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High-precision satellite independent navigation method based on pulse data of sun, earth and moon integrated sensor

An autonomous navigation and sensor technology, applied in the field of satellite navigation, which can solve the problems of noise, the flattening of the earth, and the misalignment of the moon's optical center and the center of mass.

Inactive Publication Date: 2012-12-12
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the problem that the pulse data in the existing method is used as the original data of the navigation system, which contains noise, the flatness of the earth, the upper and lower chords of the moon, the optical center and the center of mass do not overlap, and proposes a pulse data based on the integrated sensor of the sun, earth and moon. satellite high-precision autonomous navigation method

Method used

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  • High-precision satellite independent navigation method based on pulse data of sun, earth and moon integrated sensor
  • High-precision satellite independent navigation method based on pulse data of sun, earth and moon integrated sensor
  • High-precision satellite independent navigation method based on pulse data of sun, earth and moon integrated sensor

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specific Embodiment approach 1

[0036] Specific implementation mode one: combine Figure 1 to Figure 5 Describe this embodiment, the specific steps of this embodiment are as follows:

[0037] Step 1: The navigation sensor composed of the earth infrared dual-cone scanning sensor and the scanning sun-moon sensor of two fan-shaped slit fields of view provides pulse data to the navigation computer;

[0038] Step 2: Determine the orientation of the three celestial bodies according to the pulse data: determine the coordinate E of the geocentric direction vector in the measurement coordinate system SE , the coordinate S of the heliocentric direction vector in the survey coordinate system S|SE and the coordinate M of the lunar center direction vector in the survey coordinate system S|SE , and the earth center distance r;

[0039] Step 3: The coordinate E of the geocentric direction vector in the survey coordinate system SE , the coordinate S of the heliocentric direction vector in the survey coordinate system S...

specific Embodiment approach 2

[0061] Specific embodiment two: the difference between this embodiment and specific embodiment one is the coordinate E of the geocentric direction vector in the step two in the measurement coordinate system SE The determination process of and the determination process of the earth center distance r are as follows:

[0062] When the two infrared probes on the earth infrared dual-cone scanning sensor scan into the earth, the azimuth relative to the measurement coordinate system is:

[0063] alpha 1-in =-((ω rot t ref +B R1 )-ω rot t 1-in )

[0064] (9)

[0065] alpha 2-in =-((ω rot t ref +B R2 )-ω rot t 2-in )

[0066] where ω rot is the rotational speed of the scanning sensor, B R1 , B R2 is the lag angle of the two infrared probes on the dual-cone scanning sensor relative to the reference x-axis at the initial moment, t ref is the pulse time corresponding to the symmetry plane of the slit sensor passing through the re...

specific Embodiment approach 3

[0094] Specific embodiment three: the difference between this embodiment and specific embodiment one lies in the coordinate S of the heliocentric direction vector in the step two in the measurement coordinate system S|SE The determination process is as follows:

[0095] The azimuth and altitude angles of the heliocentric azimuth in the measuring body coordinate system are:

[0096] φ s = ω rot ( t 1 sum + t 2 sum 2 - t ref ) - - - ( 17 )

[0097] δ s =cot -1 (sinσ s ...

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Abstract

The invention discloses to a high-precision satellite independent navigation method based on pulse data of a sun, earth and moon integrated sensor, and relates to the field of satellite navigation. The high-precision satellite independent navigation method is provided in order to solve the problem that the photocenter and the centroid of the moon cannot be overlapped because the pulse data comprising noises, the oblateness of the earth, the first quarter and the last quarter of the moon is used as the original data of a navigation system. The method comprises the following steps of: 1, providing the pulse data for a navigation computer; 2, determining directions of the three celestial bodies according to the pulse data; 3, calculating an inner product of a vector of the heliocentric direction and a vector of the geocentric direction, and an inner product of a vector of the selenocenter direction and a vector of the geocentric direction; 4, performing double-vector rough posture fixing; 5, initializing navigation; 6, performing rough navigation calculation so as to obtain a navigation result; 7, finishing refining of the direction of the moon; 8, performing double-vector fine posture fixing; 9, correcting the vectors of a geocentric distance and the geocentric direction; and 10, performing fine navigation calculation so as to obtain a final navigation result. By the high-precision satellite independent navigation method, the influence because the photocenter and the centroid of the moon cannot be overlapped according to the noises, the oblateness of the earth, the first quarter and the last quarter of the moon which are comprised in the pulse data is eliminated.

Description

technical field [0001] The invention relates to the field of satellite navigation, in particular to a method for autonomously determining the position, speed and attitude of a satellite by using the sun, earth and moon optical pulse data measured by an integrated sun-earth-moon sensor. Background technique [0002] The sun, earth and moon autonomous navigation system is composed of navigation sensors and navigation computers. The navigation computer processes the measurement value of the navigation sensor, and through a certain navigation algorithm, determines the position and speed of the satellite in real time, so as to realize the autonomous navigation of the satellite. Sun, Earth and Moon integrated sensors such as figure 1 and figure 2 As shown, it is composed of an earth-infrared bicone scanning sensor and two fan-shaped slit scanning sun and moon sensors. The earth-infrared bicone scanning sensor has a single optical scanning head, and two mirror structures are use...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/02G01C21/20
Inventor 荆武兴李茂登黄翔宇
Owner HARBIN INST OF TECH