Noise measurement suppression method and device based on axial angle tracking angular position estimation
By utilizing orthogonal angle transformation and closed-loop feedback control in the spacecraft servo system, the noise and error problems caused by position sensor sway during spacecraft operation in orbit have been solved, improving the control accuracy and pointing precision of the servo system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-26
- Publication Date
- 2026-03-24
AI Technical Summary
During the operation of a spacecraft in orbit, the angular measurement noise and system errors caused by the sway of the position sensor shaft system can lead to tracking errors and pointing deviations in the servo system, affecting the spatial resolution and pointing accuracy of the observation imaging.
By acquiring the measured angles of two orthogonally mounted position sensors in the spacecraft servo system, performing sine and cosine transformations, simplifying the signals, and constructing a characterization relationship between the phase detector tracking error and the phase-locked loop output angle, the input of the servo system is determined by combining the closed-loop transfer function, and closed-loop feedback control is performed to correct the operating angle.
This improves the control accuracy of the servo system, reduces the impact of measurement noise on angle estimation, and ensures accurate tracking and pointing by the servo system.
Smart Images
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Abstract
Description
Technical Field
[0001] This invention relates to the field of servo system control technology, and in particular to a noise measurement and suppression method and apparatus based on axis angle tracking angle position estimation. Background Technology
[0002] During long-term on-orbit operation, the swaying of the spacecraft's position sensor shaft system causes angle measurement noise and system errors. These noises and errors, in turn, increase the tracking error and pointing deviation of the pointing control, respectively. When the spacecraft's optical payload observes targets, increased tracking errors in the servo system will lead to blurred field-of-view imaging, reducing the spatial resolution of the observation image. Conversely, increased pointing deviation will directly cause the actual observation angle of the payload to deviate significantly from the desired angle, reducing the pointing accuracy of the field of view.
[0003] Based on this, the present invention proposes a noise measurement and suppression method and apparatus based on axis angle tracking angle position estimation to solve the above-mentioned technical problems. Summary of the Invention
[0004] This invention describes a noise measurement and suppression method and apparatus based on axis angle tracking angular position estimation, which can improve the control accuracy of servo systems.
[0005] According to a first aspect, the present invention provides a noise measurement suppression method based on axis angle tracking angular position estimation, comprising: The first and second measurement angles are obtained by two position sensors orthogonally mounted in the spacecraft servo system, and the difference between the first and second measurement angles is 90°. Based on the first measurement angle and the second measurement angle, determine the first measurement angle after sine transformation and the second measurement angle after cosine transformation; The first measurement angle after sine transformation and the second measurement angle after cosine transformation are simplified to obtain the simplified first measurement angle and the simplified second measurement angle. Based on the simplified first measurement angle and the simplified second measurement angle, the characterization relationship between the phase detector tracking error and the phase-locked loop output angle of the servo system is determined. Based on the aforementioned representation relationship, the input of the servo system is determined; Based on the input of the servo system and the preset closed-loop transfer function, the estimated angle value is determined; The servo system is controlled based on the estimated angle value.
[0006] According to a second aspect, the present invention provides a noise measurement suppression device based on axis angle tracking angular position estimation, comprising: The acquisition unit is configured to acquire a first measurement angle and a second measurement angle measured by two position sensors orthogonally mounted in the spacecraft servo system, wherein the difference between the first measurement angle and the second measurement angle is 90°. The first data processing unit is configured to determine the first measurement angle after sine transformation and the second measurement angle after cosine transformation based on the first measurement angle and the second measurement angle. The second data processing unit is configured to simplify the first measurement angle after sine transformation and the second measurement angle after cosine transformation to obtain the simplified first measurement angle and the simplified second measurement angle. The third data processing unit is configured to determine the characterization relationship between the phase detector tracking error and the phase-locked loop output angle of the servo system based on the simplified first measurement angle and the simplified second measurement angle. The fourth data processing unit is configured to determine the input of the servo system based on the representation relationship; The fifth data processing unit is configured to determine the estimated angle value based on the input of the servo system and a preset closed-loop transfer function; The sixth data processing unit is configured to control the servo system based on the estimated angle value.
[0007] Thirdly, embodiments of this specification also provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method described in any embodiment of this specification.
[0008] Fourthly, embodiments of this specification also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the methods described in any embodiment of this specification.
