CN106289238B - A kind of star sensor data optimized treatment method - Google Patents
A kind of star sensor data optimized treatment method Download PDFInfo
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- CN106289238B CN106289238B CN201610624240.8A CN201610624240A CN106289238B CN 106289238 B CN106289238 B CN 106289238B CN 201610624240 A CN201610624240 A CN 201610624240A CN 106289238 B CN106289238 B CN 106289238B
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- 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
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- 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
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- 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
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Abstract
The present invention provides a kind of star sensor data optimized treatment methods, belong to data-optimized processing method technical field.Method of the invention can be used for star sensor Measurement and Data Processing, improve star sensor posture output stability and precision.Method of the invention is mainly conversion, extraction, interpolation, the filtering improved to star sensor measurement data, then processing is optimized to star sensor output data using the wavelet analysis method of fusion Allan variance, promotes the stability and precision of star sensor output posture.Method major advantage of the invention has: 1) accurately rejecting outlier, promote wrong redundant ability；2) smooth and eliminate low frequency trend, promote anti-interference ability；3) guarantee data continuously and at equal intervals, promote output attitude stability；4) inhibit internal work noise and observing environment noise, effectively improve signal-to-noise ratio；5) it promotes star sensor and exports posture information precision.
Description
Technical field
The present invention relates to a kind of star sensor data optimized treatment methods, belong to data-optimized processing method technical field.
Background technique
Star sensor is capable of providing the posture information without accumulated error as one of numerous navigation modes.Star
Sensor has the characteristics that big visual field, high dynamic, and flexible working mode, compact, light weight, independence is strong, has fabulous
Portability, can adapt to various carrying demands.Star sensor can capture, extract and identify the fixed star of higher magnitude, real
The building of existing complexity starry sky galaxy, the output posture information based on inertial system can be realized posture without accumulated error.Star sensor
It can be merged with inertial navigation system and realize advanced integrated navigation system, provide the posture and position letter of higher precision for carrier
Breath, meets requirement of the modern war to navigation accuracy.
There is no the error accumulations introduced such as inertial navigation system working method to ask in entire navigation procedure for star sensor
Topic, but star sensor still can be influenced by following problems, and then be unable to satisfy the high-precision requirement in navigation task: 1) star
In sensor output posture comprising is introduced by electromagnetic signal electrical noise, system as the offset introducing of the image plane heart offset noise with
And star image reduction bring calculates noise；2) star sensor is in measurement process by atmospheric density, starlight refraction and the earth
Nutating, precession of the equinoxes influence can generate low frequency harmonic content；3) star sensor metrical information can be lost due to star image, star image induces, outer
The cause specifics such as boundary's impact cause output posture mistake.Problems above will cause the single measurement error of star sensor, and
The method for not researching and proposing corresponding, comprehensive star sensor data optimization processing at present.
At present in the execution of practical navigation task, it is not intended that above-mentioned single measurement error problem is exported in star sensor
Influence in posture information, star sensor output data are led accordingly without pre-processing and being introduced directly into navigation system
Boat calculates.Modern war proposes higher demand to navigation accuracy and stability, according to mission requirements analysis and experimental result
Analysis, very big influence can be caused to the final navigation results of system by ignoring these single measurement errors, so to star sensor
Output data optimizes processing and is very important.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, and then provide a kind of star sensor data
Optimized treatment method.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of star sensor data optimized treatment method, is realized by following steps,
Step 1: the conversion of star sensor output posture information
Posture output information according to the position of star sensor when measurement and temporal information, by star sensor based on inertial system
Converted, be converted to can be used as navigation system resolving based on the posture information in local geographic coordinate system.
Step 2: improved posture conversion
Posture transfer algorithm is improved in posture conversion process, is introduced to parameters such as the precession of the equinoxes-nutating, Ghandler motion, universal times
Compensation solves the problems, such as that star sensor output attitude accuracy is reduced because of the perturbation of astronomical surveing information.
Step 3: the extraction of star sensor output posture information
The star sensor posture information after conversion is extracted and separated according to the angular speed threshold value of setting, is retained each
First frame information of the effective posture output of star sensor.The corresponding temporal information of the frame, and split-second precision information are extracted simultaneously
Resolution ratio is microsecond.
Step 4: the abnormality value removing of star sensor output posture information
The mean value and variance for analyzing star sensor output data, set corresponding mean absolute deviation threshold value, to recombination
The exceptional value of exceeded threshold is rejected in star sensor posture information.
Step 5: improved abnormality value removing
In star sensor/inertia combined navigation system, gyro angular rate information is introduced, it is quick in conjunction with gyro angular speed and star
Sensor angular speed, design more rationally, more accurately exceptional value dynamic threshold, improve the accuracy of excluding outlier.
