Design And Implementation Of Algorithm Ofattitude And Heading Estimation For Low Cost Measure And Control System Of Sotm

Satcom on-the-Move(SOTM) has a widely application perspective in both military and civil fileds, and the SOTM with low cost and low profile is the current development tendency. Taking the low cost measure and control(M&C) System of SOTM as research objection, closely focusing on the research of attitude and heading estimation, an algorithm of attitude and heading estimation for low cost SOTM is designed. Detailed works are summarized as follows:(1) The principle and composition of SOTM are presented. Detailed composition of low cost M&C system in SOTM is given.And the structure of attitude and heading estimation algorithm for low cost SOTM based on gyros, accelerometer and GPS are given.(2) Attitude estimation method based on micro inertial measurement unit(MIMU)is designed. Based on non-heading attitude update algorithm, a switchable extended Kalman filter(SEKF) is designed to fuse the information of gyros and accelerator. In this way, the effect of carrier’s movement is suppresed, and the attitude and gyros bias are estimated. Experiment data validates the veracity of the algorithm. The results indicate that the SEKF algorithm can supprese the effect of non-gravity acceleration effectively and estimate pitch and roll angle.(3) An attitude and heading estimation method based on MIMU/GPS is designed.By establishing a mobile acceleration model, the acceleration of vehicle in accelerometer is removed by GPS information,combiration with the gyros information,the algorithm estimats carrier’s attitude, heading and gyros bias. The correctness and veracity of attitude and heading estimation algorithm are validated by experiment data.Gyros, accelerator and GPS information are fuse by Double Kalman attitude and heading estimation algorithm, and the algorithm estimate attitude and heading of carrier.(4) The shadow problem of SOTM is researched, and the flow of judging shadow is given. Applications of attitude and heading estimation in low cost SOTM under non-shadow statement and shadow statement are studied. The stabilization method of beam pointing is deduced. Search range after shadow statement by the experiment results of attitude and heading estimation is given.