CN106382927A - A star sensor autonomous navigation method based on satellite identification - Google Patents
A star sensor autonomous navigation method based on satellite identification Download PDFInfo
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- CN106382927A CN106382927A CN201610693831.0A CN201610693831A CN106382927A CN 106382927 A CN106382927 A CN 106382927A CN 201610693831 A CN201610693831 A CN 201610693831A CN 106382927 A CN106382927 A CN 106382927A
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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
Abstract
The invention provides a star sensor autonomous navigation method based on satellite identification, and belongs to the technical field of star sensor autonomous navigation methods. The method achieves star-sensor-based fully-autonomous navigation, and provides a carrier with attitude and position information that is high in precision and not emanative along with time. The method includes creating a satellite star map and an integrated star map, and acquires all information and attitude information of fixed stars and satellites according to match of all heavenly bodies with the star maps. According to the acquired fixed star and planet information, high-precision positioning is performed by an improved starlight angular distance process, thus completing transformation into carrier attitude information, and achieving the star-sensor-based fully-autonomous navigation method base in its true sense. The method is advantageous in that 1) the satellite information is adopted in the method so that adaptability and flexibility are good, 2) satellite positioning is adopted in the method so that stability and precision are good, 3) redundancy multi-star resolving is adopted in the method and is anti-interference, and 4) integrated star map matching is adopted in the method, thus increasing information reliability.
Description
Technical field
The present invention relates to a kind of star sensor autonomous navigation method based on satellite identification, belong to star sensor independent navigation
Method and technology field.
Background technology
Star sensor can work independently and provide the inertial attitude information with very high degree of precision, and this attitude information does not tire out
Long-pending error and not dissipating in time.The transport motion being introduced by earth rotation is comprised in the inertial attitude information of star sensor output
Component and the precession of the equinoxes-nutating being caused by earth perturbation, Ghandler motion equal error component, so the inertial attitude output of usual star sensor
Cannot be resolved directly as navigational parameter.In order to eliminate the impact of above-mentioned factor, the inertial attitude letter of star sensor output
Breath needs by coordinate transform and compensates the attitude information being converted under navigational coordinate system.During posture changing simultaneously need to
Introduce positional information, realize decomposition and the conversion of attitude, thus the precision of positional information will directly affect final carriage output
Precision.
Positional information in star sensor attitude algorithm, most of location information acquisition method is to be believed by outside at present
Breath source provides, such as inertial navigation system, but the positional information of inertial navigation system can produce because of the operation principle of inertial navigation
Error accumulation, that is, navigation accuracy dissipate in time, so the positional information that inertial navigation system provides can not to meet star sensitive
Device determines appearance, the high-precision requirement of positioning；Slightly at least part of location information acquisition method is by adding for star sensor system
Auxiliary equipment, auxiliary parameter or the specific motor-driven realization of increase, such as using sextant directly sensitive Horizon, such as increase atmospheric density and join
Number measurement starlight refraction sensitive Horizon indirectly, is a certain particular pose etc. such as using specific motor-driven holding platform.Sensitive using star
The advantage that device directly carries out position resolving is that the positional information being obtained by star sensor does not have cumulative error and do not send out in time
Dissipate.But although the system of ensure that has certain stationkeeping ability during localization method direct using star sensor, but have
Problems with：Introduce more errors while adding more parameters, while executing specific motor-driven, reduce carrier
Mobility, reduce passivity and the autonomy of star sensor when increasing more auxiliary equipment, so urgently proposing a kind of
New method realizes the autonomous positioning of star sensor.
At present, star sensor autonomic positioning method can be generally divided into directly sensitive Horizon, indirectly sensitive Horizon and pure
Astronomical several how methods, wherein pure astronomy method of geometry is more advantageous, because it need not introduce extra auxiliary parameter, equipment
Or motor-driven resolve simultaneously relatively simple quick.In pure astronomy geometry location method, starlight angular distance method can utilize star sensor
Angle between fixed star in visual field and other nonstellar astronomical objects and position relationship are positioned, the precision of this localization method with
Between celestial body, corner dimension is directly proportional and is inversely proportional to away from the distance between tested celestial body with observation station, and that is, starlight angle is bigger, sky
The nearlyer positioning precision of body distance is higher.So wish in position fixing process using away from the earth closer to near-Earth object, such as satellite, this
Sample can effectively improve the precision of positioning.
