Aircraft rapid alignment system, method and equipment based on starlight navigation device and medium

Abstract

The invention discloses an aircraft rapid alignment system, method and equipment based on a starlight navigation device and a medium, and relates to the field of aircraft alignment, the system comprises an inertial navigation system, a GNSS satellite navigation receiving module, an angle rotating mechanism, the starlight navigation device, a light source and a processing module; the inertial navigation system, the GNSS satellite navigation receiving module and the angle rotating mechanism are fixedly mounted on a nose of the aircraft and are connected with the processing module; the inertial navigation system is connected with the GNSS satellite navigation receiving module; the starlight navigation device is mounted on the angle rotating mechanism; the light source is arranged at a set position on the ground; the inertial navigation system measures the angular velocity and acceleration of the aircraft; the GNSS satellite navigation receiving module receives a signal of a satellite; the angle rotating mechanism controls the horizontal direction of the optical axis of the starlight navigation device; the starlight navigation device captures a light source and images; and the processing module carries out navigation solution and Kalman filtering. According to the invention, rapid and effective alignment of the aircraft can be realized.

Description

Technical Field

[0001] The present application relates to the field of aircraft alignment, and in particular to a system, method, equipment and medium for rapid aircraft alignment based on a starlight navigation device. Background Art

[0002] For aircraft systems, the key to achieving precise attitude control and position control is that the navigation module must provide stable and reliable navigation data. Usually, these navigation data are calculated through the GNSS / INS (Global Navigation Satellite System / Inertial Navigation System) combined navigation algorithm based on Kalman filtering. The current mainstream inertial-based filtering algorithm is usually based on a small misalignment angle in order to obtain high-precision attitude information in the initial alignment stage to ensure the accuracy and stability of the subsequent filtering algorithm. Otherwise, large model errors may be introduced, resulting in a slow convergence of the filter or even failure to converge. Therefore, online alignment technology is crucial to improving the navigation performance of aircraft.

[0003] The mission characteristics of the aircraft system lead to more stringent requirements on the online alignment time of the inertial navigation system. However, the observability of the inertial navigation system is poor, especially in the case of a static base, where its observability is the weakest, which will affect the convergence speed and convergence accuracy of the Kalman filter for state estimation, thereby lengthening the alignment time. Since quickly and accurately completing the online alignment of the aircraft system is the key to improving the system's responsiveness and achieving precise positioning, it is of great significance to study the rapid alignment method of the aircraft system. However, there is currently no public method that can effectively and quickly align the aircraft. Summary of the invention

[0004] The purpose of the present application is to provide a system, method, equipment and medium for rapid alignment of an aircraft based on a starlight navigation device, which can achieve rapid and effective alignment of an aircraft.

[0005] To achieve the above objectives, this application provides the following solutions: In a first aspect, the present application provides an aircraft rapid alignment system based on a starlight navigation device, comprising: an inertial navigation system, a GNSS satellite navigation receiving module, an angle rotation mechanism, a starlight navigation device, a light source, and a processing module; The inertial navigation system, the GNSS satellite navigation receiving module and the angle rotation mechanism are all fixedly installed on the nose of the aircraft; the inertial navigation system and the GNSS satellite navigation receiving module are connected by cables; the starlight navigation device is installed on the angle rotation mechanism; the light source is fixedly set at a set position on the ground; the processing module is respectively connected to the inertial navigation system, the GNSS satellite navigation receiving module, the angle rotation mechanism and the starlight navigation device; The inertial navigation system is used to measure the angular velocity and acceleration of the aircraft; the GNSS satellite navigation receiving module is used to receive satellite signals; the angle rotation mechanism is used to control the horizontal direction of the optical axis of the starlight navigation device; the starlight navigation device is used to capture the light source and form an image; the light source is used as a position reference; and the processing module is used for navigation solution and Kalman filtering.

[0006] Optionally, the starlight navigation device is a photoelectric ball.

