微型三轴气浮台姿态确定系统设计  

Design of Micro Tri-axial Air Turntable's Attitude Determination System

作　　者：陈茂胜[1,2] 金光[1] 徐开[1] 戴路[1] 穆欣[1,2] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,长春130033 [2]中国科学院研究生院,北京100039

出　　处：《系统仿真学报》2012年第10期2102-2107,共6页Journal of System Simulation

基　　金：国家863高技术研究发展计划资助项目(2007AA12Z113)

摘　　要：为建立现代小卫星的姿态确定仿真系统,在微型三轴气浮转台上设计了基于敏感元件组合"MEMS陀螺+倾角传感器"的姿态确定系统。首先,系统采用具有32位浮点运算能力的TMS320F28335为中心处理器,通过CAN总线实时采集低精度输出的MEMS陀螺仪角速度信息和较高精度输出的倾角传感器角度信息,然后用扩展卡尔曼滤波器实时处理角速度、角度信息,得到三轴气浮转台的姿态信息;最后通过数学仿真和物理仿真来验证三轴气浮转台姿态确定系统设计的合理性。实验结果表明,该系统能够滤除MEMS陀螺仪输出的漂移,提高转台角速度测量精度,其均方差由0.01516降低至0.005632;角度输出精度基本保持不变,其均方差约为0.001。这表明系统设计合理,能够提供较高精度的姿态信息,满足小卫星姿态确定系统仿真平台的要求。In order to simulate modem micro-satellite＇s attitude determination system, the similar simulation platform system was designed in micro tri-axial air turntable using sensor associations ＂MEMS gyro＋ inclination sensor＂. Firstly, TI new product TMS320F28335 was chosen as center processor, and then the processor gathered the data from MEMS gyros with low accuracy and inclination with quiet high accuracy. Secondly, using designed extend kalman filter to process the gathered message, the attitude message of micro tri-axial air turntable was calculated out. Finally, the designed system was verified by mathematical and physical simulation respectively. According to the results of simulation experiment, it shows that the system can filter the excursion of the MEMS gyro, and improve the precision of output angular with MSE from 0.01516 to 0.005632, and keep the precision of output angle with MSE of 0.001. The designed system, which outputs high precision attitude message with low precision sensor associations, and can satisfy the simulation system requirements of the satellite＇s attitude determination.

关 键 词：姿态确定 MEMS陀螺+倾角传感器 TMS320F28335 扩展卡尔曼滤波器 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]