Step 6: the interpolation of star sensor output posture information
Interpolation is carried out using recombination star sensor output data sequence of the cubic spline interpolation to unequal interval, keeps star sensitive
Device output data sequence becomes equal interval sampling.
The filtering of step 7 star sensor output posture information
Star sensor output sequence is filtered using median filtering, keeps star sensor output data more smooth.
Step 8: improved filtering method
In view of the correlation between star sensor three-axis attitude, weighted value is introduced into median filtering, is exported in a certain axis
The influence of other two axis is considered while information filter, guarantees the regression nature of three-axis attitude quaternary number.
Step 9: the frequency-domain analysis of star sensor output posture information
It is analyzed using frequency domain characteristic of the Fast Fourier Transform (FFT) method to filtered star sensor output data, really
Fixed subsequent wavelet de-noising is to be achieved minimum with highest matching frequency, instructs the selection of corresponding wavelet basis and the choosing of Decomposition order
It takes.
Step 10: the Allan variance analysis of star sensor output posture information
Analyze the letter such as rate ramp, zero bias unstability, angle random walk, quantizing noise of star sensor output data
Breath determines every layer of soft-threshold set in decomposing in wavelet de-noising.
Step 11: the wavelet analysis of star sensor output posture information
Star sensor data is analyzed and decomposed using wavelet analysis, and is sensitive to star with details according to resolution parameter
Device data are restored.
Step 12: improved wavelet analysis
The wavelet basis and Decomposition order of wavelet analysis noise reduction are set according to the result of frequency-domain analysis, and according to Allan variance
Analysis result determines the given threshold of wavelet de-noising.
The present invention uses improved posture method for transformation, can effectively offset and be brought due to astronomical perturbation to measurement result
Influence, while reduce conversion in calculate error to final star sensor output posture information precision influence；Using based on angle
The mean absolute deviation threshold method of rate auxiliary, accurately extracts star sensor data, improves star sensor output
Attitude data can be prejudged, identified and be separated by spies such as star image loss, star image induction, foreign impacts to the redundant ability of mistake
Different reason causes output posture mistake and as badly measuring bad data available caused by environment, and the data being removed will be by rear
Continuous interpolation fitting compensates；Again, using interpolation fitting and improved median filter method, the smooth of output data is promoted
Degree makes data become data at equal intervals, is convenient for subsequent frequency-domain analysis, Allan variance analysis and wavelet analysis；Then,
Using Allan variance analysis, the correlation time trend of data is analyzed, elimination is made by atmospheric density, starlight refractive effect
At zero bias trend, the anti-interference ability of lifting system；Utilize the noise inhibiting ability of improved wavelet analysis lifting system, energy
The noise error of each frequency component in enough maximum elimination systems, improves the signal-to-noise ratio of star sensor output posture information,
Realize the promotion of output attitude accuracy and stability.Star sensor attitude accuracy can be exported " to be promoted to and be better than by being greater than 20
2 ", while star sensor output 3 σ of attitude stability is better than 5 ".
Specific embodiment
The present invention is described in further detail below: the present embodiment under the premise of the technical scheme of the present invention into
Row is implemented, and gives detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
A kind of star sensor data optimized treatment method involved in the present embodiment, comprising the following steps:
Step 1: the conversion of star sensor output posture information
Posture output information according to the position of star sensor when measurement and temporal information, by star sensor based on inertial system
Converted, be converted to can be used as navigation system resolving based on the posture information in local geographic coordinate system.
Step 2: improved posture conversion
Posture transfer algorithm is improved in posture conversion process, is introduced to parameters such as the precession of the equinoxes-nutating, Ghandler motion, universal times
Compensation solves the problems, such as that star sensor output attitude accuracy is reduced because of the perturbation of astronomical surveing information.
Step 3: the extraction of star sensor output posture information
The star sensor posture information after conversion is extracted and separated according to the angular speed threshold value of setting, is retained each
First frame information of the effective posture output of star sensor.The corresponding temporal information of the frame, and split-second precision information are extracted simultaneously
Resolution ratio is microsecond.
Step 4: the abnormality value removing of star sensor output posture information
The mean value and variance for analyzing star sensor output data, set corresponding mean absolute deviation threshold value, to recombination
The exceptional value of exceeded threshold is rejected in star sensor posture information.
Step 5: improved abnormality value removing
In star sensor/inertia combined navigation system, gyro angular rate information is introduced, it is quick in conjunction with gyro angular speed and star
Sensor angular speed, design more rationally, more accurately exceptional value dynamic threshold, improve the accuracy of excluding outlier.
Step 6: the interpolation of star sensor output posture information
Interpolation is carried out using recombination star sensor output data sequence of the cubic spline interpolation to unequal interval, keeps star sensitive
Device output data sequence becomes equal interval sampling.
