CN109631870B - Satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation - Google Patents
Satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation Download PDFInfo
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Abstract
The invention belongs to the field of optical measurement, and particularly discloses a satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation, which comprises the following steps: 1. establishing a constraint coordinate system of a sensitive axis of the optical gyroscope; 2. fixing a gyro assembly mounting base tool and adjusting an autocollimator; 3. determining the projection of a rotating shaft vector of the single-axis rate turntable in an optical reference mirror coordinate system and an optical gyro sensitive axis constraint coordinate system; 4. and determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system, and realizing the correction of the attitude lead-out of the satellite-borne optical gyro assembly. The invention fully utilizes the high-precision measurement information output by the optical gyro component, and has simple operation and short time consumption; the extraction of the attitude information of the gyro assembly is realized under the constraint coordinate system of the gyro sensitive shaft, and the high-precision three-axis turntable coordinate system or the standard hexahedron coordinate system is not needed to be used as a transition coordinate system, so that the influence caused by the deformation of the shock absorber is avoided.
Description
Technical Field
The invention belongs to the field of optical measurement, and particularly relates to a satellite-borne optical gyro component attitude leading-out method based on optical auto-collimation.
Background
The optical gyroscope has the advantages of all solid state, good reliability, long service life and high measurement precision, and is widely applied to various satellites. The system component formed by the optical gyroscope can measure the attitude change of the satellite, and can provide required information for a satellite attitude control system and attitude reference information for other loads on the satellite.
When the optical gyro assembly provides attitude reference information for the satellite load, the attitude of the gyro assembly needs to be led out through the optical reference mirror. Due to the existence of installation errors, the coordinate system of the mirror surface of the optical reference mirror is not consistent with the coordinate system of the optical gyro assembly, and the installation relation between the gyro assembly and the optical reference mirror needs to be corrected so as to realize high-precision posture extraction. According to the traditional method, a high-precision three-axis turntable coordinate system or a standard hexahedral coordinate system is used as a transition coordinate system, the installation error of the gyro component is calibrated under the transition coordinate system, and the attitude of the gyro component is led out by calibrating the installation relation between an optical reference mirror and the transition coordinate system by using the transition coordinate system as a reference. Therefore, in the process of calibrating the installation relationship between the gyro component and the optical reference mirror, the calibration is usually completed by means of a high-precision three-axis turntable, a standard hexahedron, a gyrotheodolite, a north reference and other equipment, and the method is complex in operation, multiple in error source and long in time consumption. In addition, the installation error process of the gyro assembly is also influenced by the deformation of a shock absorber of the gyro assembly under the transition coordinate system, a new error source is added, and the attitude leading-out precision of the gyro assembly is further influenced. In order to solve the above problems, it is necessary to find a method for correcting the posture of an optical gyro assembly, which is simple in operation, short in time consumption and high in precision.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method is independent of a high-precision three-axis turntable, a gyrotheodolite and a north reference, only uses a common single-axis rate turntable and an autocollimator, and fully utilizes high-precision information output by an optical gyro component to achieve the aim of correcting the installation relation between the gyro component and an optical reference mirror, and is simple to operate and short in consumed time; in addition, the problem of leading-out of the attitude information of the gyro component under the gyro sensitive axis constraint coordinate system is solved, a high-precision three-axis turntable coordinate system or a standard hexahedron coordinate system is not needed to be used as a transition coordinate system, and the influence caused by deformation of the shock absorber is avoided. By solving the two key technical problems, the high-precision posture extraction of the gyro assembly is realized.
