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Online calibration method of star sensor assisted gyroscope for ships

A technology of star sensor and calibration method, which is applied in the direction of instruments, measuring devices, surveying and mapping, and navigation, etc., and can solve problems such as unknown statistical characteristics and divergence of measurement noise of gyroscopes and star sensors

Active Publication Date: 2018-11-16
HARBIN ENG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the gyroscope cannot be calibrated online due to the divergence of the standard Kalman filter due to the unknown statistical characteristics of the star sensor measurement noise caused by changes in the external environment during the ship's long voyage and autonomous navigation. A method for on-line calibration of marine star sensor assisted gyroscope

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  • Online calibration method of star sensor assisted gyroscope for ships
  • Online calibration method of star sensor assisted gyroscope for ships
  • Online calibration method of star sensor assisted gyroscope for ships

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[0106] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0107] The present invention is an on-line calibration method for marine star sensor assisted gyroscope based on adaptive selection of Sage-Husa filter based on forgetting factor, and the process of the method is as follows: figure 1 shown, including the following steps:

[0108] Step 1: Turn on the power and initialize the star sensor / inertial integrated navigation system. At the initial moment of navigation, the system needs to be initialized:

[0109] (1) Initialization of navigation information: ship position information lambda s0 , the unit is radian, expressed in rad, the velocity information v x0 , v y0 , the unit is m / s, expressed in m / s, and the attitude angle information φ x0 , φ y0 , φ z0 , the unit is radian, expressed in rad, the initial transformation matrix initial quaternion q 0 ;

[0110] (2) Initialize constant value par...

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Abstract

The invention discloses an online calibration method of a star sensor assisted gyroscope for ships, and relates to the technical field of inertial sensor error calibration in inertial navigation. Theonline calibration method comprises following steps: (1) initializing a star sensor / inertia combined navigation system; (2) collecting the output data of an inertia device and a star sensor; (3) calculating the inertia device to obtain attitude quaternion and navigation information; (4) obtaining the real value of the carrier attitude quaternion; (5) utilizing a fuzzy logic control method to determine the forgetting factor of a simplified Sage-Husa adaptive filtering method, and then subjecting the carrier attitude quaternion information to filter calculation; (6) compensating the gyroscope output angular velocity information based on the gyroscope output error, and carrying out navigation calculation; and (7) storing and outputting navigation information. The applicability of online calibration on the star sensor assisted gyroscope in a complicated environment is improved. The problem that the estimate on noise error is not sufficient in measurement is solved. The attitude precision of a star sensor is effectively improved.

Description

technical field [0001] The invention relates to the technical field of inertial sensor error calibration in inertial navigation, in particular to an online calibration method for a marine star sensor-assisted gyroscope. Background technique [0002] The gyroscope is the core sensor of attitude measurement in the inertial navigation system, which can directly sense the angular velocity of the carrier system relative to the inertial system, but its output error is one of the main reasons for the navigation error of the inertial navigation system. After estimating the output error of the gyroscope, this part of the navigation error can be better suppressed, so it is important to calibrate the gyroscope online. The traditional online calibration of gyroscopes uses GPS signals as an external information source to estimate gyroscope errors, but GPS signals are susceptible to environmental interference and deception and fail. The star sensor is a high-precision sensor that obtains...

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Application Information

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IPC IPC(8): G01C21/20G01C21/18G01C21/02
CPCG01C21/02G01C21/18G01C21/203
Inventor 王秋滢张明惠刘凯悦崔旭飞郭铮匡春旭钟万青尹娟程铭
Owner HARBIN ENG UNIV
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