Satellite acceleration sensor calibration method and acceleration sensor

Abstract

The invention relates to the technical field of accelerometer calibration, in particular to a satellite acceleration sensor calibration method and an acceleration sensor. The method comprises the following steps: acquiring acceleration data of a single-axis quartz accelerometer and three-axis acceleration data of a satellite; based on the acceleration data of the satellite in the specified time period in the acceleration coordinate axis direction, the satellite position change condition at the current moment and the abnormal threshold value of the acceleration coordinate axis direction at the current moment, judging whether to calibrate the single-axis quartz accelerometer at the current moment; if so, acquiring an acceleration adjustment value of the uniaxial quartz accelerometer; and according to the duration of the specified time period and the acceleration adjustment value, adjusting the abnormal threshold value of each acceleration coordinate axis direction at the current moment, and obtaining an updated abnormal threshold value to continue to calibrate the satellite acceleration sensor. According to the method, the timeliness and the accuracy of calibrating the single-axis quartz accelerometer are effectively improved by acquiring the acceleration adjustment value and updating the abnormal threshold value.

Description

Technical Field

[0001] The present invention relates to the technical field of accelerometer calibration, and in particular to a satellite acceleration sensor calibration method and an acceleration sensor. Background Art

[0002] Satellite accelerometer calibration is crucial for ensuring precise control of aerospace equipment and the validity of scientific data. In the extreme space environment, temperature fluctuations, radiation interference, and prolonged weightlessness can easily cause sensor zero-point drift, sensitivity degradation, and nonlinear distortion, leading to cumulative measurement errors. Regular calibration corrects for device aging errors and verifies range and frequency response characteristics, providing a reliable data foundation for satellite orbit maintenance, attitude adjustments, and space science experiments, while minimizing mission risks associated with sensor failure.

[0003] Currently, a high-precision, three-axis, multi-redundant acceleration system is used to monitor the satellite's motion in real time. This system incorporates multiple single-axis quartz accelerometers and MEMS (Micro-Electro-Mechanical Systems) accelerometers. The single-axis quartz accelerometers provide more accurate acquisition of the satellite's three-axis acceleration data at every moment. Therefore, calibration of these quartz accelerometers is necessary to improve their accuracy and enable more precise satellite control.

[0004] The existing method adjusts the deviation of the uniaxial quartz accelerometer by comparing the acceleration data of different accelerometers. It relies too much on periodic comparison and cannot capture transient errors in real time. At the same time, it does not combine the satellite kinematic model to verify the rationality of the data, resulting in inaccurate and untimely adjustment of the uniaxial quartz accelerometer data, affecting the precise control of satellite motion. Summary of the Invention

[0005] In order to solve the technical problem of inaccurate and timely data adjustment of a uniaxial quartz accelerometer, the present invention aims to provide a satellite acceleration sensor calibration method and an acceleration sensor. The technical solutions adopted are as follows: In a first aspect, an embodiment of the present invention provides a satellite acceleration sensor calibration method, the method comprising the following steps: Acquire the acceleration data of each single-axis quartz accelerometer at each moment and the three-axis acceleration data of the satellite at each moment through a three-axis multi-redundant acceleration combination system; the three-axis acceleration data includes three acceleration coordinate axis directions; Based on the change of the satellite's acceleration data in the specified time period in each acceleration axis direction, the difference between the satellite position at the current moment and the positions of historical satellites in the same orbit, and the anomaly threshold at the current moment in each acceleration axis direction, determine whether to calibrate the uniaxial quartz accelerometer corresponding to each acceleration axis direction at the current moment; If it is determined to calibrate the uniaxial quartz accelerometer corresponding to each acceleration axis direction at the current moment, then based on the difference between the acceleration data of the uniaxial quartz accelerometer corresponding to each acceleration axis direction and the corresponding satellite in its specified time period, the difference between the acceleration data of the corresponding uniaxial quartz accelerometers in their specified time periods, and the difference between the acceleration data of the uniaxial quartz accelerometer corresponding to each acceleration axis direction and the corresponding satellite at the current moment, obtain the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment; According to the duration of the specified time period in each acceleration axis direction and the acceleration adjustment value, adjust the anomaly threshold at the current moment in each acceleration axis direction to obtain an updated anomaly threshold and continue with the calibration of the satellite acceleration sensor.

[0006] Further, the method for determining whether to calibrate the uniaxial quartz accelerometer corresponding to each acceleration axis direction at the current moment is as follows: Based on the change of the satellite's acceleration data in the specified time period in each acceleration axis direction and the difference between the satellite position at the current moment and the positions of historical satellites in the same orbit, obtain the anomaly degree at the current moment in each acceleration axis direction; For any one acceleration axis direction, when the anomaly degree at the current moment in this acceleration axis direction is greater than the anomaly threshold at the current moment in this acceleration axis direction, determine to calibrate the uniaxial quartz accelerometer corresponding to this acceleration axis direction at the current moment; When the anomaly degree at the current moment in this acceleration axis direction is less than or equal to the anomaly threshold at the current moment in this acceleration axis direction, determine not to calibrate the uniaxial quartz accelerometer corresponding to this acceleration axis direction at the current moment.

[0007] Further, the method for obtaining the anomaly degree is as follows: For any one acceleration axis direction, obtain the difference in the satellite's acceleration data between any two adjacent moments in the specified time period in this acceleration axis direction, and all of them are used as the first difference; Take the result of accumulating the difference between each first difference and the mean value of the first differences as the deviation degree at the current moment in this acceleration axis direction; The result of taking the negative correlation of the centroid of the satellite at the current moment with the average of the distances from the centroids of a preset number of historical satellites in the same orbit is used as the normal operation degree of the satellite at the current moment; The result of normalizing the product of the deviation degree and the normal operation degree is used as the anomaly degree of the current moment in the direction of this acceleration coordinate axis.

