The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improv...The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improved algorithmal expressions for strap down attitude ut ilizing the angular increment output by the laser gyro from the last two and cur rent updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.展开更多
A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initializatio...A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.展开更多
An extended Kalman filter with adaptive gain was used to build a miniature attitude and heading reference system based on a stochastie model. The adaptive filter has six states with a time variable transition matrix. ...An extended Kalman filter with adaptive gain was used to build a miniature attitude and heading reference system based on a stochastie model. The adaptive filter has six states with a time variable transition matrix. When the system is in the non-acceleration mode, the accelerometer measurements of the gravity and the compass measurements of the heading have observability and yield good eslimates of the states. When the system is in the high dynamic mode and the bias has converged to an aceurate estimate, the attitude caleulation will be maintained for a long interval of time. The adaptive filter tunes its gain automatically based on the system dynamics sensed by the accelerometers to yield optimal performance,展开更多
To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based ...To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based on the finite-time control strategy is developed to observe the time-varying external disturbance via estimating the upper bound of its first derivative.Meanwhile,the rotation matrix is employed to describe the attitude of SFF for the purpose of the avoidance of singularity and unwinding phenomenon.As for the attitude synchronization and the tracking control architecture,a sliding mode surface(SMS)is given such that the control objective can be achieved.The effectiveness and the validity of the proposed method are elaborated via theoretical analysis and numerical simulations.展开更多
In this paper new matrices of the Cayley-Klein parameters are used to represent composition of several consecutive finite rotations of rigid body. The general commutative rules of multiplication for these matrices is ...In this paper new matrices of the Cayley-Klein parameters are used to represent composition of several consecutive finite rotations of rigid body. The general commutative rules of multiplication for these matrices is obtained. Furthermore, by using these matrices it is convenient to prove the theorem on finite rotation of rigid body. The result obtained in this paper is concise and easy to remember, and can be used to calculate vehicle attitude.展开更多
An eigenaxis maneuver strategy with global robustness is studied for large angle attitude maneuver of rigid spacecraft. A sliding mode attitude control algorithm with an exponential time-varying sliding surface is des...An eigenaxis maneuver strategy with global robustness is studied for large angle attitude maneuver of rigid spacecraft. A sliding mode attitude control algorithm with an exponential time-varying sliding surface is designed, which guarantees the sliding mode occurrence at the beginning and eliminates the reaching phase of time-invariant sliding mode control. The proposed control law is global robust against matched external disturbances and system uncertainties, and ensures the eigenaxis rotation in the presence of disturbances and parametric uncertainties. The stability of the control law and the existence of global siding mode are proved by Lyapunov method. Furthermore, the system states can be fully predicted by the analytical solution of state equations, which indicates that the attitude error does not exhibit any overshoots and the system has a good dynamic response. A control torque command regulator is introduced to ensure the eigenaxis rotation under the actuator saturation. Finally, a numerical simulation is employed to illustrate the advantages of the proposed control law.展开更多
文摘The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improved algorithmal expressions for strap down attitude ut ilizing the angular increment output by the laser gyro from the last two and cur rent updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.
文摘A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.
文摘An extended Kalman filter with adaptive gain was used to build a miniature attitude and heading reference system based on a stochastie model. The adaptive filter has six states with a time variable transition matrix. When the system is in the non-acceleration mode, the accelerometer measurements of the gravity and the compass measurements of the heading have observability and yield good eslimates of the states. When the system is in the high dynamic mode and the bias has converged to an aceurate estimate, the attitude caleulation will be maintained for a long interval of time. The adaptive filter tunes its gain automatically based on the system dynamics sensed by the accelerometers to yield optimal performance,
基金This work was supported by the National Natural Science Foundation of China(11772185)the Natural Science Foundation of Heilongjiang Province(F2017005)the Fundamental Research Funds for the Central Universities(HEUCFP201770).
文摘To solve the problem of attitude synchronization control for spacecraft formation flying(SFF)suffering from external disturbances under a directed communication topology,a sliding mode disturbance observer(SMDO)based on the finite-time control strategy is developed to observe the time-varying external disturbance via estimating the upper bound of its first derivative.Meanwhile,the rotation matrix is employed to describe the attitude of SFF for the purpose of the avoidance of singularity and unwinding phenomenon.As for the attitude synchronization and the tracking control architecture,a sliding mode surface(SMS)is given such that the control objective can be achieved.The effectiveness and the validity of the proposed method are elaborated via theoretical analysis and numerical simulations.
文摘In this paper new matrices of the Cayley-Klein parameters are used to represent composition of several consecutive finite rotations of rigid body. The general commutative rules of multiplication for these matrices is obtained. Furthermore, by using these matrices it is convenient to prove the theorem on finite rotation of rigid body. The result obtained in this paper is concise and easy to remember, and can be used to calculate vehicle attitude.
基金National Natural Science Foundation of China (10872030)
文摘An eigenaxis maneuver strategy with global robustness is studied for large angle attitude maneuver of rigid spacecraft. A sliding mode attitude control algorithm with an exponential time-varying sliding surface is designed, which guarantees the sliding mode occurrence at the beginning and eliminates the reaching phase of time-invariant sliding mode control. The proposed control law is global robust against matched external disturbances and system uncertainties, and ensures the eigenaxis rotation in the presence of disturbances and parametric uncertainties. The stability of the control law and the existence of global siding mode are proved by Lyapunov method. Furthermore, the system states can be fully predicted by the analytical solution of state equations, which indicates that the attitude error does not exhibit any overshoots and the system has a good dynamic response. A control torque command regulator is introduced to ensure the eigenaxis rotation under the actuator saturation. Finally, a numerical simulation is employed to illustrate the advantages of the proposed control law.
