CN106289238A - A kind of star sensor data optimized treatment method - Google Patents
A kind of star sensor data optimized treatment method Download PDFInfo
- Publication number
- CN106289238A CN106289238A CN201610624240.8A CN201610624240A CN106289238A CN 106289238 A CN106289238 A CN 106289238A CN 201610624240 A CN201610624240 A CN 201610624240A CN 106289238 A CN106289238 A CN 106289238A
- Authority
- CN
- China
- Prior art keywords
- star sensor
- attitude
- information
- sensor output
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Navigation (AREA)
Abstract
The invention provides a kind of star sensor data optimized treatment method, belong to data-optimized processing method technical field.The method of the present invention can be used for star sensor Measurement and Data Processing, improves star sensor attitude output stability and precision.Conversion that star sensor measurement data is mainly improved by the method for the present invention, extraction, interpolation, filtering, then utilize the wavelet analysis method merging Allan variance that star sensor output data are optimized process, promote degree of stability and the precision of star sensor output attitude.The method major advantage of the present invention has: 1) accurately reject outlier, promotes mistake redundant ability；2) smooth and eliminate low frequency trend, promote capacity of resisting disturbance；3) ensure data continuously and at equal intervals, promote output attitude stability；4) suppression internal work noise and observing environment noise, be effectively improved signal to noise ratio；5) star sensor output attitude information precision is promoted.
Description
Technical field
The present invention relates to a kind of star sensor data optimized treatment method, belong to data-optimized processing method technical field.
Background technology
Star sensor is as the one in numerous navigation modes, using the teaching of the invention it is possible to provide do not have the attitude information of cumulative error.Star
Sensor has big visual field, the high feature such as dynamically, and flexible working mode, compact, light weight, autonomy is strong, has fabulous
Portability, it is possible to adapt to various lift-launch demand.Star sensor can catch, extract and identify the fixed star of higher magnitude, real
The structure of existing complicated starry sky galaxy, output attitude information based on inertial system is capable of attitude without cumulative error.Star sensor
Can merge with inertial navigation system and realize advanced integrated navigation system, attitude and the position letter of higher precision is provided for carrier
Breath, meets the modern war requirement to navigation accuracy.
The error accumulation introduced such as inertial navigation system working method is there is not and asks in star sensor in whole navigation procedure
Topic, but star sensor still can be affected by problems with, and then the high-precision requirement in navigation task cannot be met: 1) star
Sensor output attitude in comprise introduced by electromagnetic signal electrical noise, system image plane as the heart skew introduce offset noise with
And the calculating noise that star image reduction brings；2) star sensor is reflected and the earth by atmospheric density, starlight during measuring
Nutating, precession of the equinoxes impact can produce low frequency harmonic content；3) star sensor metrical information can be lost due to star image, star image is induced, outward
The cause specifics such as boundary's impact cause output attitude mistake.Problems above will result in the single measurement error of star sensor, and
Do not research and propose the method that star sensor data optimization corresponding, comprehensive processes at present.
At present in actual navigation task performs, it is not intended that above-mentioned single measurement error problem exports at star sensor
Impact in attitude information, star sensor output data do not carry out pretreatment being introduced directly in navigation system and lead accordingly
Boat calculates.Modern war proposes higher demand to navigation accuracy and stability, according to mission requirements analysis and experimental result
Analyze, ignore these single measurement errors and the final navigation results of system can be caused the biggest impact, so to star sensor
Output data are optimized process and are very important.
Summary of the invention
The invention aims to solve the problem that above-mentioned prior art exists, and then a kind of star sensor data is provided
Optimized treatment method.
It is an object of the invention to be achieved through the following technical solutions:
A kind of star sensor data optimized treatment method, is realized by following steps,
The conversion of step one, star sensor output attitude information
According to the position of star sensor and temporal information when measuring, based on inertial system for star sensor attitude is exported information
Change, be converted to can be used as that navigation system resolves based on the attitude information in local geographic coordinate system.
Step 2, the attitude conversion of improvement
In attitude transformation process, improve attitude transfer algorithm, introduce the precession of the equinoxes-nutating, Ghandler motion, universal time isoparametric
Compensate, solve the problem that star sensor output attitude accuracy reduces because of the perturbation of astronomical surveing information.
The extraction of step 3, star sensor output attitude information
According to the angular velocity threshold value set, the star sensor attitude information after conversion is extracted and separates, retain every time
First frame information of star sensor effective attitude output.Extract the temporal information that this frame is corresponding, and split-second precision information simultaneously
Resolution is microsecond.
