The invention relates to a
spacecraft high-precision angular motion measuring method based on rotor-type
gyroscope biorthogonal configuration, and belongs to the technical filed of inertial navigation. An
analytic relation including the posture angular rate and
angular acceleration information of a
spacecraft is obtained by utilizing
resultant external moment radially borne by a
gyroscope rotor, under the situation that an inertial
coupling item and a cross
coupling item caused by
spacecraft angular motion are not neglected, the inertial
coupling item and the cross coupling item are eliminatedthrough
information fusion operation of a plurality of gyroscopes in the biorthogonal configuration, and thus the
analytic relation including the angular rate and the
angular acceleration of the spacecraft is obtained in a combined mode. Due to the fact that the inertial coupling item and the cross coupling item are reserved, the measuring precision of the spacecraft high-precision angular motionmeasuring method only depends on a
gyroscope error and a configuration mounting error and is not lowered with increasing of the
dynamic range of the spacecraft. According to the spacecraft high-precision angular motion measuring method, the prominent contradiction between the measuring precision and the
dynamic range in a traditional posture angular rate and
angular acceleration measuring methodis effectively overcome. The spacecraft high-precision angular motion measuring method can be applied to high-precision and high-bandwidth measuring of the angular rate and the angular acceleration ofthe spacecraft.