An inertial navigation astronomical high-precision compound two-position alignment and error calibration method

An error calibration and high-precision technology, applied in the field of inertial navigation, can solve problems such as the inability to achieve real-time autonomous positioning, and achieve the effect of meeting precise landing tasks, correcting accumulated errors, and improving navigation accuracy.
CN103900611BInactive Publication Date: 2017-02-01BEIHANG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIHANG UNIV
Publication Date
2017-02-01
Estimated Expiration
Not applicable · inactive patent

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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.
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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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