陀螺与磁强计组合定姿及陀螺漂移估计

Attitude Determination and Drift Estimation Based on Gyro and Magnetometer

随着微陀螺和微磁强计在小卫星上得到广泛应用,陀螺和磁强计组合定姿研究越来越受到重视。首先利用磁强计测得的前后时刻磁场强度,基于双矢量定姿确定本体相对惯性系姿态,并与陀螺积分姿态比较得到姿态误差;其次基于地磁场矢量修正后的姿态误差校正陀螺积分姿态,并基于PI滤波估计陀螺漂移;最后进行了仿真验证,结果表明该方法可以有效估计陀螺漂移,姿态确定精度在1°左右。

With micro-gyros and micro-magnetometers are widely applied to small satellites, more and more attention is paid to the research of the integrated attitude determination based on the micro-gyro and the micro-magnetometer. Firstly, using double geomagnetic field vectors measured at previous moment and current moment by magnetometers, the attitude of the body with respect to the inertial system is determined, and the attitude error is gained by comparing with the integrated attitude of the gyro. Then, the integrated attitude of the gyro is corrected by the attitude error revised based on geomagnetic field vector and the gyro drift is estimated based on PI filter. The simulation result shows that the gyro drift can be estimated effec- tively and the attitude determination precision is about 1 ° by using this method.