Angular Motion Decoupling and Attitude Determination Based on High Dynamic Gyro

Abstract

Aiming at the problem of attitude angular motion coupling of a high-spinning rigid body, the model of the compound regular precession and the random angular motion is constructed by studying the angular motion characteristics of the high-spinning rigid body. This paper presents a new decoupling method with least squares angular rate zero-crossing detection. This method can estimate the coupling parameters in the model by estimating the angular motion period, and then, it extracts the real angular velocity information. In order to improve the attitude solution accuracy, a new four-subsample quaternion attitude algorithm is proposed by combining the angular velocity polynomial fitting and the attitude quaternion high-order Taylor series expansion. The self-developed high dynamic gyro and Missile-borne computer and simulation software are used to verify the attitude angle resolution accuracy between the traditional method and the new method proposed in this paper. The results show that the method is superior to the traditional algorithm, and increase by an order of magnitude. Finally, the flight test with the high dynamic gyro and Missile-borne computer is carried out to verify the real-time decoupling and attitude angle real-time solving ability of the proposed algorithm in the flight test.