Need the positional information using satellite in satellite positioning procedures, this is accomplished by identifying defending of current participation calculating
Star information.Generally satellite identification is to carry out satellite identification in the case of known to the position of carrier and attitude, and in star sensor
In independent navigation, the position of carrier and attitude are all unknown state, and do not research and propose now effective satellite
Recognition methodss, do not have corresponding star sensor autonomous attitude determination, the air navigation aid of positioning simultaneously.
Content of the invention
The invention aims to solving the problems, such as above-mentioned prior art, cannot realize for existing research
Carry out satellite identification under navigational parameter unknown condition, and then independently high-precision fixed appearance, positioning cannot be carried out in fact using star sensor
The problem of existing star sensor independent navigation.And then a kind of star sensor autonomous navigation method based on satellite identification is provided.
The purpose of the present invention is achieved through the following technical solutions：
A kind of star sensor autonomous navigation method based on satellite identification, comprises the following steps：
Step one, inertial attitude measure：Star sensor is according to the fixed star S capturing in visual fieldiInformation is complete with establishment
Celestial sphere star chart MapstarMated, obtained the attitude information Att that current star sensor is with respect to inertial coodinate system；
Step 2, the identification of fixed star information：According to the attitude information of coupling, identify all of fixed star information in current field,
Obtain right ascension, the information of declination, calculate current star sensor optical axis simultaneously and point to unit vector Li；
Step 3, plane of vision determine：Star sensor adopts many mesh star sensor form, if all star sensor optical axis are handed over
In calculating in space a bit, and any two star sensor optical axis determine a star sensor optical axis place inertial system plane
Poptical axis；
Step 4, satellite star chart create：Satellite according to operation on orbits all in space creates based on inertial coodinate system
Satellite star chart Mapsatellite, MapsatelliteRelated to zebra time UTC, that is, change over, and around the rotation of earth the earth's core；
Step 5, satellite star-fields segmentation：Plane Poptical axisWith satellite star chart MapsatelliteIt is crossed to form round CP×Map；
With CP×MapCentered on, with the half of star sensor visual field width Width as bandwidth, by satellite star chart MapsatelliteProlong to both sides
Stretch and be divided into parallel to Poptical axisRing belt Fwidth/2, Swidth/2I=2 π/width part, and F altogetheri//Fj{i,j∈I,
i≠j}；
Step 6, segmentation star chart projection：By ring belt Fwidth/2Point to L to perpendicular to optical axisiPlane P⊥oaUpper projection,
This projection will sphere satellite spatial be projeced in plane, forms the rectangle plane with certain relative position distortion；By
MapsatelliteThe banding star chart that projection is formed is Mapprojection, and this projection is related to UTC time and attitude Att；
Step 7, permanent satellite mapping merge：By MapstarAnd MapprojectionComprehensive formation merges star chart Mapintegrated
(UTC, Att), MapintegratedFunction for UTC and Att；
Step 8, fusion star pattern matching：By celestial body all of in visual field, comprise fixed star and satellite and star chart Mapintegrated
Mated, obtained information R being currently observed satellitei；
Step 9, starlight angular distance positioning：Starlight vector information S using fixed stari, the starlight angle letter between fixed star satellite
Breath IAij, relative distance information ρ of satelliteiAnd the inertial position information R of satelliteiThe position carrying out location Calculation carrier is r；
Step 10, improvement Heng Wei choose：In calculating every time, introducing exceedes minimum perseverance needed for calculating and defends the fixed star of quantity and defend
Star is positioned, to improve computational accuracy；If number of stars is N, number of satellite is K, in optional N, 2 fixed stars calculate starlight
Vector angle IA, i.e. IAM,In optionally M, 3 starlight angles calculate Li, i.e. Li,Satellite R in the same mannerj,
Step 11, improvement location Calculation：When not considering that carrier deviates the impact to attitude measurement for the celestial sphere initial point, star is sensitive