The filtering of step 7 star sensor output posture information
Star sensor output sequence is filtered using median filtering, keeps star sensor output data more smooth.
Step 8: improved filtering method
In view of the correlation between star sensor three-axis attitude, weighted value is introduced into median filtering, is exported in a certain axis
The influence of other two axis is considered while information filter, guarantees the regression nature of three-axis attitude quaternary number.
Step 9: the frequency-domain analysis of star sensor output posture information
It is analyzed using frequency domain characteristic of the Fast Fourier Transform (FFT) method to filtered star sensor output data, really
Fixed subsequent wavelet de-noising is to be achieved minimum with highest matching frequency, instructs the selection of corresponding wavelet basis and the choosing of Decomposition order
It takes.
Step 10: the Allan variance analysis of star sensor output posture information
Analyze the letter such as rate ramp, zero bias unstability, angle random walk, quantizing noise of star sensor output data
Breath determines every layer of soft-threshold set in decomposing in wavelet de-noising.
Step 11: the wavelet analysis of star sensor output posture information
Star sensor data is analyzed and decomposed using wavelet analysis, and is sensitive to star with details according to resolution parameter
Device data are restored.
Step 12: improved wavelet analysis
The wavelet basis and Decomposition order of wavelet analysis noise reduction are set according to the result of frequency-domain analysis, and according to Allan variance
Analysis result determines the given threshold of wavelet de-noising.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (1)
1. a kind of star sensor data optimized treatment method, which is characterized in that
Step 1: the conversion of star sensor output posture information: according to the position of star sensor when measurement and temporal information, by star
Sensor is converted based on the posture output information of inertial system, is converted to and be can be used as the geographical based on locality of navigation system resolving
Posture information in coordinate system；
Step 2: improved posture conversion: improving posture transfer algorithm in posture conversion process, introduce to the precession of the equinoxes-nutating, pole
It moves, the compensation of universal time parameter, solves the problems, such as that star sensor output attitude accuracy is reduced because of the perturbation of astronomical surveing information；
Step 3: the extraction of star sensor output posture information: according to the angular speed threshold value of setting to the star sensor after conversion
Posture information is extracted and is separated, and the first frame information of the effective posture output of each star sensor is retained, while extracting the frame
Corresponding temporal information, and split-second precision information resolution is microsecond；
Step 4: the abnormality value removing of star sensor output posture information: the mean value and variance of analysis star sensor output data,
Corresponding mean absolute deviation threshold value is set, the exceptional value of exceeded threshold in the star sensor posture information of recombination is picked
It removes；
Step 5: improved abnormality value removing: in star sensor/inertia combined navigation system, gyro angular rate information is introduced,
In conjunction with gyro angular speed and star sensor angular speed, design more rationally, more accurately exceptional value dynamic threshold, improve rejecting abnormalities
The accuracy of value；
Step 6: the interpolation of star sensor output posture information: sensitive using recombination star of the cubic spline interpolation to unequal interval
Device output data sequence carries out interpolation, and star sensor output data sequence is made to become equal interval sampling；
Step 7: the filtering of star sensor output posture information: star sensor output sequence is filtered using median filtering,
Keep star sensor output data more smooth；
Step 8: improved filtering method: in view of the correlation between star sensor three-axis attitude, weighted value being introduced intermediate value
Filtering considers the influence of other two axis while the filtering of a certain axis output information, guarantees the regression nature of three-axis attitude quaternary number；
Step 9: the frequency-domain analysis of star sensor output posture information: using Fast Fourier Transform (FFT) method to filtered star
The frequency domain characteristic of sensor output data is analyzed, determine subsequent wavelet de-noising it is to be achieved it is minimum matched with highest frequency
Rate instructs the selection of corresponding wavelet basis and the selection of Decomposition order；
Step 10: the Allan variance analysis of star sensor output posture information: the rate of analysis star sensor output data is oblique
Slope, zero bias unstability, angle random walk, quantizing noise information determine every layer of soft threshold set in decomposing in wavelet de-noising
Value；
Step 11: the wavelet analysis of star sensor output posture information: being divided using wavelet analysis star sensor data
Analysis and decomposition, and star sensor data is restored according to resolution parameter and details；
Step 12: improved wavelet analysis: setting wavelet basis and the decomposition of wavelet analysis noise reduction according to the result of frequency-domain analysis
The number of plies, and determine according to Allan the results of analysis of variance the given threshold of wavelet de-noising.
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| 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 |
| CN109781102B (en) * | 2019-01-14 | 2020-10-09 | 上海卫星工程研究所 | Attitude measurement method and system based on double super platforms |
| CN111174812B (en) * | 2020-01-19 | 2020-12-18 | 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 |
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| CN102735260B (en) * | 2012-06-18 | 2015-02-11 | 航天东方红卫星有限公司 | Determination method of star sensor on-orbit measurement errors |
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