Satellite acceleration sensor calibration method and acceleration sensor

Abstract

The present invention relates to the technical field of accelerometer calibration, and more particularly to a satellite acceleration sensor calibration method and acceleration sensor. The method obtains acceleration data of a uniaxial quartz accelerometer and three-axis acceleration data of a satellite; based on the acceleration data of the satellite within a specified time period in the acceleration coordinate axis direction, the change in the satellite position at the current moment, and the abnormality threshold value in the acceleration coordinate axis direction at the current moment, it is determined whether the uniaxial quartz accelerometer should be calibrated at the current moment; if calibration is determined, the acceleration adjustment value of the uniaxial quartz accelerometer is obtained; based on the length of the specified time period and the acceleration adjustment value, the abnormality threshold value in each acceleration coordinate axis direction at the current moment is adjusted, and the updated abnormality threshold value is obtained to continue calibrating the satellite acceleration sensor. By obtaining the acceleration adjustment value and updating the abnormality threshold value, the present invention effectively improves the timeliness and accuracy of calibrating the uniaxial quartz accelerometer.

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:

[0006] In a first aspect, an embodiment of the present invention provides a satellite acceleration sensor calibration method, the method comprising the following steps:

[0007] 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;

[0008] Based on the changes in satellite acceleration data within a specified time period in each acceleration coordinate axis direction, the difference between the current satellite position and the historical position of satellites in the same orbit, and the anomaly threshold at the current moment in each acceleration coordinate axis direction, determine whether the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction should be calibrated at the current moment;

[0009] If it is determined that the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction is to be calibrated at the current moment, then according to the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite within the specified time period, the acceleration data difference between the corresponding uniaxial quartz accelerometers within the specified time period, and the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite at the current moment, obtain the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment;

[0010] According to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, the abnormal threshold value at the current moment in each acceleration coordinate axis direction is adjusted, and the updated abnormal threshold value is obtained to continue the satellite acceleration sensor calibration.

[0011] Furthermore, the method for determining whether the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction is calibrated at the current moment is:

[0012] Based on the changes in satellite acceleration data within a specified time period in each acceleration coordinate axis direction and the difference between the current satellite position and the historical position of the same-orbit satellite, the degree of anomaly in each acceleration coordinate axis direction at the current moment is obtained;

[0013] For any acceleration coordinate axis direction, when the abnormality level of the acceleration coordinate axis direction at the current moment is greater than the abnormality threshold of the acceleration coordinate axis direction at the current moment, it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment should be calibrated;

[0014] When the abnormality degree of the acceleration coordinate axis direction at the current moment is less than or equal to the abnormality threshold of the acceleration coordinate axis direction at the current moment, it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is not calibrated at the current moment.

[0015] Furthermore, the method for obtaining the abnormality degree is:

[0016] For any acceleration coordinate axis direction, obtain the acceleration data difference of the satellite at any two adjacent moments in a specified time period in the acceleration coordinate axis direction, and use it as the first difference;

[0017] The result of accumulating the difference between each first difference and the mean of the first differences is used as the degree of deviation of the acceleration coordinate axis direction at the current moment;

[0018] The result of negative correlation between the current satellite centroid and the average of the distances between a preset number of historical satellite centroids in the same orbit is used as the normality of the satellite's operation at the current moment;

[0019] The result of normalizing the product of the deviation degree and the normal operation degree is used as the abnormality degree of the acceleration coordinate axis direction at the current moment.

[0020] Furthermore, the method for obtaining the acceleration adjustment value is:

[0021] For any acceleration coordinate axis direction, when it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is to be calibrated at the current moment, the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is used as the target accelerometer;

[0022] Obtaining a participation weight of each target accelerometer based on the difference between the acceleration data of each target accelerometer and the satellite in the direction of the acceleration coordinate axis at each moment within a specified time period in the direction of the acceleration coordinate axis;

[0023] Obtaining the uniqueness of each target accelerometer according to the difference in acceleration data between each target accelerometer and each other target accelerometer at each moment in a specified time period in the acceleration coordinate axis direction;

[0024] Obtain the average of the differences between the acceleration data of each target accelerometer at the current moment and the acceleration data of the satellite in the direction of the acceleration coordinate axis, as the acceleration adjustment reference value in the direction of the acceleration coordinate axis at the current moment;

[0025] For any target accelerometer, the acceleration adjustment value of the target accelerometer at the current moment is obtained according to the acceleration adjustment reference value, the participation weight and the special degree of the target accelerometer; wherein the acceleration adjustment reference value, the participation weight and the special degree are all positively correlated with the acceleration adjustment value.