The abnormality value removing of step 4, star sensor output attitude information
Analyze average and the variance of star sensor output data, set corresponding mean absolute deviation threshold value, to restructuring
In star sensor attitude information, the exceptional value of exceeded threshold is rejected.
Step 5, the abnormality value removing of improvement
In star sensor/inertia combined navigation system, introduce gyro angular rate information, quick in conjunction with gyro angular speed and star
Sensor angular speed, design more rationally, exceptional value dynamic threshold more accurately, improve the accuracy of rejecting abnormalities value.
The interpolation of step 6, star sensor output attitude information
Use cubic spline interpolation that the restructuring star sensor of unequal interval is exported data sequence and carry out interpolation, make star sensitive
Device output data sequence becomes equal interval sampling.
The filtering of step 7 star sensor output attitude information
Utilize medium filtering that star sensor output sequence is filtered, make star sensor output data more smooth.
Step 8, the filtering method of improvement
In view of the dependency between star sensor three-axis attitude, weighted value is introduced medium filtering, export at a certain axle
The impact of other two axles is considered, it is ensured that the regression nature of three-axis attitude quaternary number while information filter.
The frequency-domain analysis of step 9, star sensor output attitude information
Use fast Fourier transform method that the frequency domain characteristic of filtered star sensor output data is analyzed, really
Minimum and the highest matching frequency that fixed follow-up wavelet de-noising is to be reached, that instructs corresponding wavelet basis chooses the choosing with Decomposition order
Take.
The Allan variance analysis of step 10, star sensor output attitude information
Analyze the star sensor output letter such as the rate ramp of data, zero inclined unstability, angle random walk, quantizing noise
Breath, determines every layer of soft-threshold set in decomposing in wavelet de-noising.
The wavelet analysis of step 11, star sensor output attitude information
Wavelet analysis is utilized star sensor data to be analyzed and decomposes, and sensitive to star with details according to resolution parameter
Device data are restored.
Step 12, the wavelet analysis of improvement
Result according to frequency-domain analysis sets wavelet basis and the Decomposition order of wavelet analysis noise reduction, and according to Allan variance
Analysis result determines the setting threshold value of wavelet de-noising.
The present invention uses the attitude method for transformation of improvement, it is possible to measurement result is brought by effective counteracting due to astronomical perturbation
Impact, simultaneously reduce conversion in calculate error on final star sensor output attitude information precision impact；Use based on angle
The mean absolute deviation threshold method of speed auxiliary, extracts accurately to star sensor data, improves star sensor output
The attitude data redundant ability to mistake, it is possible to anticipation, identify and separate by spies such as star image loss, star image induction, foreign impacts
Different reason causes output attitude mistake and by badly measuring the bad data available that environment causes, after disallowable data will be passed through
Continuous interpolation fitting compensates；Again, use interpolation fitting and the median filter method of improvement, promote the smooth of output data
Degree, makes data become data at equal intervals, it is simple to follow-up frequency-domain analysis, Allan variance analysis and wavelet analysis；Then,
Use Allan variance analysis, trend correlation time of data is analyzed, eliminate and made by atmospheric density, starlight refractive effect
The zero inclined trend become, promotes the capacity of resisting disturbance of system；The wavelet analysis improved is utilized to promote the noise inhibiting ability of system, energy
The noise error of each frequency component in enough maximum elimination systems, improves the signal to noise ratio of star sensor output attitude information,
Realize output attitude accuracy and the lifting of stability.Star sensor can export attitude accuracy " to be promoted to be better than by more than 20
2 ", attitude stability 3 σ of star sensor output simultaneously is better than 5 ".
Detailed description of the invention
The present invention is described in further detail below: the present embodiment enters under premised on technical solution of the present invention
Row is implemented, and gives detailed embodiment, but protection scope of the present invention is not limited to following embodiment.
A kind of star sensor data optimized treatment method involved by the present embodiment, comprises the following steps:
The conversion of step one, star sensor output attitude information
According to the position of star sensor and temporal information when measuring, based on inertial system for star sensor attitude is exported information
Change, be converted to can be used as that navigation system resolves based on the attitude information in local geographic coordinate system.
Step 2, the attitude conversion of improvement
In attitude transformation process, improve attitude transfer algorithm, introduce the precession of the equinoxes-nutating, Ghandler motion, universal time isoparametric
Compensate, solve the problem that star sensor output attitude accuracy reduces because of the perturbation of astronomical surveing information.
