船用卫星天线姿态稳定系统关键技术研究
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摘要
本文以船用卫星天线姿态稳定系统项目为研究背景，开展以微惯性测量单元（MEMS-IMU）作为姿态测量核心的船用卫星天线姿态稳定系统相关技术研究和原理样机的研制工作。本文设计了采用四轴框架结构的系统姿态闭环工作模式；设计了四轴天线框架控制和跟踪算法；解决了MEMS器件信号降噪和野值剔除等问题，对MEMS陀螺零位和标度因数误差在线补偿标定方法进行研究；提出了基于磁强计连续测量值的速率模拟算法；研制了天线稳定系统的原理样机，进行了相关验证和试验。
本论文主要完成的工作及创新点有以下几方面：
（1）根据现阶段船用卫星天线稳定系统的发展情况及惯性测量单元的类型，针对本文中涉及的船用系统对惯性测量单元精度的要求，确定使用微惯性器件作为核心器件的可行性；总结天线姿态稳定系统的技术发展及现阶段系统结构类型，提出以MEMS-IMU为核心的船用卫星天线姿态稳定系统的总体方案。
（2）设计了四轴框架系统姿态闭环控制算法，建立了惯性测量单元直接与天线本体固联的天线姿态闭环控制模式。为满足全球航行对卫星跟踪的需求，设计了四轴天线框架结构，结合了AE和XY两种框架结构的特点，保证在全球航行时都能实现框架系统平稳跟踪，消除了AE和XY框架结构各自存在的跟踪死区；根据四轴框架结构运动特点和惯性测量单元的安装方式，设计了四轴框架系统的框架控制和天线跟踪算法，实现了天线姿态闭环控制。
（3）在小波分析的基础上，对MEMS陀螺信号进行了误差建模，提出了小波系数抑制的MEMS陀螺确定性误差提取、小波系数线性压缩的野值剔除和虚拟野值的MEMS陀螺信号降噪等三种小波域信号处理方法。小波系数线性压缩野值剔除方法将野值在小波系数体现出来的能量进行线性处理，避免了由于小波系数被强制置零造成的重构信号的震荡现象。针对MEMS器件的高噪声，设计了虚拟野值降噪方法，将信号小波系数的噪声理解为一系列野值点，利用3原理，设计小波降噪的阈值函数，完成信号的降噪处理，并利用系统实测MEMS陀螺数据进行算法验证，将结果和通用阈值方法进行了对比。
（4）提出了利用三轴磁强计连续测量值模拟三轴角速率的方法。由于MEMS陀螺现阶段的精度较低，需借助外信息完成初始对准，因此论文采用电子罗盘与MEMS-IMU组合构成姿态测量系统的方案。本文对三轴磁强计结构的电子罗盘椭圆误差进行了分析，并结合实测数据完成了对电子罗盘数据的补偿，提高了电子罗盘测量精度。在补偿的基础上，提出了三轴磁强计通过测量空间地磁矢量的运动来实现模拟三轴速率输出的想法，建立了利用磁强计输出值计算三轴角速率的模型，同时，推导了磁强计输出值与天线系统Rodrigues参数更新之间的关系以及速率数值输出表达式，为系统组合滤波提供了新的观测量。
（5）设计实现了MEMS陀螺零位误差和标度因数误差的在线辨识和补偿方法。综合考虑姿态检测系统要求，采用了Rodrigues参数法作为姿态描述和更新算法，建立了以系统姿态误差的Rodrigues参数、MEMS陀螺零位值和标度因数值作为状态量的系统状态方程，基于电子罗盘姿态输出和磁强计模拟三轴速率的Kalman滤波方程。实现了对MEMS陀螺零位误差和标度因数误差的估计。
（6）研制了基于微惯性测量单元的船用卫星天线姿态稳定系统原理样机。完成四轴框架结构的设计及伺服机构的设计和制造。验证了论文中所提方法的实用效果，并于2010年8月在松花江上进行了实船的航行试验测试，系统工作正常，达到了预期的效果。
The proposition of this paper comes from a particular research project, involved in theproject, micro-gyroscope attitude measurement and stability in the marine satellite antennaattitude stabilization system, signal processing for micro inertial devices, the antenna framestructure, attitude measurement system The combination of filtering and other aspects of workto complete the research of micro inertial measurement unit for detecting the core marinesatellite antenna attitude stabilization system. In the process of research projects, theapplication of four-axis frame structure to solve the problem of global navigation satellitetracking, attitude closed loop mode, and design a framework for control and trackingalgorithm for four-axis antenna; proposed to solve the high noise of the MEMS devicesoutliers wavelet coefficients of linear compression, and virtual outliers are two signalprocessing methods; for identification MEMS gyro scale factor error, the proposed rate of themagnetometer simulation algorithm based on magnetometer measurements and KalmanFiltering observed variables; developed a prototype of the antenna stabilization system andalgorithm validation and test prototype.
