基于双惯性器件的角速度差分相对姿态测量方法  

Angular Velocity Differential Relative Attitude Measurement Method Based on Dual Inertial Devices

作　　者：张天 靳舒馨 王强 刘刚[3] 刘铁成 ZHANG Tian;JIN Shu-xin;WANG Qiang;LIU Gang;LIU Tie-cheng(Beijing Institute of Computer and Electronics Application,Beijing 100089;Beijing Satellite Navigation Center,Beijing 100094;Department of Electronic Engineering,Tsinghua University,Beijing 100084)

机构地区：[1]中国兵器工业计算机应用技术研究所,北京100089 [2]北京卫星导航中心,北京100094 [3]清华大学电子工程系,北京100084

出　　处：《导航与控制》2023年第2期53-61,共9页Navigation and Control

基　　金：装备发展部预先研究项目(编号:7150212)。

摘　　要：实时精准的相对姿态测量对于航天航空、军事装备具有重要意义。传统的惯性相对姿态测量利用两个惯性器件的角速度输出进行独立姿态积分解算,不便引入外部观测,限制了相对姿态测量的应用范围。提出了一种基于双惯性器件的角速度差分相对姿态测量方法,使用两个角速度输出与当前时刻的相对旋转矩阵,获取当前时刻相对角速度,积分得到被测物与载体的相对姿态。经450s相对测姿实验验证,所提方法与传统方法的偏差为0.060°(1σ,俯仰轴)与0.015°(1σ,航向轴),均比测量误差0.510°(1σ,俯仰轴)与0.372°(1σ,航向轴)小1个数量级,可以认为纯惯性时所提方法与传统方法的测姿精度等同。相较于传统方法,所提出的角速度差分相对姿态测量方法可以接入Kalman滤波器,在有观测量时具有更高精度,适用于航天器空间对接、头盔瞄准器等工程应用。Fast and accurate relative attitude measurement is of great significance to aerospace and military equipment.The traditional inertial relative attitude measurement method uses the angular velocity output of two inertial devices to perform independent attitude integral calculation,which is inconvenient to introduce external observation,thus limiting the application scope of relative attitude measurement.An angular velocity differential relative attitude measurement method based on dual inertial devices is proposed,which uses two angular velocity outputs and the relative rotation matrix at the current moment to obtain the relative angular velocity at the current moment,and integrates to obtain the relative attitude of the measured object and the carrier.After 450s of relative attitude measurement experiments,the deviation between the method in this paper and the traditional method is 0.060°(1σ,pitch axis)and 0.015°(1σ,heading axis),which is one order of magnitude smaller than the average inertial measurement error 0.510°(1σ,pitch axis)and 0.372°(1σ,heading axis),and it can be considered that the attitude measurement accuracy of this method is equivalent to that of the traditional method.Compared with the traditional method,the angular velocity differential relative attitude measurement method proposed in this paper can be connected to the Kalman filter,which has higher precision in observed measurements,and is more suitable for engineering applications such as spacecraft space docking and helmet sights.

关 键 词：惯性测量单元 捷联惯导解算 姿态测量 四元数 

分 类 号：U666.1[交通运输工程—船舶及航道工程]