The extraction of step 3, star sensor output attitude information
According to the angular velocity threshold value set, the star sensor attitude information after conversion is extracted and separates, retain every time
First frame information of star sensor effective attitude output.Extract the temporal information that this frame is corresponding, and split-second precision information simultaneously
Resolution is microsecond.
The abnormality value removing of step 4, star sensor output attitude information
Analyze average and the variance of star sensor output data, set corresponding mean absolute deviation threshold value, to restructuring
In star sensor attitude information, the exceptional value of exceeded threshold is rejected.
Step 5, the abnormality value removing of improvement
In star sensor/inertia combined navigation system, introduce gyro angular rate information, quick in conjunction with gyro angular speed and star
Sensor angular speed, design more rationally, exceptional value dynamic threshold more accurately, improve the accuracy of rejecting abnormalities value.
The interpolation of step 6, star sensor output attitude information
Use cubic spline interpolation that the restructuring star sensor of unequal interval is exported data sequence and carry out interpolation, make star sensitive
Device output data sequence becomes equal interval sampling.
The filtering of step 7 star sensor output attitude information
Utilize medium filtering that star sensor output sequence is filtered, make star sensor output data more smooth.
Step 8, the filtering method of improvement
In view of the dependency between star sensor three-axis attitude, weighted value is introduced medium filtering, export at a certain axle
The impact of other two axles is considered, it is ensured that the regression nature of three-axis attitude quaternary number while information filter.
The frequency-domain analysis of step 9, star sensor output attitude information
Use fast Fourier transform method that the frequency domain characteristic of filtered star sensor output data is analyzed, really
Minimum and the highest matching frequency that fixed follow-up wavelet de-noising is to be reached, that instructs corresponding wavelet basis chooses the choosing with Decomposition order
Take.
The Allan variance analysis of step 10, star sensor output attitude information
Analyze the star sensor output letter such as the rate ramp of data, zero inclined unstability, angle random walk, quantizing noise
Breath, determines every layer of soft-threshold set in decomposing in wavelet de-noising.
The wavelet analysis of step 11, star sensor output attitude information
Wavelet analysis is utilized star sensor data to be analyzed and decomposes, and sensitive to star with details according to resolution parameter
Device data are restored.
Step 12, the wavelet analysis of improvement
Result according to frequency-domain analysis sets wavelet basis and the Decomposition order of wavelet analysis noise reduction, and according to Allan variance
Analysis result determines the setting threshold value of wavelet de-noising.
The above, the only present invention preferably detailed description of the invention, these detailed description of the invention are all based on the present invention
Different implementations under general idea, and protection scope of the present invention is not limited thereto, any are familiar with the art
Technical staff in the technical scope that the invention discloses, the change that can readily occur in or replacement, all should contain the present invention's
Within protection domain.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (1)
1. a star sensor data optimized treatment method, it is characterised in that
The conversion of step one, star sensor output attitude information: according to the position of star sensor and temporal information when measuring, by star
Sensor attitude based on inertial system output information is changed, and is converted to can be used as the geographical based on locality of navigation system resolving
Attitude information in coordinate system；
Step 2, the attitude conversion of improvement: in attitude transformation process, improve attitude transfer algorithm, introduce the precession of the equinoxes-nutating, pole
Shifting, the compensation of universal time parameter, solve the problem that star sensor output attitude accuracy reduces because the perturbation of astronomical surveing information；
The extraction of step 3, star sensor output attitude information: according to the angular velocity threshold value set to the star sensor after conversion
Attitude information extracts and separates, and retains the first frame information of each star sensor effective attitude output, extracts this frame simultaneously
Corresponding temporal information, and split-second precision information resolution is microsecond；
