针对射频相对测量敏感器的快速标定方法

A Fast Calibration Method for the RF Relative Measurement Sensor

在卫星编队飞行系统中,射频(radio frequency,RF)相对测量敏感器能够完成两颗卫星的相对位置和姿态的测量,为了验证其测量精度,提出了一种基于激光跟踪仪的快速标定方法.在标定过程中,针对拟合坐标原点和坐标轴产生误差较大的问题,提出了一种基于最小二乘拟合球体和圆的方法,分别确定坐标系的原点和坐标轴;利用坐标系间的固有关系设计了相对坐标系的快速转换方法.在飞行器模拟平台进行验证,实验结果表明,拟合坐标系原点均方根误差为0.120 764mm,拟合坐标轴轴向的均方根误差为0.157 138mm,坐标系转换误差的范围为0.30~0.75mm,能够满足敏感器毫米级定位精度的标定要求.

In formation flying system,the relative position and attitude of spacecraft can be measured by the radio frequency（RF）relative measurement sensor.In order to verify its measurement precision,a calibration method of RF relative measurement sensor calibration was proposed based on laser tracker.In the process of frame building,methods of fitting sphere and circle to determine coordinate origin and axis based on the least squares were proposed,to solve the problem of larger fitting error.The inherent relationship of coordinate system was taken to design a fast conversion method of relative coordinate.The simulation experiment results show that origin fitting errorσRMS=0.120 764 mm,axis fitting errorσRMS=0.207 093 mm,the scope of coordinate frame conversion error 0.30～0.75 mm,they can satisfy the requirement of RF relative sensors calibration.