[0026] Furthermore, the method for obtaining the participation weight is:

[0027] For any target accelerometer, obtain 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 within a specified time period in the direction of the acceleration coordinate axis, as the second difference at each moment;

[0028] When the normalized second difference is less than the preset second difference threshold, the corresponding moment is used as the target moment;

[0029] The result of normalizing the product of the number of target moments and the minimum second difference negative correlation result is used as the participation weight of the target accelerometer.

[0030] Furthermore, the method for obtaining the degree of specialness is:

[0031] For any target accelerometer, any target accelerometer other than the target accelerometer is taken as the designated accelerometer;

[0032] Acquire a difference in acceleration data between the target accelerometer and the designated accelerometer at each moment within a designated time period in the acceleration coordinate axis direction as a third difference at each moment;

[0033] When the normalized third difference is greater than a preset third difference threshold, the corresponding moment is regarded as a special moment;

[0034] Normalizing the product of the number of special moments and the maximum third difference to obtain a result as the degree of acceleration difference between the target accelerometer and the designated accelerometer;

[0035] The acceleration difference between the target accelerometer and each of the other target accelerometers is added and normalized, and the result is used as the special degree of the target accelerometer.

[0036] Furthermore, the method for obtaining the update abnormality threshold is:

[0037] For any acceleration coordinate axis direction, the maximum value of the absolute value of the acceleration adjustment value of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment is taken as the first eigenvalue;

[0038] Normalizing the product of the reciprocal of the length of the specified time period in the acceleration coordinate axis direction and the first eigenvalue as the abnormality threshold adjustment weight at the current moment in the acceleration coordinate axis direction;

[0039] The product of the abnormal threshold value at the current moment in the acceleration coordinate axis direction and the negative correlation result of the abnormal threshold value adjustment weight is used as the updated abnormal threshold value in the acceleration coordinate axis direction.

[0040] Furthermore, the method for obtaining the specified time period is:

[0041] For any acceleration coordinate axis direction, the time when the acceleration data of the satellite in the acceleration coordinate axis direction was last corrected is used as the reference time;

[0042] The time period formed by the reference time and the current time is used as the specified time period in the direction of the acceleration coordinate axis.

[0043] Furthermore, the uniaxial quartz accelerometer corresponds to one acceleration coordinate axis direction among three acceleration coordinate axis directions.

[0044] In a second aspect, another embodiment of the present invention provides an acceleration sensor, comprising: a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the steps of any one of the above methods are implemented.

[0045] The present invention has the following beneficial effects:

[0046] The present invention firstly analyzes the abnormal situation of each acceleration coordinate axis direction at the current moment based on the change of the acceleration data of the satellite in the specified time period in each acceleration coordinate axis direction and the difference between the satellite position at the current moment and the historical position of the same orbit satellite, and then combines the abnormal threshold value of each acceleration coordinate axis direction at the current moment to accurately judge whether to calibrate the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment, which is conducive to avoiding the situation where the measurement error of the single-axis quartz accelerometer is too large and the satellite attitude is uncontrollable; further, if it is judged that the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction is calibrated at the current moment, then according to the difference in acceleration data between the single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite in its specified time period and the difference in acceleration data between the corresponding single-axis quartz accelerometers in their specified time period, the adjustment degree of each single-axis quartz accelerometer corresponding to each acceleration coordinate axis direction is accurately analyzed, which is conducive to the subsequent accurate calibration of the single-axis quartz accelerometer, and at the same time, through each acceleration The difference between the acceleration data of the uniaxial quartz accelerometer corresponding to the degree coordinate axis and the acceleration data of the corresponding satellite at the current moment is accurately analyzed, and the reference value for adjusting the acceleration data of the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis at the current moment is accurately analyzed. In this way, the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment is accurately obtained, and each uniaxial quartz accelerometer at the current moment is accurately calibrated, so that the satellite motion attitude at the current moment can be accurately analyzed. In order to calibrate the uniaxial quartz accelerometer more timely and avoid excessive error measurement of the uniaxial quartz accelerometer, the error of the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis at the current moment is accurately analyzed based on the duration of the specified time period and the acceleration adjustment value in each acceleration coordinate axis direction. This is conducive to adaptively adjusting the abnormal threshold value in each acceleration coordinate axis direction at the current moment. Accurately obtaining and updating the abnormal threshold value enables more accurate and timely subsequent calibration of the uniaxial quartz accelerometer, more accurate acquisition of the satellite motion attitude, and more precise control of the satellite motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A schematic flow chart of a satellite acceleration sensor calibration method provided by one embodiment of the present invention;

[0049] Figure 2 A flow chart of a method for obtaining an acceleration adjustment value provided by one embodiment of the present invention;

[0050] Figure 3 A structural diagram of a satellite acceleration sensor calibration system provided by one embodiment of the present invention;

[0051] Figure 4 A schematic diagram of a computer device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0052] To further illustrate the technical means and effectiveness of the present invention in achieving its intended objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail a satellite accelerometer calibration method and accelerometer according to the present invention, including its specific implementation, structure, features, and effectiveness. In the following description, references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0053] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0054] A satellite acceleration sensor calibration method and a specific solution of the acceleration sensor provided by the present invention are described in detail below with reference to the accompanying drawings.

[0055] Example 1:

[0056] This invention proposes a satellite acceleration sensor calibration method, please refer to Figure 1 , which shows a schematic flow chart of a satellite acceleration sensor calibration method provided by one embodiment of the present invention, the method comprising the following steps:

[0057] Step S1: Acquire the acceleration data of each uniaxial 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.

[0058] Specifically, a known three-axis multi-redundant acceleration system has high reliability and adaptability to the operating environment of satellite platforms. This system can acquire the acceleration data of each uniaxial quartz accelerometer at each moment, as well as the three-axis acceleration data of the satellite at each moment. Specifically, the acquired uniaxial quartz accelerometer acceleration data is converted into acceleration data for the entire triaxial quartz accelerometer in three dimensions (X, Y, and Z) using an attitude conversion matrix. The data is then interlocked and fused across the multiple MEMS accelerometers within the system, resulting in reliable three-axis acceleration data for the satellite at each moment. The attitude conversion matrix is ​​well known and will not be further described. It should be noted that three-axis acceleration data includes three acceleration coordinate axes: X, Y, and Z. Uniaxial quartz accelerometers correspond to only one of these three acceleration coordinate axes.

[0059] This embodiment uses four uniaxial quartz accelerometers in a three-axis, multi-redundant acceleration system. The number of uniaxial quartz accelerometers can be adjusted based on practical needs and is not limited here. This embodiment sets the time interval between two adjacent moments to 1 second. The time interval between two adjacent moments can be adjusted based on practical needs and is not limited here.

[0060] Step S2: Based on the changes in the satellite acceleration data within the specified time period in each acceleration coordinate axis direction, the difference between the satellite position at the current moment and the historical position of the same-orbit satellite, and the abnormal threshold value of each acceleration coordinate axis direction at the current moment, determine whether the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction is calibrated at the current moment.

[0061] Specifically, if the actual change in the satellite's motion attitude is small, but the detected change in the satellite's motion attitude by the three-axis multi-redundant acceleration system is significant, this indicates a problem with the acceleration data from the uniaxial quartz accelerometer. Since a uniaxial quartz accelerometer corresponds to only one acceleration coordinate axis, this embodiment analyzes the satellite's acceleration data for each acceleration coordinate axis separately, facilitating subsequent accurate adjustments to the acceleration data from the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis. In order to accurately calibrate the uniaxial quartz accelerometer in real time, this embodiment uses, for any acceleration coordinate axis direction, the time when the satellite acceleration data in the acceleration coordinate axis direction was most recently corrected, that is, the time when the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction was most recently corrected, as the reference time, and the time period formed by the reference time and the current time as the designated time period in the acceleration coordinate axis direction. It should be noted that if there is no calibration of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction before the current time, the time period formed by the current time and the initial time is used as the designated time period in the acceleration coordinate axis direction.

[0062] When the satellite acceleration data changes more within a specified time period in a certain acceleration coordinate axis direction, and the difference between the current satellite position and the historical position of the same-orbit satellite is smaller, the satellite acceleration data in that acceleration coordinate axis direction at the current moment is less accurate, which indirectly indicates that the uniaxial quartz accelerometer corresponding to that acceleration coordinate axis direction needs to be calibrated at the current moment. Therefore, this embodiment analyzes the abnormality of each acceleration coordinate axis direction at the current moment based on the change in satellite acceleration data within a specified time period in each acceleration coordinate axis direction and the difference between the current satellite position and the historical position of the same-orbit satellite. Then, combined with the abnormality threshold value for each acceleration coordinate axis direction at the current moment, it determines whether the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction should be calibrated at the current moment. It should be noted that the abnormality threshold value for each acceleration coordinate axis direction at the current moment is known, while the initial abnormality threshold value for each acceleration coordinate axis direction is manually set and can be set by the implementer according to actual conditions, which is not limited here.

