164 results about "Celestial navigation" patented technology

A navigational control system for an autonomous robot includes a transmitter subsystem having a stationary emitter for emitting at least one signal. An autonomous robot operating within a working area utilizes a receiving subsystem to detect the emitted signal. The receiver subsystem has a receiver for detecting the emitted signal emitted by the emitter and a processor for determining a relative location of the robot within the working area upon the receiver detecting the signal.

A real-time integrated vehicle positioning method and system with differential GPS can substantially solve the problems encountered in either the global positioning system-only or the inertial navigation system-only, such as loss of global positioning satellite signal, sensitivity to jamming and spoofing, and an inertial solution's drift over time. In the present invention, the velocity and acceleration from an inertial navigation processor of the integrated GPS/INS system are used to aid the code and carrier phase tracking of the global positioning system satellite signals, so as to enhance the performance of the global positioning and inertial integration system, even in heavy jamming and high dynamic environments. To improve the accuracy of the integrated GPS/INS navigation system, phase measurements are used and the idea of the differential GPS is employed. However, integer ambiguities have to be resolved for high accuracy positioning. Therefore, in the present invention a new on-the-fly ambiguity resolution technique is disclosed to resolve double difference integer ambiguities. The real-time fully-coupled GPS/IMU vehicle positioning system includes an IMU (inertial measurement unit), a GPS processor, and a data link which are connected to a central navigation processor to produce a navigation solution that is output to an I/O (input/output) interface.

The invention relates to a remote high precision autonomous integrated navigation and positioning method, which is characterized in that a Strapdown Inertial Navigation System (SINS) is used as a main navigation system during the whole flight course of the aircraft, assisted by 3D high precision position and attitude angle information provided by celestial navigation system (CNS) based on the least square differential correction in boost phase (or middle segment). In reentry phase (terminal), using the characteristics of synthetic aperture radar (SAR), such as strong penetration capability, high resolving precision and all-weather, the SINS can be corrected through accurate location information and course information provided by SAR scene matching after motion compensation when the aircraft reentry into atmospheres, so the impact point (hit) accuracy of the aircraft can be increased and the invention has remarkable effects of eliminating or decreasing non-guidance error. The invention has advantages of autonomy and high precision, which can be used for improving remote ballistic missile, remote cruise missile, navigation and positioning accuracy of remote aircraft, such as long-endurance unmanned aerial vehicle, etc.

An automatic celestial navigation system for navigating both night and day by observation of K-band or H-band infrared light from multiple stars. In a first set of preferred embodiments three relatively large aperture telescopes are rigidly mounted on a movable platform such as a ship or airplane with each telescope being directed at a substantially different portion of sky. Embodiments in this first set tend to be relatively large and heavy, such as about one cubic meter and about 60 pounds. In a second set of preferred embodiments one or more smaller aperture telescopes are pivotably mounted on a movable platform such as a ship, airplane or missile so that the telescope or telescopes can be pivoted to point toward specific regions of the sky. Embodiments of this second set are mechanically more complicated than those of the first set, but are much smaller and lighter and are especially useful for guidance of aircraft and missiles. Telescope optics focus (on to a pixel array of a sensor) H-band or K-band light from one or more stars in the field of view of each telescope. Each system also includes an inclinometer, an accurate timing device and a computer processor having access to catalogued infrared star charts. The processor for each system is programmed with special algorithms to use image data from the infrared sensors, inclination information from the inclinometer, time information from the timing device and the catalogued star charts information to determine positions of the platform. Direction information from two stars is needed for locating the platform with respect to the celestial sphere. The computer is also preferably programmed to use this celestial position information to calculate latitude and longitude which may be displayed on a display device such as a monitor or used by a guidance control system. These embodiments are jam proof and insensitive to radio frequency interference. These systems provide efficient alternatives to GPS when GPS is unavailable and can be used for periodic augmentation of inertial navigation systems.

The invention discloses an integrated navigation system applied to a pilotless aircraft, which adopts a sensor comprising an inertial sensor, a radio altimeter, a communication module, a camera and the like, wherein the inertial sensor is used for acquiring motion acceleration and angular velocity of a carrier, and providing the motion acceleration and the angular velocity for an inertial navigation system and a vision navigation system in the unknown environment for setting up a system equation, thus further providing the current location information and matched trigger signals for scene matching navigation. The method integrates four combination ways which are inertial navigation, cellular wireless location navigation, vision navigation in the unknown environment and the scene matching navigation, and the four combination ways form each subsystem of the integrated navigation system and can be independently used for estimating the state of the aircraft; then, fault diagnosis and fusion estimation are carried out on the data output by the subsystems by a main filter, so that the accurate estimation of the state of the aircraft is obtained.