[0007] In a second aspect, the present application provides a method for rapid alignment of an aircraft based on a starlight navigation device, wherein the method is implemented based on a rapid alignment system for an aircraft provided by the present application; the method comprises: Obtain the installation error angle between the installation reference plane of the inertial navigation system and the installation reference plane of the photoelectric ball; The optical axis of the starlight navigation device is controlled to rotate horizontally through the angle rotation mechanism to capture the imaging point of the light source on the imaging plane of the starlight navigation device and record the rotation angle of the optical axis at the same time; Based on the imaging point of the light source on the imaging plane of the star navigation device, the angle between the optical axis direction and the true north direction is obtained in combination with the initial positions of the aircraft and the light source; Determine the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source, and obtain the focal length of the starlight navigation device; Determine the angle between the imaging direction and the direction of the optical axis after the rotation based on the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source and the focal length of the starlight navigation device; The initial azimuth angle of the aircraft is determined based on the angle between the optical axis direction and the true north direction, the installation error angle, the rotation angle of the optical axis, and the angle between the imaging direction and the rotated optical axis direction to achieve alignment of the aircraft.

[0008] Optionally, the initial azimuth is expressed as: ; In the formula, represents the initial azimuth, It represents the angle between the optical axis and the true north direction. It represents the angle between the imaging direction and the optical axis direction after rotation. represents the rotation angle of the optical axis, Indicates the installation error angle, represents the distance between the initial position of the aircraft and the target light source in the east direction, Indicates the distance between the initial position of the aircraft and the target light source in the north direction. It represents the distance from the imaging point of the light source to the light source on the imaging plane of the star navigation device. Indicates the focal length of the star navigation device.

[0009] Optionally, the angle between the optical axis direction and the true north direction is expressed as: ; Wherein, arctan represents the inverse tangent function.

[0010] Optionally, the angle between the imaging direction and the direction of the optical axis after rotation is expressed as: ; Wherein, arctan represents the inverse tangent function.

[0011] Optionally, the aircraft rapid alignment method further includes: The measurement accuracy of the angle between the optical axis and the true north direction is determined based on the measurement accuracy of the inertial navigation system and the GNSS satellite navigation receiving module and the distance from the initial position of the aircraft to the light source; Determine the measurement accuracy of the angle between the imaging direction and the direction of the rotated optical axis based on the pixel size and focal length of the starlight navigation device; A threshold angle of the installation error angle is obtained, and the measurement accuracy of the initial azimuth angle is determined based on the threshold angle of the installation error angle, the measurement accuracy of the angle between the optical axis direction and the true north direction, and the measurement accuracy of the angle between the imaging direction and the rotated optical axis direction.

[0012] Optionally, the measurement accuracy of the initial azimuth angle is less than 0.1°.

[0013] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-mentioned method for rapid aircraft alignment based on a starlight navigation device.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned method for rapid alignment of an aircraft based on a starlight navigation device.

[0015] According to the specific embodiments provided in this application, this application has the following technical effects: The present application provides a system, method, equipment and medium for rapid alignment of an aircraft based on a starlight navigation device. Based on the structural setting of the provided aircraft rapid alignment system, the installation error angle between the installation reference plane of the inertial navigation system and the installation reference plane of the photoelectric ball, the angle between the optical axis direction and the true north direction, and the angle between the imaging direction and the optical axis direction after rotation can be determined, thereby obtaining the initial azimuth angle of the aircraft, which can realize rapid and effective alignment of the aircraft and solve the problem of long online alignment time of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A geometrical schematic diagram of an aircraft rapid alignment system based on a starlight navigation device provided in one embodiment of the present application; Figure 2 A schematic diagram of a flow chart of a method for rapid alignment of an aircraft based on a starlight navigation device provided in one embodiment of the present application; Figure 3 A schematic diagram of alignment parameters provided in an embodiment of the present application; Figure 4 A schematic diagram of the principle of determining the initial azimuth provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0020] In an exemplary embodiment, the present application provides an aircraft rapid alignment system based on a starlight navigation device, the system comprising: an inertial navigation system, a GNSS satellite navigation receiving module, an angle rotation mechanism, a starlight navigation device, a light source and a processing module. Among them, a photoelectric ball is used as the starlight navigation device.

