Method of Acquiring Initial Attitude for Lunar Soft Landing Ground Test Using Strapdown Inertial Navigation

A strapdown inertial navigation and initial attitude technology, which is applied in the field of lunar exploration, can solve the problems of large back-calculated attitude error, the initial attitude accuracy cannot meet the test requirements, and is not the same.
CN103759729BActive Publication Date: 2015-09-23BEIJING INST OF SPACECRAFT SYST ENG
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING INST OF SPACECRAFT SYST ENG
Publication Date
2015-09-23

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Abstract

The invention discloses an initial attitude acquisition method for a ground test for soft lunar landing by using a SINS (serial inertial navigation system), and belongs to the field of lunar exploration. The method comprises the following specific steps: firstly, arranging a fixed azimuth mirror near a test field, and by adopting the azimuth mirror for buffering, obtaining an attitude transformation matrix of a tester control coordinate system relative to a sky northeast coordinate system of the test field; then, through a geographical latitude of an observation point of the test field, obtaining a transformation matrix of the sky northeast coordinate system of the test field relative to a geocentric coordinate system, so that a transformation matrix C6 of the tester control coordinate system relative to the geocentric coordinate system is obtained, and then an attitude Q0 quaternion at an initial time T0 is obtained finally; starting from the initial time T0, carrying out attitude extrapolation by using gyro measurement data; and obtaining an attitude Qk during a k(th) control period, carrying out real-time output on the Qk until the tester attitude extrapolation process is completed and a landing test begins, wherein the Qk at the moment is taken as an initial attitude of a tester. The method disclosed by the invention is applicable to the ground test for lunar landing.
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Description

Technical field

[0001] The invention relates to the field of lunar exploration, in particular to a real-time acquisition method of initial attitude for lunar soft landing ground test using strap-down inertial navigation. Background technique

[0002] For the currently more commonly used lunar soft landing missions using strapdown inertial navigation, if the feasibility of the process control scheme and the function and performance of the equipment are to be verified, it is necessary to carry out corresponding ground tests.

[0003] At the beginning of the ground test, it is necessary to obtain the initial attitude (ie attitude reference) of the tester to complete the subsequent autonomous guidance, navigation and control tasks. The attitude of the tester represents the three-axis direction of the control coordinate system of the tester. The coordinate system is an inertial principal axis coordinate system centered at the center of mass.

[0004] In actual orbital lunar soft landing ...

Claims

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