Angular motion measuring method based on parallel configuration of magnetic suspension control sensitive gyroscopes

A sensitive gyroscope and measurement method technology, applied in navigation calculation tools, integrated navigators, etc., to achieve the effect of improving measurement accuracy, high-precision and high-dynamic measurement, and overcoming the contradiction between measurement accuracy and dynamic range

Pending Publication Date: 2019-07-30
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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Problems solved by technology

Although this method can improve the measurement or estimation accuracy of the attitude angular rate to a certain extent, there is inevitably a prominent contradiction between the detection accuracy and the detection dynamic range.

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  • Angular motion measuring method based on parallel configuration of magnetic suspension control sensitive gyroscopes
  • Angular motion measuring method based on parallel configuration of magnetic suspension control sensitive gyroscopes
  • Angular motion measuring method based on parallel configuration of magnetic suspension control sensitive gyroscopes

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Embodiment Construction

[0028] specific implementation plan

[0029] Specific embodiments of the present invention are as figure 1 As shown, the specific implementation steps are as follows:

[0030] (1) Establish a dynamic model of a single gyro rotor in orbit

[0031] like figure 2 Shown, G 1 , G 2 A total of 2 maglev control sensitive gyroscopes. The straight lines where the rotation axes of the two gyroscopes are kept parallel in space, can be coaxial or non-coaxial, and the rotation axes point in opposite directions, thus forming a parallel configuration. Obviously, this is one of the parallel configurations. a special form; O b -X b Y b Z b is the satellite body coordinate system, G 1 The angular momentum of O b Z b Axis collinear and same direction, G 2 The angular momentum of O b Z b Axes collinearly reversed. where when the rotor is in the equilibrium position, figure 2 Magnetic levitation control sensitive gyro reference frame O in csg,n -X csg,n Y csg,n Z csg,n with t...

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Abstract

The invention relates to an angular motion measuring method based on parallel configuration of magnetic suspension control sensitive gyroscopes. An analytical relation of an attitude angular rate of aspacecraft is obtained by utilizing a resultant external moment of a gyroscope rotor in the radial direction, and under a condition that an inertial coupling term and a cross coupling term caused byangular movement of the spacecraft are not ignored, the inertial coupling term and the cross coupling term are eliminated through information fusion operation of the two gyroscopes in the parallel configuration, so that an angular rate analytical expression of two axes of the spacecraft is obtained in a combined mode. Due to the fact that the inertia coupling term and the cross coupling term are reserved, the measurement precision only depends on a gyroscope error and a configuration installation error and cannot be decreased along with the increase of the dynamic range of the spacecraft. According to the method, the conspicuous contradiction between the measurement precision and the dynamic range in a traditional attitude angular rate measurement method is effectively overcome. The methodbelongs to the technical field of inertial navigation and can be applied to high-precision and high-bandwidth measurement of attitude angular speed of the spacecraft.

Description

technical field [0001] The invention relates to an angular motion measurement method based on a parallel configuration of a magnetic suspension control sensitive gyroscope, which is suitable for the occasion where the magnetic suspension control sensitive gyroscope configuration is used as the measurement of spacecraft attitude angular motion information. [0002] technical background [0003] The magnetic levitation control sensitive gyroscope is a new concept gyroscope first proposed by the University of Aerospace Engineering in 2015. The gyroscope has the characteristics of integrating attitude control and attitude measurement functions, which can effectively reduce the volume, weight and power consumption of spacecraft. Because of its high measurement accuracy, high-precision inertial navigation will also have high application value in the future. A single magnetic levitation control sensitive gyro has two degrees of freedom angular rate sensitivity capability. It is a co...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/24
CPCG01C21/20G01C21/24
Inventor 任元于春淼陈晓岑王卫杰汪洲姚红尹增愿李磊
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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