CN105424060B - A kind of measurement method of aircraft star sensor and strapdown inertial measurement unit installation error - Google Patents
A kind of measurement method of aircraft star sensor and strapdown inertial measurement unit installation error Download PDFInfo
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- CN105424060B CN105424060B CN201510794566.0A CN201510794566A CN105424060B CN 105424060 B CN105424060 B CN 105424060B CN 201510794566 A CN201510794566 A CN 201510794566A CN 105424060 B CN105424060 B CN 105424060B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses the measurement method of a kind of aircraft star sensor and strapdown inertial measurement unit installation error, method is the following steps are included: S1, establish intermediate conversion coordinate system OmXmYmZm, origin is overlapped with a used group coordinate origin, OmXmYmPlane is located in local level, OmXmAxis direction is along aircraft longitudinal direction, OmYmAxis direction and strapdown inertial measurement unit prism collimate；S2, attitude matrix of the strapdown inertial measurement unit under intermediate conversion coordinate system is calculatedS3, attitude matrix of the star sensor measurement coordinate system in intermediate conversion coordinate system is calculatedS4, transition matrix of the star sensor measurement coordinate system under strapdown inertial measurement unit coordinate system is resolved, determines the projection relation of each axis and each axis of strapdown inertial measurement unit coordinate system on star sensor measurement coordinate system, obtains the installation error of star sensor and strapdown inertial measurement unit.The present invention is convenient and efficient, and accuracy is high, can carry out quick star sensor and used group installation error measurement indoors.
Description
Technical field
The invention belongs to aircraft inertia/celestial combined navigation technical fields, quick more particularly, to a kind of aircraft star
The measurement method of sensor and strapdown inertial measurement unit installation error.
Background technique
Celestial navigation is a kind of high-precision airmanship using star place as object of reference, it usually with it is carry-on
Strapdown inertial navigation system forms high-precision independent formula integrated navigation system.Due to carry-on strapdown inertial measurement unit and star sensor
It is often mounted on the different location of aircraft carrier, there is fixed installation error, especially star sensors to survey between the two
Installation error between amount coordinate system and strapdown inertial measurement unit coordinate system directly affects the essence of the transmitting between celestial navigation and inertial navigation
Degree.Therefore the precision in order to guarantee final integrated navigation, it is necessary in the ground survey installation error.
In the prior art, coordinate system and equator based on true fixed star usually are organized by introducing geographic coordinate system as used
The intermediate conversion coordinate system of coordinate system measures.But the foundation of geographic coordinate system and celestial coordinate system must pass through thing
The north orientation benchmark first established or the north orientation benchmark established by the used group of high-precision, meanwhile, turn of the equatorial system of coordinates and geographic coordinate system
Change must be introduced into based on the first point of Aries when angle information (UT1), the introducing of these information increases the complexity and essence of test process
Degree.This technology directly passes through optical alignment and establishes any middle coordinate system in local level and directly use theodolite itself
Collimated light measures to simulate starlight vector, simplifies measurement process in the prior art.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of aircraft star sensor and strapdowns
The measurement method of used group installation error is realized and is surveyed to star sensor and used group installation error by establishing intermediate conversion coordinate system
The rapid survey of amount, convenient and efficient, accuracy is high.