In order to solve the technical problems, the solution proposed by the invention is as follows:
the attitude leading-out method of the satellite-borne optical gyro component based on optical auto-collimation comprises the following steps:
(1) establishing an optical gyro sensitive axis constraint coordinate system in which an X gyro is sensitiveShaft oxgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as a body coordinate system of the optical gyro component;
(2) fixing the optical gyro assembly on a mounting base tool, fixing the mounting base tool on a leveled single-axis rate turntable, and further fixing an optical reference mirror at the central position of the optical gyro assembly, wherein the optical reference mirror is a cubic mirror, and finally defining a coordinate system of the optical reference mirror, and the coordinate system of the optical reference mirror is defined as: taking the normal of one side surface of the optical reference mirror as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes form a right-hand orthogonal coordinate system;
(3) determining the projection of the rotation axis vector of the single-axis velocity rotary table in the optical reference mirror coordinate system, comprising the following steps:
(3.1) Normal z of optical reference mirrorpDetermining the projection u of the rotating shaft vector of the single-shaft speed turntable in the optical reference mirror coordinate system when the shaft faces the sky directionpThe method comprises the following steps:
(3.1.1) firstly controlling the single-axis rate turntable to return to a zero position, then placing the autocollimator on a horizontal table, and further adjusting the height of the horizontal table and the optical axis of the autocollimator;
(3.1.2) making the autocollimator aiming optical reference mirror perpendicular to xpMirror surface of normal line of shaft, then making autocollimation reading to obtain pitch angle reading theta1;
(3.1.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 ° k counterclockwise around the axis of rotation, then stationary for 30s, then controlling the single-axis rate turntable to rotate 360 ° k clockwise around the axis of rotation, then stationary for 30s, then controlling the single-axis rate turntable to rotate 180 ° clockwise around the axis of rotation, then keeping stationary, and again using the autocollimator to go intoPerforming auto-collimation reading to obtain a pitch angle reading theta2(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.1.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees anticlockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be vertical to ypThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained3(ii) a Keeping the autocollimator still, controlling the single-shaft rate rotary table to rotate 180 degrees around the rotary shaft anticlockwise continuously, and then performing autocollimation reading to obtain a pitch angle reading theta4(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.1.5) repeating steps (3.1.2) - (3.1.4) twice, wherein when the steps are repeated for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1', the pitch angle reading obtained in step (3.1.3) is noted as θ2The pitch angle readings taken in', (3.1.4) are respectively noted as θ3′、θ4'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1", the pitch angle reading obtained in step (3.1.3) is recorded as θ2Respectively recording the pitch angle readings obtained in the step (3.1.4) as theta3″、θ4″;
(3.1.6) determination of the Normal z of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes beingRotation axis vector and y of single-axis rate turntablepThe angle of the axes beingSingle axis rate turntable axis of rotation vector and zpThe angle of the axes beingThus, the projection u of the rotation axis vector of the single axis rate turret in the optical reference mirror coordinate systempIs up=[α1β1γ1]T;
(3.2) Normal y of optical reference mirrorpDetermining the projection e of the rotating axis vector of the single-axis rate turntable in the optical reference mirror coordinate system when the axis faces the sky directionpThe method comprises the following steps:
(3.2.1) firstly, winding the installation base tool of the optical gyro assembly around xpThe shaft rotates 90 degrees anticlockwise, the mounting base tool is fixed on the leveled single-shaft speed turntable, and the normal y of the optical reference mirror at the momentpThe axis is towards the sky direction;
(3.2.2) adjusting the optical axis of the autocollimator so that the autocollimator aims the optical reference mirror perpendicular to xpMirror surface of the normal line of the shaft, and finally, performing auto-collimation reading to obtain a pitch angle reading theta5;
