A Hybrid Attitude Determination Method with Low Cost for Broadband Mobile Satellite Communication

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A Hybrid Attitude Determination Method with Low Cost for Broadband Mobile Satellite Communication

更新时间：2025-07-09

- A Hybrid Attitude Determination Method with Low Cost for Broadband Mobile Satellite Communication
- Vol. 45, Issue 6, Pages: 64-68(2011)
- 作者机构：
  
  第二炮兵工程学院602室,西安,710025
- 作者简介：
- 基金信息：
- DOI：
  CLC： TN927
- Online First：10 June 2011，
  
  Published：2011
- 稿件说明：
移动端阅览
A Hybrid Attitude Determination Method with Low Cost for Broadband Mobile Satellite Communication[J]. 2011, 45(6): 64-68.
DOI：

A Hybrid Attitude Determination Method with Low Cost for Broadband Mobile Satellite Communication[J]. 2011, 45(6): 64-68. DOI：

摘要

针对现有低成本微机械惯性器件无法满足宽带移动卫星通信系统在机动状态下天线指向精度的问题

提出了微机械惯性测量单元与闭环跟踪信息相结合的姿态确定算法.该算法在航向上引入闭环跟踪的指向偏差角

经PI控制器反向校正航向陀螺的漂移误差

并利用跟踪指向信息的低频分量和陀螺的高频分量估计航向角.在横滚和俯仰上

首先以改进欧拉角作为状态向量

根据陀螺角速率信息和加速度计的重力场信息分别建立状态方程和测量方程; 然后依据航向角速率和俯仰角偏差对载体运动状态进行判别

并在载体机动下调整方差矩阵以依赖陀螺进行姿态估计

克服机动加速度的扰动.实验结果表明

该算法与自适应卡尔曼滤波器相比

在载体机动状态下精度更高

其航向估计精度在±0.8°

倾角在±0.5°内

满足动中通姿态稳定精度要求.

Abstract

A hybrid attitude determination method that combines MEMS inertial measurement unit and close-loop tracking information is proposed for broadband mobile satellite communication to solve the problem that the existing low cost MEMS inertial sensors are hard to meet the pointing requirements during the vehicle maneuver. A heading pointing error deduced by tracking is used to correct the drift of the heading gyro by a proportional-integral(PI)controller

and the heading angle is estimated as the sum of the high pass filtered gyro output and the low pass filtered tracking heading output. Modified Euler angles are used as state variables

and the state equation and measurement equation are respectively built from the angular output of gyros and the gravity output of accelerometers. The filter recognizes the situation of dynamic condition with heading angular rate and pitch error to make the filter more robust regarding acceleration disturbances

and modifies the measurement covariance matrix to estimate the tilt based on gyros under varying vehicle dynamics. Experimental results show that the proposed method has a higher precision than the conventional AKF method in dynamic mode

and the errors are less than 0.8 degree in heading and 0.5 degree in tilt

which is feasible for attitude stabilization of broadband mobile satellite communication.

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references

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