宽带移动卫星通信低成本组合姿态确定算法

沈晓卫; 姚敏立; 李琳琳; 常瑞花

您当前的位置：

首页 >

文章列表页 >

宽带移动卫星通信低成本组合姿态确定算法

更新时间：2025-07-09

- 宽带移动卫星通信低成本组合姿态确定算法
- A Hybrid Attitude Determination Method with Low Cost for Broadband Mobile Satellite Communication
- 西安交通大学学报 2011年45卷第6期页码：64-68
- 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：
  
  : 2010-11-28. 作者简介: 沈晓卫(1982-), 男, 博士生;姚敏立(联系人), 男, 教授, 博士生导师. 基金项目: 国家高技术研究发展计划资助项目(2010AA7010213)
- DOI：
  中图分类号： TN927
- 网络首发：2011-06-10，
  
  纸质出版：2011
- 稿件说明：
移动端阅览
沈晓卫, 姚敏立, 李琳琳, 等. 宽带移动卫星通信低成本组合姿态确定算法[J]. 西安交通大学学报, 2011,45(6):64-68.

A Hybrid Attitude Determination Method with Low Cost for Broadband Mobile Satellite Communication[J]. 2011, 45(6): 64-68.
沈晓卫, 姚敏立, 李琳琳, 等. 宽带移动卫星通信低成本组合姿态确定算法[J]. 西安交通大学学报, 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.

关键词

Keywords

references

CHINI P, GIAMBRENE G, KOTA S. A survey on mobile satellite systems[J]. International Journal of Satellite Communications, 2010, 28(1):29-57.

JUNG Y B, EOM S Y, JEON S I. Novel antenna system design for satellite mobile multimedia service [J]. IEEE Transactions on Vehicular Technology, 2010, 59(9):4237-4247.

滕云鹤. 移动卫星通信捷联式天线稳定系统[J].宇航学报,2002, 23(5):72-75.

TENG Yunhe. A strapdown stabilized antenna system for mobile satellite communications [J]. Journal of Astronautics, 2002, 23(5):72-75.

MARUTHI R A, JAMES T H, GNANA R K. Rigid body attitude control with inclinometer and low-cost gyro measurements [J]. Systems Control Letters, 2003, 49(2):151-159.

WON M, KIM S S. Design and control of a marine satellite antenna[J]. Journal of Mechanical Science and Technology, 2005, 19(1):473-480.

牛小骥,高钟毓,张嵘,等. 基于微机械惯性传感器的卫星电视天线稳定系统[J].中国惯性技术学报,2002,10(5):11-15.

NIU Xiaoji, GAO Zhongyu, ZHANG Rong, et al. Satellite TV antenna attitude stabilization system based on micromachined inertial sensors [J]. Journal of Chinese Inertial Technology, 2002, 10(5):11-15.

王玫,王永泉,张炎华. 自适应滤波器在微型姿态确定系统中的应用[J].哈尔滨商业大学学报:自然科学版,2006,22(2):61-66.

WANG Me,WANG Yongquan, ZHANG Yanhua. Adaptive filter for miniature MEMS based attitude and heading reference system [J]. Journal of Harbin University of Commerce: Natural Sciences Edition, 2006, 22(2): 61-66.

李军, 刘君华. 多传感器融合系统的可靠性模型研究[J]. 西安交通大学学报, 2004, 38(8):775-779.

LI Jun, LIU Junhua. Study of reliability model for the multi-sensor fusion system [J]. Journal of Xi'an Jiaotong University, 2004, 38(8):775-779.

任春华,潘英俊,刘进江,等. 提高载车定位与卫星跟踪精度的多信息融合系统研究[J].应用基础与工程科学学报, 2010,18(2):359-365.

REN Chunhua, PAN Yingjun, LIU Jingjiang, et al. Study on multi-information fusion system to improve the vehicle's position and satellite tracking accuracy[J]. Journal of Basic Science and Engineering, 2010, 18(2):359-365.

KANG C W, PARK C G. Attitude estimation with accelerometers and gyros using fuzzy tuned Kalman filter [EB/OL].(2009-08-26)[2010-10-28]. http:∥s-space. snu. ac. kr/bitstream/10371/10122/1/ Attitude%20 Estimation%20 with%20 Accelerometers%20 and 20 Gyros%20 Using%20 Fuzzy%20 Tuned%20 Kalman%20 Filter. pdf.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

混合电解槽阵列协同的风光耦合制氢系统双层多目标优化

水蒸气掺混对氨裂解气旋流燃烧与排放特性的影响研究

语义区分和子图整合驱动的知识图谱表示学习方法

张角凹坑气膜孔对双层壁气膜冷却特性的影响

电动车辆间接热系统快速除湿响应迟滞机理及优化控制策略