Determination method of indoor target astronomical coordinates, based on wMPS

Abstract

The invention discloses a determination method of indoor target astronomical coordinates, based on a wMPS. The method comprises the following steps: firstly arranging an infrared emission station, an indoor foundation pier point A, an indoor foundation pier point B and a target ball seat in an indoor measuring space, then determining directions of three axes of an astronomical coordinate system and the deviation angle of a line AB under the indoor measuring space, further working out the deviation angle of the line AB under a total station coordinate system, further obtaining a position and orientation transformation matrix of the astronomical coordinate system and the total station coordinate system, and finally obtaining a transformation matrix of an overall measurement filed coordinate system of a wMPS system and the total station coordinate system by respectively measuring three-dimensional coordinates of a station moving ball and a spherical prism through by using the wMPS system, so as to realize the determination of the indoor target astronomical coordinates based on the wMPS system. Compared with the prior art, the method has the advantages that real-time measurement of the pose angle of lunar vehicle needs less equipment, such as total station and the like, and the measurement and navigation costs are reduced while large measurement space and full space coverage are guaranteed.

Description

technical field [0001] The invention relates to the technical field of ground navigation in the simulation test of spacecraft such as a lunar rover, in particular to a method for determining the astronomical coordinates of an indoor target based on a wMPS system. Background technique [0002] In order to improve the reliability of the lunar rover and other spacecraft working on the lunar surface, it is necessary to verify the pose determination performance, path planning ability and movement control ability of the lunar rover and other spacecraft during the ground development process. However, during the indoor test process , Attitude measurement equipment such as solar sensors and star sensors installed on spacecraft such as lunar rover cannot work. External measurement equipment is required to measure the position and attitude data of spacecraft such as lunar rover in real time, and transmit the position and attitude data to the lunar rover simulator. Min for use by the lu...

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Problems solved by technology

[0002] In order to improve the reliability of lunar rover and other spacecraft working on the lunar surface, it is necessary to verify the pose determination performance, path planning ability and movement control capability of lunar rover and other spacecraft during the ground development process. However, in the indoor test process Attitude measurement equipment such as sun sensors and star sensors installed on spacecraft such as lunar rovers cannot work, and external measurement equipment is required to measure the position and attitude data of spacecraft such as lunar rovers in real time, and transmit the pose data to the lunar rover to simulate the solar system. Min for lunar rovers

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