[0008] Furthermore, the method for obtaining the acceleration adjustment value is as follows: For any direction of the acceleration coordinate axis, when it is determined that the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction is calibrated at the current moment, the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction is used as the target accelerometer; During the specified time period in the direction of this acceleration coordinate axis, according to the difference between each target accelerometer and the acceleration data of the satellite in the direction of this acceleration coordinate axis at each moment, the participation weight of each target accelerometer is obtained; During the specified time period in the direction of this acceleration coordinate axis, according to the difference between each target accelerometer and the acceleration data of each other target accelerometer at each moment, the special degree of each target accelerometer is obtained; The average value of the difference between the acceleration data of each target accelerometer and the acceleration data of the satellite in the direction of this acceleration coordinate axis at the current moment is used as the acceleration adjustment reference value of the current moment in the direction of this acceleration coordinate axis; For any target accelerometer, according to the acceleration adjustment reference value, the participation weight and the special degree of this target accelerometer, the acceleration adjustment value of this target accelerometer at the current moment is obtained; among them, the acceleration adjustment reference value, the participation weight and the special degree are all in a positive correlation with the acceleration adjustment value.

[0009] Furthermore, the method for obtaining the participation weight is as follows: For any target accelerometer, during the specified time period in the direction of this acceleration coordinate axis, the difference between this target accelerometer and the acceleration data of the satellite in the direction of this acceleration coordinate axis at each moment is obtained as the second difference at each moment; When the normalized second difference is less than the preset second difference threshold, the corresponding moment is used as the target moment; The result of normalizing the product of the number of target moments and the negative correlation result of the minimum second difference is used as the participation weight of this target accelerometer.

[0010] Furthermore, the method for obtaining the special degree is as follows: For any target accelerometer, any target accelerometer other than this target accelerometer is used as the specified accelerometer; Obtain the difference in acceleration data between the target accelerometer and the specified accelerometer at each moment within the specified time period in the direction of the acceleration coordinate axis, and use it as the third difference at each moment; When the normalized third difference is greater than the preset third difference threshold, the corresponding moment is taken as a special moment; Normalize the product of the number of special moments and the maximum third difference, and use the result as the acceleration difference degree between the target accelerometer and the specified accelerometer; Normalize the result of adding the acceleration difference degrees between the target accelerometer and each other target accelerometer, and use it as the special degree of the target accelerometer.

[0011] Further, the method for obtaining the updated anomaly threshold is as follows: For any acceleration coordinate axis direction, take the maximum value of the absolute value of the acceleration adjustment value of the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction at the current moment as the first eigenvalue; Normalize the product of the reciprocal of the duration of the specified time period in this acceleration coordinate axis direction and the first eigenvalue, and use it as the anomaly threshold adjustment weight at the current moment in this acceleration coordinate axis direction; Multiply the anomaly threshold at the current moment in this acceleration coordinate axis direction by the product of the negatively correlated result of the anomaly threshold adjustment weight, and use it as the updated anomaly threshold in this acceleration coordinate axis direction.

[0012] Further, the method for obtaining the specified time period is as follows: For any acceleration coordinate axis direction, take the moment when the acceleration data of the satellite in this acceleration coordinate axis direction was last corrected as the reference moment; Take the time period formed by the reference moment and the current moment as the specified time period in this acceleration coordinate axis direction.

[0013] Further, the single-axis quartz accelerometer corresponds to one of the three acceleration coordinate axis directions.

[0014] In a second aspect, another embodiment of the present invention provides an acceleration sensor, including: a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any of the above methods.

[0015] The present invention has the following beneficial effects: The present invention first accurately analyzes the abnormal conditions at the current moment in each acceleration axis direction based on the variation of the acceleration data of the satellite within a specified time period in each acceleration axis direction and the difference between the satellite position at the current moment and the positions of historical satellites in the same orbit. Furthermore, in combination with the abnormal thresholds at the current moment in each acceleration axis direction, it accurately determines whether to calibrate the single-axis quartz accelerometers corresponding to each acceleration axis direction at the current moment, which helps to avoid the situation where the satellite attitude becomes uncontrollable due to excessive measurement errors of the single-axis quartz accelerometers. Further, if it is determined to calibrate the single-axis quartz accelerometers corresponding to each acceleration axis direction at the current moment, then based on the difference between the acceleration data of the single-axis quartz accelerometers corresponding to each acceleration axis direction and the corresponding satellite within their specified time periods and the difference in acceleration data between the corresponding single-axis quartz accelerometers within their specified time periods, it accurately analyzes the adjustment degree of each single-axis quartz accelerometer corresponding to each acceleration axis direction, which is beneficial for subsequent accurate calibration of the single-axis quartz accelerometers. At the same time, through the difference between the acceleration data of the single-axis quartz accelerometers corresponding to each acceleration axis direction and the corresponding satellite at the current moment, it accurately analyzes the reference value for adjusting the acceleration data of the single-axis quartz accelerometers corresponding to each acceleration axis direction at the current moment, thereby accurately obtaining the acceleration adjustment values of each single-axis quartz accelerometer at the current moment and accurately calibrating each single-axis quartz accelerometer at the current moment, enabling accurate analysis of the satellite's moving attitude at the current moment. In order to calibrate the single-axis quartz accelerometers more timely and avoid excessive error measurements of the single-axis quartz accelerometers, then based on the duration of the specified time period and the acceleration adjustment values in each acceleration axis direction, it accurately analyzes the error conditions of the single-axis quartz accelerometers corresponding to each acceleration axis direction at the current moment, which is beneficial for adaptively adjusting the abnormal thresholds at the current moment in each acceleration axis direction, accurately obtaining the updated abnormal thresholds, enabling more accurate and timely calibration of the single-axis quartz accelerometers subsequently, enabling more accurate acquisition of the satellite's moving attitude, and facilitating more precise control of the satellite's motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic flowchart of a method for calibrating a satellite acceleration sensor provided by an embodiment of the present invention; Figure 2Flowchart of a method for obtaining an acceleration adjustment value provided by an embodiment of the present invention; Figure 3 Structural diagram of a satellite acceleration sensor calibration system provided by an embodiment of the present invention; Figure 4 Schematic diagram of a computer device provided by an embodiment of the present invention. Detailed implementation manners