[0063] Preferably, in one implementation of this embodiment, the method for determining whether to calibrate the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction at the current moment is as follows: first, based on the change in satellite acceleration data within a specified time period in each acceleration coordinate axis direction and the difference between the satellite position at the current moment and the historical position of the same-orbit satellite, the abnormality degree of each acceleration coordinate axis direction at the current moment is obtained; the greater the abnormality degree, the more the uniaxial quartz accelerometer corresponding to the corresponding acceleration coordinate axis direction needs to be calibrated at the current moment; and then, for any acceleration coordinate axis direction, when the abnormality degree of the acceleration coordinate axis direction at the current moment is greater than the abnormality threshold of the acceleration coordinate axis direction at the current moment, it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment is calibrated; when the abnormality degree of the acceleration coordinate axis direction at the current moment is less than or equal to the abnormality threshold of the acceleration coordinate axis direction at the current moment, it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment is not calibrated.

[0064] Preferably, in one possible implementation of this embodiment, the method for obtaining the degree of abnormality is as follows: for any acceleration coordinate axis direction, obtaining 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 coordinate axis direction, and taking each as the first difference; the more different the first differences are, the more abnormal the acceleration data at the current moment in the acceleration coordinate axis direction is, and then this embodiment accumulates the absolute value of the difference between each first difference and the mean of the first differences as the deviation degree at the current moment in the acceleration coordinate axis direction; the greater the deviation degree, the more abnormal the acceleration data of the satellite at the current moment in the acceleration coordinate axis direction is.

[0065] Considering that in actual situations, the movement of satellites in space presents a periodic stable state, therefore, when there is no motion problem, the moving position of the satellite at the same time in different periods should be the same. Therefore, this embodiment negatively correlates the result of the satellite centroid at the current moment with the average of the Euclidean distances of a preset number of historical satellite centroids in the same orbit as the normality of the satellite's operation at the current moment; the greater the normality of the operation, the more normal the actual motion trajectory of the satellite at the current moment; this embodiment uses The average of the Euclidean distances between the current satellite centroid and the centroids of a preset number of historical satellites in the same orbit is negatively correlated, where x represents the average of the Euclidean distances between the current satellite centroid and the centroids of a preset number of historical satellites in the same orbit. This embodiment sets the preset number to 5, and the implementer can set the preset number based on actual conditions, which is not limited here. The operating cycles of the preset number of historical satellites in the same orbit are adjacent to the operating cycle at the current moment. The method for obtaining the Euclidean distance and centroid is a well-known technology and will not be described in detail.

[0066] When both the degree of deviation and the degree of normal operation are greater, the satellite acceleration data for the current moment in the direction of the acceleration coordinate axis is more abnormal, and the abnormality is more likely to be caused by abnormal acceleration data from the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis. Therefore, this embodiment normalizes the product of the degree of deviation and the degree of normal operation to obtain the abnormality degree for the current moment in the direction of the acceleration coordinate axis. This embodiment normalizes the product of the degree of deviation and the degree of normal operation using the norm normalization function.

[0067] Step S3: If it is determined that the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction needs to be calibrated at the current moment, then according to the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite within its specified time period, the acceleration data difference between the corresponding uniaxial quartz accelerometers within their specified time period, and the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite at the current moment, the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment is obtained.

[0068] Specifically, when determining whether to calibrate a uniaxial quartz accelerometer corresponding to a certain acceleration coordinate axis direction at the current moment, first analyze the difference between the acceleration data of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction and the satellite's acceleration data within a specified time period in the acceleration coordinate axis direction, thereby determining the influence of each uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction on the acceleration data of the satellite in the acceleration coordinate axis direction, that is, determining the degree of participation of the uniaxial quartz accelerometer in the satellite attitude analysis, which is conducive to the subsequent accurate adjustment of the uniaxial quartz accelerometer;

[0069] On the other hand, when the difference between the acceleration data of each uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction and each other uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction within the specified time period in the acceleration coordinate axis direction is greater, it means that the acceleration data of the corresponding uniaxial quartz accelerometer is more special, which indirectly reflects that the acceleration data of the corresponding uniaxial quartz accelerometer needs to be adjusted to a greater extent;

[0070] In order to accurately calibrate each uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction, this embodiment analyzes the difference between the acceleration data of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment and the acceleration data of the satellite in the acceleration coordinate axis direction, and determines the acceleration data reference value of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment for adjustment. On this basis, it is helpful to accurately obtain the acceleration adjustment value of each uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment;

[0071] Furthermore, this embodiment obtains the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment based on the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite within the specified time period, the acceleration data difference between the corresponding uniaxial quartz accelerometers within the specified time period, and the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite at the current moment.