The invention provides an autonomous landing method of an unmanned aerial vehicle based on vision/inertial navigation. The autonomous landing method comprises the following steps of firstly, utilizing a vision navigation algorithm to solve the location and poses of the unmanned aerial vehicle; then, utilizing the pose of the unmanned aerial vehicle solved by the vision navigation as an initial value of inertial navigation, and starting to solve the inertia navigation parameters; utilizing the parameters obtained from the adjacent period of inertial navigation to remove the false matching dot pairs of real-time images and reference images after SURF matching; finally, utilizing non-track Kalman filter combined with navigation parameters to adjust the poses of the unmanned aerial vehicle in real time to guide landing. The autonomous landing method has the advantages that the timeliness of the vision navigation algorithm is improved, and the vision system maintains high precision for a long time; the problem of failure to singly use the error dispersion of single inertial navigation is solved, and the carrier navigation parameters can be provided even if the vision navigation solution fails.

The invention discloses a SINS/CNS deep integrated navigation system and a realization method thereof. Wherein the navigation system comprises a strapdown inertial navigation system (SINS), a celestial navigation system (CNS), an integrated navigation filter, a inertial navigation posture measurement information structure unit; the realization unit comprises the following steps: 1. a large viewing field star sensor assists the strapdown inertial navigation system to obtain a high-precision mathematic horizontal reference; 2. CNS positioning is carried out based on the mathematic horizontal reference; 3. SINS/CNS deep integrated system model and measurement mode are established; 4. integrated navigation system information is fused; 5. the SINS and the CNS assists each other to realize high-precision positioning. In the invention, the star sensor high-precision posture information is employed to assist SINS to obtain high-precision SINS strapdown matrix which serves as the mathematic horizontal reference for CNS positioning, and on the basis, positions and postures of the CNS are employed to comprehensively calibrate the SINS, thus realizing SINS/CNS deep integration and finally achieving high-precision positioning and navigation.

The invention relates to an autonomous integrated navigation system which belongs to the technical field of navigation systems. The SINS (Strapdown Inertial Navigation System)/SAR (Synthetic Aperture Radar)/CNS (Celestial Navigation System) integrated navigation system takes SINS as a main navigation system and SAR and CNS as aided navigation systems and is established by the following steps: firstly, designing SINS/SAR and SINS/CNS navigation sub-filters, calculating to obtain two groups of local optimal estimation values and local optimal error covariance matrixes of the integrated navigation system state, then transmitting the two groups of local optimal estimation values into a main filter by a federal filter technology for fusion to obtain an overall optimal estimation value and an overall optimal error covariance matrix, and finally, performing real-time correction on the error according to the overall optimal estimation value so as to obtain an optimal estimation fusion algorithm of the SINS/SAR/CNS integrated navigation system. The autonomous integrated navigation system, disclosed by the invention, is less in calculation amount and high in reliability, is applicable to aircrafts in near space, aircrafts flying back and forth in the aerospace, aircrafts for carrying ballistic missiles, orbit spacecrafts and the like, and has wide application prospect.

An automatic celestial navigation system for navigating both night and day by observation of K-band or H-band infrared light from multiple stars. In a first set of preferred embodiments three relatively large aperture telescopes are rigidly mounted on a movable platform such as a ship or airplane with each telescope being directed at a substantially different portion of sky. Embodiments in this first set tend to be relatively large and heavy, such as about one cubic meter and about 60 pounds. In a second set of preferred embodiments one or more smaller aperture telescopes are pivotably mounted on a movable platform such as a ship, airplane or missile so that the telescope or telescopes can be pivoted to point toward specific regions of the sky. Embodiments of this second set are mechanically more complicated than those of the first set, but are much smaller and lighter and are especially useful for guidance of aircraft and missiles. Telescope optics focus (on to a pixel array of a sensor) H-band or K-band light from one or more stars in the field of view of each telescope. Each system also includes a GPS sensor and a computer processor having access to catalogued infrared star charts. The processor for each system is programmed with special algorithms to use image data from the infrared sensors, position and timing information from the GPS sensor, and the catalogued star charts information to determine orientation (attitude) of the platform. Direction information from two stars is needed for locating the platform with respect to the celestial sphere. The computer is also preferably programmed to calculate further information which may be used by a guidance control system. These systems provide efficient alternatives to inertial navigation systems when such systems are too expensive and can be used for periodic augmentation and calibration of inertial navigation systems.

The invention provides a robot navigation map construction method based on rat brain hippocampus spatial cells. According to an information transfer loop of spatial navigation related cells in a hippocampus structure of a mammal, a robot acquires a current autonomic movement clue and color depth image information through environment exploration. The autonomic movement clue progressively forms coding to the spatial environment through path integration and characteristic extraction of the spatial cells in the hippocampus structure. The place field of place cells is gradually formed in an exploration process and furthermore covers the whole spatial environment, thereby forming a cognitive map. Meanwhile, Kinect acquires color depth image information of a view scene right in front of the current position as an absolute reference for performing closed-loop detection on the path and correcting a path integration error. At a closed-loop point, a system resets spatial cell discharging activity and performs correction on the path integration error. Nodes on a final navigation map comprise place cell mass coding information, corresponding visual cues and place topological relationships.

