四环空间稳定平台姿态角的解算

Attitude calculation of four-gimbal space-stable platform

不同于当地水平稳定系统,空间稳定系统中的姿态角信号不能够由平台框架角直接测量,而必须经过一系列计算才能够产生。为指导四环空间稳定平台的姿态角解算,在坐标变换的基础上,推导了平台姿态角的解算方程,设计了姿态角解算中的关键系统—高精度平台框架角测量系统。在此基础上,给出了姿态角解算的算法流程。系统测试结果表明,该方法能够正确解算四环空间稳定平台惯导系统的姿态角,在采用精准的陀螺漂移模型并引入外速度及高度阻尼后,姿态计算的数据处理误差可以控制在20″以内,能够满足高精度惯性导航系统的需要。

The attitude angle of the space-stable system can not be measured directly from the frame angle. Instead, a series of computation is needed to realize the direct measurement. The paper deduced the solution equation of attitude angle of four-gimbal space-stable platform, and designed a high precision frame-angle measuring system which was the key system for attitude calculation. Based on these, the algorithm flow of attitude calculation was presented. The testing results show that this method can correctly calculate the attitude angle. If the velocity-damp and altitude-damp were introduced, the calculation precision could reach 20″ by using a precise gyroscope drift model, which satisfy the requirements of high precision inertial guidance system.