A Suboptimal Correction Algorithm for a Shipborne Starlight Orientation Instrument
A correction algorithm, directional instrument technology, applied in the direction of instrument, navigation, surveying and navigation, etc., to achieve the effect of reducing constraints, fast calculation speed and good real-time performance
Active Publication Date: 2020-06-09
BEIJING INST OF CONTROL ENG
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Problems solved by technology
[0006] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, and to propose a correction algorithm for the combination of starlight orientation instrument and inertial measurement in combined astronomical navigation, which solves the problem of starlight under the conditions of daytime stargazing and limited sensitivity of image chips. The suboptimal correction of the inertial measurement combination by the orientation instrument has application value for the correction of the inertial measurement combination by the ship-borne starlight orientation instrument in actual engineering
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[0044] The working principle figure of the starlight orientation instrument involved in the inventive method is as figure 1 shown.
[0045] In the present invention, each frame of the starlight directional instrument receives the geocentric geographical coordinate system data output by the inertial measurement combination: geographic longitude and latitude Horizontal azimuth (pitch angle θ and roll angle ), yaw angle ψ and UTC time and coarse pointing in inertial frame. The amount to be corrected is the geographic longitude and latitude and yaw angle ψ. The starlight orientation instrument may observe 1 or ≥ 2 observation stars when performing star imaging, and use the suboptimal correction algorithm and the multi-star correction algorithm of the present invention respectively (two stars can calculate the attitude data so as to directly solve the heading angle and geographic longitude and latitude , does not belong to the content of the present invention).
[0046] The...
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The invention discloses a shipborne starshine orientation device single star time optimal correcting algorithm. The shipborne starshine orientation device single star time optimal correcting algorithmis suitable for correcting of geographic latitude and longitude positions using a navigation shipborne inertia measurement composition under single fixed star conditions, is invented based the equalrelationship of the zenith angles of a single star in a geocentric geographic coordinate system and in a local geographic coordinate system, and is used for establishing a single star corrected mathematical model based on spherical trigonometry and Lagrange extremum conditions, wherein the single star corrected mathematical model is a two element mutual coupling equation set. According to the shipborne starshine orientation device single star time optimal correcting algorithm, in equation set solving, simplification is realized, and the corrected ship geographic latitude and longitude are obtained. The shipborne starshine orientation device single star time optimal correcting algorithm is capable of realizing real-time correcting of shipborne geographic latitude and longitude using a starshine orientation device under single star observation conditions, reducing constraint of the starshine orientation device on the number of observed stars, and is high in engineering application value;Lagrange equation is adopted to obtain the second-best solution of the analytical form, calculating speed is high, and the real-time performance of correcting is excellent.
Description
technical field [0001] The invention belongs to the field of correction algorithm for inertia measurement combination of starlight directional instrument in combined celestial navigation, and relates to a single-star suboptimal correction algorithm of ship-borne starlight directional instrument. Background technique [0002] Due to the drift of the ship-borne inertial measurement unit itself, the error gradually accumulates and enlarges during long-term use, so it needs to be corrected. [0003] Under all-weather conditions, the starlight orientation instrument can image the background of the starry sky at sea for positioning. When there is only a single star in the field of view, the starlight direction finder cannot give correction information to the inertial measurement combination. Due to the limitation of the strong background radiation gray level on the sensitivity and field of view in daytime stargazing images, the probability of a single star in this case is much hi...
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IPC IPC(8): G01C21/16G01C21/02
CPCG01C21/025G01C21/165
Inventor 张春明夏梦绮孙大开刘达吴云顾营迎
Owner BEIJING INST OF CONTROL ENG