Low Cost Attitude Estimation Algorithm for Broad-Band Mobile Satellite Communication System

doi:10.7652/xjtuxb201306008

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Low Cost Attitude Estimation Algorithm for Broad-Band Mobile Satellite Communication System

更新时间：2025-05-01

- Low Cost Attitude Estimation Algorithm for Broad-Band Mobile Satellite Communication System
- Vol. 47, Issue 6, Pages: 44-49(2013)
- 作者机构：
  
  第二炮兵工程大学403教研室,西安,710025
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb201306008
  CLC： TN927
- Online First：10 June 2013，
  
  Published：2013
- 稿件说明：
移动端阅览
Low Cost Attitude Estimation Algorithm for Broad-Band Mobile Satellite Communication System[J]. 2013, 47(6): 44-49.
DOI：

Low Cost Attitude Estimation Algorithm for Broad-Band Mobile Satellite Communication System[J]. 2013, 47(6): 44-49. DOI： 10.7652/xjtuxb201306008.

摘要

针对低成本微机电惯性测量单元无法满足宽带移动卫星通信系统姿态估计精度的问题

提出了以单基线GPS为辅助传感器的低成本姿态估计(LCAE)算法。该算法通过互补滤波器对陀螺测量值与加速度计姿态角进行传感器融合。为了克服机动加速度干扰

借助单基线GPS的速率信息及航向信息

加入了机动加速度补偿和侧滑角补偿; 为了降低算法对GPS信号的依赖

加入了开关结构。实验结果表明

LCAE算法能够有效去除加速度计测量值中的非重力信息

隔离载体运动对加速度计输出的干扰

姿态角估计精度在GPS信号完全锁定的情况下达到±0.5°以内

在GPS信号不完全锁定的情况下

姿态角估计精度优于开关卡尔曼方法

达到±1°以内

满足低成本移动卫星通信系统要求。

Abstract

A low cost attitude estimation(LCAE)algorithm assisted by the single baseline GPS is proposed to solve the problem that the inertial measurement unit with the micro electro mechanical system elements is not accurate enough to the broadband mobile satellite communication system. The attitude angles acquired by accelerometers are fused with the measurement of gyros by complementary filters. In order to remove the interference of maneuver acceleration

compensations to both the maneuver acceleration and the sideslip angle are added using the velocity and heading data of single baseline GPS. A switch is added to reduce the dependence level of LCAE algorithm on GPS. Experimental results show that the LCAE algorithm can drive out the non-gravitational components in the output of the accelerometers efficiently and isolate the interference of vehicle's motion. The proposed algorithm can satisfy the low cost mobile satcom with estimation accuracy of ±0.5° in attitude angles when GPS signal is locked all the while

and the estimation of attitude angles achieves an accuracy of ±1° and is better than the estimation accuracy of the switch alman filter algorithm when GPS signal is not locked all the while.

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references

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