The invention relates to a bionic navigation method and a navigation positioning system based on remote sensing sky polarization mode patterns. The method comprises the following steps: simultaneously measuring three images of light intensity of sky light by adopting a full-sky polarization remote sensing measurement method, and solving a polarization degree and a polarization azimuth angle which describe the polarization state of the sky light, thereby obtaining the remote sensing sky polarization mode patterns; analyzing each influence factor of the polarization degree and polarization azimuth angle in the remote sensing sky polarization mode patterns by adopting a full-sky polarization light measurement method, thereby obtaining the external conditions which are most suitable for polarization navigation; solving the sun azimuth angles at different time by combining celestial navigation theory knowledge, and amending the included angle between the sun meridian and a carrier by utilizing the sun azimuth angles, thereby obtaining a course angle taking geographical north and south as the reference directions; and processing the polarization navigation blind spot by adopting the combined navigation mode of a GPS (global positioning system) navigation mode and a polarization navigation mode. The bionic navigation method and navigation positioning system based on remote sensing sky polarization mode patterns can be widely applied to the measurement and research of navigation positioning under different conditions, and is a special new technology which enables the remote sensing observation image to serve the navigation positioning method and system by utilizing the bionic means.

The invention provides an SINS/CNS integrated navigation system based on comprehensive optimal correction and a navigation method thereof, and belongs to the technical field of integrated navigation. The integrated navigation system comprises an astronavigation subsystem, an inertia navigation subsystem and an information fusion subsystem. The navigation method comprises the following steps: analyzing celestial fix based on starlight refraction, building up navigation system state equations, building up navigation system measuring equations and performing information fusion of an integrated navigation system based on Kalman filtering. According to the invention, by utilizing the basic principle of starlight refraction indirection sensitive horizon and a large viewing field star sensor, the characteristics of a plurality of fixed stars can be observed at the same time, and the starlight refraction indirection sensitive horizon method is applied to aircrafts that do not fulfill track kinetics, so that the problem of high-precision autonomous horizon of the celestial navigation system is solved. According to the invention, position and posture information of the celestial navigation system are fully utilized to perform comprehensive optimal correction on the SINS deviation, so that the integrated navigation accuracy is significantly improved.

A method for tracking the movement of the sun from East to West across the sky during daylight hours to enable solar photovoltaic (PV) panels or arrays of such panels to capture significantly more solar energy than fixed solar panels. Readily-available sun position data (taken from ephemeris or celestial navigation tables) can be programmed into read-only memory (ROM) chips. Date and time of day information can also be programmed into ROM chips powered by long-life, rechargeable batteries, such as lithium-ion batteries. Using such ROM chip data, a solar panel or an array of solar panels can track the sun position provided that during installation (with the panels aimed longitudinally towards the South), the solar panels are positioned upwards towards the noontime sun position to establish a starting point. This enables the sun tracking system of the present invention to track the sun without requiring a solar sensing device. Sun tracking provides an increase of from about 20% to 50% increased solar energy capture compared with fixed, non-tracking solar panels. Experimental data is also provided to illustrate the effectiveness of the present invention.

The invention discloses an information fusion method for an airborne inertia/Doppler radar integrated navigation system. The method comprises the following six major steps of: I, establishing an error model of an inertia device and a Doppler radar; II, determining a state variable based on the application of inertia/Doppler integrated navigation on an airborne fixed-wing aircraft; III, establishing an inertia/Doppler radar integrated navigation state equation; IV, establishing an inertia/Doppler radar integrated navigation measurement equation; V, discretizing a Kalman filtering continuous system; and VI, performing Kalman filtering data fusion resolving, obtaining the sub-optimal estimation related to navigation parameters through state estimation, and correcting the inertial navigation and Doppler radar in a closed-loop feedback mode at the same time. The method disclosed by the invention makes full use of the Doppler information and inertial navigation information, puts forward a data fusion scheme for airborne inertia/Doppler radar integrated navigation, effectively solves the problem of a navigation error caused by an imperfect error model, and improves the system precision.