[0018] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following describes in detail a satellite acceleration sensor calibration method and an acceleration sensor proposed according to the present invention, including its specific implementation manners, structures, features, and effects. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0020] The following specifically describes the specific solutions of a satellite acceleration sensor calibration method and an acceleration sensor provided by the present invention with reference to the accompanying drawings.

[0021] Embodiment 1: The present invention proposes a satellite acceleration sensor calibration method. Please refer to Figure 1 , which shows a schematic flowchart of a satellite acceleration sensor calibration method provided by an embodiment of the present invention. The method includes the following steps: Step S1: Obtain the acceleration data of each single-axis quartz accelerometer at each moment and the three-axis acceleration data of the satellite at each moment through a three-axis multi-redundant acceleration combination system; the three-axis acceleration data includes three acceleration coordinate axis directions.

[0022] Specifically, it is known that a three-axis multi-redundant acceleration combination system has high reliability to adapt to the operating environment of a satellite platform. Through the three-axis multi-redundant acceleration combination system, the acceleration data of each single-axis quartz accelerometer at each moment and the three-axis linear acceleration data of the satellite at each moment can be obtained. That is, the acceleration data of the single-axis quartz accelerometer collected is converted into the acceleration data of the overall three-axis quartz accelerometer in three dimensions (X, Y, Z axes) through an attitude transformation matrix, and data interlocking and fusion are performed through multiple MEMS accelerometers in the three-axis multi-redundant acceleration combination system to obtain reliable three-axis linear acceleration data of the satellite at each moment. Among them, the attitude transformation matrix is a well-known technology and will not be elaborated here. It should be noted that the three-axis linear acceleration data includes three acceleration coordinate axis directions, namely the X axis, the Y axis, and the Z axis; the single-axis quartz accelerometer must correspond to one of the three acceleration coordinate axis directions.

[0023] In this embodiment, 4 single-axis quartz accelerometers are set in the three-axis multi-redundant acceleration combination system. The implementer can set the number of single-axis quartz accelerometers according to the actual situation, which is not limited here. In this embodiment, the time interval between two adjacent moments is set to 1 second. The implementer can set the size of the time interval between two adjacent moments according to the actual situation, which is not limited here.

[0024] Step S2: Based on the change of the satellite's acceleration data in the specified time period in each acceleration coordinate axis direction, the difference between the satellite's position at the current moment and the positions of historical satellites in the same orbit, and the anomaly threshold in each acceleration coordinate axis direction at the current moment, determine whether to calibrate the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment.

[0025] Specifically, when the actual change in the satellite's moving attitude is small, but the change in the satellite's moving attitude detected by the three-axis multi-redundant acceleration combination system is large, it indicates that there is a problem with the acceleration data of the single-axis quartz accelerometer. Since a single-axis quartz accelerometer corresponds to only one acceleration coordinate axis direction, in this embodiment, the acceleration data of the satellite in each acceleration coordinate axis direction is analyzed separately, which is conducive to accurately adjusting the acceleration data of the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction in the subsequent process. To calibrate the single-axis quartz accelerometer in real time and accurately, in this embodiment, for any acceleration coordinate axis direction, the moment when the acceleration data of the satellite in this acceleration coordinate axis direction was last corrected, that is, the moment when the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction was last corrected, is used as the reference moment, and the time period formed by the reference moment and the current moment is used as the specified time period in this acceleration coordinate axis direction. It should be noted that if there is no calibration of the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction before the current moment, the time period formed by the current moment and the initial moment is used as the specified time period in this acceleration coordinate axis direction.

[0026] When the change in the acceleration data of the satellite within the specified time period in a certain acceleration coordinate axis direction is greater and the difference between the satellite position at the current moment and the positions of historical satellites in the same orbit is smaller, it indicates that the acceleration data of the satellite in this acceleration coordinate axis direction at the current moment is less accurate, indirectly indicating that the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction needs to be calibrated more at the current moment. Therefore, in this embodiment, based on the change in the acceleration data of the satellite within the specified time period in each acceleration coordinate axis direction and the difference between the satellite position at the current moment and the positions of historical satellites in the same orbit, the abnormal conditions in each acceleration coordinate axis direction at the current moment are analyzed, and then combined with the abnormal threshold in each acceleration coordinate axis direction at the current moment, it is determined whether to calibrate the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment. It should be noted that the abnormal threshold in each acceleration coordinate axis direction at the current moment is known, and the initial abnormal threshold in each acceleration coordinate axis direction is set manually. The implementer can set it according to the actual situation and is not limited here.

[0027] Preferably, in an implementable manner of this embodiment, a method for determining whether to calibrate the single-axis quartz accelerometer corresponding to each acceleration axis direction at the current moment is as follows: First, based on the change in the acceleration data of the satellite within a specified time period in each acceleration axis direction and the difference between the satellite position at the current moment and the positions of historical satellites in the same orbit, obtain the degree of abnormality of each acceleration axis direction at the current moment; the greater the degree of abnormality, the more necessary it is to calibrate the single-axis quartz accelerometer corresponding to the corresponding acceleration axis direction at the current moment; furthermore, for any acceleration axis direction, when the degree of abnormality of the acceleration axis direction at the current moment is greater than the abnormality threshold of the acceleration axis direction at the current moment, it is determined that the single-axis quartz accelerometer corresponding to the acceleration axis direction is calibrated at the current moment; when the degree of abnormality of the acceleration axis direction at the current moment is less than or equal to the abnormality threshold of the acceleration axis direction at the current moment, it is determined that the single-axis quartz accelerometer corresponding to the acceleration axis direction is not calibrated at the current moment.

[0028] Preferably, in an implementable manner of this embodiment, the method for obtaining the degree of abnormality is as follows: For any acceleration axis direction, the absolute value of the difference between the acceleration data of the satellite at any two adjacent moments within a specified time period in the acceleration axis direction is used as the first difference; when the first differences are more different, it indicates that the acceleration data of the acceleration axis direction at the current moment is more abnormal. Furthermore, in this embodiment, the result of accumulating the absolute value of the difference between each first difference and the average value of the first differences is used as the degree of deviation of the acceleration axis direction at the current moment; the greater the degree of deviation, the more abnormal the acceleration data of the satellite in the acceleration axis direction at the current moment. Considering that in actual situations, the movement of the satellite in space shows a periodic stable state. Therefore, when there are no movement problems, the moving positions of the satellite at the same moment in different periods should be the same. Furthermore, in this embodiment, the result of negatively correlating the average value of the Euclidean distances between the centroid of the satellite at the current moment and the centroids of a preset number of historical satellites in the same orbit is used as the normal operation degree of the satellite at the current moment; the greater the normal operation degree, the more normal the actual movement trajectory of the satellite at the current moment; this embodiment performs a negative correlation process on the average value of the Euclidean distances between the centroid of the satellite at the current moment and the centroids of a preset number of historical satellites in the same orbit, where x represents the average value of the Euclidean distances between the centroid of the satellite at the current moment and the centroids of a preset number of historical satellites in the same orbit. In this embodiment, the preset number is set to 5, and the implementer can set the size of the preset number according to actual situations, which is not limited here. Among them, the operating periods of the preset number of historical satellites in the same orbit are adjacent to the operating period at the current moment. The methods for obtaining the Euclidean distance and the centroid are well-known techniques and will not be elaborated here. When both the deviation degree and the normal operation degree are larger, it indicates that the acceleration data of the satellite at the current moment in the direction of this acceleration axis is more abnormal, and the more likely reason for the abnormality is that the acceleration data of the single-axis quartz accelerometer corresponding to this acceleration axis direction is abnormal. Furthermore, in this embodiment, the result of normalizing the product of the deviation degree and the normal operation degree is used as the abnormality degree of the acceleration axis direction at the current moment. In this embodiment, the product of the deviation degree and the normal operation degree is normalized through the norm normalization function.

[0029] Step S3: If it is determined that the single-axis quartz accelerometers corresponding to each acceleration axis direction are calibrated at the current moment, then based on the acceleration data differences between the single-axis quartz accelerometers corresponding to each acceleration axis direction and the corresponding satellite within their specified time periods, the acceleration data differences between the corresponding single-axis quartz accelerometers within their specified time periods, and the acceleration data differences between the single-axis quartz accelerometers corresponding to each acceleration axis direction and the corresponding satellite at the current moment, the acceleration adjustment values of each single-axis quartz accelerometer at the current moment are obtained.

[0030] Specifically, when it is determined that the single-axis quartz accelerometer corresponding to a certain acceleration axis direction is calibrated at the current moment, first analyze the difference situation between the single-axis quartz accelerometer corresponding to this acceleration axis direction and the acceleration data of the satellite within the specified time period in this acceleration axis direction, so as to determine the influence of each single-axis quartz accelerometer corresponding to this acceleration axis direction on the acceleration data of the satellite in this acceleration axis direction, that is, determine the participation degree of the single-axis quartz accelerometer in analyzing the satellite attitude, which is beneficial to accurately adjusting the single-axis quartz accelerometer subsequently; On the other hand, when the acceleration data differences between each single-axis quartz accelerometer corresponding to this acceleration axis direction and each other single-axis quartz accelerometer corresponding to this acceleration axis direction within the specified time period in this acceleration axis direction are larger, it indicates that the acceleration data of the corresponding single-axis quartz accelerometer is more special, indirectly reflecting that the degree of adjustment required for the acceleration data of the corresponding single-axis quartz accelerometer is greater; In order to accurately calibrate each single-axis quartz accelerometer corresponding to this acceleration axis direction, in this embodiment, analyze the difference between the single-axis quartz accelerometer corresponding to this acceleration axis direction and the acceleration data of the satellite in this acceleration axis direction at the current moment, determine the acceleration data reference value for adjusting the single-axis quartz accelerometer corresponding to this acceleration axis direction at the current moment, and on this basis, it is beneficial to accurately obtain the acceleration adjustment values of each single-axis quartz accelerometer corresponding to this acceleration axis direction at the current moment; Furthermore, in this embodiment, according to the acceleration data difference between the single-axis quartz accelerometer corresponding to each acceleration axis direction and the corresponding satellite within its specified time period, the acceleration data difference between the corresponding single-axis quartz accelerometers within their specified time periods, and the acceleration data difference between the single-axis quartz accelerometer corresponding to each acceleration axis direction and the corresponding satellite at the current moment, the acceleration adjustment value of each single-axis quartz accelerometer at the current moment is obtained.

