CN106996779A - Ultraviolet sensors systematic error on-orbit calibration method based on GNSS - Google Patents
Ultraviolet sensors systematic error on-orbit calibration method based on GNSS Download PDFInfo
- Publication number
- CN106996779A CN106996779A CN201710201657.8A CN201710201657A CN106996779A CN 106996779 A CN106996779 A CN 106996779A CN 201710201657 A CN201710201657 A CN 201710201657A CN 106996779 A CN106996779 A CN 106996779A
- Authority
- CN
- China
- Prior art keywords
- formula
- gnss
- satellite
- ultraviolet sensors
- state
- 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
- G01C21/10—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
Abstract
The invention provides a kind of ultraviolet sensors systematic error on-orbit calibration method based on GNSS, Least Square in Processing ultraviolet sensors measurement amount and GNSS high accuracy positioning results are utilized when GNSS is available, the systematic error estimation value of navigation system can relatively accurately be obtained, for being compensated when GNSS is unavailable to navigation information, to improve navigation accuracy, it is simple to operate, applied widely, the SYSTEM ERROR MODEL of ultraviolet sensors can also release the systematic error of ultraviolet sensors after changing according to the method class of the present invention, and scalability is strong.The present invention is during systematic error estimation, quantity of state is not extended, in filtering estimation, state dimension is no longer increased, the reduction of dimension is conducive to strengthening the stability of wave filter and accelerates filtering convergence rate, therefore the systematic error estimation method that the present invention is provided can provide high-precision systematic error estimation result quickly.
Description
Technical field
The present invention relates to technical field of satellite navigation, particularly, it is related to a kind of ultraviolet sensors system based on GNSS and misses
Poor on-orbit calibration method.
Background technology
Current satellite in orbit relies on ground installation and obtains navigation information mostly, and the task at ground handling station is more and more numerous
Weight, people propose higher and higher requirement to the autonomous operation ability of satellite.As one of autonomous operation ability, satellite from
Leading boat refers to that satellite is supported independent of ground installation, but real-time using the payload and measuring apparatus provided for oneself on star
Ground determines position and the speed of itself, is the inevitable requirement of current satellite control technology development.High rail satellite (HEO) refers generally to rail
High Earth Orbit satellite of the road height in more than 20000km.This kind of satellite have more preferable security and stability and it is bigger over the ground
Area coverage, therefore have a more importantly meaning relative to low orbit satellite, general is generally navigation, communications satellite and special military
Satellite, in the side such as land and overocean communications, meteorological detection, educational applications, live telecast, disaster early warning and space solar station
Face suffers from critically important purposes.
GLONASS (Globe Navigation Satellite System, GNSS) can provide global, complete
Weather, continuous and high-precision navigator fix service, are widely used to the fields such as land, ocean, Aero-Space.High rail satellite
It is generally operated on the track higher than GNSS satellite, thus the interruption GNSS satellite letter from the earth back side can only be received
Number, so it is general by taking high sensitive receiver, combine multiple GNSS constellations, can be carried to increase with GNSS with star number
The ability and precision of autonomous positioning on high star.But, because GNSS reliability is not high, electromagnetic wave is easily disturbed destruction, therefore
The navigation sensor of other modes is needed to increase the independence of high rail satellite fix.Ultraviolet sensors can be detected in ultraviolet band
Go out the edge of whole celestial body, and its image stabilization can match in excellence or beauty with infrared imaging.As one of stellar equipment, it possesses reliably
Property it is high, hidden, passive, the advantages of be difficult by electromagnetic interference, satellite can be obtained using the ultraviolet radiation characteristic of the celestial bodies such as the earth
Attitude information.Therefore, using high sensitive receiver, high rail can be completed using GNSS metrical informations in GNSS availability phases
Satellite high-precision is positioned, and the geocentric position information obtained in the GNSS unavailable stages using ultraviolet sensors is completed satellite Autonomous and led
The task of boat, is to build one of effective way of autonomous navigation system, is also to use a kind of wide navigation mode (such as at present
Chinese patent 201410106004.8 propose one kind in orbit aerocraft autonomous navigation system, but in the patent refer to as
What is estimated the error of system).
