提高卫星天线反射面测角精度的加速度计和磁强计标定方法

M. Palamar, Taras Horyn, A. Palamar, Vitaliy Batuk
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引用次数: 0

摘要

本文主要研究了MEMS加速度计的非线性特性对测量误差的影响。它们出现在天线系统支持旋转平台的大倾斜角度,以及磁倾斜的存在,这是由于地球磁场对磁力计的特殊性。这项研究是为了评估使用这种装置来提高卫星天线控制精度的可能性。研究MEMS传感器参数的实验装置可以将测量结果与精密光学编码器获得的数据进行比较。实验结果表明了MEMS传感器误差的主要来源。提出了一种利用三轴加速度计和磁强计测定天线系统角位置的精度提高方法。所提出的使用最小二乘法确定估计向量的方法的主要优点是可以在不参考坐标系的情况下进行校准。该方法不仅可以消除零偏移误差,而且可以补偿传感器轴的非单位尺度和磁力计角取向的误差。该方法可用于机器人、无人机设计和许多其他技术系统的许多应用。该方法可以提高系统的可靠性,降低系统的成本。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Method of calibration mems accelerometer and magnetometer for increasing the accuracy determination angular orientation of satellite antenna reflector
The paper is devoted to the measurement errors investigation that arise due to the influence of MEMS accelerometers' nonlinear characteristics. They appear at large inclination angles of the antenna system support-rotary platform, as well as in the presence of a magnetic inclination, which is due to the peculiarity of the Earth's magnetic field for the magnetometer. The study was conducted to assess the possibility of using such devices to increase the accuracy of a satellite antenna control with a classic rotary platform. The experimental setup for researching the parameters of MEMS sensors allows comparison of measurement results with data obtained from precision optical encoder. The experimental results show the main sources of MEMS sensors errors. An accuracy increasing method of antenna system angular position determining using a triaxial accelerometer and a magnetometer is proposed. The main advantage of the proposed estimation vector determining approach using the least squares method is the possibility of carrying out the calibration procedure without reference to the coordinate system. The method makes it possible to get rid of the zero offset error, as well as compensate for the non-unit scale of the sensor axes and the error of the magnetometer angular orientation. This method can be used for many applications including robotics, design of unmanned aerial vehicles and many other technical systems. The proposed method makes it possible to increase the reliability and reduce the cost of such systems.
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