基于UDKF的非共面陀螺在轨自主标定方法  

On-orbit self-calibration method of non-coplanar gyros based on UDKF

作　　者：张晓文[1,2] 李骥[1,2] ZHANG Xiaowen;LI Ji(Beijing Institute of Control Engineering,Beijing 100190,China;National Key Laboratory of Science and Technology Space Intelligent Control,Beijing 100190,China)

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术国家级重点实验室,北京100190

出　　处：《中国空间科学技术》2021年第2期104-111,共8页Chinese Space Science and Technology

基　　金：载人航天领域预先研究项目(060201)。

摘　　要：针对非正交安装陀螺组件在轨标定问题,对已飞行应用的正交安装陀螺组件在轨标定方法进行改进,提出非共面安装陀螺组件在轨自主标定方法。首先建立非共面陀螺定姿误差模型,然后设计UD分解卡尔曼滤波器,用星敏和陀螺测量在轨直接估计陀螺常值漂移,间接估计陀螺安装误差和刻度因子误差。设计滤波器时,为实现测量更新序贯处理,给出测量噪声解耦方法。滤波器确定后,利用模值条件,给出从间接估计求解安装误差和刻度因子误差的精确公式。为说明方法的通用性,通过公式推导证明原方法是本方法的特例。为指导标定姿态机动设计,基于可观性分析给出简洁的系统可观的角速度组合条件。最后,数学仿真结果表明本方法有效,陀螺安装误差标定精度优于0.01°。For the on-orbit calibration problem of non-orthogonal gyros,the orthogonal gyros on-orbit calibration method used in flight was improved,and the non-coplanar gyros on-orbit self-calibration method was proposed.Firstly,the attitude propagating error model of non-coplanar gyros was built,and then a UD decomposing Kalman filter(UDKF)was designed.The gyro constant bias was directly estimated,the gyro misalignment and scale factor error was estimated indirectly on orbit with star tracker and gyro measurements.When the filter was designed,in order to realize the sequential processing of measurement update,the measurement noise decoupling method was given.After filter designing,by using the vector norm constraint,the accuracy formulae were given to solve the misalignment and scale factor error from the indirect estimations.To illustrate the generality of this method,it was proved by formula derivation that the old method is a special case of this new method.In order to guide the design of calibration attitude maneuver,based on the analysis of observability,a simple rotation combination condition for system observability was given.Finally the mathematical simulation results show that this method is effective and the calibration accuracy of gyro misalignment is better than 0.01°.

关 键 词：陀螺标定 非共面 安装误差 常值漂移 刻度因子 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]