Ultraviolet sensors due to picture point extract error, principal point deviation, focal length deviation, the inclination of imaging plane with rotation and
Lens distortion error factors can cause the pixel deviations of X-axis and Y-axis, so as to cause the navigation error of spacecraft, Chinese patent
2010106238513 disclose in a kind of error correction method of autonomous navigation system, the program merely with ultraviolet sensors over the ground
Observed quantity of the observed quantity and star sensor of ball to fixed star is filtered resolving, and its navigation results precision is low (imitative through the present inventor
True experiment, its unidimensional system error estimation accuracy be about 50%), in addition, systematic error is expanded to system state amount by the program,
By filtering algorithm, satellite position, speed, systematic error are estimated together, and then to the systematic error of ultraviolet sensors
Compensate, due to needing that quantity of state is extended, the dimension in filtering estimation is more, and therefore, calculation procedure is numerous and diverse, workload
Greatly, the response speed of system is reduced.
The content of the invention
Present invention aims at a kind of ultraviolet sensors systematic error on-orbit calibration method based on GNSS is provided, to solve
The problem of being proposed in background technology.
To achieve the above object, the invention provides a kind of ultraviolet sensors error on-orbit calibration method based on GNSS,
Comprise the following steps：
1) when GNSS is available, the spaceborne receiver on high rail satellite is observed GNSS satellite, set up GNSS pseudo-
Away from observational equation；The ultraviolet-sensitive device on high rail satellite is observed the earth, set up ultraviolet sensors observational equation；
2) the GNSS metrical informations obtained using step 1 obtain high rail satellite position information, pass through nonlinear filtering algorithm
High rail satellite position information is handled, the high-precision navigation results under GNSS pseudo range measurement information are obtained；
3) high accuracy that ultraviolet sensors observed quantity and the step 2 obtained by Least Square in Processing step 1 is obtained is led
Boat result, obtains the error estimate (being systematic error estimation value) of ultraviolet sensors；
4) error estimate of the ultraviolet sensors obtained using step 3 is defended as calibration value when GNSS is unavailable to high rail
The navigation information of star is compensated, so as to improve navigation accuracy.
Further, in step 1, the observational equation of ultraviolet sensors is as shown in Equation 1：
Wherein, Δ x, Δ y be respectively ultraviolet optics sensitive axes in image plane due to picture point extract error, principal point deviation,
The inclination and rotation of focal length deviation, imaging plane, and lens distortion error factors the x-axis that causes of influence and the picture of y-axis
Plain deviation；F is the focal length of ultraviolet sensors；High rail centroid of satellite position under the Earth central inertial system measured for ultraviolet sensors
Vector；The transition matrix of inertial system is tied to for measurement,For the measurement amount (sight that i.e. ultraviolet sensors are obtained of ultraviolet sensors
Measurement), εrFor observation random noise.
In step 1, GNSS pseudorange observation equations are as shown in Equation 2：
Wherein, subscript j represents that GNSS satellite is numbered, ρjFor pseudo-range measurements (between high rail satellite and GNSS satellite away from
From i.e. GNSS measurement amount),It is GNSS satellite in the Earth central inertial position vector of signal emission time, rIFor high rail satellite
In the Earth central inertial position vector of the signal time of reception, c is navigation signal spread speed, δ tjFor GNSS satellite clock correction, δ trFor height
Receiver clock-offsets on rail satellite, δ ρj,ionFor ionospheric delay error；Made an uproar for the receiver pseudo range measurement on high rail satellite
Sound.
