Journal of Space Science and Technology

Journal of Space Science and Technology

Development of an EKF Based Gyro Calibration Method for High-Precision Attitude Estimation

Document Type : Original Research Paper

Author
Assistant Professor, Satellite Research Institute, Iranian Space Research Center, Tehran, Iran
Abstract
In high-resolution remote sensing satellites, achieving stability and meeting stringent pointing requirements are crucial for mission success. Accurate gyroscopes are employed as primary attitude sensors to ensure this stability. However, gyroscope data must be calibrated at appropriate intervals to maintain high attitude estimation accuracy and prevent drift over time. This research investigates an Extended Kalman Filter (EKF)-based approach for gyro calibration, aiming to enhance the precision and reliability of attitude estimation. Initially, a comprehensive model that includes the main gyro parameters—such as biases, scale factors, and misalignments—is proposed. This model is the foundation for developing an EKF-based algorithm designed to estimate and correct these gyro parameters dynamically. Following this, the study implements a Multiplicative Quaternion Extended Kalman Filter (MQEKF), which utilizes star sensor data as inputs to improve the accuracy of attitude estimation further. A quaternion feedback controller is implemented to evaluate the effectiveness of the proposed gyro calibration method within the attitude control loop. The simulation results demonstrate that the satellite's stability and pointing are maintained with accuracies better than 0.005°/s in angular velocity and 0.15° in angular positioning. These results highlight the method's potential to significantly benefit missions with tight control requirements significantly, providing enhanced performance and reliability in high-precision space applications. This approach offers a robust solution for improving satellite mission outcomes where precise attitude control is essential.
Keywords
Subjects

Article Title Persian

توسعه روش کالیبراسیون ژایروسکوپ مبتنی بر فیلتر کالمن توسعه یافته جهت تخمین وضعیت دقیق

Author Persian

امیر لبیبیان
استادیار، پژوهشکده سامانه های ماهواره، پژوهشگاه فضایی ایران، تهران، ایران
Abstract Persian

در ماهواره‌های سنجشی با تفکیک مکانی بالا، حفظ الزامات پایداری و نشانه روی برای موفقیت ماموریت حیاتی است. بدین جهت، معمولاً از ژایروسکوپ‌های بسیار دقیق به عنوان یکی از سنسورهای اصلی تعیین وضعیت استفاده می‌شود. در این راستا، به منظور جلوگیری از کاهش دقت تخمین وضعیت داده‌های ژایروسکوپ باید در فواصل زمانی مناسبی کالیبره شوند. در این پژوهش، رویکرد مبتنی بر فیلتر کالمن توسعه یافته جهت کالیبراسیون ژایروسکوپ مورد بررسی قرار گرفته است. بنابراین، نخست، مدلی که در بردارنده پارامترهای اصلی ژایرو شامل بایاس‌ها، ضرایب مقیاس و عدم همراستایی‌هاست معرفی می‌شود. در ادامه، الگوریتمی مبتنی بر فیلتر کالمن توسعه یافته جهت تخمین پارامترهای ژایرو ارائه می‌شود. سپس، از یک فیلتر کالمن توسعه یافته مبتنی بر کواترنیون ضربی به همراه داده‌های سنسور ستاره جهت تخمین وضعیت بهره گرفته می‌شود. در انتها برای ارزیابی عملکرد کالیبراسیون در حلقه کنترل وضعیت، کنترل‌کننده‌ای مبتنی بر بازخورد کواترنیون طراحی و بکار گرفته شده است. نتایج بدست آمده از حلقه کنترل وضعیت، دقت پایداری 0.005 درجه بر ثانیه و دقت نشانه روی 0.15 درجه را نشان می‌دهد که بیانگر کارایی روش ارائه شده در ماموریتهایی با الزامات کنترلی سختگیرانه است.

Keywords Persian

کالیبراسیون ژایرو
فیلتر کالمن توسعه یافته
تخمین وضعیت دقیق
بازخورد کواترنیون
ماهواره‌های سنجشی
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  • Receive Date 23 August 2023
  • Revise Date 04 October 2023
  • Accept Date 18 October 2023
  • First Publish Date 18 October 2023