[0072] Preferably, in one possible implementation of this embodiment, the method for obtaining the acceleration adjustment value is as follows: Figure 2 , which shows a flow chart of a method for obtaining an acceleration adjustment value provided by this embodiment, the method comprising the following steps:

[0073] Step S201: for any acceleration coordinate axis direction, when it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is to be calibrated at the current moment, the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is used as a target accelerometer.

[0074] The target accelerometer is subsequently analyzed to more clearly illustrate the calibration process of the uniaxial quartz accelerometer.

[0075] Step S202: obtaining the participation weight of each target accelerometer according to the difference between the acceleration data of each target accelerometer and the satellite in the direction of the acceleration coordinate axis at each moment within a specified time period in the direction of the acceleration coordinate axis.

[0076] For any target accelerometer, the closer the acceleration data of the target accelerometer and the acceleration data of the satellite in the acceleration coordinate axis are at each moment during a specified time period in the direction of the acceleration coordinate axis, the more consistent the satellite attitude feedback corresponding to the acceleration data measured by the target accelerometer is with the satellite attitude feedback corresponding to the three-axis multi-redundant acceleration combination system. This indirectly indicates that the target accelerometer has a greater impact on the acceleration data of the satellite in the acceleration coordinate axis. In other words, the greater the impact of the target accelerometer on the erroneous judgment of the acceleration data of the satellite in the acceleration coordinate axis, the more the acceleration data of the target accelerometer needs to be corrected. Furthermore, this embodiment obtains a participation weight for each target accelerometer based on the difference between the acceleration data of each target accelerometer and the acceleration data of the satellite in the acceleration coordinate axis at each moment during the specified time period in the direction of the acceleration coordinate axis. The larger the participation weight, the greater the adjustment degree should be for the corresponding target accelerometer.

[0077] In one possible implementation of this embodiment, the participation weight is obtained by: for any target accelerometer, the absolute value of the difference between the acceleration data of the target accelerometer and the satellite in the acceleration coordinate axis direction at each moment within a specified time period in the acceleration coordinate axis direction is obtained as the second difference at each moment; when the normalized second difference is less than a preset second difference threshold, the corresponding moment is determined as the target moment. In this embodiment, the preset second difference threshold is set to 0.3; implementers can adjust the preset second difference threshold based on actual conditions and are not limited here. The greater the number of target moments and the smaller the minimum second difference, the more consistent the acceleration data of the target accelerometer and the satellite in the acceleration coordinate axis direction is, indirectly indicating that the target accelerometer has a greater impact on satellite attitude analysis. The participation weight of the target accelerometer is then determined by normalizing the product of the number of target moments and the negative correlation result of the minimum second difference. In this embodiment, the reciprocal of the sum of the minimum second difference and a first preset constant is used as the minimum second difference negative correlation result. The first preset constant is a positive number. In this embodiment, the first preset constant is set to 0.1 to avoid a denominator of 0. The implementer may set the value of the first preset constant based on actual circumstances and is not limited here. In this embodiment, the product of the number of target moments and the minimum second difference negative correlation result is normalized using the norm normalization function.

[0078] At this point, the participation weight of each target accelerometer is obtained.

[0079] Step S203: obtaining the special degree of each target accelerometer according to the difference in acceleration data between each target accelerometer and each other target accelerometer at each moment within a specified time period in the acceleration coordinate axis direction.

[0080] The greater the difference in acceleration data at each moment between a target accelerometer and other target accelerometers during a specified time period along the acceleration coordinate axis, the more unique the target accelerometer is, indirectly indicating that a greater degree of correction should be applied to the target accelerometer. Furthermore, this embodiment determines the degree of uniqueness of each target accelerometer based on the difference in acceleration data between each target accelerometer and other target accelerometers at each moment during a specified time period along the acceleration coordinate axis. The greater the degree of uniqueness, the greater the degree of adjustment should be applied to the corresponding target accelerometer.

[0081] In one possible implementation of this embodiment, the degree of specialness is obtained by: for any target accelerometer, using any target accelerometer other than the target accelerometer as the designated accelerometer; obtaining the absolute value of the difference between the acceleration data of the target accelerometer and the designated accelerometer at each moment within a specified time period in the direction of the acceleration coordinate axis, as the third difference at each moment; when the normalized third difference is greater than a preset third difference threshold, the corresponding moment is considered a special moment; in this embodiment, the preset third difference threshold is set to 0.7; the implementer may set the preset third difference threshold based on actual conditions, which is not limited here. The greater the number of special moments and the larger the maximum third difference, the more special the acceleration data of the target accelerometer is relative to the designated accelerometer, and the result of normalizing the product of the number of special moments and the maximum third difference is used as the degree of acceleration difference 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 using the norm normalization function. To comprehensively represent the uniqueness of the target accelerometer, the acceleration difference between the target accelerometer and each of the other target accelerometers is added together and normalized to obtain the uniqueness of the target accelerometer. This embodiment uses the norm normalization function to normalize the sum of the acceleration differences between the target accelerometer and each of the other target accelerometers.