Further, in step 2, GNSS metrical informations is handled using EKF, concretely comprised the following steps：
2.1) nonlinear discrete systems of formula 3 are set up：
Wherein, xk+1It is high rail satellite in the quantity of state at k+1 moment, zk+1Measurement amount for high rail satellite at the k+1 moment, its
Including uv measurement amount and GNSS measurement amounts, h (xk+1) it is observational equation, it includes formula 1 and the observational equation represented by formula 2, f
(xk) be high rail satellite motion dynamics equations, wk、vk+1It is white Gaussian noise, and orthogonal, its statistical property such as formula
4：
Wherein, QkFor symmetric Nonnegative Definite Matrix, RkFor symmetric positive definite matrix, original state x0Independently of wk、vk, its average and
Covariance such as formula 5：
2.2) init state amountWith variance matrix P0Such as formula 6-1 and formula 6-2：
2.3) state equation and measurement equation are surrounded to the filter value at the moment (i.e. k+1 moment) respectivelyIt is launched into Thailand
Le series, andNearby linearisation, can obtain formula 7 and formula 8：
Wherein, T is the filtering update cycle,For zk+1 Nearby carry out the line that first order Taylor expansion is obtained
Property observing matrix,For the state x at state one-step prediction, i.e. k momentkOnly the k+1 that (i.e. formula 7) is obtained is updated by state
The state at moment
2.4) time updates, specifically such as formula 9-1, formula 9-2 and formula 10：
xk+1,k=Φk+1xk/k(formula 9-1)；
Wherein,
I is unit matrix, Φk+1For the state-transition matrix obtained by formula 10,For state-transition matrix Φk+1Turn
Put,For process noise covariance battle array, f (x) is the motion dynamics equations of high rail satellite.
2.5) measurement updaue, specifically such as 11~formula of formula 14：
Quantity of state is updated such as formula 11：xk+1=xk+1,k+Kk+1(zk+1-h(xk+1,k)) (formula 11)；
Wherein, Kk+1For filtering gain, h (xk+1k) it is by one-step prediction stateThe prediction obtained through observational equation is seen
Measurement；
Filtering gain such as formula 12：
Wherein, Hk+1For observing matrix,For observing matrix Hk+1Transposition, Pk+1,kFor prediction variance matrix, Rv,k+1To survey
Measure noise covariance battle array；
Covariance matrix is updated such as formula 13：Pk+1=(I-Kk+1Hk+1)Pk+1,k(formula 13)；
Wherein,
H (x) includes formula 1 and the observational equation shown in formula 2；
2.6) quantity of state obtained using formula 11 and formula 13And variance matrixExtended Kalman filter is returned, is used for
Subsequent time, by certain loop iteration number of times, finally gives the high-precision navigation results under GNSS pseudo range measurement information
The high accuracy that the ultraviolet sensors observed quantity obtained in step 3 with Least Square in Processing step 1 is obtained with step 2
Navigation results, be specially：
The position vector of the high rail satellite resolved in step 2 by GNSS aeronautical satellites is designated asSubstitute into step 1
In ultraviolet sensors observational equation, orderFor the measurement amount of ultraviolet sensors, equation can be converted into the shape of formula 15
Formula：
Y=H θ (formula 8)；
Wherein
θ=[Δ x, Δ y, 0]T(formula 11)；
The least-squares estimation of systematic error such as formula 19：
In step 4, using the systematic error estimation value obtained by formula 19 as calibration value, the error to system is compensated,
It can obtain the navigation information of degree of precision.
Beneficial effect：The invention provides a kind of ultraviolet sensors systematic error on-orbit calibration method based on GNSS,
, can be relatively accurately using Least Square in Processing ultraviolet sensors measurement amount and GNSS high accuracy positioning results when GNSS is available
The systematic error estimation value of navigation system is obtained, it is simple to operate, suitable for being compensated when GNSS is unavailable to navigation information
It is wide (navigation for being equally applicable to medium and low earth orbit satellites) with scope, the SYSTEM ERROR MODELs of ultraviolet sensors (i.e. ultraviolet sensors
Observational equation) change after the systematic error of ultraviolet sensors can be also released according to the method class of the present invention, scalability is strong.
