Method for dynamically measuring attitude of star sensor based on top accurate angle relevance

Abstract

The invention discloses a method for dynamically measuring attitude of a star sensor based on top accurate angle relevance and belongs to the field of navigation and positioning. Based on the prior art that dynamic compensation is performed on each measurement exposure frame of the star sensor and a vector matrix matched with a fixed star containing dynamic error and noise effect is obtained, transformation matrixes between every two adjacent measurement frames of the star sensor are accurately measured through an assembly of three tops fixedly linked with the star sensor, the vector matrixes matched with adjacent measurement frames of the star sensor are correlated via the transformation matrixes, and finally, a correlated measurement equation is established by using a series of correlated measurement frames, that is a series of measurement frames are processed as a single measurement frame, and an attitude matrix is solved by using the least square method. With the adoption of the method, dynamic error and noise effect can be effectively restrained, high-accuracy dynamic attitude and change information of a carrier in motion can be obtained.

Description

technical field [0001] The invention relates to the field of navigation and positioning, in particular to the field of high-precision composite navigation and positioning of inertial measurement and star sensors, in particular to a dynamic attitude measurement method of star sensors based on gyroscope precise angle correlation. Background technique [0002] Gyroscope is an inertial measurement device, which can measure the rotational angular velocity of the moving carrier relative to the inertial space. The measurement accuracy of angular velocity is a key parameter to characterize the performance of gyroscope. The angle is the integral of the angular velocity. As the integration time increases, the measurement error of the angle will become larger and larger. This is a common problem in all inertial measurement devices including gyroscopes; the star sensor (SS: Star Sensor) is a A device that depends on the star to realize the navigation and positioning of the moving carrie...

AI Technical Summary

Problems solved by technology

The essence of both is to predict and process the current image frame according to the angular velocity obtained from the first two frame attitudes measured by the star sensor without a gyroscope, but the specific methods are different, because the attitude measurement accuracy of the dynamic star sensor is different. Therefore, the error of angular velocity obtained by these two methods is very large, and the effect of dynamic compensation based on angular velocity is poor

However, due to the joint influence of star sensor noise, exposure time, deconvolution and other factors, the accuracy of star point coordinate extraction is still very large compared with the static state, which cannot meet the requirements of high-precision measurement under dynamic conditions.

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