[0009] According to the noise measurement suppression method and apparatus based on axial angle tracking angle position estimation provided by the present invention, firstly, a first measurement angle and a second measurement angle are obtained from two position sensors orthogonally mounted in the spacecraft servo system. The difference between the first measurement angle and the second measurement angle is 90°. A sine transform operation is performed on the acquired first measurement angle, and a cosine transform operation is performed on the second measurement angle. The dimensionality conversion of the angle signal is achieved through trigonometric function transformation. For the transformed sine first measurement angle and cosine second measurement angle signals, combined with the actual operating parameters and control accuracy requirements of the servo system, signal simplification processing is performed to remove redundant signal components and high-frequency interference components, resulting in simplified first measurement angle signals and second measurement angle signals. This effectively reduces the complexity of subsequent calculations while ensuring that signal characteristics are not lost. Based on the simplified first measurement angle and second measurement angle signals, a characterization relationship between the servo system phase detector tracking error and the phase-locked loop output angle is constructed. Subsequently, based on the above characterization relationship, the input (drive input parameters) of the servo system is calculated and determined to ensure that the input signal can accurately respond to the angle control requirements. Combined with the preset servo system closed-loop transfer function, the estimated angle value is determined. Finally, using the estimated angle value as the control reference, closed-loop feedback control is performed on the actuators of the spacecraft servo system to dynamically correct the operating angle of the servo mechanism. Thus, this invention improves the control accuracy of the servo system. Attached Figure Description
[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0011] Figure 1 A flowchart illustrating a noise measurement suppression method based on axis angle tracking angular position estimation according to one embodiment is shown. Figure 2 A schematic block diagram of a noise measurement suppression device based on axis angle tracking angular position estimation according to one embodiment is shown. Detailed Implementation
[0012] The solution provided by the present invention will now be described with reference to the accompanying drawings.
[0013] Figure 1 This diagram illustrates a noise measurement suppression method based on axis-angle tracking angular position estimation according to one embodiment. It is understood that this method can be executed by any device, equipment, platform, or cluster of devices with computing and processing capabilities. Figure 1 As shown, the method includes: Step 100: Obtain the first measurement angle and the second measurement angle measured by two position sensors orthogonally mounted in the spacecraft servo system. The difference between the first measurement angle and the second measurement angle is 90°. Step 102: Based on the first measurement angle and the second measurement angle, determine the first measurement angle after sine transformation and the second measurement angle after cosine transformation; Step 104: Simplify the first measurement angle after sine transformation and the second measurement angle after cosine transformation to obtain the simplified first measurement angle and the simplified second measurement angle. Step 106: Based on the simplified first measurement angle and the simplified second measurement angle, determine the characterization relationship between the phase detector tracking error and the phase-locked loop output angle of the servo system; Step 108: Determine the input of the servo system based on the representation relationship; Step 110: Determine the estimated angle value based on the input of the servo system and the preset closed-loop transfer function; Step 112: Control the servo system based on the estimated angle value.
[0014] In this embodiment, firstly, a first and a second measurement angle are obtained from two orthogonally mounted position sensors in the spacecraft servo system. The difference between the first and second measurement angles is 90°. A sine transform operation is performed on the first measurement angle, and a cosine transform operation is performed on the second measurement angle, achieving dimensional conversion of the angle signals through trigonometric function transformation. For the transformed sinusoidal first and cosine second measurement angle signals, combined with the actual operating parameters and control accuracy requirements of the servo system, signal simplification processing is performed to remove redundant signal components and high-frequency interference components, resulting in simplified first and second measurement angle signals. This effectively reduces the complexity of subsequent calculations while ensuring no loss of signal characteristics. Based on the simplified first and second measurement angle signals, a characterization relationship between the servo system phase detector tracking error and the phase-locked loop output angle is constructed. Subsequently, based on the above characterization relationship, the input (drive input parameters) of the servo system is calculated and determined to ensure that the input signal can accurately respond to the angle control requirements. Combined with the preset servo system closed-loop transfer function, an estimated angle value is determined. Finally, using the estimated angle value as the control reference, closed-loop feedback control is performed on the actuator of the spacecraft servo system to dynamically correct the operating angle of the servo mechanism. Thus, the present invention can improve the control accuracy of the servo system.