Device directly gives, by Starry sky observation and star pattern matching, attitude angle Att that carrier is with respect to inertial spacei, satellite and fixed star are in star
Relation in sensor photo coordinate system is R (α, β), then satellite direction vector can pass through Li=R (α, β) AttiCalculate；
Step 12, restriction Heng Wei choose：Limit the quantity introducing fixed star M and satellite K, due in celestial body observation process
Can have certain measurement error, participate in calculating using excessive fixed star and satellite and can introduce excessive error on the contrary, and then drop
Low positioning and the accuracy of navigation；Follow in Heng Wei chooses：
1st, the fixed star of selection, satellite are as far as possible near field of view center；
2nd, the starlight vector angle between fixed star and fixed star, fixed star and satellite is more than threshold value δ settingthreshold；
3rd, satellite is that new satellite, orbit perturbation be weaker, orbit parameter is more accurate；
4th, the single measurement error of starlight angle is within σ；
The quick independent navigation of step 13, star：Calculate the position of carrier, and be converted to the positional information under navigational coordinate system
Complete autonomous positioning, carry out attitude on the basis of known location, time and earth parameter and convert autonomous attitude determination, to sum up
Complete independent navigation eventually.
The invention has the advantages that：Using satellite recognition methodss, can directly utilize satellite information, high degree
Improve motility and the suitability of positioning；Using fusion star pattern matching, it is possible to obtain more accurately satellite recognition result, improve
The reliability in system location information source；Using satellite positioning method, because satellite position information precision is higher, thus more capable
Star positioning method positioning is more accurate, and is affected less by observation astronomical perturbation, and number of satellite is more simultaneously, improves consecutive tracking
Stability；Using the many stars of redundancy measure resolve, can effectively eliminate by fixed star, moonscope information is inaccurate and bring
Calculation error, improves final positioning precision.The present invention can realize Rotating Platform for High Precision Star Sensor and determine appearance and positioning, and navigation results
Do not dissipate in time, positioning precision is better than 50m, the accuracy of attitude determination error being caused by position error is less than 1 ".
Specific embodiment
The present invention is described in further detail below：The present embodiment is entered 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 embodiments.
A kind of star sensor autonomous navigation method based on satellite identification involved by the present embodiment, comprises the following steps：
Step one, inertial attitude measure：Star sensor is according to the fixed star S capturing in visual fieldiInformation is complete with establishment
Celestial sphere star chart MapstarMated, obtained the attitude information Att that current star sensor is with respect to inertial coodinate system；
Step 2, the identification of fixed star information：According to the attitude information of coupling, identify all of fixed star information in current field,
Obtain right ascension, the information of declination, calculate current star sensor optical axis simultaneously and point to unit vector Li；
Step 3, plane of vision determine：Star sensor adopts many mesh star sensor form, if all star sensor optical axis are handed over
In calculating in space a bit, and any two star sensor optical axis determine a star sensor optical axis place inertial system plane
Poptical axis；
Step 4, satellite star chart create：Satellite according to operation on orbits all in space creates based on inertial coodinate system
Satellite star chart Mapsatellite, and new satellite, the perturbation less satellite of error have higher selection priority, MapsatelliteWith
Zebra time UTC is related, that is, change over, and around the rotation of earth the earth's core；
Step 5, satellite star-fields segmentation：Plane Poptical axisWith satellite star chart MapsatelliteIt is crossed to form round CP×Map；
With CP×MapCentered on, with the half of star sensor visual field width Width as bandwidth, by satellite star chart MapsatelliteProlong to both sides
Stretch and be divided into parallel to Poptical axisRing belt Fwidth/2, Swidth/2I=2 π/width part, and F altogetheri//Fj{i,j∈I,
