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High-precision attitude determination method for spacecraft attitude motion simulation platform

A space vehicle and motion simulation technology, applied in the field of measurement, can solve problems such as difficult to achieve high precision, complex mechanism, and difficult engineering application

Active Publication Date: 2014-08-27
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the system needs to add a complex mechanical system and sensor system, the mechanism is complex, engineering application is difficult, and its accuracy is limited by mechanical devices and sensors, it is difficult to achieve high precision

Method used

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  • High-precision attitude determination method for spacecraft attitude motion simulation platform
  • High-precision attitude determination method for spacecraft attitude motion simulation platform
  • High-precision attitude determination method for spacecraft attitude motion simulation platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0091] combine figure 1 , a high-precision attitude determination method for a space vehicle attitude motion simulation platform of the present invention, the equipment used includes a laser tracker 1, an intelligent measuring head 2, a gyroscope 3 and two industrial control computers 4.5, and the laser tracker 1 is installed on the space vehicle Under the stage of the attitude motion simulation platform; before the attitude is determined, the intelligent probe 2 is installed under the platform, and the laser tracker 1 is calibrated with the laser tracker 1. The measurement coordinate system of the laser tracker 1 is fixed in the space during the attitude determination process. On the instrument platform of the aircraft attitude motion simulation platform, the intelligent probe 2 has a target positioning system, and the laser tracker 1 cooperates with the intelligent probe 2 to track and determine the three-dimensional angle of rotation of the intelligent probe 2 and the three-...

Embodiment 2

[0101] The present invention proposes an improved scheme for determining the attitude of a space vehicle attitude motion simulation platform based on extended Kalman filtering, builds a ground full-physics simulation experiment device, and performs data fusion filtering on the output information of the laser tracker and gyroscope to obtain the space The attitude information of the aircraft attitude motion simulation platform, the specific steps are as follows:

[0102] Step 1: According to the attitude parameter conversion formula, adopt the 312 conversion sequence, and use the attitude angle θ, ψ is calculated to obtain the coordinate transformation matrix A of the coordinate system of the air bearing platform relative to the inertial system br :

[0103]

[0104] Among them, θ, ψ is the attitude angle of the air bearing platform output by the laser tracker;

[0105] Further calculations get the attitude quaternion:

[0106] ...

Embodiment 3

[0165] combine Figure 4 , introduce the measurement coordinate system O of the laser tracker s -X s Y s Z s Relative inertial coordinate system O i -X i Y i Z i The coordinate transformation matrix of calibration method.

[0166] First adjust the laser tracker to make it level, and then measure O through the laser tracker s point and the target ball on the north axis [0 y 1 0] T The coordinates in the laser tracker coordinate system are [a b c] T and [x y z] T , through the homogeneous coordinate transformation relationship:

[0167] 0 y 1 0 1 = cos θ is - si...

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Abstract

The objective of the invention is to provide a high-precision attitude determination method for a spacecraft attitude motion simulation platform. Equipment used in the method comprises a laser tracker, an intelligent probe, a gyroscope and two industrial control computers, so a ground fully-physical simulation experimental facility is constructed. The method is an improved method for attitude determination based on extended Kalman filtering, acquires attitude information of the spacecraft attitude motion simulation platform by carrying out data-fusion filtering on output information of the laser tracker and the gyroscope, better accords with actual working conditions and has high instantaneity. Measurement equipment used in the invention is easy to install, has high measurement precision and can realize dynamic contactless measurement of the attitude angle and angular rate information of the spacecraft attitude motion simulation platform.

Description

technical field [0001] The invention relates to measurement technology, in particular to a method for determining a high-precision attitude of a space vehicle attitude motion simulation platform. Background technique [0002] The space vehicle attitude motion simulation platform (also known as the three-axis air bearing platform) relies on the air film formed between the air bearing and the bearing seat by compressed air to make the simulation platform float, so as to realize the relative motion condition of approximately frictionless, To simulate the mechanical environment in which the disturbance moment of space vehicles such as satellites in outer space is very small. As a general simulator for spacecraft attitude motion, the three-axis air bearing table can perform full-physics simulation experiment verification and analysis of the performance of the aircraft attitude control system, and is an important means and method in the process of spacecraft development. [0003]...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00G01C19/00
CPCG01C1/00G01C21/20G01C25/005
Inventor 刁雁华夏红伟马广程王常虹宋效正杨立峰刘飞
Owner HARBIN INST OF TECH
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