The invention provides a strap-down inertial navigation system/visual odometer integrated navigation method which comprises the following steps: mounting a binocular visual odometer and a fiber-opticgyroscope inertial navigation system on a transporter and collecting data of all sensors; extracting features in an image sequence with an FAST method, completing feature matching with a feature matching method based on random sample consensus and calculating movement information of the transporter; establishing a nonlinear state equation and a measurement equation of a strap-down inertial navigation system/visual odometer integrated navigation system; and completing time update and measurement update of the strap-down inertial navigation system/visual odometer integrated navigation system with a volume Kalman filter of a nonlinear filter, and estimating the state of the system, so as to realize the navigation and location of the strap-down inertial navigation system/visual odometer integrated navigation system. According to the strap-down inertial navigation system/visual odometer integrated navigation method, a feature matching algorithm is optimized, and a nonlinear volume Kalman filter algorithm is utilized, so that the location accuracy and the robustness of the integrated navigation system are improved.

The invention discloses a multi-pulse star signal simulator comprising a numerical value simulation unit, a first frequency integration unit, a laser modulation unit, a laser emission unit, a detectorunit, a second frequency integration unit and a photon counting logical unit, wherein the numerical value simulation unit generates radiation signal data of a plurality of pulse stars by using a clock of the first frequency integration unit according to a signal numerical value model and sends the radiation signal data to the laser modulation unit; the laser modulation unit generates a current signal which can directly modulate a laser according to the clock of the first frequency integration unit; the laser emission unit converts the current signal of a laser modulator into a laser intensitysignal; the detector unit receives the laser signal, generates pulses and sends the pulses into the photon counting logical unit; and the photon counting logical unit counts the pulses according to aclock of the second frequency integration unit and sends a counting result to an upper computer. The invention has the advantages of high data reliability and coincidence of a signal generation and detection mechanism with the actual condition and is used for providing simulated data to the independent celestial navigation simulation of a spacecraft.

The invention provides an SINS (Ship's Inertial Navigation System)/CNS (Celestial Navigation System) deep integrated navigation system of a mar rover. The SINS/CNS deep integrated navigation system comprises an SINS, a CNS, an inertial navigation position unit, an inertial navigation posture unit and a filter, wherein the SINS provides a mathematic platform and a position matrix for the inertial navigation posture unit, and also provides longitude and latitude information for the inertial navigation position unit, the CNS transfers an inertial posture matrix to the filter, the inertial navigation posture unit inputs the constructed inertial posture matrix into the filter, the inertial navigation position unit inputs the constructed position vector information into the filter, and the filter provides posture and position estimation errors for a celestial navigation subsystem and a ship's inertial navigation subsystem respectively. The realization method comprises the following steps: I. helping the SINS to obtain high-precision level reference through a large-field-of-view star-sensor; II. confirming the high-precision level reference-based celestial position vector; III. establishing a state model and a measurement model of the integrated navigation system; IV. fusing information of the integrated navigation system; and V. correcting the errors of all the subsystems through information feedback.

The invention discloses an indoor navigation method based on the combination of region location, inertial navigation and map path. The indoor navigation method comprises the following steps: S1, region identification location; S2, inertial navigation; S3, map path data aided navigation. According to the invention, the indoor navigation method heavily relies on sensor data and map path data of a terminal and less relies on wireless signals, so that the laying and maintenance costs are greatly reduced; meanwhile, the location and navigation technology for cooperating the sensor data, the map path data and the wireless signals greatly improve the accuracy of indoor location and navigation.

The invention relates to an autonomous vehicle navigation method for assisting orientation by applying an omnimax neutral point. The method comprises the following steps: establishing a vehicle-mounted neutral point navigation orientation model, establishing an improved dynamic mathematical model of a vehicle, establishing a vehicle-mounted polarized light navigation/dynamic mathematical model/inertial navigation combined navigation system, establishing a vehicle-mounted combined navigation system state equation and establishing a vehicle-mounted combined navigation system measuring equation. According to the invention, atmospheric polarization characteristics, inertial navigation and vehicle dynamics/kinematics models are effectively combined, through research on an information fusion scheme and an information fusion method, a reasonable combination scheme is provided, the problem of atmospheric polarization navigation in vehicle-mounted application is solved, a passive navigation system with high autonomy, good hidden property and anti-interference is constructed, and precise reliable autonomous navigation positioning of a land fighting vehicle can be wholly realized.

The invention discloses a tightly coupled INS/UWB integrated navigation system and method adopting fixed-interval CRTS smoothing. The navigation system comprises an inertial navigation system (INS), a UWB radio tag, UWB wireless reference nodes, a reference system and a data processing system, wherein the inertial navigation system (INS) and the UWB radio tag are arranged on shoes of a pedestrian; the UWB wireless reference nodes and the reference system are arranged at a set position; the inertial navigation system (INS), the UWB radio tag and the reference system are connected with the data processing system respectively; the data processing system comprises a local data fusion filter, a Cubature Kalman Filter (CKF), a pseudo-distance data processing module, an RTS smoothing module and an average filtering module. The tightly coupled INS/UWB integrated navigation system and method has the benefits that the possibility of introducing truncation errors due to omitting of higher terms of Taylor expansion in a conventional tightly coupled integrated navigation model is effectively decreased.