移动卫星通信低成本多传感器融合姿态估计方法

伍宗伟 1; 2; 姚敏立 1; 马红光 1; 贾维敏 1; 田方浩 1

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移动卫星通信低成本多传感器融合姿态估计方法

更新时间：2025-07-09

- 移动卫星通信低成本多传感器融合姿态估计方法
- An Attitude Estimation Method Using Multi-Sensor Fusion for Low-Cost Mobile Satellite Communication
- 西安交通大学学报 2012年46卷第12期页码：55-61
- 作者机构：
  
  1. 第二炮兵工程大学403教研室,西安,710025
  2. 解放军96265部队,河南,南阳,473000
- 作者简介：
- 基金信息：
  
  : 2012-04-03. 作者简介: 伍宗伟(1985-),男,博士生;姚敏立(通信作者),男,教授,博士生导师. 基金项目: 国家自然科学基金资助项目(61179005, 61179004)
- DOI：
  中图分类号： TN927
- 网络首发：2012-12-10，
  
  纸质出版：2012
- 稿件说明：
移动端阅览
伍宗伟 1, 2, 姚敏立 1, 等. 移动卫星通信低成本多传感器融合姿态估计方法[J]. 西安交通大学学报, 2012,46(12):55-61.

An Attitude Estimation Method Using Multi-Sensor Fusion for Low-Cost Mobile Satellite Communication[J]. 2012, 46(12): 55-61.
伍宗伟 1, 2, 姚敏立 1, 等. 移动卫星通信低成本多传感器融合姿态估计方法[J]. 西安交通大学学报, 2012,46(12):55-61. DOI：

An Attitude Estimation Method Using Multi-Sensor Fusion for Low-Cost Mobile Satellite Communication[J]. 2012, 46(12): 55-61. DOI：

摘要

针对低成本移动卫星通信终端的天线姿态估计问题

提出了一种基于自适应滤波的低成本多传感器融合姿态估计方法.该方法通过融合微机械陀螺信息和加速度计重力场测量信息来得到精确的水平姿态角估计; 通过融合单基线GPS高精度的航向角测量与陀螺信息保证航向角精度.在单基线GPS失锁的情况下

利用机动加速度观测对融合滤波器进行自适应控制

与标准平方根无迹卡尔曼滤波器相比

有效地克服了机动加速度影响.实验结果表明:所提出的低成本姿态估计方法在单基线GPS锁定或短时间失锁情况下

能够满足宽带移动卫星通信天线波束对准精度要求

三维姿态角误差均小于0.5°.

Abstract

A new attitude estimation system is proposed to estimate the antenna attitude for low-cost mobile satellite communication. The system uses the adaptive filtering based multi-sensor fusion method to integrate the inertial measurement unit and GPS for attitude estimation. The complementary property between the angles derived by the integration of micro-electro-mechanical system(MEMS)gyros and the gravity field vector measurement from MEMS accelerometers is utilized to estimate the level angles. Meanwhile

the high accuracy of the single baseline GPS is fused with gyros integration to ensure the heading accuracy. A real-time adaptive method is proposed to overcome the maneuver acceleration disturbance

and shows better performance than the standard unscented Kalman filter. The adaptive method is controlled by the acceleration observation when the GPS is unlocked. Experimental results show that the errors of three angles estimated by the proposed system are all smaller than 0.5°

and meet the beam pointing accuracy requirement for broadband mobile satellite communication in the condition that the GPS is locked or unlocked in a certain short while.

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references

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DEBRUIN J. Control system for mobile satcom antennas establishing and maintaining high-bandwidth satellite links during vehicle motion [J]. IEEE Control Systems Magazine, 2008,28(1):86-101.

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