[0021] The aircraft is used as a carrier, and the inertial navigation system, GNSS satellite navigation receiving module and angle rotation mechanism are all fixedly installed on the nose of the aircraft. The inertial navigation system and the GNSS satellite navigation receiving module are connected by cables. The starlight navigation device is installed on the angle rotation mechanism. The light source is fixedly set at a set position on the ground. The processing module is respectively connected to the inertial navigation system, GNSS satellite navigation receiving module, angle rotation mechanism and starlight navigation device; The inertial navigation system is used to measure the angular velocity and acceleration of the aircraft. The GNSS satellite navigation receiving module is used to receive satellite signals. The inertial navigation system and the GNSS satellite navigation receiving module perform combined navigation calculations to obtain the initial position of the aircraft. The angle rotation mechanism is used to control the horizontal direction of the optical axis of the starlight navigation device. The starlight navigation device is used to capture the light source and form an image. The light source is used as a position reference; the processing module is used for navigation calculations and Kalman filtering.

[0022] In an exemplary embodiment, the present application also provides a method for rapid alignment of an aircraft based on a starlight navigation device, and the method for rapid alignment of an aircraft is implemented based on the rapid alignment system of an aircraft provided by the present application. Figure 2 As shown, the aircraft rapid alignment method includes: Step 100: Obtain the installation error angle between the installation reference plane of the inertial navigation system and the installation reference plane of the photoelectric ball. Figure 1 The initial position of the aircraft is given in , Light source position And the installation error angle between the inertial navigation installation reference surface and the photoelectric ball installation reference surface . Figure 1 In the figure, position A indicates the installation location of the inertial navigation system, GNSS satellite navigation receiving module and optoelectronic ball.

[0023] Step 101: Control the optical axis of the starlight navigation device to rotate horizontally through the angle rotation mechanism to capture the imaging point of the light source on the imaging plane of the starlight navigation device, and record the rotation angle of the optical axis at the same time. The rotation angle of the optical axis is recorded as .

[0024] Step 102: Based on the imaging point of the light source on the imaging plane of the star navigation device, the angle between the optical axis direction and the true north direction is obtained in combination with the initial positions of the aircraft and the light source. The angle between the optical axis direction and the true north direction is expressed as: .

[0025] In the formula, arctan represents the inverse tangent function, It represents the angle between the optical axis and the true north direction. represents the distance between the initial position of the aircraft and the target light source in the east direction, Indicates the distance between the initial position of the aircraft and the target light source in the north direction.

[0026] Step 103: Determine the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source, and obtain the focal length of the starlight navigation device.

[0027] Step 104: Determine the angle between the imaging direction and the direction of the optical axis after rotation based on the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source and the focal length of the starlight navigation device. The angle between the imaging direction and the direction of the optical axis after rotation is expressed as: .

[0028] In the formula, It represents the angle between the imaging direction and the optical axis direction after rotation. It represents the distance from the imaging point of the light source to the light source on the imaging plane of the star navigation device. Indicates the focal length of the star navigation device.

[0029] Step 105: Determine the initial azimuth angle of the aircraft based on the angle between the optical axis and the true north direction, the installation error angle, the rotation angle of the optical axis, and the angle between the imaging direction and the rotated optical axis direction to achieve alignment of the aircraft. Figure 4 It can be seen that the initial azimuth is expressed as: .

[0030] In the formula, represents the initial azimuth, Indicates the rotation angle of the optical axis.

[0031] In actual application, Figure 3 The angle between the optical axis and the true north direction , the angle between the imaging direction and the optical axis after rotation , the distance from the imaging point of the light source to the light source on the imaging plane of the star navigation device and the focal length of the star navigation device Based on the known initial position of the aircraft and light source position , the distance between the two locations in the east and north directions and It is expressed as: .

[0032] .

[0033] In the formula, Represents the unit of length.

[0034] In another exemplary embodiment of the present application, in order to further improve the navigation performance of the aircraft, the initial azimuth angle can also be analyzed. Based on this, the method for rapid alignment of an aircraft based on a starlight navigation device provided in the present application also includes the following steps: Step 1: Determine the measurement accuracy of the angle between the optical axis direction and the true north direction based on the measurement accuracy of the inertial navigation system and the GNSS satellite navigation receiving module and the distance from the initial position of the aircraft to the light source.