Based on the marine satellite antenna attitude stabilization system project, carried out theinertial measurement unit (MEMS IMU) to detect the core of the marine satellite antennaattitude stabilization system research and prototype research and development. Attitude closedloop mode using four-axis frame structure and designed a framework for control and trackingalgorithm for four-axis antenna; solve the problem of the MEMS device noise and outliers,the MEMS gyroscope zero and scale factor error compensation calibration; proposed basedmagnetometer for measuring the value of the rate of simulation algorithm; developed aprototype of the antenna stabilization systems, validation and test.
This thesis to complete the work and innovation are the following:
(1) According to this stage the development of marine satellite antenna stabilizationsystems, and inertial sensing the type of the core, the summary of marine systems the inertialmeasurement unit accuracy to determine the feasibility of the use of micro inertial devices asthe key device; antenna attitude stabilization system technology development, summarize thetype of system architecture at this stage, the overall scheme of this article Marine SatelliteAntenna Attitude Stabilization System.
(2) Design a four-axis framework Attitude closed-loop control algorithm. Inertialmeasurement units directly with the antenna body solid and antenna attitude closed-loopcontrol mode, to avoid the framework of the projected antenna attitude error vector coordinate system; designed to meet the needs of global navigation satellite tracking, four-axis antennaframework, combined with the structural characteristics of AE and XY two frameworks, andassurance framework system in the global navigation can be a smooth track, eliminating theAE and the XY frame structure tracking dead zone; according to the movement characteristicsof four-axis frame structure and The inertial measurement unit of the installation, design aframework of control of the axis frame system and antenna tracking algorithm, theclosed-loop control of the antenna attitude.
(3) design of the wavelet coefficients of linear compression outliers excluded methodsand virtual outliers in the signal noise reduction method. MEMS gyroscope signal errormodeling, wavelet coefficients of inhibition of MEMS gyroscope deterministic errorextraction, outlier rejection and virtual outliers MEMS gyro signal noise reduction three linearcompression of the wavelet coefficients in wavelet domain signal processing methods. Theenergy of wavelet coefficients of linear compression outliers removed outliers reflected in thewavelet coefficients for linear processing, to avoid oscillation due to the wavelet coefficientsare forced to zero reconstructed signal. High noise of the MEMS device, design a virtualoutliers noise, the noise of the signal wavelet coefficients is understood as a series of outliers,the use of the principle, the design of wavelet denoising threshold function to complete thesignal noise reduction processing, and The system measured MEMS gyroscope data foralgorithm validation, and results and the universal threshold method were compared.
(4) The proposed algorithm for three-axis magnetometer analog three-axis angular rate.Lower due to the accuracy of the MEMS gyroscope at this stage, require the use of outsideinformation to complete the initial alignment, so the papers in electronic compass andMEMS-IMU combination constitute the program of the attitude measurement system. In thispaper, three-axis magnetometer structure of the electronic compass elliptical error analysis,combined with the measured data and the complete compensation of the electronic compassdata, and improve the measurement accuracy of the electronic compass. Compensation on thebasis of the idea of simulation of three-axis rate output three-axis magnetometer by measuringthe movement of the space geomagnetic vector magnetometer output value of the model ofthree-axis angular rate, derived magnetometer expression of the relationship between the totaloutput value and the antenna system Rodrigues parameters update rate value output,composite filter for the system provides a new observation.
(5) Design and Implementation of a MEMS gyroscope zero errors and scale factor errorof line identification and compensation methods. Considering the posture detection systemusing Rodrigues parameters, the establishment of the Rodrigues parameters to the system attitude error as a gesture description and update algorithm of MEMS gyroscope zero valueand scale factor values as state variables of the system state equations, based on the electroniccompass simulation of three-axis rate of the output and magnetometer attitude of the Kalmanfilter equations. And derive the Kalman filter equations MEMS gyroscope zero error and scalefactor error of the new interest rate expressions, to achieve zero errors and scale factor errorestimate of the MEMS gyroscope.
