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随着微陀螺和微磁强计在小卫星上得到广泛应用,陀螺和磁强计组合定姿研究越来越受到重视。首先利用磁强计测得的前后时刻磁场强度,基于双矢量定姿确定本体相对惯性系姿态,并与陀螺积分姿态比较得到姿态误差;其次基于地磁场矢量修正后的姿态误差校正陀螺积分姿态,并基于PI滤波估计陀螺漂移;最后进行了仿真验证,结果表明该方法可以有效估计陀螺漂移,姿态确定精度在1°左右。
With the application of micro-gyroscope and micro-magnetometer on small satellites, gyroscopes and magnetometers have become more and more important in the research of combined attitude determination. Firstly, using the magnetometer to measure the magnetic field strength before and after the moment, the relative inertial attitude of the ontology is determined based on the bi-vectorial attitude, and the attitude error is obtained by comparing with the gyro integral attitude. Secondly, the gyro integral attitude is corrected based on the attitude error corrected by the geomagnetic field vector, And the gyro drift is estimated based on PI filter. Finally, the simulation results show that the proposed method can effectively estimate the gyro drift and the accuracy of attitude determination is about 1 °.