The present invention is not extended during systematic error estimation to quantity of state, in filtering estimation, state dimension
No longer increased, the reduction of dimension is conducive to strengthening the stability of wave filter and accelerates filtering convergence rate, therefore the present invention gives
The systematic error estimation method gone out can provide high-precision systematic error estimation result quickly.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the implementation process diagram of the preferred embodiment of the present invention；
Fig. 2 is the estimation error effect contrast figure of the method for the preferred embodiment of the present invention；
Fig. 3 is the navigation effect contrast after being compensated using the method for the preferred embodiments of the present invention to systematic error
Figure.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be limited according to claim
Fixed and covering multitude of different ways is implemented.
As shown in figure 1, a kind of ultraviolet sensors on-orbit calibration method based on GNSS, specific implementation steps are as follows：
1) in J2000.0 geocentric equatorial polar coordinates, J is only considered2Perturbation, sets up high rail satellite orbit kinetic model such as
Formula 20：
In formula 20
rI=[x； y； z；] (formula 14-1)；
vI=[vx； vy； vz；] (formula 15-2)；
Wherein, rIFor the position vector of high rail satellite under Earth central inertial system, r is high distance of the rail satellite away from the earth's core, i.e.,vIFor the velocity of high rail satellite under Earth central inertial system；gIFor high rail satellite under Earth central inertial system by
Perturbation force vector；μ is Gravitational coefficient of the Earth；ReFor earth radius；J2For the humorous term coefficient of second order band.
2) when GNSS is available, the spaceborne receiver on high rail satellite is observed GNSS satellite, set up GNSS pseudo-
Away from observational equation；
GNSS pseudorange observations equation such as formula 21：
Wherein, subscript j represents that GNSS satellite is numbered, ρjPseudo-range measurements,It is satellite in the earth's core of signal emission time
Inertial position vector, rIEarth central inertial position vector for high rail satellite in the signal time of reception, c is that navigation signal propagates speed
Degree, δ tjFor GNSS aeronautical satellite clock correction, δ trFor receiver clock-offsets, δ ρj,ionFor ionospheric delay error；For receiver pseudorange
Measurement noise.
The ultraviolet-sensitive device on high rail satellite is set to be observed the earth, the ultraviolet sensors set up under Earth central inertial system
Navigate observational equation；
Ultraviolet sensors navigation observational equation such as formula 22：
Δ x, Δ y are respectively that due to picture point, to extract error, principal point deviation, focal length inclined in image plane for ultraviolet optics sensitive axes
X-axis and the pixel deviations of y-axis that the influence of difference, the inclination and rotation of imaging plane, and lens distortion error factors is caused；
F is the focal length of ultraviolet sensors；Centroid of satellite position vector under the Earth central inertial system measured for ultraviolet sensors；εrTo see
Survey random noise.
3) high rail satellite position information is obtained using GNSS metrical informations, mainly has geometric method and KINETIC METHOD, with power
Exemplified by, GNSS information is handled using EKF, it is specific such as step 3.1~3.6：
3.1) using the nonlinear discrete systems of formula 23：
W in formulakIt is white Gaussian noise, and orthogonal, its statistical property such as formula 24：
Wherein, QkFor symmetric Nonnegative Definite Matrix, RkFor symmetric positive definite matrix.Original state x0Independently of wk、vk, its average and
Covariance is：
3.2) init state amountWith variance matrix P0Such as formula 26-1 and formula 26-2：
3.3) state equation and measurement equation are surrounded to the filter value at the moment respectivelyIt is launched into Taylor series, andNearby linearisation, can obtain formula 27 and formula 28：
3.4) time updates, specifically such as formula 29-1, formula 29-2 and formula 30：
xk+1,k=Φk+1xk/k(formula 29-1)；
Wherein,
3.5) measurement updaue, specifically such as 31~formula of formula 34：
Quantity of state updates：xk+1=xk+1,k+Kk+1(zk+1-h(xk+1,k)) (formula 23)；
Filtering gain：
Covariance matrix updates：Pk+1=(I-Kk+1Hk+1)Pk+1,k(formula 25)；
In formula：
3.6) quantity of state obtained is utilizedAnd variance matrixExtended Kalman filter is returned to, for subsequent time, warp