To achieve the above object, it is proposed, according to the invention, provide a kind of aircraft star sensor and strapdown inertial measurement unit installation error
Indoor measurement method, the described method comprises the following steps:
S1, intermediate conversion coordinate system O is establishedmXmYmZm, the intermediate conversion coordinate system OmXmYmZmOrigin OmWith used group of coordinate
It is OtXtYtZtOrigin OtIt is overlapped, OmXmYmPlane is located in local level, OmXmAxis direction is along aircraft longitudinal direction, OmYmAxis
Direction is collimated by frist theodolite and strapdown inertial measurement unit prism, determines O according to right-hand rulemZmAxis direction；
S2, strapdown inertial measurement unit O under intermediate conversion coordinate system is calculated1Attitude matrix
Wherein, θ, φ, ψ are respectively pitch angle, roll angle and the yaw angle under used group coordinate system；
Yaw angleIt is wherein adding in aircraft coordinate system
Velocity vector is acceleration of gravity in x, the component of y-axis, g；
The star vector O that S3, acquisition second theodolite are simulatedmXmYmZmCoordinate value (X in coordinate systemi, Yi, Zi), described
The observation camera lens of two theodolites collimates in the visual field center of star sensor, and with frist theodolite；Acquire corresponding pixel points on CCD
Coordinate value (u in star sensor measurement coordinate systemi, vi), according to
Solve coefficient matrixThe measurement coordinate of usage factor matrix p calculating star sensor
Tie up to intermediate conversion coordinate system OmXmYmZmIn attitude matrixWhereinP1, p2, p3 are the square of the element composition in coefficient matrix p
Battle array, Sx is
Proportionality coefficient between CCD abscissa and ordinate；
S4, transition matrix of the star sensor measurement coordinate system under strapdown inertial measurement unit coordinate is resolvedRoot
According to the transition matrixDetermine that the projection of each axis and each axis of strapdown inertial measurement unit coordinate system on the measurement coordinate system of star sensor is closed
System obtains the installation error of star sensor and strapdown inertial measurement unit.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
The present invention initially sets up an intermediate conversion coordinate system, and the appearance of used group coordinate system is realized by intermediate conversion coordinate system
The measurement coordinate system pose of state and star sensor establishes connection by this unified middle coordinate system, is conducive to pacify between the two
Fill the direct measurement of error；
Star sensor target vector is established under the intermediate conversion coordinate system using theodolite, without carrying out outdoor sight star,
To facilitate the engineering problem that engineer application relies on weather and Attitude transhipment etc. in the process, engineering is reduced
Implementation cost improves working efficiency；
The posture for resolving star sensor measurement coordinate system in middle coordinate system is projected by target vector, final foundation is prompt
Join the posture transformational relation between used group and star sensor measurement coordinate system, obtains the installation between star sensor and strapdown inertial measurement unit
Error matrix avoids in test process by introducing local longitude and latitude and space-time synchronous transformational relation in traditional technology, also without
The specific geographic coordinate system on the basis of north orientation need to be established by ancillary equipment, without moving in practice or rotor in engineering
Long-pending huge or irremovable carrier, can realize rapid survey indoors, and convenient and efficient, accuracy is high.
Detailed description of the invention
Fig. 1 is the method for the present invention flow diagram；
Fig. 2 is star sensor of the present invention and used group scheme of installation；
Fig. 3 is each measurement coordinate system schematic diagram of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, the present invention provides a kind of aircraft star sensor and strapdown inertial measurement unit installation error measurement method, method
The following steps are included:
S1, intermediate conversion coordinate system O is establishedmXmYmZm, the intermediate conversion coordinate origin OmWith used group of coordinate system
OtXtYtZtOrigin OtIt is overlapped, OmXmYmPlane is located in local level, OmXmAxis direction is along aircraft longitudinal direction；OmYmAxis side
To pass through frist theodolite A1It is collimated with strapdown inertial measurement unit prism, and sets azimuth ψ=0 at this time, O is determined according to right-hand rulemZm
Axis direction.Each measurement coordinate system schematic diagram is as shown in Figure 2.
S2, strapdown inertial measurement unit is resolved in the OmXmYmZmPose transformation matrix under coordinate systemSpecific implementation are as follows:
Output of strapdown inertial measurement unit under the conditions of quiet pedestal is acquired, is counted using the acceleration of gravity vector of accelerometer measurement
Strapdown inertial measurement unit is calculated in OmXmYmZmAttitude angle under coordinate system.By the fundamental equation of inertial navigation:
Wherein,
For the acceleration of strapdown inertial measurement unit output；
Earth rate vector；
Angular velocity vector relative to earth rate；
Relative velocity vector；
Relative acceleration vector；
Acceleration of gravity vector.
Under the conditions of quiet pedestalThen have:
WhereinFor attitude matrix of the strapdown inertial measurement unit in the case where measuring coordinate system, For victory
The acceleration of the used group output of connection.