(3.2.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta6(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.2.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees clockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be perpendicular to zpThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained7(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.2.5) repeating steps (3.2.2) - (3.2.4) twice, wherein the first repeating step is repeatedDuring the above steps, the pitch angle reading obtained in step (3.2.2) is recorded as θ5', the pitch angle reading obtained in step (3.2.3) is noted as θ6The pitch angle readings taken in', (3.2.4) are noted as θ7'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.2.2) is recorded as θ5", the pitch angle reading obtained in step (3.2.3) is recorded as θ6"(3.2.4) the pitch reading is recorded as θ7″;
(3.2.6) determination of the Normal y of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes beingSingle axis rate turntable axis of rotation vector and zpThe angle of the axes beingRotation axis vector and y of single-axis rate turntablepThe angle of the axes beingThe normal y of the optical reference mirrorpProjection e of the rotation axis vector of the single axis rate turntable in the optical reference mirror coordinate system with the axis oriented in the sky directionpIs ep=[α2β2γ2]T;
(4) Determining the projection of a rotating axis vector of a single-axis rate turntable in a sensitive axis constraint coordinate system of an optical gyroscope, comprising the following steps:
(4.1) Normal z of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.1.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm, wherein q is the attitude quaternion,the rotation angular velocity is adopted, and the bipartite posture algorithm adopts the following updating mode:
Wherein,respectively represent tk-1、tkAttitude quaternion at time, σ being [ t ]k-1,tk-1]The rotation vector in time period Δ t, | σ | is the modulus of σ, Δ θ1、Δθ2Respectively representing angular velocities of rotationIn a period of timeAnd time periodThe angular increment corresponding thereto;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
wherein,quaternion representing attitudeVector composed of 2 nd to 4 th components, '| |' denotes vector modulus;
(4.1.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, the quaternion derivative power according to attitudeProgram for programmingUpdating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
(4.1.3) u obtained according to the procedures (4.1.1) and (4.1.2)+、u-To determine the normal z of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection u of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
(4.2) Normal y of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.2.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
(4.2.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
(4.2.3) e obtained according to the procedures (4.2.1) and (4.2.2)+、e-To determine the normal y of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
(5) determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate systemWherein,and further, when the attitude information of the optical gyro component needs to be led out, the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the optical reference mirror can be correctedAnd high-precision posture information extraction is realized.
As a further improvement of the invention, the rotation angular velocity of the single axis rate turret is 10/s.
As a further improvement of the invention, when the single-shaft speed turntable rotates 360 degrees k around the rotating shaft anticlockwise and clockwise, the value of k is 6.
Compared with the prior art, the invention has the advantages that:
(1) the invention does not depend on a high-precision three-axis turntable, a gyrotheodolite and a north reference, only uses a common single-axis rate turntable and an autocollimator, can fully utilize high-precision measurement information output by an optical gyro component, and has simple operation and short time consumption;
(2) the extraction of the attitude information of the gyro assembly is realized under the constraint coordinate system of the gyro sensitive shaft, and the high-precision three-axis turntable coordinate system or the standard hexahedron coordinate system is not needed to be used as a transition coordinate system, so that the influence caused by the deformation of the shock absorber is avoided.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic diagram of a constraint coordinate system of a sensitive axis of an optical gyroscope;
FIG. 3 is a schematic diagram of an embodiment of the present invention.
Reference numerals:
1-single axis rate turntable, 2-optical gyro component, 3-optical reference mirror, 4-autocollimator.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in FIG. 1, the method for extracting the attitude of the satellite-borne optical gyro assembly based on optical auto-collimation according to the present invention comprises the following steps: establishing an optical gyro sensitive axis constraint coordinate system, fixing a gyro assembly mounting base tool and adjusting an autocollimator, determining the projection of a rotating axis vector of a single-axis rate turntable in an optical reference mirror coordinate system and the optical gyro sensitive axis constraint coordinate system, determining the mounting relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate system, and realizing the correction of the posture lead-out of the satellite-borne optical gyro assembly.
The method comprises the following specific steps of combining specific application examples:
(1) as shown in FIG. 2, an optical gyro sensitive axis constrained coordinate system is established in which the X gyro sensitive axis ox is usedgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as a body coordinate system of the optical gyro component;
(2) fixing the optical gyro assembly on a mounting base tool, fixing the mounting base tool on a leveled single-axis rate turntable, and further fixing an optical reference mirror at the central position of the optical gyro assembly, wherein the optical reference mirror is a cubic mirror, and finally defining a coordinate system of the optical reference mirror, and the coordinate system of the optical reference mirror is defined as: taking the normal of one side surface of the optical reference mirror as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes constitute a right-hand orthogonal coordinate system (shown in FIG. 3);
(3) determining the projection of the rotation axis vector of the single-axis velocity rotary table in the optical reference mirror coordinate system, comprising the following steps:
(3.1) Normal z of optical reference mirrorpDetermining the projection u of the rotating shaft vector of the single-shaft speed turntable in the optical reference mirror coordinate system when the shaft faces the sky directionpThe method comprises the following steps:
(3.1.1) firstly controlling the single-axis rate turntable to return to a zero position, then placing the autocollimator on a horizontal table, and further adjusting the height of the horizontal table and the optical axis of the autocollimator (shown in figure 3);
(3.1.2) making the autocollimator aiming optical reference mirror perpendicular to xpMirror surface of normal line of shaft, then making autocollimation reading to obtain pitch angle reading theta1;
(3.1.3) keeping the autocollimator stationary, control the single axis rate turret to rotate 360 ° k counterclockwise around the axis of rotation, then stationary for 30s, then control the single axis rate turretThe table rotates clockwise for 360 degrees k around the rotating shaft, then stands still for 30s, further controls the single-shaft rate turntable to rotate clockwise for 180 degrees around the rotating shaft, then keeps still, and utilizes the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta2(ii) a In addition, the value of k is a positive integer, and the value range of k is not less than 3 and not more than 7, and k is 6 in this embodiment; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.1.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees anticlockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be vertical to ypThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained3(ii) a Keeping the autocollimator still, controlling the single-shaft rate rotary table to rotate 180 degrees around the rotary shaft anticlockwise continuously, and then performing autocollimation reading to obtain a pitch angle reading theta4(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.1.5) repeating steps (3.1.2) - (3.1.4) twice, wherein when the steps are repeated for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1', the pitch angle reading obtained in step (3.1.3) is noted as θ2The pitch angle readings taken in', (3.1.4) are respectively noted as θ3′、θ4'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1", the pitch angle reading obtained in step (3.1.3) is recorded as θ2Respectively recording the pitch angle readings obtained in the step (3.1.4) as theta3″、θ4″;
(3.1.6) determination of the Normal z of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes beingRotation axis vector and y of single-axis rate turntablepOf shaftsIncluded angle ofSingle axis rate turntable axis of rotation vector and zpThe angle of the axes beingThus, the projection u of the rotation axis vector of the single axis rate turret in the optical reference mirror coordinate systempIs up=[α1β1γ1]T;
(3.2) Normal y of optical reference mirrorpDetermining the projection e of the rotating axis vector of the single-axis rate turntable in the optical reference mirror coordinate system when the axis faces the sky directionpThe method comprises the following steps:
(3.2.1) firstly, winding the installation base tool of the optical gyro assembly around xpThe shaft rotates 90 degrees anticlockwise, the mounting base tool is fixed on the leveled single-shaft speed turntable, and the normal y of the optical reference mirror at the momentpThe axis is towards the sky direction;
(3.2.2) adjusting the optical axis of the autocollimator so that the autocollimator aims the optical reference mirror perpendicular to xpMirror surface of the normal line of the shaft, and finally, performing auto-collimation reading to obtain a pitch angle reading theta5;
(3.2.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta6(ii) a In addition, the value of k is a positive integer, and the value range of k is not less than 3 and not more than 7, and k is 6 in this embodiment; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.2.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees clockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be perpendicular to zpMirror with normal axisThen, the auto-collimation reading is carried out to obtain the pitch angle reading theta7(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.2.5) repeating steps (3.2.2) - (3.2.4) twice, wherein the pitch angle reading obtained in step (3.2.2) when the above steps are repeated for the first time is recorded as θ5', the pitch angle reading obtained in step (3.2.3) is noted as θ6The pitch angle readings taken in', (3.2.4) are noted as θ7'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.2.2) is recorded as θ5", the pitch angle reading obtained in step (3.2.3) is recorded as θ6"(3.2.4) the pitch reading is recorded as θ7″;
(3.2.6) determination of the Normal y of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes beingSingle axis rate turntable axis of rotation vector and zpThe angle of the axes beingRotation axis vector and y of single-axis rate turntablepThe angle of the axes beingThe normal y of the optical reference mirrorpProjection e of the rotation axis vector of the single axis rate turntable in the optical reference mirror coordinate system with the axis oriented in the sky directionpIs ep=[α2β2γ2]T;
(4) Determining the projection of a rotating axis vector of a single-axis rate turntable in a sensitive axis constraint coordinate system of an optical gyroscope, comprising the following steps:
(4.1) Normal z of optical reference mirrorpWhen the axis is towards the sky direction, the optical gyro sensor determines the rotating axis vector of the single-axis rate turntableA projection in a sensitive axis constrained coordinate system, comprising the steps of:
(4.1.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm, wherein q is the attitude quaternion,the rotation angular velocity is adopted, and the bipartite posture algorithm adopts the following updating mode:
Wherein,respectively represent tk-1、tkAttitude quaternion at time, σ being [ t ]k-1,tk-1]The rotation vector in period △ t, | σ | is the modulus of σ, Δ θ1、Δθ2Respectively representing angular velocities of rotationIn a period of timeAnd time periodThe angular increment corresponding thereto;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
wherein,quaternion representing attitudeVector composed of 2 nd to 4 th components, '| |' denotes vector modulus;
(4.1.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
(4.1.3) u obtained according to the procedures (4.1.1) and (4.1.2)+、u-To determine the normal z of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection u of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
(4.2) Normal y of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.2.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
(4.2.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
(4.2.3) e obtained according to the procedures (4.2.1) and (4.2.2)+、e-To determine the normal y of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
(5) determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate systemWherein,and further, when the attitude information of the optical gyro component needs to be led out, the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the optical reference mirror can be correctedAnd high-precision posture information extraction is realized.
In addition, the rotation angular velocity of the single-axis rate turn table in each of the above steps is 10 °/s.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (3)
1. The method for extracting the attitude of the satellite-borne optical gyro component based on optical auto-collimation is characterized by comprising the following steps: comprises the following steps
(1) Establishing a constraint coordinate system of the sensitive axis of the optical gyro, wherein the sensitive axis ox of the X gyro is usedgFor constraining x of a coordinate systembAxis, y of a constrained coordinate systembAxis is at X top sensitive axis oxgAnd the sensitive axis oy of the Y gyroscopegIn the plane of the formation, z of the constrained coordinate systembAxis and xbAxis, ybThe axes form a right-hand orthogonal coordinate system, and the optical gyro sensitive axis constraint coordinate system is used as a body coordinate system of the optical gyro component;
(2) fixing the optical gyro assembly on a mounting base tool, fixing the mounting base tool on a leveled single-axis rate turntable, and further fixing an optical reference mirror at the central position of the optical gyro assembly, wherein the optical reference mirror is a cubic mirror, and finally defining a coordinate system of the optical reference mirror, and the coordinate system of the optical reference mirror is defined as: taking the normal of one side surface of the optical reference mirror as xpAxis with the normal of its adjacent side and top surfaces as ypAxis, zpAxis, and xpAxis, ypAxis, zpThe axes form a right-hand orthogonal coordinate system;
(3) determining the projection of the rotation axis vector of the single-axis velocity rotary table in the optical reference mirror coordinate system, comprising the following steps:
(3.1) Normal z of optical reference mirrorpDetermining the projection u of the rotating shaft vector of the single-shaft speed turntable in the optical reference mirror coordinate system when the shaft faces the sky directionpThe method comprises the following steps:
(3.1.1) firstly controlling the single-axis rate turntable to return to a zero position, then placing the autocollimator on a horizontal table, and further adjusting the height of the horizontal table and the optical axis of the autocollimator;
(3.1.2) making the autocollimator aiming optical reference mirror perpendicular to xpMirror surface of normal line of shaft, then making autocollimation reading to obtain pitch angle reading theta1;
(3.1.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta2(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.1.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees anticlockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be vertical to ypThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained3(ii) a Keeping the autocollimator still, controlling the single-shaft rate rotary table to rotate 180 degrees around the rotary shaft anticlockwise continuously, and then performing autocollimation reading to obtain a pitch angle reading theta4(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.1.5) repeating steps (3.1.2) - (3.1.4) twice, wherein when the steps are repeated for the first time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1', the pitch angle reading obtained in step (3.1.3) is noted as θ2The pitch angle readings taken in', (3.1.4) are respectively noted as θ3′、θ4'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.1.2) is recorded as θ1", the pitch angle reading obtained in step (3.1.3) is recorded as θ2Respectively recording the pitch angle readings obtained in the step (3.1.4) as theta3″、θ4″;
(3.1.6) determination of the Normal z of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes beingRotation axis vector and y of single-axis rate turntablepThe angle of the axes beingSingle axis rate turntable axis of rotation vector and zpThe angle of the axes beingThus, the projection u of the rotation axis vector of the single axis rate turret in the optical reference mirror coordinate systempIs up=[α1β1γ1]T;
(3.2) Normal y of optical reference mirrorpDetermining the projection e of the rotating axis vector of the single-axis rate turntable in the optical reference mirror coordinate system when the axis faces the sky directionpThe method comprises the following steps:
(3.2.1) firstly, winding the installation base tool of the optical gyro assembly around xpThe shaft rotates 90 degrees anticlockwise, the mounting base tool is fixed on the leveled single-shaft speed turntable, and the normal y of the optical reference mirror at the momentpThe axis is towards the sky direction;
(3.2.2) adjusting the optical axis of the autocollimator so that the autocollimator aims the optical reference mirror perpendicular to xpMirror surface of the normal line of the shaft, and finally, performing auto-collimation reading to obtain a pitch angle reading theta5;
(3.2.3) keeping the autocollimator stationary, controlling the single-axis rate turntable to rotate 360 degrees k anticlockwise around the rotating shaft, then being stationary for 30s, then controlling the single-axis rate turntable to rotate 360 degrees k clockwise around the rotating shaft, then being stationary for 30s, further controlling the single-axis rate turntable to rotate 180 degrees clockwise around the rotating shaft, then keeping stationary, and utilizing the autocollimator again to perform autocollimation reading to obtain a pitch angle reading theta6(ii) a In addition, the k value is a positive integer, and the value range of k is more than or equal to 3 and less than or equal to 7; the output value of the optical gyro component needs to be recorded and stored in the process that the single-axis rate turntable rotates around the rotating shaft;
(3.2.4) keeping the autocollimator still, controlling the single-axis rate turntable to rotate 90 degrees clockwise around the rotating shaft, and enabling the autocollimator to aim the optical reference mirror to be perpendicular to zpThe mirror surface of the normal line of the shaft is used for self-collimation reading, and the pitch angle reading theta is obtained7(ii) a Finally, controlling the single-axis rate turntable to return to the zero position;
(3.2.5) repeating steps (3.2.2) - (3.2.4) twice, wherein the pitch angle reading obtained in step (3.2.2) when the above steps are repeated for the first time is recorded as θ5', the pitch angle reading obtained in step (3.2.3) is noted as θ6The pitch angle readings taken in', (3.2.4) are noted as θ7'; when the above steps are repeated a second time, the pitch angle reading obtained in step (3.2.2) is recorded as θ5", the pitch angle reading obtained in step (3.2.3) is recorded as θ6"(3.2.4) the pitch reading is recorded as θ7″;
(3.2.6) determination of the Normal y of the optical reference mirrorpWhen the axis is towards the sky direction, the vector of the rotating axis of the single-axis rate turntable and the x of the coordinate system of the optical reference mirrorpAxis, ypAxis, zpAngle of axis, wherein the axis vector of rotation of the single axis rate turntable is parallel to xpThe angle of the axes beingSingle axis rate turntable axis of rotation vector and zpThe angle of the axes beingRotation axis vector and y of single-axis rate turntablepThe angle of the axes beingThe normal y of the optical reference mirrorpProjection e of the rotation axis vector of the single axis rate turntable in the optical reference mirror coordinate system with the axis oriented in the sky directionpIs ep=[α2β2γ2]T;
(4) Determining the projection of a rotating axis vector of a single-axis rate turntable in a sensitive axis constraint coordinate system of an optical gyroscope, comprising the following steps:
(4.1) Normal z of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.1.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm, wherein q is the attitude quaternion,the rotation angular velocity is adopted, and the bipartite posture algorithm adopts the following updating mode:
Wherein,respectively represent tk-1、tkAttitude quaternion at time, σ being [ t ]k-1,tk-1]The rotation vector in time period Δ t, | σ | is the modulus of σ, Δ θ1、Δθ2Respectively representing angular velocities of rotationIn a period of timeAnd time periodThe angular increment corresponding thereto;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
wherein,quaternion representing attitudeVector composed of 2 nd to 4 th components, '| |' denotes vector modulus;
(4.1.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.1.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection u of the rotation axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
(4.1.3) u obtained according to the procedures (4.1.1) and (4.1.2)+、u-To determine the normal z of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection u of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
(4.2) Normal y of optical reference mirrorpWhen the axis is towards the sky direction, the projection of the rotation axis vector of the single-axis rate turntable in the optical gyro sensitive axis constraint coordinate system is determined, and the method comprises the following steps:
(4.2.1) when the single-axis rate turntable rotates 360 degrees k anticlockwise around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the single-axis rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of counterclockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
and then, obtaining the anticlockwise rotation end t of the single-axis rate rotary table by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during counterclockwise rotation+Expressed as:
(4.2.2) when the uniaxial rate turntable rotates clockwise by 360 degrees k around the rotating shaft in the step (3.2.3), calculating the projection of the rotating shaft vector of the uniaxial rate turntable in the optical gyro sensitive shaft constraint coordinate system according to the output value of the optical gyro assembly recorded and stored in the process, wherein the calculating method comprises the following steps:
first, the start t of clockwise rotation of the turntable at a single axis rate in the above process is determined0Initial attitude quaternion for temporal optical gyro componentsComprises the following steps:
second, differential equation of quaternion according to attitudeUpdating the attitude quaternion by adopting a binary attitude algorithm;
then, obtaining the clockwise rotation end t of the single-axis rate turntable by resolving according to the attitude quaternion differential equationendAttitude quaternion for temporal optical gyro components
Finally, determining the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscope during clockwise rotation-Expressed as:
(4.2.3) e obtained according to the procedures (4.2.1) and (4.2.2)+、e-To determine the normal y of the optical reference mirrorpWhen the axis is oriented to the sky direction, the projection e of the rotating axis vector of the single-axis rate turntable in the sensitive axis constraint coordinate system of the optical gyroscopebComprises the following steps:
(5) determining the installation relation between the optical gyro sensitive axis constraint coordinate system and the optical reference mirror coordinate systemWherein,and further, when the attitude information of the optical gyro component needs to be led out, the installation relation between the constraint coordinate system of the sensitive axis of the optical gyro and the coordinate system of the optical reference mirror can be correctedAnd high-precision posture information extraction is realized.
2. The attitude derivation method for the optical auto-collimation based satellite-borne optical gyro assembly according to claim 1, wherein the attitude derivation method comprises the following steps: the rotation angular velocity of the single-axis velocity rotary table is 10 DEG/s.
3. The attitude derivation method for the optical auto-collimation based satellite-borne optical gyro assembly according to claim 1, wherein the attitude derivation method comprises the following steps: when the single-shaft speed turntable rotates 360 degrees k around the rotating shaft anticlockwise and clockwise, the k value is 6.
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