Angular Velocity Estimation Using Attitude Measurements with Application to the VSS/MARS (Vertical Seeking Seat/Micrad Attitude Reference System) System

摘要

The existing Vertical Seeking Seat (VSS) control system uses angular velocity and attitude measurements provided by rate gyroscopes and the Micrad Attitude Reference System (MARS), respectively. A study has been conducted to determine the feasibility of estimating angular velocity from the MARS attitude measurements, and using these estimates in place of the measurements currently provided by rate gyros. This estimation is to be performed in the on-board microprocessor. The design and performance of an angular velocity estimator will depend upon the sample or iteration rate of the microprocessors, the allowable errors and bandwidth requirements of the velocity estimate, and the errors and bandwidth characteristics of the attitude measurement, all of which are dependent upon the required bandwidth, stability, and response characteristics of the complete VSS system. It was learned that the existing system was designed to optimize performance using the available sensing and actuating hardware, and not to meet quantitative bandwidth requirements. Since the control system and sensor bandwidth requirements are not known, but are necessary for determining the feasibility of using an angular velocity estimator, they are evaluated.