[0082] At this point, the uniqueness of each target accelerometer is obtained.

[0083] Step S204: obtaining 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 the acceleration coordinate axis as the acceleration adjustment reference value in the direction of the acceleration coordinate axis at the current moment.

[0084] In order to determine the adjustment status of the acceleration data of each target accelerometer at the current moment, the average 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 the acceleration coordinate axis is obtained as the acceleration adjustment reference value in the direction of the acceleration coordinate axis at the current moment, that is, the acceleration adjustment reference value of each target accelerometer at the current moment, in preparation for the subsequent calibration of each target accelerometer at the current moment.

[0085] 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 and the special degree of the target accelerometer; wherein the acceleration adjustment reference value, the participation weight and the special degree are all positively correlated with the acceleration adjustment value.

[0086] It is known that a larger participation weight and degree of uniqueness for a target accelerometer indicate a greater degree of adjustment for that target accelerometer at the current moment. Therefore, this embodiment normalizes the result of adding the participation weight and degree of uniqueness for that target accelerometer as the acceleration adjustment weight for that target accelerometer. This embodiment normalizes the result of adding the participation weight and degree of uniqueness for that target accelerometer using the norm normalization function. The product of the acceleration adjustment weight and the acceleration adjustment reference value is then used as the acceleration adjustment value, or calibration value, for that target accelerometer at the current moment, enabling more accurate analysis of the satellite's motion attitude at the current moment.

[0087] At this point, the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment is obtained.

[0088] Step S4: According to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, the abnormal threshold value at the current moment in each acceleration coordinate axis direction is adjusted to obtain the updated abnormal threshold value and continue to calibrate the satellite acceleration sensor.

[0089] Specifically, as the uniaxial quartz accelerometer is used, its measurement error may change more and more. To ensure the measurement accuracy of the uniaxial quartz accelerometer, the adjustment interval of the uniaxial quartz accelerometer should be shortened in real time and adaptively. 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 uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is larger, it means that the measurement error of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment is larger. In order to subsequently calibrate the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction in a timely manner, the abnormal threshold of the acceleration coordinate axis direction at the current moment should be reduced, so that the subsequent calibration time of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is shortened, effectively avoiding the uncontrollable measurement error of the uniaxial quartz accelerometer and improving the accuracy of satellite attitude monitoring. Furthermore, this embodiment adjusts the abnormality threshold at the current moment in each acceleration coordinate axis direction according to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, obtains the updated abnormality threshold, and continues to calibrate the satellite acceleration sensor, so that the uniaxial quartz accelerometer can be calibrated promptly and accurately subsequently.

[0090] Preferably, in one implementation of this embodiment, the updated abnormality threshold is obtained by: for any acceleration coordinate axis direction, the maximum value of the absolute value of the acceleration adjustment value 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 abnormality threshold in the current moment in the acceleration coordinate axis direction needs to be adjusted to a greater extent. In this embodiment, the product of the reciprocal of the duration of the specified time period in the acceleration coordinate axis direction and the first eigenvalue is normalized as the abnormality threshold adjustment weight in the current moment in the acceleration coordinate axis direction; in this embodiment, the product of the reciprocal of the duration of the specified time period in the acceleration coordinate axis direction and the first eigenvalue is normalized using the norm normalization function. The larger the abnormality threshold adjustment weight, the greater the degree to which the abnormality threshold in the current moment in the acceleration coordinate axis direction should be adjusted. In this embodiment, the product of the negative correlation between the abnormality threshold in the current moment in the acceleration coordinate axis direction and the abnormality threshold adjustment weight is used as the updated abnormality threshold in the acceleration coordinate axis direction. This embodiment uses (1-anomaly threshold adjustment weight) as the negative correlation result for the anomaly threshold adjustment weight. It should be noted that to prevent the update anomaly threshold from being too low, this embodiment sets the preset minimum update anomaly threshold to 0.2. Implementers can adjust the preset minimum update anomaly threshold based on actual circumstances, and this is not a limitation here. If the obtained update anomaly threshold is less than the preset minimum update anomaly threshold, the default update anomaly threshold is the preset minimum update anomaly threshold.