i≠j}；
Step 6, segmentation star chart projection：By ring belt Fwidth/2Point to L to perpendicular to optical axisiPlane P⊥oaUpper projection,
This projection will sphere satellite spatial be projeced in plane, forms the rectangle plane with certain relative position distortion；By
MapsatelliteThe banding star chart that projection is formed is Mapprojection, and this projection is related to UTC time and attitude Att；In order to the greatest extent
The distortion that possible elimination is brought by projection, can be suitable keep unit visual field in coupling number of satellite enough under conditions of
Reduce Fwidth/2Width Width；
Step 7, permanent satellite mapping merge：By MapstarAnd MapprojectionComprehensive formation merges star chart Mapintegrated
(UTC, Att), MapintegratedFunction for UTC and Att；
Step 8, fusion star pattern matching：By celestial body all of in visual field, comprise fixed star and satellite and star chart Mapintegrated
Mated, obtained information R being currently observed satellitei；
Step 9, starlight angular distance positioning：Starlight vector information S using fixed stari, the starlight angle letter between fixed star satellite
Breath IAij, relative distance information ρ of satelliteiAnd the inertial position information R of satelliteiThe position carrying out location Calculation carrier is r；
Step 10, improvement Heng Wei choose：In calculating every time, introducing exceedes minimum perseverance needed for calculating and defends the fixed star of quantity and defend
Star is positioned, to improve computational accuracy；If number of stars is N, number of satellite is K, in optional N, 2 fixed stars calculate starlight
Vector angle IA, i.e. IAM,In optionally M, 3 starlight angles calculate Li, i.e. Li,Satellite R in the same mannerj,
Step 11, improvement location Calculation：When not considering that carrier deviates the impact to attitude measurement for the celestial sphere initial point, star is sensitive
Device directly gives, by Starry sky observation and star pattern matching, attitude angle Att that carrier is with respect to inertial spacei, satellite and fixed star are in star
Relation in sensor photo coordinate system is R (α, β), then satellite direction vector can pass through Li=R (α, β) AttiCalculate；
Step 12, restriction Heng Wei choose：Limit the quantity introducing fixed star M and satellite K, due in celestial body observation process
Can have certain measurement error, participate in calculating using excessive fixed star and satellite and can introduce excessive error on the contrary, and then drop
Low positioning and the accuracy of navigation；Follow in Heng Wei chooses：
1st, the fixed star of selection, satellite are as far as possible near field of view center；
2nd, the starlight vector angle between fixed star and fixed star, fixed star and satellite is more than threshold value δ settingthreshold；
3rd, satellite is that new satellite, orbit perturbation be weaker, orbit parameter is more accurate；
4th, the single measurement error of starlight angle is within σ；
The quick independent navigation of step 13, star：Calculate the position of carrier, and be converted to the positional information under navigational coordinate system
Complete autonomous positioning, carry out attitude on the basis of known location, time and earth parameter and convert autonomous attitude determination, to sum up
Complete independent navigation eventually.
The above, the only present invention preferably specific embodiment, these specific embodiments 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 the invention discloses technical scope in, the change or replacement that can readily occur in, all should cover the present invention's
Within protection domain.Therefore, protection scope of the present invention should be defined by the protection domain of claims.
Claims (2)
1. a kind of star sensor autonomous navigation method based on satellite identification it is characterised in that
Step one, inertial attitude measure：Star sensor is according to the fixed star S capturing in visual fieldiInformation, the whole day ball with establishment
Star chart MapstarMated, obtained the attitude information Att that current star sensor is with respect to inertial coodinate system；
Step 2, the identification of fixed star information：According to the attitude information of coupling, all of fixed star information in identification current field, obtain
Right ascension, the information of declination, calculate current star sensor optical axis simultaneously and point to unit vector Li；