Certain loop iteration number of times is crossed, the high-precision navigation results under GNSS pseudo range measurement information are finally given
4) Least Square in Processing GNSS high accuracy positionings result and ultraviolet sensors observation information are used, systematic error is obtained
Estimate, is concretely comprised the following steps：
The position vector for the high rail satellite that GNSS aeronautical satellites are resolved is designated asAssuming that joint GNSS is used, and
Utilize main side-lobe signal, it is ensured that the number of usable satellite, obtained high rail satellite position vectorsPrecision is far above ultraviolet sensitivity
The positioning precision of device, therefore real high rail satellite position vectors are assumed to be, substitute into the ultraviolet sensors measurement equation of formula 21
In, orderFor the measurement amount of ultraviolet sensors, ultraviolet sensors can be measured the equations turned shape for formula 35
Formula：
Formula 35 can obtain formula 36 by conversion of equal value：
Formula 36 is converted into the form of formula 37：
Y=H θ (formula 29)
Wherein
θ=[Δ x, Δ y, 0]T(formula 40)
Therefore understand that the optimal estimation of systematic error is according to least-squares algorithm：
5) the systematic error estimation value obtained using formula 41 is carried out as calibration value when GNSS is unavailable to system guide information
The position of high rail satellite after compensation, output system error estimate and compensation and velocity information, obtain degree of precision navigation knot
Really.
By taking the high rail of a certain earth as an example, preliminary orbit radical is：Semi-major axis 42000km, eccentricity 0.00003, track inclines
5 ° of angle, 0 ° of right ascension of ascending node, 0 ° of inbreeding point angular distance, 276 ° of mean anomaly；High rail DVB sensitivity is -182dBW；It is purple
Outer sensor pixel error is 1.3 μm；Navigation time is 3 days.
Fig. 2 gives the estimated result of systematic error estimation method proposed by the invention, and (Δ x is as flat shown in formula 1
The pixel error in face NeixZhou directions；Δ y is the pixel error in y-axis direction in image plane shown in formula 1), it can be seen that estimation knot
Fruit is close to 1.3 μm (actual value set by analogue system), and the pixel error in x-axis direction is 5%, the pixel error in y-axis direction
For 1%, the degree of accuracy is higher.
It is navigation effect comparison diagram after being compensated using preferred embodiment of the present invention method to systematic error that Fig. 3, which is,
(wherein uppermost " error free compensation " curve refers to that the systematic error not to ultraviolet sensors carries out what calibration compensation was obtained
As a result, nethermost " error compensation " curve refers to carrying out the systematic error of ultraviolet sensors using the method for the present embodiment
After compensation, obtained single sample results, middle " σ of error compensation 1 " curve is " error compensation " single sample results correspondence
Covariance value), from figure 3, it can be seen that using method proposed by the present invention to ultraviolet sensors carry out systematic error estimation benefit
After repaying, navigation accuracy brings up to 1km or so from 2km, and the beneficial effects of the method for the present invention is verified.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (4)
1. a kind of ultraviolet sensors systematic error on-orbit calibration method based on GNSS, it is characterised in that comprise the following steps：
1) when GNSS is available, the spaceborne receiver on high rail satellite is observed GNSS satellite, set up the sight of GNSS pseudoranges
Survey equation；The ultraviolet-sensitive device on high rail satellite is observed the earth, set up ultraviolet sensors observational equation；
2) the GNSS metrical informations obtained using step 1 obtain high rail satellite position information, are handled by nonlinear filtering algorithm
High rail satellite position information, obtains the high-precision navigation results under GNSS pseudo range measurement information；
3) the high accuracy navigation that the ultraviolet sensors observed quantity obtained by Least Square in Processing step 1 is obtained with step 2 is tied
Really, the error estimate of ultraviolet sensors is obtained；
4) error estimate of the ultraviolet sensors obtained using step 3 is calibration value, when GNSS is unavailable to high rail satellite
Navigation information is compensated, so as to improve navigation accuracy.