[0091] In summary, this embodiment obtains the acceleration data of a uniaxial quartz accelerometer and the three-axis acceleration data of a satellite; based on the acceleration data of the satellite within a specified time period in the acceleration coordinate axis direction, the change in the satellite position at the current moment, and the abnormality threshold value in the acceleration coordinate axis direction at the current moment, it is determined whether the uniaxial quartz accelerometer should be calibrated at the current moment; if calibration is determined, the acceleration adjustment value of the uniaxial quartz accelerometer is obtained; based on the length of the specified time period and the acceleration adjustment value, the abnormality threshold value in each acceleration coordinate axis direction at the current moment is adjusted, and the updated abnormality threshold value is obtained to continue calibrating the satellite acceleration sensor. By obtaining the acceleration adjustment value and updating the abnormality threshold value, the present invention effectively improves the timeliness and accuracy of calibrating the uniaxial quartz accelerometer.

[0092] Example 2:

[0093] The present invention also proposes a satellite acceleration sensor calibration system, see Figure 3, which shows a structural 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 update abnormality threshold acquisition module 40.

[0094] The data acquisition module 10 is used to 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.

[0095] The calibration judgment module 20 is used to determine whether the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction should be calibrated at the current moment based on the changes in the satellite acceleration data within a specified time period in each acceleration coordinate axis direction, the difference between the satellite position at the current moment and the historical position of the same-orbit satellite, and the abnormal threshold value of each acceleration coordinate axis direction at the current moment.

[0096] The acceleration adjustment value acquisition module 30 is used to, if it is determined that the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction is calibrated at the current moment, obtain the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment based on the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite within the specified time period, the acceleration data difference between the corresponding uniaxial quartz accelerometers within the specified time period, and the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite at the current moment.

[0097] The updated abnormal threshold acquisition module 40 is used to adjust the abnormal threshold at the current moment in each acceleration coordinate axis direction according to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, obtain the updated abnormal threshold and continue to calibrate the satellite acceleration sensor.

[0098] It should be noted that the system provided in the above embodiment is merely illustrated by the division of the aforementioned functional modules. In actual applications, the aforementioned functions can be assigned to different functional modules as needed. Specifically, the internal structure of the computer device can be divided into different functional modules to perform all or part of the functions described above. Furthermore, the satellite acceleration sensor calibration system and the satellite acceleration sensor calibration method provided in the above embodiment are based on the same concept. Their specific implementation processes are detailed in the method embodiments and will not be further described here.

[0099] Example 3:

[0100] The present invention also proposes a satellite accelerometer calibration device, comprising 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 accelerometer calibration method provided in an embodiment of the present application. The device can be a chip, component, or module. The chip may include a connected processor and memory. The memory stores instructions. When the processor calls and executes the instructions, the chip executes the satellite accelerometer calibration method provided in the above embodiment.

[0101] In addition, the present application also protects a computer device, see 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, wherein when the processor 402 executes the computer program 403, the computer device can execute any one of the satellite acceleration sensor calibration methods introduced above.

[0102] Example 4:

[0103] The present invention also provides a computer-readable storage medium, which stores computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a satellite acceleration sensor calibration method provided in the above embodiment.

[0104] Example 5:

[0105] The present invention also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a satellite acceleration sensor calibration method provided in the above embodiment.

[0106] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0107] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0108] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. A satellite acceleration sensor calibration method, characterized in that: The method comprises 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 changes in satellite acceleration data within a specified time period in each acceleration coordinate axis direction, the difference between the current satellite position and the historical position of satellites in the same orbit, and the anomaly threshold at the current moment in each acceleration coordinate axis direction, determine whether the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction should be calibrated at the current moment; If it is determined that the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction is to be calibrated at the current moment, then according to the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite within the specified time period, the acceleration data difference between the corresponding uniaxial quartz accelerometers within the specified time period, and the acceleration data difference between the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction and the corresponding satellite at the current moment, obtain the acceleration adjustment value of each uniaxial quartz accelerometer at the current moment; Adjust the abnormality threshold at the current moment in each acceleration coordinate axis direction according to the duration of the specified time period in each acceleration coordinate axis direction and the acceleration adjustment value, obtain the updated abnormality threshold and continue to calibrate the satellite acceleration sensor; The method for obtaining the acceleration adjustment value is: For any acceleration coordinate axis direction, when it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is to be calibrated at the current moment, the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is used as the target accelerometer; Obtaining a participation weight of each target accelerometer based on the difference between the acceleration data of each target accelerometer and the satellite in the direction of the acceleration coordinate axis at each moment within a specified time period in the direction of the acceleration coordinate axis; Obtaining the uniqueness of each target accelerometer according to the difference in acceleration data between each target accelerometer and each other target accelerometer at each moment in a specified time period in the acceleration coordinate axis direction; Obtain the average of the differences between the acceleration data of each target accelerometer at the current moment and the acceleration data of the satellite in the direction of the acceleration coordinate axis, as the acceleration adjustment reference value in the direction of the acceleration coordinate axis at the current moment; For any target accelerometer, the acceleration adjustment value of the target accelerometer at the current moment is obtained according to the acceleration adjustment reference value, the participation weight and the special degree of the target accelerometer; wherein the acceleration adjustment reference value, the participation weight and the special degree are all positively correlated with the acceleration adjustment value.

2. A satellite acceleration sensor calibration method according to claim 1, characterized in that: The method for determining whether the uniaxial quartz accelerometer corresponding to each acceleration coordinate axis direction is calibrated at the current moment is: Based on the changes in satellite acceleration data within a specified time period in each acceleration coordinate axis direction and the difference between the current satellite position and the historical position of the same-orbit satellite, the degree of anomaly in each acceleration coordinate axis direction at the current moment is obtained; For any acceleration coordinate axis direction, when the abnormality level of the acceleration coordinate axis direction at the current moment is greater than the abnormality threshold of the acceleration coordinate axis direction at the current moment, it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment should be calibrated; When the abnormality degree of the acceleration coordinate axis direction at the current moment is less than or equal to the abnormality threshold of the acceleration coordinate axis direction at the current moment, it is determined that the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction is not calibrated at the current moment.

3. A satellite acceleration sensor calibration method according to claim 2, characterized in that: The method for obtaining the abnormality degree is: For any acceleration coordinate axis direction, obtain the acceleration data difference of the satellite at any two adjacent moments in a specified time period in the acceleration coordinate axis direction, and use it as the first difference; The result of accumulating the difference between each first difference and the mean of the first differences is used as the degree of deviation of the acceleration coordinate axis direction at the current moment; The result of negative correlation between the current satellite centroid and the average of the distances between a preset number of historical satellite centroids in the same orbit is used as the normality of the satellite's operation at the current moment; The result of normalizing the product of the deviation degree and the normal operation degree is used as the abnormality degree of the acceleration coordinate axis direction at the current moment.

4. A satellite acceleration sensor calibration method according to claim 1, characterized in that: The method for obtaining the participation weight is: For any target accelerometer, obtain 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 within a specified time period in the direction of the acceleration coordinate axis, 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 minimum second difference negative correlation result is used as the participation weight of the target accelerometer.

5. A satellite acceleration sensor calibration method according to claim 1, characterized in that: The method for obtaining the special degree is: For any target accelerometer, any target accelerometer other than the target accelerometer is taken as the designated accelerometer; Acquire a difference in acceleration data between the target accelerometer and the designated accelerometer at each moment within a designated time period in the acceleration coordinate axis direction as a third difference at each moment; When the normalized third difference is greater than a preset third difference threshold, the corresponding moment is regarded as a special moment; Normalizing the product of the number of special moments and the maximum third difference to obtain a result as the degree of acceleration difference between the target accelerometer and the designated accelerometer; The acceleration difference between the target accelerometer and each of the other target accelerometers is added and normalized, and the result is used as the special degree of the target accelerometer.

6. A satellite acceleration sensor calibration method according to claim 1, characterized in that: The method for obtaining the update abnormality threshold is: For any acceleration coordinate axis direction, the maximum value of the absolute value of the acceleration adjustment value of the uniaxial quartz accelerometer corresponding to the acceleration coordinate axis direction at the current moment is taken as the first eigenvalue; Normalizing the product of the reciprocal of the length of the specified time period in the acceleration coordinate axis direction and the first eigenvalue as the abnormality threshold adjustment weight at the current moment in the acceleration coordinate axis direction; The product of the abnormal threshold value at the current moment in the acceleration coordinate axis direction and the negative correlation result of the abnormal threshold value adjustment weight is used as the updated abnormal threshold value in the acceleration coordinate axis direction.

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

8. A satellite acceleration sensor calibration method according to claim 1, characterized in that: The uniaxial quartz accelerometer corresponds to one acceleration coordinate axis direction among three acceleration coordinate axis directions.

9. 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 executing the computer program, the processor implements the steps of the satellite acceleration sensor calibration method described in any one of claims 1 to 8.

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