(6) the development of marine satellite antenna attitude stabilization system prototypebased micro inertial measurement unit. Completion of the axis frame structure design and thedesign and manufacture of servo mechanism. Verify the practical effect of the proposedmethod in the paper, and sea trial test of a real ship in the Songhua River in September2010,the system will work to achieve the desired effect.
本论文主要完成的工作及创新点有以下几方面：
（1）根据现阶段船用卫星天线稳定系统的发展情况及惯性测量单元的类型，针对本文中涉及的船用系统对惯性测量单元精度的要求，确定使用微惯性器件作为核心器件的可行性；总结天线姿态稳定系统的技术发展及现阶段系统结构类型，提出以MEMS-IMU为核心的船用卫星天线姿态稳定系统的总体方案。
（2）设计了四轴框架系统姿态闭环控制算法，建立了惯性测量单元直接与天线本体固联的天线姿态闭环控制模式。为满足全球航行对卫星跟踪的需求，设计了四轴天线框架结构，结合了AE和XY两种框架结构的特点，保证在全球航行时都能实现框架系统平稳跟踪，消除了AE和XY框架结构各自存在的跟踪死区；根据四轴框架结构运动特点和惯性测量单元的安装方式，设计了四轴框架系统的框架控制和天线跟踪算法，实现了天线姿态闭环控制。
（3）在小波分析的基础上，对MEMS陀螺信号进行了误差建模，提出了小波系数抑制的MEMS陀螺确定性误差提取、小波系数线性压缩的野值剔除和虚拟野值的MEMS陀螺信号降噪等三种小波域信号处理方法。小波系数线性压缩野值剔除方法将野值在小波系数体现出来的能量进行线性处理，避免了由于小波系数被强制置零造成的重构信号的震荡现象。针对MEMS器件的高噪声，设计了虚拟野值降噪方法，将信号小波系数的噪声理解为一系列野值点，利用3原理，设计小波降噪的阈值函数，完成信号的降噪处理，并利用系统实测MEMS陀螺数据进行算法验证，将结果和通用阈值方法进行了对比。
（4）提出了利用三轴磁强计连续测量值模拟三轴角速率的方法。由于MEMS陀螺现阶段的精度较低，需借助外信息完成初始对准，因此论文采用电子罗盘与MEMS-IMU组合构成姿态测量系统的方案。本文对三轴磁强计结构的电子罗盘椭圆误差进行了分析，并结合实测数据完成了对电子罗盘数据的补偿，提高了电子罗盘测量精度。在补偿的基础上，提出了三轴磁强计通过测量空间地磁矢量的运动来实现模拟三轴速率输出的想法，建立了利用磁强计输出值计算三轴角速率的模型，同时，推导了磁强计输出值与天线系统Rodrigues参数更新之间的关系以及速率数值输出表达式，为系统组合滤波提供了新的观测量。
（5）设计实现了MEMS陀螺零位误差和标度因数误差的在线辨识和补偿方法。综合考虑姿态检测系统要求，采用了Rodrigues参数法作为姿态描述和更新算法，建立了以系统姿态误差的Rodrigues参数、MEMS陀螺零位值和标度因数值作为状态量的系统状态方程，基于电子罗盘姿态输出和磁强计模拟三轴速率的Kalman滤波方程。实现了对MEMS陀螺零位误差和标度因数误差的估计。
（6）研制了基于微惯性测量单元的船用卫星天线姿态稳定系统原理样机。完成四轴框架结构的设计及伺服机构的设计和制造。验证了论文中所提方法的实用效果，并于2010年8月在松花江上进行了实船的航行试验测试，系统工作正常，达到了预期的效果。
The proposition of this paper comes from a particular research project, involved in theproject, micro-gyroscope attitude measurement and stability in the marine satellite antennaattitude stabilization system, signal processing for micro inertial devices, the antenna framestructure, attitude measurement system The combination of filtering and other aspects of workto complete the research of micro inertial measurement unit for detecting the core marinesatellite antenna attitude stabilization system. In the process of research projects, theapplication of four-axis frame structure to solve the problem of global navigation satellitetracking, attitude closed loop mode, and design a framework for control and trackingalgorithm for four-axis antenna; proposed to solve the high noise of the MEMS devicesoutliers wavelet coefficients of linear compression, and virtual outliers are two signalprocessing methods; for identification MEMS gyro scale factor error, the proposed rate of themagnetometer simulation algorithm based on magnetometer measurements and KalmanFiltering observed variables; developed a prototype of the antenna stabilization system andalgorithm validation and test prototype.
Based on the marine satellite antenna attitude stabilization system project, carried out theinertial measurement unit (MEMS IMU) to detect the core of the marine satellite antennaattitude stabilization system research and prototype research and development. Attitude closedloop mode using four-axis frame structure and designed a framework for control and trackingalgorithm for four-axis antenna; solve the problem of the MEMS device noise and outliers,the MEMS gyroscope zero and scale factor error compensation calibration; proposed basedmagnetometer for measuring the value of the rate of simulation algorithm; developed aprototype of the antenna stabilization systems, validation and test.
This thesis to complete the work and innovation are the following:
(1) According to this stage the development of marine satellite antenna stabilizationsystems, and inertial sensing the type of the core, the summary of marine systems the inertialmeasurement unit accuracy to determine the feasibility of the use of micro inertial devices asthe key device; antenna attitude stabilization system technology development, summarize thetype of system architecture at this stage, the overall scheme of this article Marine SatelliteAntenna Attitude Stabilization System.
(2) Design a four-axis framework Attitude closed-loop control algorithm. Inertialmeasurement units directly with the antenna body solid and antenna attitude closed-loopcontrol mode, to avoid the framework of the projected antenna attitude error vector coordinate system; designed to meet the needs of global navigation satellite tracking, four-axis antennaframework, combined with the structural characteristics of AE and XY two frameworks, andassurance framework system in the global navigation can be a smooth track, eliminating theAE and the XY frame structure tracking dead zone; according to the movement characteristicsof four-axis frame structure and The inertial measurement unit of the installation, design aframework of control of the axis frame system and antenna tracking algorithm, theclosed-loop control of the antenna attitude.
(3) design of the wavelet coefficients of linear compression outliers excluded methodsand virtual outliers in the signal noise reduction method. MEMS gyroscope signal errormodeling, wavelet coefficients of inhibition of MEMS gyroscope deterministic errorextraction, outlier rejection and virtual outliers MEMS gyro signal noise reduction three linearcompression of the wavelet coefficients in wavelet domain signal processing methods. Theenergy of wavelet coefficients of linear compression outliers removed outliers reflected in thewavelet coefficients for linear processing, to avoid oscillation due to the wavelet coefficientsare forced to zero reconstructed signal. High noise of the MEMS device, design a virtualoutliers noise, the noise of the signal wavelet coefficients is understood as a series of outliers,the use of the principle, the design of wavelet denoising threshold function to complete thesignal noise reduction processing, and The system measured MEMS gyroscope data foralgorithm validation, and results and the universal threshold method were compared.
(4) The proposed algorithm for three-axis magnetometer analog three-axis angular rate.Lower due to the accuracy of the MEMS gyroscope at this stage, require the use of outsideinformation to complete the initial alignment, so the papers in electronic compass andMEMS-IMU combination constitute the program of the attitude measurement system. In thispaper, three-axis magnetometer structure of the electronic compass elliptical error analysis,combined with the measured data and the complete compensation of the electronic compassdata, and improve the measurement accuracy of the electronic compass. Compensation on thebasis of the idea of simulation of three-axis rate output three-axis magnetometer by measuringthe movement of the space geomagnetic vector magnetometer output value of the model ofthree-axis angular rate, derived magnetometer expression of the relationship between the totaloutput value and the antenna system Rodrigues parameters update rate value output,composite filter for the system provides a new observation.
(5) Design and Implementation of a MEMS gyroscope zero errors and scale factor errorof line identification and compensation methods. Considering the posture detection systemusing Rodrigues parameters, the establishment of the Rodrigues parameters to the system attitude error as a gesture description and update algorithm of MEMS gyroscope zero valueand scale factor values as state variables of the system state equations, based on the electroniccompass simulation of three-axis rate of the output and magnetometer attitude of the Kalmanfilter equations. And derive the Kalman filter equations MEMS gyroscope zero error and scalefactor error of the new interest rate expressions, to achieve zero errors and scale factor errorestimate of the MEMS gyroscope.
(6) the development of marine satellite antenna attitude stabilization system prototypebased micro inertial measurement unit. Completion of the axis frame structure design and thedesign and manufacture of servo mechanism. Verify the practical effect of the proposedmethod in the paper, and sea trial test of a real ship in the Songhua River in September2010,the system will work to achieve the desired effect.
引文
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