A Dynamic Attitude Measurement Method of Star Sensor Based on Gyroscope Accurate Angle Correlation

A technology of star sensor and gyroscope, which is applied to the orientation device for determining the direction, the navigation through the speed/acceleration measurement, the direction of the instrument, etc., which can solve the problems of large error, poor dynamic compensation effect, and inability to meet the requirements of high-precision measurement.

Active Publication Date: 2014-10-15
NAT UNIV OF DEFENSE TECH
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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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  • A Dynamic Attitude Measurement Method of Star Sensor Based on Gyroscope Accurate Angle Correlation
  • A Dynamic Attitude Measurement Method of Star Sensor Based on Gyroscope Accurate Angle Correlation
  • A Dynamic Attitude Measurement Method of Star Sensor Based on Gyroscope Accurate Angle Correlation

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Embodiment Construction

[0099] Specific embodiments of the present invention are described as follows:

[0100] Step 1: Establish synchronous sampling timing.

[0101] In order to ensure the accuracy of measuring angular velocity and angle calculation of the gyroscope assembly, the sampling frequency of GU is f gu much higher than the exposure frequency f of SS ss . f gu Generally in the order of K Hz, and f ss It is on the order of 10Hz. At the same time, in order to ensure accurate angle correlation, the sampling frequency of GU must be strictly synchronized with the exposure frequency of SS, and the two must have a strict integer relationship m, so that f gu =mf ss , then τ=mδτ, such as Figure 4 shown.

[0102] Figure 4 (a) for f gu with f ss Schematic diagram of the synchronous timing relationship, Figure 4 (b) is a synchronous circuit diagram. A crystal oscillator generates a standard time frequency f 0 , the frequency division coefficient of the first synchronous frequency divi...

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Abstract

The disclosure discloses a dynamic attitude measurement method of a star sensor based on gyro's precise angular correlation. On the basis that a dynamic compensation is performed on each of the measurement exposure frames of the star sensor and a fixed star matching vector matrix having dynamic error and noise influence is obtained in a prior art, a transform matrix between every two adjacent measurement frames of the star sensor is precisely measured by a unit including three gyros fixedly coupled with the star sensor. The transform matrix correlates the matched vector matrixes of the adjacent measurement frames of the star sensor. Finally, a correlated measurement equation is established with a series of correlated measurement frames, which is corresponding to processing a series of measurement frames as a single measurement frame.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/02G01C21/16
CPCG01S3/7867G01C21/025G01S5/163
Inventor 秦石乔战德军郑佳兴吴伟贾辉伏思华马丽衡
Owner NAT UNIV OF DEFENSE TECH
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