[0035] Among them, due to the initial position of the aircraft It is calculated by the combined navigation of the inertial navigation system and the GNSS satellite navigation receiving module, so the position accuracy is less than 1m, and the light source position accuracy is less than 1cm. Assuming that the distance from the initial position of the aircraft to the light source is 2km, the angle between the optical axis direction and the true north direction can be calculated. The measurement accuracy is .

[0036] Step 2: Determine the measurement accuracy of the angle between the imaging direction and the rotated optical axis direction based on the pixel size and focal length of the starlight navigation device.

[0037] Assuming that the pixel size and focal length of the starlight navigation device (such as a photoelectric ball) are 5 μm and 7 mm respectively, the distance from the imaging point of the light source in the imaging plane of the starlight navigation device to the light source is The accuracy is less than 1 pixel size, and the angle between the imaging direction and the optical axis direction after rotation can be calculated. The measurement accuracy is .

[0038] Step 3: Obtain a threshold angle of the installation error angle, and determine the measurement accuracy of the initial azimuth angle based on the threshold angle of the installation error angle, the measurement accuracy of the angle between the optical axis direction and the true north direction, and the measurement accuracy of the angle between the imaging direction and the rotated optical axis direction.

[0039] Among them, the known installation error angle The measurement accuracy is less than 0.05° and the rotation angle of the optical axis The measurement accuracy of is less than 10 arc seconds, so the measurement accuracy of the initial azimuth is , then the measurement accuracy of the initial azimuth is less than 0.1°.

[0040] In summary, the aircraft rapid alignment system and method based on the starlight navigation device provided by the present application solves the problem of long online alignment time of the aircraft system, and the initial azimuth angle The measurement accuracy is less than 0.1°. High-precision initial alignment helps reduce fluctuations and error accumulation in the navigation system during operation, can help the navigation system enter a stable working state faster, provide more accurate navigation information, and further improve the navigation performance of the aircraft.

[0041] In an exemplary embodiment, taking the implementation of the aircraft rapid alignment method on the aircraft rapid alignment system provided in the present application as an example, the specific implementation process of the solution provided in the present application is described as follows: Step 1: Installation and maintenance: During the installation and maintenance phase of the aircraft system, the components are installed in accordance with the installation method described in the system architecture provided above in this application. At the same time, it is necessary to ensure that the installation reference plane of the inertial navigation system is consistent with the installation reference plane of the photoelectric ball. After the installation is completed, the installation error angle between the installation reference plane of the inertial navigation system and the installation reference plane of the photoelectric ball needs to be measured and recorded. (The absolute value must be less than 0.05°).

[0042] Step 2: Leveling: Before the aircraft begins online alignment, the three-axis acceleration is measured by the inertial navigation system, and the aircraft body is adjusted to the horizontal according to the measured three-axis acceleration, so as to ensure that the optical axis direction of the photoelectric ball fixed to the aircraft is parallel to the horizontal plane. Among them, the acceleration of the aircraft facing the sky is equal to 9.8g to determine the horizontal, and the aircraft body is adjusted to the horizontal when the acceleration of the other two axes is close to 0. g is the acceleration due to gravity.

[0043] Step 3: Optical axis adjustment and target capture: The photoelectric ball may not be able to identify the light source when it is located in the direction of the initial optical axis. Therefore, it is necessary to control the horizontal rotation of the optical axis through the angle rotation mechanism to capture the light source and record the rotation angle of the optical axis. .

[0044] Step 4: Quick alignment: According to the imaging point of the light source on the photoelectric spherical imaging plane, combined with the initial position of the aircraft and the light source, the angle between the optical axis direction and the true north direction can be calculated. and the rotation angle of the optical axis in step 3 Known, the initial azimuth of the aircraft can be calculated , thereby achieving rapid alignment of the aircraft.