Step 3, plane of vision determine：Star sensor adopts many mesh star sensor form, if all star sensor optical axis meet at meter
Calculate in space a bit, and any two star sensor optical axis determine star sensor optical axis place inertial system plane Poptical axis；
Step 4, satellite star chart create：Satellite according to operation on orbits all in space creates the satellite based on inertial coodinate system
Star chart Mapsatellite, MapsatelliteRelated to zebra time UTC, that is, change over, and around the rotation of earth the earth's core；
Step 5, satellite star-fields segmentation：Plane Poptical axisWith satellite star chart MapsatelliteIt is crossed to form round CP×Map；With
CP×MapCentered on, with the half of star sensor visual field width Width as bandwidth, by satellite star chart MapsatelliteExtend to both sides
It is divided into parallel to Poptical axisRing belt Fwidth/2, Swidth/2I=2 π/width part, and F altogetheri//Fj{i,j∈I,i
≠j}；
Step 6, segmentation star chart projection：By ring belt Fwidth/2Point to L to perpendicular to optical axisiPlane P⊥oaUpper projection, this projection
Sphere satellite spatial will be projeced in plane, form the rectangle plane with certain relative position distortion；By MapsatelliteThrow
The banding star chart that shadow is formed is Mapprojection, and this projection is related to UTC time and attitude Att；
Step 7, permanent satellite mapping merge：By MapstarAnd MapprojectionComprehensive formation merges star chart Mapintegrated(UTC,
Att), MapintegratedFunction for UTC and Att；
Step 8, fusion star pattern matching：By celestial body all of in visual field, comprise fixed star and satellite and star chart MapintegratedCarry out
Coupling, obtains information R being currently observed satellitei；
Step 9, starlight angular distance positioning：Starlight vector information S using fixed stari, the starlight angle information between fixed star satellite
IAij, relative distance information ρ of satelliteiAnd the inertial position information R of satelliteiThe position carrying out location Calculation carrier is r；
Step 10, improvement Heng Wei choose：Introduce in calculating every time and exceed that needed for calculating, minimum perseverance defends the fixed star of quantity and satellite enters
Row positioning, to improve computational accuracy；If number of stars is N, number of satellite is K, in optional N, 2 fixed stars calculate starlight vector
Angle IA, i.e. IAM,In optionally M, 3 starlight angles calculate Li, i.e. Li,Satellite R in the same mannerj,
Step 11, improvement location Calculation：When not considering that carrier deviates the impact to attitude measurement for the celestial sphere initial point, star sensor leads to
Cross Starry sky observation and star pattern matching directly gives attitude angle Att that carrier is with respect to inertial spacei, satellite and fixed star are in star sensitivity
Relation in device photo coordinate system is R (α, β), then satellite direction vector can pass through Li=R (α, β) AttiCalculate；
Step 12, restriction Heng Wei choose：Limit the quantity introducing fixed star M and satellite K, due to can have in celestial body observation process
There is certain measurement error, participate in calculating using excessive fixed star and satellite and can introduce excessive error on the contrary, and then reduction is fixed
Position and the accuracy of navigation；Follow in Heng Wei chooses：
1), the fixed star of selection, satellite are as far as possible near field of view center；
2), the starlight vector angle between fixed star and fixed star, fixed star and satellite is more than threshold value δ settingthreshold；
3), satellite is that new satellite, orbit perturbation be weaker, orbit parameter is more accurate；
4), the single measurement error of starlight angle is within σ；
The quick independent navigation of step 13, star：Calculate the position of carrier, and the positional information being converted under navigational coordinate system completes
Autonomous positioning, carries out attitude on the basis of known location, time and earth parameter and converts autonomous attitude determination, to sum up finally complete
Become independent navigation.
2. the star sensor autonomous navigation method based on satellite identification according to claim 1 is it is characterised in that described step
In rapid six, in order to eliminate the distortion being brought by projection as far as possible, the enough bars of coupling number of satellite in holding unit visual field
F is reduced under partwidth/2Width Width.