And becauseAnd it is known
By the transformational relation between attitude angle and attitude matrix
Wherein, ψ is course angle, and θ is pitch angle, and φ is roll angle.
ψ=0 is enabled, and brings formula (3) and formula (4) into (2), can be obtainedComponent are as follows:
The pitching angle theta and roll angle φ that strapdown inertial measurement unit can be acquired, are respectively as follows:
(4) are substituted by ψ=0 and by (6), calculate strapdown inertial measurement unit in OmXmYmZmPose transformation matrix under coordinate system
S3, using theodolite in OmXmYmZmN number of target vector (X of star sensor is provided under coordinate systemi, Yi, Zi), and remember
Record corresponding projection coordinate (u on star sensor CCDi, vi), by the projection equation of star sensor:
Wherein,
(ui, vi) coordinate of the upper pixel of-CCD in star sensor measurement coordinate system；
Proportionality coefficient between SX-CCD abscissa and ordinate；
(Xi, Yi, ZiThe star vector of)-theodolite simulation is in OmXmYmZmCoordinate in coordinate system；
Arrangement can obtain
The projection matrix P of star sensor is obtained by least square method.
It enables
Wherein,
It enables
It is rightIt is star sensor measurement coordinate system and O after normalizationmXmYmZmThe transition matrix of coordinate system.
S4, transition matrix of the star sensor measurement coordinate system under strapdown inertial measurement unit coordinate is resolvedRoot
According to the definition of direction cosine matrix, the throwing of each axis and each axis of strapdown inertial measurement unit coordinate system on the measurement coordinate system of star sensor can be obtained
The installation error of shadow relationship, i.e. star sensor and strapdown inertial measurement unit.
The present invention program is described further below in conjunction with a specific embodiment.
Step 1, fixed aircraft carrier 1 in certain height guarantee that used group can be collimated when theodolite pitching is 0 degree
Prism, direction are as shown in Fig. 3.
Step 2 sets up frist theodolite A1(number is 5 in Fig. 3), and collimate strapdown inertial measurement unit prism 3；
Step 3 sets up second theodolite A2(number is 6 in Fig. 3), so that second theodolite A2Observation camera lens it is quick in star
The visual field center of sensor 4；
Step 4, by second theodolite A2With frist theodolite A1Collimation, and by frist theodolite A1Orientation pass to
One theodolite A2, and establish OmXmYmZmCoordinate system；
Step 5 changes second theodolite A2Pitching and orientation angles, generated in the visual field of star sensor 4 multiple flat
Row light vector, and record the coordinate value of the pitch angle and azimuth and correspondence of each vector in star sensor CCD image planes；
Step 6 acquires the output data of strapdown inertial measurement unit 2, resolves strapdown inertial measurement unit 2 in OmXmYmZmPosture letter in coordinate system
Breath；
Step 7 resolves star sensor measurement coordinate system in OmXmYmZmPosture information in coordinate system；
Step 8 resolves the transition matrix in star sensor measurement coordinate system and strapdown inertial measurement unit coordinate system, according to the conversion
Matrix determine star sensor measurement coordinate system on each axis and each axis of strapdown inertial measurement unit coordinate system projection relation, obtain star sensor and
The installation error of strapdown inertial measurement unit.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (1)
1. a kind of measurement method of aircraft star sensor and strapdown inertial measurement unit installation error, which is characterized in that the method includes
Following steps:
S1, intermediate conversion coordinate system O is establishedmXmYmZm, the intermediate conversion coordinate system OmXmYmZmOrigin OmWith used group of coordinate system
OtXtYtZtOrigin OtIt is overlapped, OmXmYmPlane is located in local level, OmXmAxis direction is along aircraft longitudinal direction, OmYmAxis side
It is collimated to by frist theodolite and strapdown inertial measurement unit prism, O is determined according to right-hand rulemZmAxis direction；
S2, strapdown inertial measurement unit O under intermediate conversion coordinate system is calculatedmXmYmZmAttitude matrix
Wherein, θ, φ, ψ are respectively pitch angle, roll angle and the yaw angle under used group coordinate system；
Yaw angle ψ=0,WhereinFor the acceleration in aircraft coordinate system
In x, the component of y-axis, g is acceleration of gravity；
The star vector that S3, acquisition second theodolite are simulated is in OmXmYmZmCoordinate value (X in coordinate systemi,Yi,Zi), second warp
The observation camera lens of latitude instrument collimates in the visual field center of star sensor, and with frist theodolite；Corresponding pixel points are in star on acquisition CCD
Sensor measures the coordinate value (u in coordinate systemi,vi), according to
Solve coefficient matrixUsage factor matrix p calculates star sensor and measures coordinate
Tie up to intermediate conversion coordinate system OmXmYmZmIn attitude matrix WhereinP1, p2, p3 are the element composition in coefficient matrix p
Matrix, p1=[p11 p12 p13], p2=[p21 p22 p23], p3=[p31 p32 p33], Sx is CCD abscissa and ordinate
Between proportionality coefficient；
S4, transition matrix of the star sensor measurement coordinate system under strapdown inertial measurement unit coordinate is resolvedAccording to described
Transition matrixThe projection relation for determining each axis and each axis of strapdown inertial measurement unit coordinate system on the measurement coordinate system of star sensor, obtains
The installation error of star sensor and strapdown inertial measurement unit.
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| CN107966162B (en) * | 2017-11-14 | 2019-12-20 | 北京临近空间飞行器系统工程研究所 | System-level installation error calibration system and method for aircraft overload sensor |
| CN109470271A (en) * | 2018-11-26 | 2019-03-15 | 西北工业大学 | A kind of hypersonic aircraft redundancy strapdown inertial measurement unit fault detection method |
| CN110285816B (en) * | 2019-06-28 | 2023-12-12 | 航天东方红卫星有限公司 | High-precision attitude measurement system and method for small satellite on-satellite equipment |
| CN111504256A (en) * | 2020-04-29 | 2020-08-07 | 中国北方工业有限公司 | Roll angle real-time estimation method based on least square method |
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| CN102279002A (en) * | 2011-06-27 | 2011-12-14 | 哈尔滨工业大学 | Calibration method of star sensor measuring coordinate system and carrier coordinate system transformation matrix |
| CN102564455A (en) * | 2011-12-29 | 2012-07-11 | 南京航空航天大学 | Star sensor installation error four-position calibration and compensation method |
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| US20130013199A1 (en) * | 2011-07-06 | 2013-01-10 | Zheng You | Method for measuring precision of star sensor and system using the same |
| CN103913180A (en) * | 2014-03-26 | 2014-07-09 | 中国科学院长春光学精密机械与物理研究所 | Mounting angle calibration method for onboard large-view-field high-precision star sensor |
| CN104154928A (en) * | 2014-05-26 | 2014-11-19 | 北京航天控制仪器研究所 | Installation error calibrating method applicable to built-in star sensor of inertial platform |
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| CN102279002A (en) * | 2011-06-27 | 2011-12-14 | 哈尔滨工业大学 | Calibration method of star sensor measuring coordinate system and carrier coordinate system transformation matrix |
| US20130013199A1 (en) * | 2011-07-06 | 2013-01-10 | Zheng You | Method for measuring precision of star sensor and system using the same |
| CN102564455A (en) * | 2011-12-29 | 2012-07-11 | 南京航空航天大学 | Star sensor installation error four-position calibration and compensation method |
| CN102679999A (en) * | 2012-01-13 | 2012-09-19 | 南京航空航天大学 | Star sensor installation error four-position calibrating and compensating method |
| CN103913180A (en) * | 2014-03-26 | 2014-07-09 | 中国科学院长春光学精密机械与物理研究所 | Mounting angle calibration method for onboard large-view-field high-precision star sensor |
| CN104154928A (en) * | 2014-05-26 | 2014-11-19 | 北京航天控制仪器研究所 | Installation error calibrating method applicable to built-in star sensor of inertial platform |
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