[0045] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0046] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0047] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0048] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0049] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0050] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. An aircraft rapid alignment system based on a starlight navigation device, characterized in that: The aircraft rapid alignment system comprises: an inertial navigation system, a GNSS satellite guidance receiving module, an angle rotation mechanism, a starlight navigation device, a light source and a processing module; The inertial navigation system, the GNSS satellite navigation receiving module and the angle rotation mechanism are all fixedly installed on the nose of the aircraft; the inertial navigation system and the GNSS satellite navigation receiving module are connected by cables; the starlight navigation device is installed on the angle rotation mechanism; the light source is fixedly set at a set position on the ground; the processing module is respectively connected to the inertial navigation system, the GNSS satellite navigation receiving module, the angle rotation mechanism and the starlight navigation device; The inertial navigation system is used to measure the angular velocity and acceleration of the aircraft; the GNSS satellite navigation receiving module is used to receive satellite signals; the angle rotation mechanism is used to control the horizontal direction of the optical axis of the starlight navigation device; the starlight navigation device is used to capture the light source and form an image; the light source is used as a position reference; and the processing module is used for navigation solution and Kalman filtering.

2. The aircraft rapid alignment system according to claim 1, characterized in that: The starlight navigation device is a photoelectric ball.

3. A method for rapid alignment of an aircraft based on a starlight navigation device, characterized in that: The aircraft rapid alignment method is implemented based on the aircraft rapid alignment system according to any one of claims 1-2; The aircraft rapid alignment method comprises: Obtain the installation error angle between the installation reference plane of the inertial navigation system and the installation reference plane of the photoelectric ball; The optical axis of the starlight navigation device is controlled to rotate horizontally through the angle rotation mechanism to capture the imaging point of the light source on the imaging plane of the starlight navigation device and record the rotation angle of the optical axis at the same time; Based on the imaging point of the light source on the imaging plane of the star navigation device, the angle between the optical axis direction and the true north direction is obtained in combination with the initial positions of the aircraft and the light source; Determine the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source, and obtain the focal length of the starlight navigation device; Determine the angle between the imaging direction and the direction of the optical axis after the rotation based on the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source and the focal length of the starlight navigation device; The initial azimuth angle of the aircraft is determined based on the angle between the optical axis direction and the true north direction, the installation error angle, the rotation angle of the optical axis, and the angle between the imaging direction and the rotated optical axis direction to achieve alignment of the aircraft.

4. The method for rapid aircraft alignment based on a starlight navigation device according to claim 3, characterized in that: The initial azimuth is expressed as: ； In the formula, represents the initial azimuth, It represents the angle between the optical axis and the true north direction. It represents the angle between the imaging direction and the optical axis direction after rotation. represents the rotation angle of the optical axis, Indicates the installation error angle, represents the distance between the initial position of the aircraft and the target light source in the east direction, Indicates the distance between the initial position of the aircraft and the target light source in the north direction. It represents the distance from the imaging point of the light source to the light source on the imaging plane of the star navigation device. Indicates the focal length of the star navigation device.

5. The method for rapid aircraft alignment based on a starlight navigation device according to claim 4, characterized in that: The angle between the optical axis and the true north direction is expressed as: ； Wherein, arctan represents the inverse tangent function.

6. The method for rapid aircraft alignment based on a starlight navigation device according to claim 4, characterized in that: The angle between the imaging direction and the optical axis direction after rotation is expressed as: ； Wherein, arctan represents the inverse tangent function.

7. The method for rapid aircraft alignment based on a starlight navigation device according to claim 3, characterized in that: The aircraft rapid alignment method also includes: The measurement accuracy of the angle between the optical axis and the true north direction is determined based on the measurement accuracy of the inertial navigation system and the GNSS satellite navigation receiving module and the distance from the initial position of the aircraft to the light source; Determine the measurement accuracy of the angle between the imaging direction and the direction of the rotated optical axis based on the pixel size and focal length of the starlight navigation device; A threshold angle of the installation error angle is obtained, and the measurement accuracy of the initial azimuth angle is determined based on the threshold angle of the installation error angle, the measurement accuracy of the angle between the optical axis direction and the true north direction, and the measurement accuracy of the angle between the imaging direction and the rotated optical axis direction.

8. The method for rapid aircraft alignment based on a starlight navigation device according to claim 7, characterized in that: The measurement accuracy of the initial azimuth angle is less than 0.1°.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for rapid alignment of an aircraft based on a starlight navigation device as described in any one of claims 3 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for rapid alignment of an aircraft based on a starlight navigation device as described in any one of claims 3 to 8 is implemented.

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