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Cited By (11)
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| CN107084715A (en) * | 2017-04-10 | 2017-08-22 | 北京控制工程研究所 | A kind of asynchronous multiframe star chart fusion method of star sensor |
| CN107478234A (en) * | 2017-09-05 | 2017-12-15 | 上海航天控制技术研究所 | A kind of satellite Autonomous localization method and autonomous navigation of satellite method |
| CN107870341A (en) * | 2017-11-08 | 2018-04-03 | 上海航天控制技术研究所 | A kind of satellite Autonomous localization method based on two landmark vector information |
| CN108469261A (en) * | 2018-02-07 | 2018-08-31 | 天津大学 | A kind of method for recognising star map suitable for boat-carrying ultra-large vision field celestial navigation system |
| CN108759818A (en) * | 2018-04-26 | 2018-11-06 | 上海微小卫星工程中心 | A kind of method that superhigh precision guiding sensor posture determines |
| CN109506663A (en) * | 2018-12-11 | 2019-03-22 | 上海航天控制技术研究所 | A kind of constellation formula autonomous orbit determination method based on polygonal away from fusion |
| CN112461231A (en) * | 2020-10-23 | 2021-03-09 | 中国人民解放军火箭军工程大学 | Multi-star map fused astronomical positioning method |
| RU2749580C1 (en) * | 2020-08-05 | 2021-06-15 | Федеральное государственное бюджетное учреждение науки Институт космических исследований Российской академии наук | Method for determining orientation by images of starry sky areas |
| CN113984069A (en) * | 2021-04-30 | 2022-01-28 | 北京临近空间飞行器系统工程研究所 | Satellite positioning navigation method based on artificial satellite |
| CN115326061A (en) * | 2022-10-17 | 2022-11-11 | 中国人民解放军国防科技大学 | Autonomous navigation method based on ordered space target sequential observation |
| CN115326059A (en) * | 2022-10-17 | 2022-11-11 | 中国人民解放军国防科技大学 | Autonomous navigation method based on known space target bidirectional vector observation |
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| CN107084715A (en) * | 2017-04-10 | 2017-08-22 | 北京控制工程研究所 | A kind of asynchronous multiframe star chart fusion method of star sensor |
| CN107478234B (en) * | 2017-09-05 | 2019-08-30 | 上海航天控制技术研究所 | A kind of satellite Autonomous localization method and autonomous navigation of satellite method |
| CN107478234A (en) * | 2017-09-05 | 2017-12-15 | 上海航天控制技术研究所 | A kind of satellite Autonomous localization method and autonomous navigation of satellite method |
| CN107870341A (en) * | 2017-11-08 | 2018-04-03 | 上海航天控制技术研究所 | A kind of satellite Autonomous localization method based on two landmark vector information |
| CN107870341B (en) * | 2017-11-08 | 2021-06-08 | 上海航天控制技术研究所 | Satellite autonomous positioning method based on two landmark point vector information |
| CN108469261A (en) * | 2018-02-07 | 2018-08-31 | 天津大学 | A kind of method for recognising star map suitable for boat-carrying ultra-large vision field celestial navigation system |
| CN108759818A (en) * | 2018-04-26 | 2018-11-06 | 上海微小卫星工程中心 | A kind of method that superhigh precision guiding sensor posture determines |
| CN109506663A (en) * | 2018-12-11 | 2019-03-22 | 上海航天控制技术研究所 | A kind of constellation formula autonomous orbit determination method based on polygonal away from fusion |
| CN109506663B (en) * | 2018-12-11 | 2022-04-05 | 上海航天控制技术研究所 | Multi-angular distance fusion-based constellation distributed autonomous orbit determination method |
| RU2749580C1 (en) * | 2020-08-05 | 2021-06-15 | Федеральное государственное бюджетное учреждение науки Институт космических исследований Российской академии наук | Method for determining orientation by images of starry sky areas |
| CN112461231A (en) * | 2020-10-23 | 2021-03-09 | 中国人民解放军火箭军工程大学 | Multi-star map fused astronomical positioning method |
| CN113984069A (en) * | 2021-04-30 | 2022-01-28 | 北京临近空间飞行器系统工程研究所 | Satellite positioning navigation method based on artificial satellite |
| CN113984069B (en) * | 2021-04-30 | 2023-06-06 | 北京临近空间飞行器系统工程研究所 | Satellite light positioning navigation method based on artificial satellite |
| CN115326061A (en) * | 2022-10-17 | 2022-11-11 | 中国人民解放军国防科技大学 | Autonomous navigation method based on ordered space target sequential observation |
| CN115326059A (en) * | 2022-10-17 | 2022-11-11 | 中国人民解放军国防科技大学 | Autonomous navigation method based on known space target bidirectional vector observation |
| CN115326059B (en) * | 2022-10-17 | 2022-12-13 | 中国人民解放军国防科技大学 | Autonomous navigation method based on known space target bidirectional vector observation |
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