[0015] In one embodiment of the present invention, the first measurement angle after sine transformation and the second measurement angle after cosine transformation are determined by the following formula:
[0016] In the formula, The first measurement angle, For the second measurement angle, This is the actual angle value. The first type of noise, As the second type of noise, The first measured angle after sinusoidal transformation. This is the second measured angle after cosine transformation.
[0017] In this embodiment, the first measurement angle and the second measurement angle are orthogonalized. and They are respectively:
[0018] The sine function values of the first and second measurement angles are obtained, thereby converting the discontinuous angle measurement values at the zero crossing into continuous sine and cosine signals. and They are represented as follows:
[0019] In the formula, The first measured angle after sinusoidal transformation. This is the second measured angle after cosine transformation.
[0020] In one embodiment of the present invention, the simplified first measurement angle and the simplified second measurement angle are determined by the following formula:
[0021] In the formula, The first measurement angle, For the second measurement angle, This is the actual angle value. The first type of noise, As the second type of noise, For the simplified second measurement angle, This is the simplified first measurement angle.
[0022] In this embodiment, since the amplitudes of the noise at the first and second measurement angles are relatively small, the sine and cosine processing of the measurement noise can be simplified to... , , , ,but and It can be simplified to:
[0023] In the formula, The first measurement angle, For the second measurement angle, This is the actual angle value. The first type of noise, As the second type of noise, For the simplified second measurement angle, This is the simplified first measurement angle.
[0024] In one embodiment of the present invention, the characterization relationship is determined by the following formula:
[0025]
[0026] In the formula, For phase detector tracking error, This is the output angle of the phase-locked loop.
[0027] In this embodiment, when the tracking error When the phase-locked loop (PLL) converges to zero, the output angle perfectly tracks the true angle. However, due to measurement noise, the tracking error includes this noise. The PLL adjusts the frequency of the local angle generator based on the tracking error to output an estimated angle value. Because the integrator has low-pass filtering characteristics, it suppresses noise in the estimated angle value, effectively solving the problem of low-pass filtering's difficulty in handling discontinuous angles at zero crossings.
[0028] In one embodiment of the present invention, the input and estimated angle values of the servo system are determined by the following formula:
[0029] In the formula, For the input of the servo system, To estimate the angle value, For closed-loop transfer function It is a string.
[0030] In one embodiment of the present invention, the closed-loop transfer function is determined by the following formula:
[0031] In the formula, For closed-loop transfer function For open-loop transfer functions, It is a complex number. For the spacecraft's real-time angular velocity, For phase-locked loop The proportional gain of the controller, For phase-locked loop The integral coefficient of the controller.
[0032] In one embodiment of the present invention, the proportional coefficient and the integral coefficient are determined by the following formula:
[0033] In the formula, This represents the real-time amplitude of the closed-loop transfer function. Let be the natural frequency of the closed-loop transfer function. The damping ratio is the closed-loop transfer function. For bandwidth, For phase-locked loop The proportional gain of the controller, For phase-locked loop The integral coefficient of the controller.
[0034] In this embodiment, it can be seen from equation (8) that the phase-locked loop is actually equivalent to a second-order low-pass filter. Let The amplitude-frequency characteristic of this transfer function is expressed as:
[0035] Design a suitable phase-locked loop based on the bandwidth method. Controller parameters, namely damping ratio and bandwidth.
[0036] It is known that the larger the bandwidth, the faster the phase-locked loop (PLL) tracks the input frequency change, but the weaker its anti-interference capability. Therefore, a bandwidth that balances anti-interference capability and dynamic response speed is selected. The purpose of this step is to enable the PLL to quickly track the true input angle and effectively suppress measurement noise in the input signal. The natural frequency of the transfer function in equation (8) is... Damping ratio They are represented as follows:
[0037] Based on the definition of bandwidth, the amplitude-frequency characteristic of the transfer function and bandwidth Represented as:
[0038] Substituting equation (11) into equation (13), equation (13) can be rewritten as shown in equation (14):
[0039] Based on the damping ratio and bandwidth, and the natural frequency of the closed-loop transfer function... The relationship between the proportional coefficient and integral coefficient of the controller is known. Once the damping ratio and design bandwidth are determined, the results can be calculated using equations (13) and (10). The proportional and integral coefficients of the controller are shown in equation (15):
[0040] In the formula, This represents the real-time amplitude of the closed-loop transfer function. Let be the natural frequency of the closed-loop transfer function. The damping ratio is the closed-loop transfer function. For bandwidth, For phase-locked loop The proportional gain of the controller is for the phase-locked loop. The integral coefficient of the controller.
[0041] In summary, this invention eliminates installation deviations through orthogonalization processing, improving system reliability. Based on a noise suppression mechanism using a phase-locked loop (PLL) and phase detector: after converting the angle measurement value into a continuous sine and cosine signal, angle tracking is achieved through a phase detector and PLL. The integral characteristic of the PLL is used for low-pass filtering, effectively suppressing measurement noise and solving the problem of discontinuous angle zero-crossing. A PLL based on system bandwidth and damping ratio requirements is also included. The parameter calculation method enables the system to achieve a balance between tracking accuracy and noise suppression.
[0042] The foregoing has described specific embodiments of the invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0043] According to another embodiment, the present invention provides a noise measurement suppression device based on axis angle tracking angular position estimation. Figure 2 A schematic block diagram of a noise measurement suppression device based on axis-angle tracking angular position estimation according to one embodiment is shown. It will be understood that this device can be implemented by any apparatus, device, platform, or cluster of devices with computing and processing capabilities. Figure 2 As shown, the device includes: an acquisition unit 200, a first data processing unit 202, a second data processing unit 204, a third data processing unit 206, a fourth data processing unit 208, a fifth data processing unit 210, and a sixth data processing unit 212. The main functions of each component are as follows: The acquisition unit 200 is configured to acquire a first measurement angle and a second measurement angle measured by two position sensors orthogonally mounted in the spacecraft servo system, wherein the difference between the first measurement angle and the second measurement angle is 90°. The first data processing unit 202 is configured to determine the first measurement angle after sine transformation and the second measurement angle after cosine transformation based on the first measurement angle and the second measurement angle. The second data processing unit 204 is configured to simplify the first measurement angle after sine transformation and the second measurement angle after cosine transformation to obtain the simplified first measurement angle and the simplified second measurement angle. The third data processing unit 206 is configured to determine the characterization relationship between the phase detector tracking error and the phase-locked loop output angle of the servo system based on the simplified first measurement angle and the simplified second measurement angle. The fourth data processing unit 208 is configured to determine the input of the servo system based on the representation relationship; The fifth data processing unit 210 is configured to determine the estimated angle value based on the input of the servo system and a preset closed-loop transfer function; The sixth data processing unit 212 is configured to control the servo system based on the estimated angle value.
[0044] In one embodiment of the present invention, the first measurement angle after sine transformation and the second measurement angle after cosine transformation are determined by the following formula:
[0045] In the formula, The first measurement angle, The second measuring angle, This is the actual angle value. The first type of noise, As the second type of noise, The first measured angle after sinusoidal transformation. This is the second measured angle after cosine transformation.
[0046] In one embodiment of the present invention, the simplified first measurement angle and the simplified second measurement angle are determined by the following formula:
[0047] In the formula, The first measurement angle, For the second measurement angle, This is the actual angle value. The first type of noise, As the second type of noise, For the simplified second measurement angle, This is the simplified first measurement angle.
[0048] In one embodiment of the present invention, the characterization relationship is determined by the following formula:
[0049] In the formula, For phase detector tracking error, This is the output angle of the phase-locked loop.
[0050] In one embodiment of the present invention, the input and estimated angle values of the servo system are determined by the following formula:
[0051] In the formula, For the input of the servo system, To estimate the angle value, For closed-loop transfer function It is a string.
[0052] In one embodiment of the present invention, the closed-loop transfer function is determined by the following formula:
[0053] In the formula, For closed-loop transfer function For open-loop transfer functions, It is a complex number. For the spacecraft's real-time angular velocity, For phase-locked loop The proportional gain of the controller, For phase-locked loop The integral coefficient of the controller.
[0054] In one embodiment of the present invention, the proportional coefficient and the integral coefficient are determined by the following formula:
[0055] In the formula, This represents the real-time amplitude of the closed-loop transfer function. Let be the natural frequency of the closed-loop transfer function. The damping ratio is the closed-loop transfer function. For bandwidth, For phase-locked loop The proportional gain of the controller, For phase-locked loop The integral coefficient of the controller.
