Shipborne star sensor positioning method based on inertial system gravity characteristics
A technology of a star sensor and a positioning method, which is applied in the field of navigation and positioning, can solve the problems of increasing the difficulty of navigation operations, affecting the accuracy of navigation and positioning, and improving the difficulty of filtering algorithms.
Active Publication Date: 2015-12-23
HARBIN ENG UNIV
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In "Journal of Chinese Inertial Technology" in 2013, Volume 21, Issue 4, "Newcelestial assisted IN Initial alignment method for lunar explorer" published by Yang, ShuJie et al., analyzed the influence of positioning error on platform error angle and elevation angle measurement, and proposed a new method based on astrometry High-level INS / CNS deep integrated navigation algorithm overcomes the limitations of the horizontal reference in CNS, but for long-endurance shipboard systems, measuring the height of celestial bodies will undoubtedly make navigation more difficult
In the Chinese invention patent "star sensor positioning method based on high-precision horizontal reference" with the notification number CN103604428A, the horizontal reference information required for star sensor positioning is obtained by combining the inertial navigation system with the star sensor, and the star sensor positioning is realized technology, but this invention will couple the horizontal attitude error accumulated by the inertial navigation over time to the position information of the star sensor, which will affect the navigation and positioning accuracy; "An INS / CNS Autonomous Navigation Scheme for Aerospace Vehicles", proposed a novel INS / CNS autonomous integrated navigation scheme based on starlight refraction technology. The nonlinear inertial navigation error propagation equation is used as the system state equation, which increases the difficulty of the filtering algorithm
The above literatures are all about the research on the positioning technology of star sensors, but the methods used are to use the INS to provide the horizontal attitude, which will inevitably introduce the divergent errors accumulated in the INS over time
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[0044] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0045] A method for positioning a shipborne star sensor based on the gravity characteristics of an inertial system, is characterized in that it comprises the following steps:
[0046] Step 1: collect carrier position information through the global positioning GPS system, and bind it into the navigation computer;
[0047] Step 2: Obtain the relative inertial system attitude transformation matrix output by the star sensor in real time Among them, the subscript b indicates the carrier system, the origin is located at the center of mass of the carrier, the z-axis is perpendicular to the plane of the carrier deck, and the y-axis points to the heading of the carrier; the x-axis and the other two axes constitute a right-handed spiral rule; the subscript i indicates the geocentric inertial system, The origin is located at the center of mass of the earth, the x and y ...
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The invention discloses a shipborne star sensor positioning method based on inertial system gravity characteristics. A gravitational acceleration is extracted from specific force information outputted by an accelerometer through an adaptive filter, then high-precision horizontal attitude reference information is determined according to projection characteristics of the gravitational acceleration in the inertial system, and therefore star sensor high-precision positioning information is obtained. In the method, gravity information is extracted in a specific environment by utilization of the adaptive filter and inertial system gravity characteristics, a stable, independent and high-precision horizontal attitude reference is provided, and the shipborne star sensor positioning precision is raised.
Description
technical field [0001] The invention belongs to the field of navigation and positioning, in particular to a positioning method for a shipborne star sensor based on the gravity characteristics of an inertial system. Background technique [0002] As a widely used celestial body sensor, the star sensor can output the high-precision attitude of the installed carrier relative to the inertial space, and is currently the most accurate attitude-sensitive device. Due to the characteristics of fully autonomous navigation and high precision, this type of sensor is widely used in aerospace vehicles such as satellites, intercontinental strategic missiles, and spaceships. Also because of this feature, in recent years, star sensors have been gradually introduced into the navigation field and become a new type of marine navigation sensor. The basic principle of the marine star sensor is to introduce the horizontal attitude of the carrier on the basis of the attitude information of the iner...
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IPC IPC(8): G01C21/16G01C21/02
CPCG01C21/025G01C21/165
Inventor 王秋滢朱明红李一兵林萌萌肖曙马新华张鹏
Owner HARBIN ENG UNIV