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Method for aligning two composite positions with high accuracy and calibrating error of inertial navigation astronomy

An error calibration and high-precision technology, applied in the field of inertial navigation, can solve problems such as the inability to realize real-time autonomous positioning, and achieve the effect of meeting precise landing tasks, light weight and small size

Inactive Publication Date: 2014-07-02
BEIHANG UNIV
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Problems solved by technology

The advantage of the radio measurement and control positioning method is the global absolute positioning, but the disadvantage is that it cannot realize real-time autonomous positioning

Method used

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  • Method for aligning two composite positions with high accuracy and calibrating error of inertial navigation astronomy
  • Method for aligning two composite positions with high accuracy and calibrating error of inertial navigation astronomy
  • Method for aligning two composite positions with high accuracy and calibrating error of inertial navigation astronomy

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Embodiment Construction

[0111] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0112] The invention proposes an inertial navigation astronomical high-precision composite two-position alignment and error calibration method. By taking the landing position determined by the lander as the initial position information (λ, L) of the rover, and then according to the navigation time t and the output of the celestial navigation subsystem 2 Determine the initial attitude matrix of the rover On this basis, using the high-precision inertial attitude matrix provided by the celestial navigation subsystem 2 And the speed error information output by the strapdown inertial navigation system (δV n ), and combined with the error model of the strapdown inertial navigation system, the integrated navigation filter 5 is used to estimate and correct the system error, so as to realize the high-precision initial alignment and error calibration of the star. ...

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Abstract

The invention discloses a method for aligning two composite positions with high accuracy and calibrating error of inertial navigation astronomy. The method comprises the following steps: step one, taking a landing position determined by a landing machine as information of an initial position of a rover; step two, determining an initial attitude matrix of the rover according to the initial position of the rover and the inertia attitude matrix which is output by an astronomy navigation subsystem; step three, establishing a system state model and a measurement model for aligning two positions of the rover; step four, aligning the two positions by rotating the rover; step five, correcting initial position information of the rover to meet requirements of high-accuracy initial alignment. The method gives full play to the advantages of a serial inertial navigation system and the astronomy navigation subsystem, and is also applicable to other exploration rovers and wide in application prospect.

Description

technical field [0001] The invention relates to an inertial navigation astronomical high-precision composite two-position alignment and error calibration method, which belongs to the technical field of inertial navigation. Background technique [0002] In Mars exploration, a Mars rover is a spacecraft that patrols and explores the surface of Mars, and is an indispensable tool and means for Mars exploration. Through the exploration activities of the Mars rover on the surface of Mars, people can obtain environmental data on the surface of Mars, collect rock and soil samples on the surface of Mars, and complete scientific exploration missions. The Mars rover usually uses the ground station to carry out navigation control through radio measurement and control. However, due to the rotation and revolution of the Earth and Mars and the resulting changes in the relative geographical location of the ground station and the Mars rover, sometimes the Mars rover will be in a place where ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/24
CPCG01C25/005
Inventor 王新龙管叙军
Owner BEIHANG UNIV
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