2. a kind of ultraviolet sensors systematic error on-orbit calibration method based on GNSS according to claim 1, its feature
It is, in step 1, the observational equation of ultraviolet sensors is as shown in Equation 1：
Wherein, Δ x, Δ y be respectively ultraviolet optics sensitive axes in image plane due to picture point extract error, principal point deviation, focal length
The inclination and rotation of deviation, imaging plane, and the x-axis that causes of influence of lens distortion error factors and the pixel of y-axis it is inclined
Difference；F is the focal length of ultraviolet sensors；High rail centroid of satellite position arrow under the Earth central inertial system measured for ultraviolet sensors
Amount；The transition matrix of inertial system is tied to for measurement,For the measurement amount of ultraviolet sensors, εrFor observation random noise；
In step 1, GNSS pseudorange observation equations are as shown in Equation 2：
Wherein, subscript j represents that GNSS satellite is numbered, ρjFor pseudo-range measurements (the distance between high rail satellite and GNSS satellite, i.e.,
GNSS measurement amount),It is GNSS satellite in the Earth central inertial position vector of signal emission time, rIIt is high rail satellite in signal
The Earth central inertial position vector of the time of reception, c is navigation signal spread speed, δ tjFor GNSS satellite clock correction, δ trFor high rail satellite
On receiver clock-offsets, δ ρj,ionFor ionospheric delay error；For the receiver pseudo range measurement noise on high rail satellite.
3. a kind of ultraviolet sensors systematic error on-orbit calibration method based on GNSS according to claim 2, its feature
It is, in step 2, GNSS metrical informations is handled using EKF, concretely comprised the following steps：
2.1) nonlinear discrete systems of formula 3 are set up：
Wherein, xk+1It is high rail satellite in the quantity of state at k+1 moment, zk+1It is high rail satellite in the measurement amount at k+1 moment, it includes
Uv measurement amount and GNSS measurement amounts, h (xk+1) it is observational equation, it includes formula 1 and the observational equation represented by formula 2, f (xk)
For the motion dynamics equations of high rail satellite, wk、vk+1It is white Gaussian noise, and orthogonal, its statistical property such as formula 4：
Wherein, QkFor symmetric Nonnegative Definite Matrix, RkFor symmetric positive definite matrix, original state x0Independently of wk、vk, its average and association side
Difference is such as formula 5：
2.2) init state amountWith variance matrix P0Such as formula 6-1 and formula 6-2：
2.3) state equation and measurement equation are surrounded to the filter value at the moment (i.e. k+1 moment) respectivelyIt is launched into Taylor's level
Number, andNearby linearisation, can obtain formula 7 and formula 8：
Wherein, T is the filtering update cycle,For zk+1 Nearby carry out the linearisation that first order Taylor expansion is obtained
Observing matrix,For the state x at state one-step prediction, i.e. k momentkOnly the k+1 moment that (i.e. formula 7) is obtained is updated by state
State
2.4) time updates, specifically such as formula 9-1, formula 9-2 and formula 10：
xk+1,k=Φk+1xk/k(formula 9-1)；
Wherein,
I is unit matrix, Φk+1For the state-transition matrix obtained by formula 10,For state-transition matrix Φk+1Transposition,For process noise covariance battle array, f (x) is the motion dynamics equations of high rail satellite；
2.5) measurement updaue, specifically such as 11~formula of formula 14：
Quantity of state is updated such as formula 11：xk+1=xk+1,k+Kk+1(zk+1-h(xk+1,k)) (formula 11)；
Wherein, Kk+1For filtering gain, h (xk+1,k) it is by one-step prediction stateThe prediction observed quantity obtained through observational equation；
Filtering gain such as formula 12：
Wherein, Hk+1For observing matrix,For observing matrix Hk+1Transposition, Pk+1,kFor prediction variance matrix, Rv,k+1Made an uproar for measurement
Sound covariance matrix；
Covariance matrix is updated such as formula 13：Pk+1=(I-Kk+1Hk+1)Pk+1,k(formula 13)；
Wherein,
H (x) is as the observational equation shown in formula 1 and formula 2；
2.6) quantity of state obtained using formula 11 and formula 13And variance matrixExtended Kalman filter is returned to, for next
At the moment, by certain loop iteration number of times, finally give the high-precision navigation results under GNSS pseudo range measurement information
4. a kind of ultraviolet sensors systematic error on-orbit calibration method based on GNSS according to claim 3, its feature
It is, the high accuracy that ultraviolet sensors observed quantity and the step 2 obtained in step 3 with Least Square in Processing step 1 is obtained is led
Boat result, obtains systematic error estimation value, is specially：
The position vector of the high rail satellite resolved in step 2 by GNSS aeronautical satellites is designated asSubstitute into the ultraviolet quick of step 1
In sensor observational equation, order For the measurement amount of ultraviolet sensors, equation can be converted into the form of formula 15：
Y=H θ (formula 2)；
Wherein
θ=[Δ x, Δ y, 0]T(formula 5)；
The least-squares estimation of systematic error such as formula 19：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710201657.8A CN106996779B (en) | 2017-03-30 | 2017-03-30 | Ultraviolet sensors systematic error on-orbit calibration method based on GNSS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710201657.8A CN106996779B (en) | 2017-03-30 | 2017-03-30 | Ultraviolet sensors systematic error on-orbit calibration method based on GNSS |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106996779A true CN106996779A (en) | 2017-08-01 |
| CN106996779B CN106996779B (en) | 2019-08-20 |
Family
ID=59434054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710201657.8A Active CN106996779B (en) | 2017-03-30 | 2017-03-30 | Ultraviolet sensors systematic error on-orbit calibration method based on GNSS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106996779B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447043A (en) * | 2021-05-21 | 2021-09-28 | 北京控制工程研究所 | GNSS-based satellite astronomical navigation system error autonomous calibration method and system |
| CN114577222A (en) * | 2022-02-10 | 2022-06-03 | 北京空间飞行器总体设计部 | State space reconstruction method based on autonomous navigation system error limited dimension expansion |
| CN115143955A (en) * | 2022-09-06 | 2022-10-04 | 中国人民解放军32035部队 | Method for determining initial orbit of geosynchronous orbit with spacecraft based on astronomical angle measurement data |
| CN115793000A (en) * | 2023-02-01 | 2023-03-14 | 北京控制工程研究所 | High-orbit satellite autonomous orbit determination method based on fusion information |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101270993A (en) * | 2007-12-12 | 2008-09-24 | 北京航空航天大学 | Remote high-precision independent combined navigation locating method |
| CN102175260A (en) * | 2010-12-31 | 2011-09-07 | 北京控制工程研究所 | Error correction method of autonomous navigation system |
| CN103148849A (en) * | 2013-03-12 | 2013-06-12 | 北京控制工程研究所 | Combined navigation method based on earth-moon satellite united distance measurement and ultraviolet sensor |
| CN103868514A (en) * | 2014-03-20 | 2014-06-18 | 北京航天自动控制研究所 | Autonomous navigation system for on-orbit aircraft |
| US20150346347A1 (en) * | 2011-04-27 | 2015-12-03 | Mediatek Inc. | Gnss receiver and method for determining whether to switch from one operation state to another operation state according to state switching criterion and positioning information |
-
2017
- 2017-03-30 CN CN201710201657.8A patent/CN106996779B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101270993A (en) * | 2007-12-12 | 2008-09-24 | 北京航空航天大学 | Remote high-precision independent combined navigation locating method |
| CN102175260A (en) * | 2010-12-31 | 2011-09-07 | 北京控制工程研究所 | Error correction method of autonomous navigation system |
| US20150346347A1 (en) * | 2011-04-27 | 2015-12-03 | Mediatek Inc. | Gnss receiver and method for determining whether to switch from one operation state to another operation state according to state switching criterion and positioning information |
| CN103148849A (en) * | 2013-03-12 | 2013-06-12 | 北京控制工程研究所 | Combined navigation method based on earth-moon satellite united distance measurement and ultraviolet sensor |
| CN103868514A (en) * | 2014-03-20 | 2014-06-18 | 北京航天自动控制研究所 | Autonomous navigation system for on-orbit aircraft |
Non-Patent Citations (2)
| Title |
|---|
| 邢飞等: "星敏感器参数分析与自主校正", 《清华大学学报（自然科学版）》 * |
| 霍梦晨等: "基于天文导航_GNSS的高轨卫星自主导航方法研究", 《IEEE:PROCEEDINGS OF 2016 IEEE CHINESE GUIDANCE,NAVIGATION AND CONTROL CONFERENCE》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113447043A (en) * | 2021-05-21 | 2021-09-28 | 北京控制工程研究所 | GNSS-based satellite astronomical navigation system error autonomous calibration method and system |
| CN114577222A (en) * | 2022-02-10 | 2022-06-03 | 北京空间飞行器总体设计部 | State space reconstruction method based on autonomous navigation system error limited dimension expansion |
| CN115143955A (en) * | 2022-09-06 | 2022-10-04 | 中国人民解放军32035部队 | Method for determining initial orbit of geosynchronous orbit with spacecraft based on astronomical angle measurement data |
| CN115143955B (en) * | 2022-09-06 | 2022-11-25 | 中国人民解放军32035部队 | Method for determining initial orbit of geosynchronous orbit with spacecraft based on astronomical angle measurement data |
| CN115793000A (en) * | 2023-02-01 | 2023-03-14 | 北京控制工程研究所 | High-orbit satellite autonomous orbit determination method based on fusion information |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106996779B (en) | 2019-08-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6463366B2 (en) | Attitude determination and alignment using electro-optical sensors and global navigation satellites | |
| CN109613583B (en) | Passive target positioning method based on single star and ground station direction finding and combined time difference | |
| Springmann et al. | Flight results of a low-cost attitude determination system | |
| CN107132542B (en) | A kind of small feature loss soft landing autonomic air navigation aid based on optics and Doppler radar | |
| CN106996779B (en) | Ultraviolet sensors systematic error on-orbit calibration method based on GNSS | |
| Kai et al. | Autonomous navigation for a group of satellites with star sensors and inter-satellite links | |
| Mostafa et al. | A novel GPS/RAVO/MEMS-INS smartphone-sensor-integrated method to enhance USV navigation systems during GPS outages | |
| Gebre-Egziabher et al. | MAV attitude determination by vector matching | |
| Gou et al. | INS/CNS integrated navigation based on corrected infrared earth measurement | |
| Hesar et al. | Small body gravity field estimation using LIAISON supplemented optical navigation | |
| Critchley-Marrows et al. | Stellar Navigation on the Moon-A Compliment, Support and Back-up to Lunar Navigation | |
| Barnes et al. | A hemispherical sun sensor for orientation and geolocation | |
| CN109459015A (en) | A kind of global autonomic positioning method of polarization navigation based on the observation of maximum degree of polarization | |
| Paluszek et al. | Optical navigation system | |
| Giorgi | The multivariate constrained LAMBDA method for single-epoch, single-frequency GNSS-based full attitude determination | |
| Han et al. | Low-budget CubeSat star tracker calibration using Earth’s rotation | |
| Samaan et al. | On-Ground Calibration and Optical Alignment for the Orion Optical Navigation Camera | |
| Marshall et al. | Locating the LCROSS impact craters | |
| Ivanov et al. | Satellite relative motion determination during separation using image processing | |
| Pinchin | GNSS based attitude determination for small unmanned aerial vehicles | |
| Dionne | Improving autonomous optical navigation for small body exploration using range measurement | |
| Um et al. | GPS attitude determination for the SOAR experiment | |
| Dietrich | Supporting Autonomous Navigation with Flash Lidar Images in Proximity to Small Celestial Bodies | |
| Colagrossi et al. | Sensors | |
| Tehrani | Characterization and Flight Test of a Multi-Antenna Gnss, Multi-Sensor Attitude Determination Algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |