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浙江大学学报(工学版)  2017, Vol. 51 Issue (12): 2444-2450    DOI: 10.3785/j.issn.1008-973X.2017.12.018
航空航天技术     
微纳卫星动态剩磁在轨标定技术
崔仁洁, 蒙涛, 霍俊海, 金仲和
浙江大学 航空航天学院, 浙江 杭州 310027
On-orbit calibration technique for residual magnetism fluctuation of micro-satellite
CUI Ren-jie, MENG Tao, HUO Jun-hai, JIN Zhong-he
School of Aeronautics and Astronautics, Zhejiang University, Hangzhou 310027, China
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摘要:

为了提高剩磁波动影响下微纳卫星在轨定姿精度,提出一种结合地面剩磁标定数据、采用改进的扩展卡尔曼滤波(EKF)算法对磁强计剩磁偏置进行在轨动态标定的方法.该算法将卫星姿态运动学模型、陀螺模型和磁强计静态测量模型作为系统状态方程,采用太阳敏感器和磁强计实测值进行量测更新,依据地面剩磁标定结果波动量级设计变参数的系统噪声协方差阵,实现剩磁波动条件下磁强计偏置的动态跟踪和实时标定.以浙江大学皮星二号(ZDPS-2)卫星地面剩磁标定数据进行仿真分析,结果表明,该算法可有效实现对动态剩磁的跟踪估计,在剩磁波动条件下收敛时间小于250 s,估计结果稳定性优于20nT(1σ);与定常滤波法相比,收敛时间缩短了1 850 s左右,姿态确定精度提高了5°.

Abstract:

In order to improve the on-orbit attitude determination accuracy of the micro-satellite under the influence of dynamic residual magnetism, a calibration method combining the ground residual magnetism calibration data and the extended Kalman filtering (EKF) method was proposed to conduct the on-orbit dynamic calibration for the magnetometer bias. In this method, the satellite attitude kinematics model, gyroscope model and static magnetometer measurement model were selected to construct the system state equation, while the data were updated by the sun sensor and the magnetometer measurement. Besides, the system noise covariance matrix was designed based on the fluctuation level of the ground residual magnetism calibration results, so that the dynamic-tracking and real-time calibration of the magnetometer bias under the residual magnetism fluctuation was achieved. The simulation results based on the ZDPS-2 satellite show that the proposed method can effectively realize the dynamic tracking of residual magnetism estimation, with a convergence time less than 250 s and an estimation stability better than 20nT(1σ) under the residual magnetism fluctuation condition. Compared with the fixed constant filtering algorithm, the convergence time of the proposed method is shortened by about 1 850 s and the attitude determination accuracy is improved by 5 degrees.

收稿日期: 2016-11-01 出版日期: 2017-11-22
CLC:  V448.22  
基金资助:

国家自然科学基金资助项目(61503334).

通讯作者: 蒙涛,女,副教授.orcid.org/0000-0001-7871-0457.     E-mail: mengtao@zju.edu.cn
作者简介: 崔仁洁(1992-),女,硕士生,从事微小卫星姿态测量及控制系统研究.E-mail:cui_renjie@zju.edu.cn
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引用本文:

崔仁洁, 蒙涛, 霍俊海, 金仲和. 微纳卫星动态剩磁在轨标定技术[J]. 浙江大学学报(工学版), 2017, 51(12): 2444-2450.

CUI Ren-jie, MENG Tao, HUO Jun-hai, JIN Zhong-he. On-orbit calibration technique for residual magnetism fluctuation of micro-satellite. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2017, 51(12): 2444-2450.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2017.12.018        http://www.zjujournals.com/eng/CN/Y2017/V51/I12/2444

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