to obtain a calibrated angular scale factor; and calculate the calibrated line scale factor through the calibrated angular scale factor.

[0126] In an embodiment of the present application, a calibration module 94 is used to construct a Kalman filter using the angular acceleration and the excitation voltage; obtain the working parameters of the Kalman filter, and determine the Kalman filter update equation, wherein the working parameters include state variables, an initial state estimate and a covariance matrix; initialize the state variables and the covariance matrix of the Kalman filter, and use the initialized state variables and the system model to make predictions to obtain prediction results; compare the angular acceleration with the prediction results to obtain a comparison result, and use the comparison result to calculate the Kalman gain; determine the updated state estimate value and the updated covariance matrix based on the prediction result, the Kalman gain and the update equation, repeat the measurement update and state update steps until the convergence condition is met or the specified number of iterations is reached, and obtain the calibrated angular scale factor, wherein in each iteration, the angular scale factor is gradually improved based on the newly obtained measurement result and the previous state estimate value.

[0127] In the embodiment of the present application, the calibration module 94 is used to obtain the conversion relationship between the angular scale factor and the line scale factor; and calculate the calibrated line scale factor based on the conversion relationship and the calibrated angular scale factor;

[0128] In an embodiment of the present application, the device also includes: a verification module, used to obtain a theoretical value of a scale factor of the spacecraft; and compare the theoretical value of the scale factor with an actual value to determine a calibration result.

[0129] See also Figure 8 , Figure 8 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 8 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0130] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0131] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0132] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of a computer device based on the presentation of a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0133] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0134] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0135] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0136] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An on-orbit calibration method for a scale factor, characterized in that: The method comprises: angular acceleration of the spacecraft after a maneuver by a star sensor, wherein the star sensor is disposed on the spacecraft; Acquiring an excitation voltage read out by an inertial sensor, wherein the excitation voltage is generated by an electrostatic driving force acting on a test mass of the inertial sensor; Acquire an actual value of a scale factor of the spacecraft based on the linear acceleration of the spacecraft, the angular acceleration and the excitation voltage; Calibrate the actual value of the scale factor to obtain the calibrated scale factor; the actual value of the scale factor includes: an angular scale factor and a linear scale factor; The calibrating the actual value of the scale factor to obtain the scale factor after the scale factor is calibrated includes: constructing a Kalman filter using the angular acceleration and the excitation voltage, and calibrating the angular scale factor through the Kalman filter to obtain the calibrated angular scale factor; calculating the calibrated line scale factor through the calibrated angular scale factor; The method of constructing a Kalman filter using the angular acceleration and the excitation voltage, and calibrating the angular scale factor through the Kalman filter to obtain a calibrated angular scale factor includes: constructing a Kalman filter using the angular acceleration and the excitation voltage; obtaining working parameters of the Kalman filter, and determining an update equation of the Kalman filter, wherein the working parameters include state variables, an initial state estimate, and a covariance matrix; initializing the state variables and the covariance matrix of the Kalman filter, and using the initialized state variables and the system model to perform prediction to obtain a prediction result; comparing the angular acceleration with the prediction result to obtain a comparison result, and using the comparison result to calculate the Kalman gain; determining an updated state estimate value and an updated covariance matrix according to the prediction result, the Kalman gain, and the update equation, repeating the measurement update and state update steps until a convergence condition is met or a specified number of iterations is reached, and obtaining a calibrated angular scale factor, wherein in each iteration, the angular scale factor is gradually improved according to the newly obtained measurement result and the previous state estimate value.

2. The method according to claim 1, characterized in that The angular acceleration of the spacecraft after the maneuver by the star sensor includes: Acquiring an attitude signal detected by the star sensor, wherein the attitude signal is generated by the inertial sensor after the spacecraft maneuvers; The attitude signal is analyzed to obtain the angular acceleration of the spacecraft.

3. The method according to claim 1, characterized in that The obtaining the actual value of the scale factor of the spacecraft based on the linear acceleration of the spacecraft, the angular acceleration and the excitation voltage comprises: Acquire a preset relationship table, wherein the preset relationship table includes a corresponding relationship between a preset linear acceleration, a preset angular acceleration, a preset excitation voltage, and a preset scaling factor; Based on the linear acceleration, the angular acceleration and the excitation voltage, a target corresponding relationship is searched from the preset relationship table, and an actual value of the scaling factor is determined based on the target corresponding relationship.

4. The method according to claim 1, characterized in that: The step of calculating the calibrated line scale factor by using the calibrated angular scale factor comprises: A conversion relationship between the angular scale factor and the linear scale factor is obtained, and a calibrated linear scale factor is calculated based on the conversion relationship and the calibrated angular scale factor.

5. The method according to claim 1, characterized in that The method further comprises: Obtaining a theoretical value of a scale factor of the spacecraft; The calibration result is determined by comparing the theoretical value of the scale factor with the actual value.

6. An on-orbit calibration device for a scale factor, characterized in that: The device comprises: A detection module, used for detecting the angular acceleration of the spacecraft after the maneuver occurs through a star sensor, wherein the star sensor is arranged on the spacecraft; An acquisition module, configured to acquire an excitation voltage read out by an inertial sensor, wherein the excitation voltage is generated by an electrostatic driving force acting on a test mass of the inertial sensor; A processing module, configured to obtain an actual value of a scale factor of the spacecraft based on the linear acceleration of the spacecraft, the angular acceleration and the excitation voltage; A calibration module, used for calibrating the actual value of the scale factor to obtain the scale factor after the scale factor is calibrated; the actual value of the scale factor includes: an angular scale factor and a linear scale factor; The calibration module is used to construct a Kalman filter using the angular acceleration and the excitation voltage, and calibrate the angular scale factor through the Kalman filter to obtain a calibrated angular scale factor; and calculate a calibrated linear scale factor through the calibrated angular scale factor; The calibration module is used to construct a Kalman filter using the angular acceleration and the excitation voltage; obtain the working parameters of the Kalman filter, and determine the Kalman filter update equation, wherein the working parameters include state variables, initial state estimates and covariance matrix; initialize the state variables and covariance matrix of the Kalman filter, and use the initialized state variables and the system model to predict and obtain prediction results; compare the angular acceleration with the prediction results to obtain comparison results, and use the comparison results to calculate the Kalman gain; determine the updated state estimate value and the updated covariance matrix according to the prediction results, the Kalman gain and the update equation, repeat the measurement update and state update steps until the convergence condition is met or the specified number of iterations is reached, and obtain the calibrated angular scale factor, wherein in each iteration, the angular scale factor is gradually improved according to the newly obtained measurement results and the previous state estimate value.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 5.

Images