The abnormality value removing of step 4, star sensor output attitude information: analyze average and the variance of star sensor output data,
Set corresponding mean absolute deviation threshold value, the exceptional value of exceeded threshold in the star sensor attitude information of restructuring is picked
Remove；
Step 5, the abnormality value removing of improvement: in star sensor/inertia combined navigation system, introduce gyro angular rate information,
In conjunction with gyro angular speed and star sensor angular speed, design more rationally, exceptional value dynamic threshold more accurately, improve rejecting abnormalities
The accuracy of value；
The interpolation of step 6, star sensor output attitude information: use cubic spline interpolation sensitive to the restructuring star of unequal interval
Device output data sequence carries out interpolation, makes star sensor output data sequence become equal interval sampling；
The filtering of step 7, star sensor output attitude information: utilize medium filtering that star sensor output sequence is filtered,
Make star sensor output data more smooth；
Step 8, the filtering method of improvement: in view of the dependency between star sensor three-axis attitude, weighted value is introduced intermediate value
Filtering, considers the impact of other two axles, it is ensured that the regression nature of three-axis attitude quaternary number while a certain axle output information filter；
The frequency-domain analysis of step 9, star sensor output attitude information: use fast Fourier transform method to filtered star
The frequency domain characteristic of sensor output data is analyzed, determine follow-up wavelet de-noising to be reached minimum and the highest mate frequency
Rate, instructs choosing of corresponding wavelet basis and choosing of Decomposition order；
The Allan variance analysis of step 10, star sensor output attitude information: the speed analyzing star sensor output data is oblique
The information such as slope, zero inclined unstability, angle random walk, quantizing noise, determine in wavelet de-noising every layer decompose in set soft
Threshold value；
The wavelet analysis of step 11, star sensor output attitude information: utilize wavelet analysis star sensor data to be carried out point
Analysis and decomposition, and star sensor data is restored with details according to resolution parameter；
Step 12, the wavelet analysis of improvement: set wavelet basis and the decomposition of wavelet analysis noise reduction according to the result of frequency-domain analysis
The number of plies, and the setting threshold value of wavelet de-noising is determined according to Allan the results of analysis of variance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610624240.8A CN106289238B (en) | 2016-08-02 | 2016-08-02 | A kind of star sensor data optimized treatment method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610624240.8A CN106289238B (en) | 2016-08-02 | 2016-08-02 | A kind of star sensor data optimized treatment method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106289238A true CN106289238A (en) | 2017-01-04 |
| CN106289238B CN106289238B (en) | 2019-02-26 |
Family
ID=57664360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610624240.8A Active CN106289238B (en) | 2016-08-02 | 2016-08-02 | A kind of star sensor data optimized treatment method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106289238B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106679676A (en) * | 2017-01-10 | 2017-05-17 | 北京航空航天大学 | Single-viewing-field multifunctional optical sensor and realization method |
| CN107515613A (en) * | 2017-08-20 | 2017-12-26 | 南京理工大学 | A kind of cube star sensor fault tolerant control method |
| CN108037676A (en) * | 2017-10-17 | 2018-05-15 | 哈尔滨工业大学 | A kind of semi physical ground simulating device suitable for aircraft navigation Guidance and control |
| CN109781102A (en) * | 2019-01-14 | 2019-05-21 | 上海卫星工程研究所 | Attitude measurement method and system based on double super platforms |
| CN111174812A (en) * | 2020-01-19 | 2020-05-19 | 北京空间飞行器总体设计部 | Satellite star sensor constant output abnormity autonomous diagnosis method |
| CN111398631A (en) * | 2020-03-31 | 2020-07-10 | 西北工业大学 | Unmanned aerial vehicle accelerometer error identification and correction method |
| CN111504310A (en) * | 2020-04-30 | 2020-08-07 | 东南大学 | Novel missile-borne INS/CNS integrated navigation system modeling method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047226A (en) * | 1997-06-26 | 2000-04-04 | Hughes Electronics Corporation | Enhanced stellar attitude determination system |
| CN101696885A (en) * | 2009-11-05 | 2010-04-21 | 中国人民解放军国防科学技术大学 | Method for improving data processing precision of star sensors |
| CN102735260A (en) * | 2012-06-18 | 2012-10-17 | 航天东方红卫星有限公司 | Determination method of star sensor on-orbit measurement errors |
| CN104729537A (en) * | 2015-03-19 | 2015-06-24 | 北京控制工程研究所 | On-orbit real-time compensating method for low-frequency errors of star sensor |