[0056] According to another embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed in a computer, causes the computer to perform a combination Figure 1 The method described.
[0057] According to another embodiment, an electronic device is also provided, including a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, it implements a combination... Figure 1 The method described.
[0058] The various embodiments in this invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.
[0059] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in this invention can be implemented using hardware, software, firmware, or any combination thereof. When implemented in software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium.
[0060] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of the present invention should be included within the scope of protection of the present invention.
Claims
1. A noise measurement suppression method based on axis angle tracking angular position estimation, characterized in that, include: The first and second measurement angles are obtained by two position sensors orthogonally mounted in the spacecraft servo system, and the difference between the first and second measurement angles is 90°. Based on the first measurement angle and the second measurement angle, determine the first measurement angle after sine transformation and the second measurement angle after cosine transformation; The first measurement angle after sine transformation and the second measurement angle after cosine transformation are simplified to obtain the simplified first measurement angle and the simplified second measurement angle. Based on the simplified first measurement angle and the simplified second measurement angle, the characterization relationship between the phase detector tracking error and the phase-locked loop output angle of the servo system is determined. Based on the aforementioned representation relationship, the input of the servo system is determined; Based on the input of the servo system and the preset closed-loop transfer function, the estimated angle value is determined; The servo system is controlled based on the estimated angle value.
2. The method according to claim 1, characterized in that, The first measurement angle after sine transformation and the second measurement angle after cosine transformation are determined by the following formulas: In the formula, For the first measurement angle, The second measuring angle, This is the actual angle value. The first type of noise, As the second type of noise, The first measured angle after sinusoidal transformation. This is the second measured angle after cosine transformation.
3. The method according to claim 2, characterized in that, The simplified first measurement angle and the simplified second measurement angle are determined by the following formula: In the formula, For the first measurement angle, The second measuring angle, This is the actual angle value. The first type of noise, As the second type of noise, For the simplified second measurement angle, This is the simplified first measurement angle.
4. The method according to claim 3, characterized in that, The representation relationship is determined by the following formula: In the formula, For phase detector tracking error, This is the output angle of the phase-locked loop.
5. The method according to claim 4, characterized in that, The input and estimated angle values of the servo system are determined by the following formula: In the formula, For the input of the servo system, To estimate the angle value, For closed-loop transfer function. It is a string.
6. The method according to claim 1, characterized in that, The closed-loop transfer function is determined by the following formula: In the formula, For closed-loop transfer function. For open-loop transfer functions, It is a complex number. For the spacecraft's real-time angular velocity, For phase-locked loop The proportional gain of the controller, For phase-locked loop The integral coefficient of the controller.
7. The method according to claim 6, characterized in that, The proportional coefficient and the integral coefficient are determined by the following formula: In the formula, This represents the real-time amplitude of the closed-loop transfer function. Let be the natural frequency of the closed-loop transfer function. The damping ratio is the closed-loop transfer function. For bandwidth, For phase-locked loop The proportional gain of the controller, For phase-locked loop The integral coefficient of the controller.
8. A noise measurement and suppression device based on axis angle tracking angular position estimation, characterized in that, include: The acquisition unit is configured to acquire a first measurement angle and a second measurement angle measured by two position sensors orthogonally mounted in the spacecraft servo system, wherein the difference between the first measurement angle and the second measurement angle is 90°. The first data processing unit is configured to determine the first measurement angle after sine transformation and the second measurement angle after cosine transformation based on the first measurement angle and the second measurement angle. The second data processing unit is configured to simplify the first measurement angle after sine transformation and the second measurement angle after cosine transformation to obtain the simplified first measurement angle and the simplified second measurement angle. The third data processing unit is configured to determine the characterization relationship between the phase detector tracking error and the phase-locked loop output angle of the servo system based on the simplified first measurement angle and the simplified second measurement angle. The fourth data processing unit is configured to determine the input of the servo system based on the representation relationship; The fifth data processing unit is configured to determine the estimated angle value based on the input of the servo system and a preset closed-loop transfer function; The sixth data processing unit is configured to control the servo system based on the estimated angle value.
9. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed in a computer, causes the computer to perform the method described in any one of claims 1-7.