Aircraft Fast Alignment System, Method, Equipment and Medium Based on Starlight Navigation Device

Abstract

The present application discloses an aircraft rapid alignment system, method, device and medium based on a starlight navigation device, which relates to the field of aircraft alignment. The system includes: 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 and are connected to the processing module; the inertial navigation system is connected to the GNSS satellite navigation receiving module; the starlight navigation device is installed on the angle rotation 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 the signals of the satellites; the angle rotation mechanism controls the horizontal direction of the optical axis of the starlight navigation device; the starlight navigation device captures the light source and forms an image; the processing module performs navigation solution and Kalman filtering. The present application can achieve rapid and effective alignment of the aircraft.

Description

Technical Field

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

[0002] For an aircraft system, to achieve precise attitude control and position control, the key lies in that the navigation module must provide stable and reliable navigation data. Usually, this navigation data is obtained by calculating through a GNSS / INS (Global Navigation Satellite System / Inertial Navigation System) integrated navigation algorithm based on Kalman filtering. Currently, the mainstream inertial-based filtering algorithms usually rely on small misalignment angles to obtain high-precision attitude information in the initial alignment stage, ensuring the accuracy and stability of subsequent filtering algorithms. Otherwise, it may introduce large model errors, resulting in a slowdown in the convergence speed of filtering or even non-convergence. Therefore, the online alignment technology is crucial for improving the navigation performance of an aircraft.

[0003] The mission characteristics of the aircraft system impose relatively stringent requirements on the online alignment time of the inertial navigation system. However, the observability of the inertial navigation system is poor, especially the weakest in the case of a static base, which will affect the convergence speed and convergence accuracy of the Kalman filter for state estimation, thus making the alignment time longer. Since quickly and accurately completing the online alignment of the aircraft system is the key to improving the system's response ability and achieving precise positioning, it is of great significance to study the rapid alignment method for the aircraft system. However, currently, there is no publicly available method that can effectively and quickly perform aircraft alignment. Summary of the Invention

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

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] In a first aspect, the present application provides a rapid alignment system for an aircraft based on a starlight navigation device, including: 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;

[0007] The inertial navigation system, the GNSS satellite navigation receiving module, and the angular 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 a cable; the starlight navigation device is installed on the angular rotation mechanism; the light source is fixedly arranged 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 angular rotation mechanism, and the starlight navigation device;

[0008] 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 angular 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 serves as a position reference; the processing module is used for navigation solution and Kalman filtering.

[0009] Optionally, the starlight navigation device is an optoelectronic sphere.

[0010] In a second aspect, the present application provides an aircraft rapid alignment method based on a starlight navigation device, and the aircraft rapid alignment method is implemented based on the aircraft rapid alignment system provided by the present application; the aircraft rapid alignment method includes:

[0011] Obtain the installation error angle between the installation reference plane of the inertial navigation system and the installation reference plane of the optoelectronic sphere;

[0012] Control the optical axis of the starlight navigation device to rotate horizontally through the angular 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;

[0013] Based on the imaging point of the light source on the imaging plane of the starlight navigation device, combine the initial positions of the aircraft and the light source to obtain the included angle between the optical axis direction and the true north direction;

[0014] 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;

[0015] 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, determine the included angle between the imaging direction and the rotated optical axis direction;

[0016] Based on the included angle between the optical axis direction and the true north direction, the installation error angle, the rotation angle of the optical axis, and the included angle between the imaging direction and the rotated optical axis direction, determine the initial azimuth angle of the aircraft to achieve the alignment of the aircraft.

[0017] Optionally, the initial azimuth angle is expressed as:

[0018] ;

[0019] In the formula, represents the initial azimuth angle, represents the angle between the optical axis direction and the true north direction, represents the angle between the imaging direction and the rotated optical axis direction, represents the rotation angle of the optical axis, represents the installation error angle, represents the distance between the initial position of the eastward aircraft and the target light source position, represents the distance between the initial position of the northward aircraft and the target light source position, represents the distance from the imaging point of the light source on the imaging plane of the star navigation device to the light source, represents the focal length of the star navigation device.

[0020] Optionally, the angle between the optical axis direction and the true north direction is expressed as:

[0021] ;

[0022] In the formula, arctan represents the arctangent function.

[0023] Optionally, the angle between the imaging direction and the rotated optical axis direction is expressed as:

[0024] ;

[0025] In the formula, arctan represents the arctangent function.

[0026] Optionally, the aircraft rapid alignment method further includes:

[0027] Determining the measurement accuracy of the angle between the optical axis direction and the true north direction based on the measurement accuracies 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;

[0028] Determining 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 star navigation device;

[0029] Obtaining the threshold angle of the installation error angle, and determining 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.

[0030] Optionally, the measurement accuracy of the initial azimuth angle is less than 0.1°.

[0031] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the steps of the above-provided method for rapid alignment of an aircraft based on a star navigation device.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the above-provided method for rapid alignment of an aircraft based on a star navigation device.

[0033] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0034] The present application provides a rapid alignment system, method, device, and medium for an aircraft based on a star navigation device. Based on the structural settings of the provided rapid alignment system for the aircraft, the installation error angle between the installation reference planes of the inertial navigation system and the optoelectronic sphere, the angle between the optical axis direction and the true north direction, and the angle between the imaging direction and the rotated optical axis direction can be determined, and then the initial azimuth angle of the aircraft can be obtained, enabling rapid and effective alignment of the aircraft and solving the problem of long online alignment time for the aircraft. Description of the Drawings

[0035] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the following-described drawings are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0036] Figure 1 It is a geometric schematic diagram of a rapid alignment system for an aircraft based on a star navigation device provided by an embodiment of the present application;

[0037] Figure 2 It is a flowchart of a method for rapid alignment of an aircraft based on a star navigation device provided by an embodiment of the present application;

[0038] Figure 3 It is a schematic diagram of alignment parameters provided by an embodiment of the present application;

[0039] Figure 4 It is a schematic diagram of the principle for determining the initial azimuth angle provided by an embodiment of the present application. Detailed Embodiments

[0040] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0041] To make the above objects, features, and advantages of the present application more apparent and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0042] In an exemplary embodiment, the present application provides a rapid alignment system for an aircraft based on a star navigation device. The system includes: an inertial navigation system, a GNSS satellite navigation receiving module, an angle rotation mechanism, a star navigation device, a light source, and a processing module. Among them, an optoelectronic sphere is used as the star navigation device.

[0043] Taking the aircraft as a carrier, the inertial navigation system, the GNSS satellite navigation receiving module, and the angle rotation mechanism are all fixedly installed at the nose of the aircraft. The inertial navigation system and the GNSS satellite navigation receiving module are connected by cables. The star navigation device is installed on the angle rotation mechanism. The light source is fixedly arranged 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 star navigation device;

[0044] 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 solution 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 star navigation device. The star navigation device is used to capture the light source and image. The light source serves as a position reference; the processing module is used for navigation solution and Kalman filtering.

[0045] In an exemplary embodiment, the present application also provides a rapid alignment method for an aircraft based on a star navigation device. The rapid alignment method for an aircraft is implemented based on the rapid alignment system provided by the present application. As Figure 2 shown, the rapid alignment method for an aircraft includes:

[0046] Step 100: Obtain the installation error angle between the installation reference plane of the inertial navigation system and the installation reference plane of the optoelectronic sphere. Among them, Figure 1 gives the initial position of the aircraft , the position of the light source and the installation error angle between the inertial navigation installation reference plane and the optoelectronic sphere installation reference plane . Figure 1In it, position A represents the installation positions of the inertial navigation system, the GNSS satellite navigation receiving module, and the optoelectronic sphere.

[0047] 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. Among them, the rotation angle of the optical axis is denoted as .

[0048] Step 102: Based on the imaging point of the light source on the imaging plane of the starlight navigation device, combine the initial positions of the aircraft and the light source to obtain the included angle between the optical axis direction and the due north direction. Among them, the included angle between the optical axis direction and the due north direction is expressed as:

[0049] .

[0050] In the formula, arctan represents the arctangent function, represents the included angle between the optical axis direction and the due north direction, represents the distance between the initial position of the aircraft in the east direction and the position of the target light source, represents the distance between the initial position of the aircraft in the north direction and the position of the target light source.

[0051] 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.

[0052] Step 104: 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, determine the included angle between the imaging direction and the rotated optical axis direction. Among them, the included angle between the imaging direction and the rotated optical axis direction is expressed as:

[0053] .

[0054] In the formula, represents the included angle between the imaging direction and the rotated optical axis direction, represents the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source, represents the focal length of the starlight navigation device.

[0055] Step 105: Based on the included angle between the optical axis direction and the due north direction, the installation error angle, the rotation angle of the optical axis, and the included angle between the imaging direction and the rotated optical axis direction, determine the initial azimuth angle of the aircraft to achieve the alignment of the aircraft. Among them, from Figure 4 it can be seen that the initial azimuth angle is expressed as:

[0056] .

[0057] In the formula, represents the initial azimuth angle, Indicates the rotation angle of the optical axis.

[0058] In the actual application process, taking the Figure 3 included angle between the optical axis direction and the true north direction as shown , the included angle between the imaging direction and the rotated optical axis direction , 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 as the basis, given the initial position of the aircraft and the position of the light source and are expressed as:

[0059] .

[0060] .

[0061] In the formula, represents the length unit nie.

[0062] In another exemplary embodiment of the present application, in order to further improve the navigation performance of the aircraft, the accuracy of the initial azimuth angle can also be analyzed. Based on this, the aircraft rapid alignment method based on the starlight navigation device provided by the present application further includes the following steps:

[0063] Step 1: Determine the measurement accuracy of the included 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.

[0064] Among them, since the initial position of the aircraft is obtained by combined navigation calculation of the inertial navigation system and the GNSS satellite navigation receiving module, the position accuracy is less than 1 m, while the light source position accuracy is less than 1 cm. Assuming that the distance from the initial position of the aircraft to the light source is 2 km, the measurement accuracy of the included angle between the optical axis direction and the true north direction can be deduced as .

[0065] Step 2: Determine the measurement accuracy of the included angle between the imaging direction and the rotated optical axis direction based on the pixel size and focal length of the starlight navigation device.

[0066] Among them, assuming that the pixel size and focal length of the starlight navigation device (such as an optoelectronic sphere) are 5 μm and 7 mm respectively, and the accuracy of the distance from the imaging point of the light source on the imaging plane of the starlight navigation device to the light source is less than 1 pixel size, the included angle The measurement accuracy of is

[0067] Step 3: Obtain the 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 included angle between the optical axis direction and the true north direction, and the measurement accuracy of the included angle between the imaging direction and the rotated optical axis direction.

[0068] Among them, the known installation error angle has a measurement accuracy less than 0.05°, and the rotation angle of the optical axis has a measurement accuracy less than 10 arcseconds. Therefore, the measurement accuracy of the initial azimuth angle is , and then, the measurement accuracy of the initial azimuth angle is less than 0.1°.

[0069] In summary, the aircraft rapid alignment system and method provided by this application solve the problem of long online alignment time of the aircraft system, and the measurement accuracy of the initial azimuth angle is less than 0.1°. The high-precision initial alignment helps to reduce the fluctuations and error accumulation during the operation of the navigation system, can help the navigation system enter the stable working state faster, provide more accurate navigation information, and further improve the navigation performance of the aircraft.

[0070] In an exemplary embodiment, taking the implementation of the aircraft rapid alignment method on the aircraft rapid alignment system provided by this application as an example, the specific implementation process of the solution provided by this application is described as follows:

[0071] Step 1: Installation and maintenance:

[0072] During the installation and maintenance stage of the aircraft system, install each component according to 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 planes of the inertial navigation system and the optoelectronic sphere are consistent. After installation, it is necessary to measure and record the installation error angle (the absolute value should be less than 0.05°) between the installation reference planes of the inertial navigation system and the optoelectronic sphere.

[0073] Step 2: Leveling:

[0074] Before the aircraft starts online alignment, measure the three-axis acceleration through the inertial navigation system, and level the aircraft body according to the measured three-axis acceleration, so as to ensure that the optical axis direction of the optoelectronic sphere fixedly connected 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 level. When the accelerations of the other two axes are nearly 0, the aircraft body is leveled. g is the acceleration due to gravity.

[0075] Step 3: Optical axis adjustment and target capture:

[0076] The photoelectric sphere may not be able to recognize the light source in the initial optical axis direction. Therefore, it is necessary to control the horizontal rotation of the optical axis through an angle rotation mechanism to capture the light source, and record the rotation angle of the optical axis at the same time. .

[0077] Step Four: Quick Alignment:

[0078] Based on the imaging point of the light source on the imaging plane of the photoelectric sphere and the initial positions of the aircraft and the light source, the included angle between the optical axis direction and the due north direction can be deduced. Due to the installation error angle in Step One and the rotation angle of the optical axis in Step Three are known, the initial azimuth angle of the aircraft can be further deduced , thereby realizing the quick alignment of the aircraft.

[0079] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, which when executed by a processor implements the steps in the above method embodiments.

[0080] In an exemplary embodiment, a computer program product is provided, including a computer program, which when executed by a processor implements the steps in the above method embodiments.

[0081] 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 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 need to comply with relevant regulations.

[0082] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. 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 can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0083] The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0084] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0085] Specific examples are used in this article to elaborate on the principles and implementation manners of this application. The descriptions of the above embodiments are only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. A rapid aircraft 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; the processing module is used for navigation solution and Kalman filtering; 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 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.

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: ; In the formula, 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 method for rapid aircraft alignment further includes: determining 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; 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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