Positioning method and system based on optical goniometry and astronomic-inertial combined navigation

By combining optical angle measurement with astronomical-inertial integrated navigation and using the Kalman filter algorithm to estimate position in real time, the problems of inertial navigation error divergence and low accuracy of astronomical navigation are solved, achieving high-precision, autonomous, and continuous navigation and positioning, which is suitable for long-endurance positioning in satellite navigation denied environments.

CN121876967BActive Publication Date: 2026-06-02NAT UNIV OF DEFENSE TECH
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Patent Information

Application Number
CN202610327467.X
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2026-03-18
Publication Date
2026-06-02
Estimated Expiration
2046-03-18

AI Technical Summary

Technical Problem

Inertial navigation system errors diverge over time, astronomical navigation has low accuracy, and low-orbit satellite observations are limited, making it impossible to meet the requirements for long-endurance, high-precision navigation and positioning.

Method used

By combining optical angle measurement with astronomical-inertial integrated navigation, stars are identified by capturing star images, an attitude calculation model is established, and the position is estimated in real time using the Kalman filter algorithm. The Kalman filter state equation and observation equation are constructed to achieve multi-source information fusion.

Benefits of technology

It achieves high-precision, autonomous, and continuous navigation and positioning in complex environments, is suitable for long-endurance positioning in satellite navigation denied environments, has high navigation satellite orbit accuracy and good predictability, is not affected by ground shadows, and is suitable for all-night observation.

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Abstract

The present application relates to the technical field of integrated navigation, in particular to a positioning method and system based on optical angle measurement and astronomical-inertial integrated navigation. The method first acquires star and navigation satellite images by shooting a star map, and then calculates the attitude of the camera relative to the geocentric inertial coordinate system by identifying and processing the stars, and further determines the coordinates of the navigation satellite in the coordinate system. Through coordinate conversion, the angle information of the navigation satellite relative to the observer in the earth coordinate system is obtained. The optical angle measurement information is fused with the attitude, speed and position information output by the inertial navigation system, the Kalman filter state equation and observation equation are constructed, and finally the real-time high-precision solution and update of the observer's position are realized. The present application combines the accuracy of optical angle measurement, the limited distance reference of astronomical navigation and the autonomous continuity of inertial navigation, effectively improving the navigation and positioning accuracy and reliability under complex environment and satellite denial conditions.
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