[0031] Preferably, in an implementable manner of this embodiment, for the method of obtaining the acceleration adjustment value, please refer to Figure 2 , which shows a flowchart of a method for obtaining an acceleration adjustment value provided by this embodiment. The method includes the following steps: Step S201: For any acceleration axis direction, when it is determined that the single-axis quartz accelerometer corresponding to the acceleration axis direction is calibrated at the current moment, all the single-axis quartz accelerometers corresponding to the acceleration axis direction are used as the target accelerometers.

[0032] Subsequently, by analyzing the target accelerometers, the calibration process of the single-axis quartz accelerometer can be more clearly explained.

[0033] Step S202: Within the specified time period in the acceleration axis direction, according to the difference between the acceleration data of each target accelerometer and the acceleration data of the satellite in the acceleration axis direction at each moment, the participation weight of each target accelerometer is obtained.

[0034] For any target accelerometer, within the specified time period in the acceleration axis direction, when the acceleration data of the target accelerometer and the acceleration data of the satellite in the acceleration axis direction are more equal at each moment, it indicates that the satellite attitude feedback corresponding to the acceleration data measured by the target accelerometer is more consistent with the satellite attitude feedback corresponding to the three-axis multi-redundancy acceleration combination system. Indirectly, it shows that the influence degree of the target accelerometer on the acceleration data of the satellite in the acceleration axis direction is greater, that is, the influence of the target accelerometer on the misjudgment of the acceleration data of the satellite in the acceleration axis direction is greater, and indirectly, it shows that the degree of correction required for the acceleration data of the target accelerometer is greater. Therefore, in this embodiment, within the specified time period in the acceleration axis direction, according to the difference between the acceleration data of each target accelerometer and the acceleration data of the satellite in the acceleration axis direction at each moment, the participation weight of each target accelerometer is obtained. The greater the participation weight, the greater the adjustment degree of the corresponding target accelerometer should be.

[0035] In a feasible implementation manner of this embodiment, the method for obtaining the participation weight is as follows: For any target accelerometer, within a specified time period in the direction of the acceleration coordinate axis, obtain the absolute value of the difference between the acceleration data of the target accelerometer and the acceleration data of the satellite in the direction of the acceleration coordinate axis at each moment, as the second difference at each moment; when the normalized second difference is less than the preset second difference threshold, the corresponding moment is used as the target moment; in this embodiment, the preset second difference threshold is set to 0.3, and the implementer can set the size of the preset second difference threshold according to the actual situation, which is not limited herein. When the number of target moments is larger and the smallest second difference is smaller, it indicates that the acceleration data of the target accelerometer is more consistent with the acceleration data of the satellite in the direction of the acceleration coordinate axis, indirectly indicating that the influence degree of the target accelerometer on the satellite attitude analysis is greater. Furthermore, the result of normalizing the product of the number of target moments and the negative correlation result of the smallest second difference is used as the participation weight of the target accelerometer. In this embodiment, the reciprocal of the sum of the smallest second difference and the first preset constant is used as the negative correlation result of the smallest second difference, where the first preset constant is a positive number. In this embodiment, the first preset constant is set to 0.1 to avoid a zero denominator, and the implementer can set the size of the first preset constant according to the actual situation, which is not limited herein. In this embodiment, the product of the number of target moments and the negative correlation result of the smallest second difference is normalized through the norm normalization function.

[0036] Thus, the participation weight of each target accelerometer is obtained.

[0037] Step S203: Obtain the special degree of each target accelerometer according to the difference between the acceleration data of each target accelerometer and that of each other target accelerometer at each moment within the specified time period in the direction of the acceleration coordinate axis.

[0038] When the difference between the acceleration data of a certain target accelerometer and that of other target accelerometers at each moment is larger within the specified time period in the direction of the acceleration coordinate axis, it indicates that the target accelerometer is more special, indirectly indicating that the correction degree of the target accelerometer should be greater. Furthermore, in this embodiment, the special degree of each target accelerometer is obtained according to the difference between the acceleration data of each target accelerometer and that of each other target accelerometer at each moment within the specified time period in the direction of the acceleration coordinate axis. The greater the special degree, the greater the adjustment degree of the corresponding target accelerometer should be.

[0039] In an implementable manner of this embodiment, the method for obtaining the degree of specialness is as follows: For any target accelerometer, any other target accelerometer except the target accelerometer is used as the designated accelerometer; within the specified time period in the direction of the acceleration coordinate axis, the absolute value of the difference between the acceleration data of the target accelerometer and the designated accelerometer at each moment is obtained as the third difference at each moment; when the normalized third difference is greater than the preset third difference threshold, the corresponding moment is regarded as a special moment; in this embodiment, the preset third difference threshold is set to 0.7, and the implementer can set the size of the preset third difference threshold according to the actual situation, which is not limited here. When the number of special moments is larger and the maximum third difference is larger, it indicates that the acceleration data of the target accelerometer is more special relative to the designated accelerometer. Furthermore, the normalized result of the product of the number of special moments and the maximum third difference is used as the acceleration difference degree between the target accelerometer and the designated accelerometer; in this embodiment, the product of the number of special moments and the maximum third difference is normalized through the norm normalization function. In order to overall show the special situation of the target accelerometer, the normalized result of the sum of the acceleration difference degrees between the target accelerometer and each other target accelerometer is used as the degree of specialness of the target accelerometer. In this embodiment, the sum of the acceleration difference degrees between the target accelerometer and each other target accelerometer is normalized through the norm normalization function.

[0040] Thus, the degree of specialness of each target accelerometer is obtained.

[0041] Step S204: Obtain the mean value of the difference between the acceleration data of each target accelerometer at the current moment and the acceleration data of the satellite in the direction of this acceleration coordinate axis as the acceleration adjustment reference value at the current moment in the direction of this acceleration coordinate axis.

[0042] In order to determine the adjustment situation of the acceleration data of each target accelerometer at the current moment, the mean value of the difference between the acceleration data of each target accelerometer at the current moment and the acceleration data of the satellite in the direction of this acceleration coordinate axis is obtained as the acceleration adjustment reference value at the current moment in the direction of this acceleration coordinate axis, that is, the acceleration adjustment reference value of each target accelerometer at the current moment, to prepare for the calibration of each target accelerometer at the current moment.

[0043] Step S205: For any target accelerometer, obtain the acceleration adjustment value of the target accelerometer at the current moment according to the acceleration adjustment reference value, the participation weight of the target accelerometer, and the degree of specialness; among them, the acceleration adjustment reference value, the participation weight, and the degree of specialness are all positively correlated with the acceleration adjustment value.

[0044] It is known that when the participation weight and the special degree of a certain target accelerometer are both larger, it indicates that the adjustment degree of the target accelerometer at the current moment is larger. Furthermore, in this embodiment, the result of normalizing the sum of the participation weight and the special degree of the target accelerometer is used as the acceleration adjustment weight of the target accelerometer; in this embodiment, the sum of the participation weight and the special degree of the target accelerometer is normalized by the norm normalization function. Then, the product of the acceleration adjustment weight and the acceleration adjustment reference value is used as the acceleration adjustment value, i.e., the calibration value, of the target accelerometer at the current moment, so as to more accurately analyze the moving attitude of the satellite at the current moment.

[0045] Thus, the acceleration adjustment value of each single-axis quartz accelerometer at the current moment is obtained.

[0046] Step S4: According to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, adjust the anomaly threshold at the current moment in each acceleration coordinate axis direction, and obtain the updated anomaly threshold to continue the calibration of the satellite acceleration sensor.

[0047] Specifically, as the single-axis quartz accelerometer is used, the change in its measurement error may become larger and larger. To make the measurement of the single-axis quartz accelerometer accurate, the adjustment interval duration of the single-axis quartz accelerometer should be adaptively shortened in real time. When the duration of the specified time period in a certain acceleration coordinate axis direction is shorter and the absolute value of the acceleration adjustment value of the single-axis quartz accelerometer corresponding to that acceleration coordinate axis direction is larger, it indicates that the measurement error of the single-axis quartz accelerometer corresponding to that acceleration coordinate axis direction at the current moment is larger. In order to calibrate the single-axis quartz accelerometer corresponding to that acceleration coordinate axis direction in a timely manner subsequently, the anomaly threshold at the current moment in that acceleration coordinate axis direction should be adjusted smaller, so as to shorten the calibration duration of the single-axis quartz accelerometer corresponding to that acceleration coordinate axis direction subsequently, effectively avoiding the uncontrollable situation of the measurement error of the single-axis quartz accelerometer and improving the accuracy of satellite attitude monitoring. Furthermore, in this embodiment, according to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, the anomaly threshold at the current moment in each acceleration coordinate axis direction is adjusted, and the updated anomaly threshold is obtained to continue the calibration of the satellite acceleration sensor, so as to calibrate the single-axis quartz accelerometer in a timely and accurate manner subsequently.

[0048] Preferably, in an implementable manner of this embodiment, the method for obtaining the abnormal threshold is updated as follows: for any acceleration coordinate axis direction, the maximum value among the absolute values of the acceleration adjustment values of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment is used as the first eigenvalue; when the duration of the specified time period in the acceleration coordinate axis direction is smaller and the first eigenvalue is larger, it indicates that the degree of adjustment required for the abnormal threshold at the current moment in the acceleration coordinate axis direction is greater. Therefore, in this embodiment, the result of normalizing the product of the reciprocal of the duration of the specified time period in the acceleration coordinate axis direction and the first eigenvalue is used as the abnormal threshold adjustment weight for the acceleration coordinate axis direction at the current moment; in this embodiment, the norm normalization function is used to normalize the product of the reciprocal of the duration of the specified time period in the acceleration coordinate axis direction and the first eigenvalue. The greater the abnormal threshold adjustment weight, the greater the degree of reduction of the abnormal threshold at the current moment in the acceleration coordinate axis direction. Therefore, in this embodiment, the product of the abnormal threshold at the current moment in the acceleration coordinate axis direction and the negatively correlated result of the abnormal threshold adjustment weight is used as the updated abnormal threshold for the acceleration coordinate axis direction. This embodiment uses (1 - abnormal threshold adjustment weight) as the negatively correlated result of the abnormal threshold adjustment weight. It should be noted that to avoid the updated abnormal threshold being too small, this embodiment sets the preset minimum updated abnormal threshold to 0.2. The implementer can set the size of the preset minimum updated abnormal threshold according to the actual situation, and it is not limited here. When the obtained updated abnormal threshold is smaller than the preset minimum updated abnormal threshold, the updated abnormal threshold is defaulted to the preset minimum updated abnormal threshold.

[0049] In summary, this embodiment obtains the acceleration data of the uniaxial quartz accelerometer and the three-axis acceleration data of the satellite; based on the acceleration data of the satellite within the specified time period in the acceleration coordinate axis direction, the satellite position change situation at the current moment, and the abnormal threshold at the current moment in the acceleration coordinate axis direction, it is determined whether to calibrate the uniaxial quartz accelerometer at the current moment; if it is determined to calibrate, the acceleration adjustment value of the uniaxial quartz accelerometer is obtained; according to the duration of the specified time period and the acceleration adjustment value, the abnormal threshold at the current moment in each acceleration coordinate axis direction is adjusted, and the updated abnormal threshold is obtained to continue the calibration of the satellite acceleration sensor. The present invention effectively improves the timeliness and accuracy of calibrating the uniaxial quartz accelerometer by obtaining the acceleration adjustment value and the updated abnormal threshold.

[0050] Embodiment 2: The present invention also proposes a satellite acceleration sensor calibration system. Please refer to Figure 3 , which shows the structure diagram of a satellite acceleration sensor calibration system provided by an embodiment of the present invention. The system includes: a data acquisition module 10, a calibration judgment module 20, an acceleration adjustment value acquisition module 30, and an updated abnormal threshold acquisition module 40.

[0051] A data acquisition module 10 is configured to obtain the acceleration data of each single-axis quartz accelerometer at each moment and the three-axis acceleration data of the satellite at each moment through a three-axis multi-redundant acceleration combination system; the three-axis acceleration data includes three acceleration coordinate axis directions.

[0052] A calibration judgment module 20 is configured to judge whether to calibrate the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment based on the change of the satellite's acceleration data in a specified time period on each acceleration coordinate axis direction, the difference between the satellite's position at the current moment and the positions of historical satellites in the same orbit, and the anomaly threshold at the current moment on each acceleration coordinate axis direction.

[0053] An acceleration adjustment value acquisition module 30 is configured to, if it is judged that the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction is to be calibrated at the current moment, obtain the acceleration adjustment value of each single-axis quartz accelerometer at the current moment according to the difference between the acceleration data of the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite in its specified time period, the difference between the acceleration data of the corresponding single-axis quartz accelerometers in their specified time periods, and the difference between the acceleration data of the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite at the current moment.

[0054] An updated anomaly threshold acquisition module 40 is configured to adjust the anomaly threshold at the current moment on each acceleration coordinate axis direction according to the duration of the specified time period on each acceleration coordinate axis direction and the acceleration adjustment value, and obtain an updated anomaly threshold to continue the calibration of the satellite acceleration sensor.

[0055] It should be noted that: for the system provided in the above embodiment, only the division of the above functional modules is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the satellite acceleration sensor calibration system and the satellite acceleration sensor calibration method embodiment provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be elaborated here.

[0056] Embodiment 3: The present invention also provides a satellite acceleration sensor calibration device, which includes a memory and a processor. The memory stores executable program code, and the processor is configured to call and execute the executable program code to perform a satellite acceleration sensor calibration method provided in an embodiment of the present application. The device may specifically be a chip, a component, or a module. The chip may include a processor and a memory connected to each other. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can perform a satellite acceleration sensor calibration method provided in the foregoing embodiment.

[0057] In addition, an embodiment of the present application also protects a computer device. Please refer to Figure 4 , the computer device includes a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and running on the processor 402. When the processor 402 executes the computer program 403, the computer device can execute any one of the satellite acceleration sensor calibration methods described above.

[0058] Embodiment 4: The present invention also provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a satellite acceleration sensor calibration method provided in the foregoing embodiment.

[0059] Embodiment 5: The present invention also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a satellite acceleration sensor calibration method provided in the foregoing embodiment.

[0060] Among them, the device, computer-readable storage medium, computer program product, or chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0061] It should be noted that the above sequence of embodiments of the present invention is only for description and does not represent the superiority or inferiority of the embodiments. The processes depicted in the 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.

[0062] Each embodiment in this specification is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key points of each embodiment are the differences from other embodiments.

Claims

1. A satellite acceleration sensor calibration method, characterized in that, The method includes the following steps: Obtain the acceleration data of each single-axis quartz accelerometer at each moment and the three-axis acceleration data of the satellite at each moment through a three-axis multi-redundant acceleration combination system; the three-axis acceleration data includes three acceleration coordinate axis directions; Based on the change of the satellite's acceleration data in a specified time period in each acceleration coordinate axis direction, the difference between the satellite's position at the current moment and the positions of historical satellites in the same orbit, and the anomaly threshold at the current moment in each acceleration coordinate axis direction, determine whether to calibrate the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment; If it is determined to calibrate the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment, then obtain the acceleration adjustment value of each single-axis quartz accelerometer at the current moment according to the difference between the acceleration data of the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite in its specified time period, the difference between the acceleration data of the corresponding single-axis quartz accelerometers in their specified time periods, and the difference between the acceleration data of the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite at the current moment; According to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, adjust the anomaly threshold at the current moment in each acceleration coordinate axis direction to obtain an updated anomaly threshold and continue to calibrate the satellite acceleration sensor.

2. The satellite acceleration sensor calibration method according to claim 1, characterized in that The method for determining whether to calibrate the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment is: Based on the change of the satellite's acceleration data in a specified time period in each acceleration coordinate axis direction and the difference between the satellite's position at the current moment and the positions of historical satellites in the same orbit, obtain the anomaly degree at the current moment in each acceleration coordinate axis direction; For any one acceleration coordinate axis direction, when the anomaly degree at the current moment in this acceleration coordinate axis direction is greater than the anomaly threshold at the current moment in this acceleration coordinate axis direction, determine to calibrate the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction at the current moment; When the anomaly degree at the current moment in this acceleration coordinate axis direction is less than or equal to the anomaly threshold at the current moment in this acceleration coordinate axis direction, determine not to calibrate the single-axis quartz accelerometer corresponding to this acceleration coordinate axis direction at the current moment.

3. The calibration method of a satellite acceleration sensor according to claim 2, characterized in that, The method for obtaining the anomaly degree is: For any one acceleration coordinate axis direction, obtain the difference between the acceleration data of the satellite at any two adjacent moments in the specified time period in this acceleration coordinate axis direction, and all of them are used as the first difference; The result of accumulating the difference between each first difference and the average value of the first differences is used as the deviation degree at the current moment in this acceleration coordinate axis direction; The result of taking the negative correlation of the average value of the distances between the centroid of the satellite at the current moment and the centroids of a preset number of historical satellites in the same orbit is used as the normal operation degree of the satellite at the current moment; The result of normalizing the product of the deviation degree and the normal operation degree is used as the anomaly degree at the current moment in this acceleration coordinate axis direction.

4. The satellite acceleration sensor calibration method according to claim 1, characterized in that, The method for obtaining the acceleration adjustment value is: For any acceleration axis direction, when it is determined to calibrate the single-axis quartz accelerometer corresponding to the acceleration axis direction at the current moment, the single-axis quartz accelerometer corresponding to the acceleration axis direction is regarded as the target accelerometer; During the specified time period in the acceleration axis direction, obtain the participation weight of each target accelerometer according to the difference between each target accelerometer and the acceleration data of the satellite in the acceleration axis direction at each moment; During the specified time period in the acceleration axis direction, obtain the special degree of each target accelerometer according to the difference between each target accelerometer and the acceleration data of each other target accelerometer at each moment; Obtain the mean value of the difference between the acceleration data of each target accelerometer at the current moment and the acceleration data of the satellite in the acceleration axis direction, as the acceleration adjustment reference value at the current moment in the acceleration axis direction; For any target accelerometer, obtain the acceleration adjustment value of the target accelerometer at the current moment according to the acceleration adjustment reference value, the participation weight and the special degree of the target accelerometer; among them, the acceleration adjustment reference value, the participation weight and the special degree are all positively correlated with the acceleration adjustment value.

5. The satellite acceleration sensor calibration method according to claim 4, wherein The method for obtaining the participation weight is as follows: For any target accelerometer, obtain the difference between the target accelerometer and the acceleration data of the satellite in the acceleration axis direction at each moment during the specified time period in the acceleration axis direction, as the second difference at each moment; When the normalized second difference is less than the preset second difference threshold, the corresponding moment is taken as the target moment; The result of normalizing the product of the number of target moments and the negative correlation result of the minimum second difference is used as the participation weight of the target accelerometer.

6. The satellite acceleration sensor calibration method according to claim 4, characterized in that The method for obtaining the special degree is as follows: For any target accelerometer, regard any target accelerometer other than the target accelerometer as the specified accelerometer; During the specified time period in the acceleration axis direction, obtain the difference between the target accelerometer and the specified accelerometer in the acceleration data at each moment, as the third difference at each moment; When the normalized third difference is greater than the preset third difference threshold, the corresponding moment is taken as the special moment; The result of normalizing the product of the number of special moments and the maximum third difference is used as the acceleration difference degree between the target accelerometer and the specified accelerometer; The result of normalizing the sum of the acceleration difference degrees between the target accelerometer and each other target accelerometer is used as the special degree of the target accelerometer.

7. The satellite acceleration sensor calibration method according to claim 1, characterized in that, The method for obtaining the updated anomaly threshold is as follows: For any acceleration axis direction, take the maximum value of the absolute value of the acceleration adjustment value of the single-axis quartz accelerometer corresponding to the acceleration axis direction at the current moment as the first eigenvalue; The result of normalizing the product of the reciprocal of the duration of the specified time period in the acceleration axis direction and the first eigenvalue is used as the anomaly threshold adjustment weight at the current moment in the acceleration axis direction; Multiply the abnormal threshold at the current moment in the direction of the acceleration coordinate axis by the negative correlation result of the abnormal threshold adjustment weight, and use the product as the updated abnormal threshold in the direction of the acceleration coordinate axis.

8. The satellite acceleration sensor calibration method according to claim 1, characterized in that The method for obtaining the specified time period is as follows: For any acceleration coordinate axis direction, use the moment when the acceleration data of the satellite in this acceleration coordinate axis direction was last corrected as the reference moment; Use the time period formed by the reference moment and the current moment as the specified time period in the direction of this acceleration coordinate axis.

9. The satellite acceleration sensor calibration method according to claim 1, characterized in that, The single-axis quartz accelerometer corresponds to one of the three acceleration coordinate axis directions.

10. An acceleration sensor, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method for calibrating a satellite acceleration sensor according to any one of claims 1-9 above.

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