| CN105526951A (en) * | 2016-01-30 | 2016-04-27 | 武汉大学 | Preprocessing method and system for original observation data of star sensors |
-
2016
- 2016-08-02 CN CN201610624240.8A patent/CN106289238B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6047226A (en) * | 1997-06-26 | 2000-04-04 | Hughes Electronics Corporation | Enhanced stellar attitude determination system |
| CN101696885A (en) * | 2009-11-05 | 2010-04-21 | 中国人民解放军国防科学技术大学 | Method for improving data processing precision of star sensors |
| CN102735260A (en) * | 2012-06-18 | 2012-10-17 | 航天东方红卫星有限公司 | Determination method of star sensor on-orbit measurement errors |
| CN104729537A (en) * | 2015-03-19 | 2015-06-24 | 北京控制工程研究所 | On-orbit real-time compensating method for low-frequency errors of star sensor |
| CN105526951A (en) * | 2016-01-30 | 2016-04-27 | 武汉大学 | Preprocessing method and system for original observation data of star sensors |
Non-Patent Citations (3)
| Title |
|---|
| JIAN HAN ET AL.: "A novel optimization method for star-sensor data processing", 《OPTIK》 * |
| 王炯琦等: "复杂卫星抖动下的星敏感器姿态测量数据处理技术", 《电子与信息学报》 * |
| 韩健: "基于捷联惯性/星敏感器的全自主导航方法", 《中国博士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106679676A (en) * | 2017-01-10 | 2017-05-17 | 北京航空航天大学 | Single-viewing-field multifunctional optical sensor and realization method |
| CN106679676B (en) * | 2017-01-10 | 2019-08-27 | 北京航空航天大学 | A kind of monoscopic multifunctional optical sensor and implementation method |
| CN107515613A (en) * | 2017-08-20 | 2017-12-26 | 南京理工大学 | A kind of cube star sensor fault tolerant control method |
| CN108037676A (en) * | 2017-10-17 | 2018-05-15 | 哈尔滨工业大学 | A kind of semi physical ground simulating device suitable for aircraft navigation Guidance and control |
| CN109781102A (en) * | 2019-01-14 | 2019-05-21 | 上海卫星工程研究所 | Attitude measurement method and system based on double super platforms |
| CN111174812A (en) * | 2020-01-19 | 2020-05-19 | 北京空间飞行器总体设计部 | Satellite star sensor constant output abnormity autonomous diagnosis method |
| CN111398631A (en) * | 2020-03-31 | 2020-07-10 | 西北工业大学 | Unmanned aerial vehicle accelerometer error identification and correction method |
| CN111504310A (en) * | 2020-04-30 | 2020-08-07 | 东南大学 | Novel missile-borne INS/CNS integrated navigation system modeling method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106289238B (en) | 2019-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106289238A (en) | A kind of star sensor data optimized treatment method | |
| US9557177B2 (en) | Multi-sensor merging based super-close distance autonomous navigation apparatus and method | |
| CN101839721B (en) | Visual navigation method in autonomous rendezvous and docking | |
| CN103697855B (en) | A kind of hull horizontal attitude measuring method detected based on sea horizon | |
| CN105976353A (en) | Spatial non-cooperative target pose estimation method based on model and point cloud global matching | |
| US10401375B2 (en) | Method and device for measuring flight parameters of an unmanned aerial vehicle | |
| CN107270937B (en) | Off-line wavelet denoising rapid initial alignment method | |
| CN107504966A (en) | There is the method that nautical star asterism extracts under cloud environment in a kind of daytime | |
| CN110967770A (en) | Improved platform magnetic interference compensation system based on classical aeromagnetic compensation model | |
| CN109029425A (en) | A kind of fuzzy star chart restored method filtered using region | |
| CN113218391A (en) | Attitude calculation method based on EWT algorithm | |
| CN107203271B (en) | Double-hand recognition method based on multi-sensor fusion technology | |
| Wang et al. | An EMD-MRLS de-noising method for fiber optic gyro Signal | |
| CN104330079B (en) | The method for measuring angular velocity and system of a kind of many gyroscopes | |
| Rao et al. | Research on path tracking algorithm of autopilot vehicle based on image processing | |
| Ilyas et al. | SINS initial alignment using wavelet de-noising method for aircraft navigation | |
| CN109443393A (en) | A kind of inertial navigation method for extracting signal and system based on blind separation algorithm | |
| Xue et al. | Research on information fusion technology of MEMS gyro array | |
| Li et al. | Multiple sets of INS fault detection based on information fusion | |
| CN112116538A (en) | Ocean exploration image quality enhancement method based on deep neural network | |
| Song et al. | Research on correction method in AGV motion using inertial guidance and QR code | |
| CN111289013B (en) | Wing deflection angular velocity estimation method for separating and combining multi-source disturbance influence | |
| Chochia | Fast correlative matching of quasi-regular images | |
| Mahi et al. | A new star detection approach for a satellite-onboard star tracker | |
| CN116660951B (en) | Track association method based on motion trend |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |