CN107621262A - A kind of Star navigation system method - Google Patents
A kind of Star navigation system method Download PDFInfo
- Publication number
- CN107621262A CN107621262A CN201710719207.8A CN201710719207A CN107621262A CN 107621262 A CN107621262 A CN 107621262A CN 201710719207 A CN201710719207 A CN 201710719207A CN 107621262 A CN107621262 A CN 107621262A
- Authority
- CN
- China
- Prior art keywords
- measurement component
- star
- angular velocity
- attitude
- navigation system
- 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
Landscapes
- Navigation (AREA)
Abstract
A kind of Star navigation system method, is related to celestial navigation technical field.Solve the problems, such as that the dynamic property of existing Star navigation system equipment is poor, it is two tunnels that the starlight for entering optical lens is divided by this method, is imaged in respectively on the detector of attitude measurement component and angular velocity measurement component.Angular velocity measurement component frame frequency is high, visual field is big, detection magnitude is low, by matching the corresponding relation of asterism in continuous moment star chart, provides carrier movement angular speed with high frame frequency, and this measurement data is sent into attitude measurement component.Attitude measurement component provides continuous, high-precision attitude measurement data to shooting the influence of star chart and completing attitude measurement process using the angular velocity information received, compensation carrier movement for carrier.This method can be based on starlight vector and measure angular speed and attitude information simultaneously, greatly improve the dynamic property of starlight attitude Navigation.
Description
Technical field
The present invention relates to celestial navigation technical field, and in particular to a kind of Star navigation system method.
Background technology
Using the sun, the moon and the stars as in the various celestial navigations of beacon, fixed star is equivalent to infinity illuminator, its subtended angle very little,
Spot light target is regarded as, and there is high-precision positional stability, therefore, the Star navigation system using starlight as beacon is existing
Precision highest in row navigation.But will be through charge accumulation after a while, especially higher magnitude to the sensitive detection of starlight
Starlight detection, it is necessary to longer charge integration time, and in carrier high maneuver, the longer time of integration can cause starlight to drag
Tail, useful signal electric charge is distributed to more pixels caused by starlight, so as to reduce detectivity, reduces ability of tracking and posture is surveyed
Accuracy of measurement, according to highly-sensitive detector such as EMCCD, although detecting the fixed star of higher magnitude in a short time, due to
Data read-out transfer time is longer so that the movement of asterism position is larger so that star tracking is extremely difficult, so as to cause Star navigation system
The dynamic property of equipment is poor.
The content of the invention
The present invention is to solve the problems, such as that the dynamic property of existing Star navigation system equipment is poor, there is provided a kind of Star navigation system side
Method.
A kind of Star navigation system method, including Star navigation system system, the Star navigation system system is by optical spectroscopic system, angle speed
Measurement assembly and attitude measurement component are spent, the angular velocity measurement component is identical with the structure of attitude measurement component, by detection
Device and processor group into；This method is realized by following steps：
Step 1: starlight enters optical spectroscopic system, it is divided by neutrality, is imaged on the detection of angular velocity measurement component respectively
On device and attitude measurement component detector, the angular velocity measurement component detector obtains star chart and delivers to angular velocity measurement component
Processor；
Step 2: the angular velocity measurement component processor obtains the star chart for being continuously shot the moment, and match the continuous moment
The corresponding relation of asterism in star chart, pose transformation matrix between star chart is solved, obtain carrier movement angular velocity measurement data, and by angle
Speed measurement data is sent to attitude measurement component processor；
Step 3: the attitude measurement component processor according to the angular velocity measurement compensation data carrier movement of reception to clapping
The influence of star chart is taken the photograph, attitude measurement is completed, obtains the attitude information of carrier, continuous, high-precision attitude measurement is provided for carrier
Data, realize Star navigation system.
Beneficial effects of the present invention：The invention provides a kind of monoscopic Star navigation system method of integrated programme, in original
On the basis of having attitude measurement, using the mode of the neutral light splitting of optics, be integrated with independently of attitude measurement component independent of
The starlight angular velocity measurement component of effective attitude measurement.After starlight enters visual field, the detector of two measurement assemblies can be reached simultaneously,
Pointed to without extra calibration coordinate system and optical axis, and this method can not only independently complete attitude measurement simultaneously and angular speed is surveyed
Amount, additionally it is possible to the dynamic property of Star navigation system is greatly improved by effective integration angular velocity information and attitude information.
Brief description of the drawings
Fig. 1 is Star navigation system method schematic diagram of the present invention.
Embodiment
The present invention is described in further details with reference to the accompanying drawings and examples.Optical spectroscopic system will enter optical frames
The starlight light splitting of head is two-way, is imaged in all the way on the detector of attitude measurement component, another way images in high frame frequency angular speed
On measurement assembly detector.
This method is realized by following steps：
Step A, angular velocity measurement component and posture are determined with carrier largest motion angular speed and attitude measurement accuracy respectively
The parameter of measurement assembly.Being not more than with carrier largest motion angular speed in 1/3 visual field, visual field has enough star number mesh and star image not
Trail for principle, the parameter of balance angular velocity measurement component；Attitude measurement component using attitude measurement accuracy as target capabilities parameter,
By calculating magnitude detectivity, star number mesh in visual field and visual field, determine the parameter of attitude measurement component.
Step B, starlight enters optical spectroscopic system, is divided by neutrality, is imaged on the detection of angular velocity measurement component respectively
On device and attitude measurement component detector.Angular velocity measurement component detector detection magnitude it is relatively low, with high frame frequency such as 50 frames/second~
100 frames/second obtains big visual field star chart, and star chart is delivered into angular velocity measurement component processor；Attitude measurement component detector passes through
Detect high magnitude fixed star and obtain more probe satellite quantity to ensure high-precision attitude measurement data.
Step C, angular velocity measurement component processor obtains and is continuously shot moment t, t+ Δ t star charts, the geometric form between star image
Shape or validity feature matching are continuously shot the corresponding relation of asterism in moment t, t+ Δ t star charts, and this process is without navigation star database
Support.
Star sensor moves to moment t+ Δ t by moment t, driftage, pitching, roll direction attitude angle change difference between star chart
For (α, β, κ), then it is the appearance for including attitude angle (α, β, κ) to the pose transformation matrix of t+ time Δt star charts to build t star chart
State transition matrixNow,Substitute into and asterism pair is matched in moment t, t+ Δ t star charts, solve posture and turn
Change matrixCarrier transient motion angular speed is obtained, and angular velocity data is sent to attitude measurement component.
Step D, attitude measurement component is carried using the angular velocity information received using the technology compensation such as such as liftering recovery
Body motion completes the processes such as fast target extraction, importance in star map recognition, Attitude Calculation to shooting the influence of star chart, obtains posture letter
Breath.
In present embodiment, the temporal correlation of the consecutive frame star chart after overcompensation greatly enhances, and avoids trailing as far as possible
The generation of phenomenon, it is final to provide continuous, high-precision posture survey for carrier so as to improve star image noise when single star measurement accuracy
Measure data.
Claims (2)
1. a kind of Star navigation system method, including Star navigation system system, it is characterized in that；The Star navigation system system is by optical spectroscopic system
System, angular velocity measurement component and attitude measurement component, the angular velocity measurement component is identical with the structure of attitude measurement component,
By detector and processor group into；This method is realized by following steps：
Step 1: starlight enters optical spectroscopic system, be divided by neutrality, be imaged on respectively angular velocity measurement component detector and
On attitude measurement component detector, the angular velocity measurement component detector obtains star chart and delivers to the processing of angular velocity measurement component
Device；
Step 2: the angular velocity measurement component processor obtains the star chart for being continuously shot the moment, and match continuous moment star chart
The corresponding relation of middle asterism, pose transformation matrix between star chart is solved, obtain carrier movement angular velocity measurement data, and by angular speed
Measurement data is sent to attitude measurement component processor；
Step 3: the attitude measurement component processor according to the angular velocity measurement compensation data carrier movement of reception to shooting star
The influence of figure, attitude measurement is completed, the attitude information of carrier is obtained, continuous, high-precision attitude measurement data is provided for carrier,
Realize Star navigation system.
2. a kind of Star navigation system method according to claim 1, it is characterised in that before step 1, in addition to carry
Body largest motion angular speed and attitude measurement accuracy determine the parameter of angular velocity measurement component and attitude measurement component respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719207.8A CN107621262B (en) | 2017-08-21 | 2017-08-21 | Starlight navigation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710719207.8A CN107621262B (en) | 2017-08-21 | 2017-08-21 | Starlight navigation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107621262A true CN107621262A (en) | 2018-01-23 |
| CN107621262B CN107621262B (en) | 2020-06-16 |
Family
ID=61088996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710719207.8A Active CN107621262B (en) | 2017-08-21 | 2017-08-21 | Starlight navigation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107621262B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101770072A (en) * | 2009-12-30 | 2010-07-07 | 北京控制工程研究所 | Complex visual field sensor imaging system |
| CN102564453A (en) * | 2011-12-23 | 2012-07-11 | 北京控制工程研究所 | Correcting method for optical system of star sensor |
| CN102607564A (en) * | 2012-03-09 | 2012-07-25 | 北京航空航天大学 | Small satellite autonomous navigation system based on starlight/ geomagnetism integrated information and navigation method thereof |
| US20120249775A1 (en) * | 2011-03-30 | 2012-10-04 | Princeton Satellite Systems | Optical navigation attitude determination and communications system for space vehicles |
| CN103335648A (en) * | 2013-06-27 | 2013-10-02 | 北京航天自动控制研究所 | Autonomous star map identification method |
| CN103344256A (en) * | 2013-06-19 | 2013-10-09 | 哈尔滨工业大学 | Laboratory testing method for multi-field-of-view star sensor |
| US9217643B1 (en) * | 2009-01-08 | 2015-12-22 | Trex Enterprises Corp. | Angles only navigation system |
| CN106482731A (en) * | 2016-09-29 | 2017-03-08 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | Star sensor and using method are surveyed in a kind of big visual field of suppression atmospheric turbulence effect on daytime |
-
2017
- 2017-08-21 CN CN201710719207.8A patent/CN107621262B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9217643B1 (en) * | 2009-01-08 | 2015-12-22 | Trex Enterprises Corp. | Angles only navigation system |
| CN101770072A (en) * | 2009-12-30 | 2010-07-07 | 北京控制工程研究所 | Complex visual field sensor imaging system |
| US20120249775A1 (en) * | 2011-03-30 | 2012-10-04 | Princeton Satellite Systems | Optical navigation attitude determination and communications system for space vehicles |
| CN102564453A (en) * | 2011-12-23 | 2012-07-11 | 北京控制工程研究所 | Correcting method for optical system of star sensor |
| CN102607564A (en) * | 2012-03-09 | 2012-07-25 | 北京航空航天大学 | Small satellite autonomous navigation system based on starlight/ geomagnetism integrated information and navigation method thereof |
| CN103344256A (en) * | 2013-06-19 | 2013-10-09 | 哈尔滨工业大学 | Laboratory testing method for multi-field-of-view star sensor |
| CN103335648A (en) * | 2013-06-27 | 2013-10-02 | 北京航天自动控制研究所 | Autonomous star map identification method |
| CN106482731A (en) * | 2016-09-29 | 2017-03-08 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | Star sensor and using method are surveyed in a kind of big visual field of suppression atmospheric turbulence effect on daytime |
Non-Patent Citations (6)
| Title |
|---|
| GUO, JINGMING, ET AL: "The wavelet domain hidden markov model analysis of ship attitude based on dual star sensors", 《 2015 11TH INTERNATIONAL CONFERENCE ON NATURAL COMPUTATION (ICNC)》 * |
| 刘劲等: "基于星光多普勒的脉冲星脉冲到达时间补偿", 《华中科技大学学报（自然科学版）》 * |
| 刘宇飞: "深空自主导航方法研究及在接近小天体中的应用", 《工程科技Ⅱ辑》 * |
| 孙高飞: "甚高精度星模拟器及其关键技术研究", 《工程科技Ⅱ辑》 * |
| 常晓华: "深空自主导航方法研究及在小天体探测中的应用", 《工程科技Ⅱ辑》 * |
| 张力军: "基于多视场星敏感器的航天器姿态确定方法研究", 《工程科技Ⅱ辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107621262B (en) | 2020-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109631887B (en) | Inertial navigation high-precision positioning method based on binocular, acceleration and gyroscope | |
| CN108534782B (en) | Binocular vision system-based landmark map vehicle instant positioning method | |
| WO2021248636A1 (en) | System and method for detecting and positioning autonomous driving object | |
| US20040246463A1 (en) | Method and apparatus for optical inertial measurement | |
| CN111880207B (en) | Visual inertial satellite tight coupling positioning method based on wavelet neural network | |
| CN113850126A (en) | Target detection and three-dimensional positioning method and system based on unmanned aerial vehicle | |
| CN103791902B (en) | It is applicable to the star sensor autonomous navigation method of high motor-driven carrier | |
| CN107560603B (en) | Unmanned aerial vehicle oblique photography measurement system and measurement method | |
| CN102607526A (en) | Target posture measuring method based on binocular vision under double mediums | |
| CN101609149A (en) | A kind of method that improves attitude determination precision of airborne laser radar | |
| CN103575274A (en) | High-performance star-map matching autonomous navigation positioning system | |
| CN109387192B (en) | Indoor and outdoor continuous positioning method and device | |
| CN106525054B (en) | A kind of above pushed away using star is swept single star of remote sensing images information and independently surveys orbit determination method | |
| CN112950671B (en) | Real-time high-precision parameter measurement method for moving target by unmanned aerial vehicle | |
| CN114693754A (en) | Unmanned aerial vehicle autonomous positioning method and system based on monocular vision inertial navigation fusion | |
| US8538606B2 (en) | Systems, methods, and apparatus for sensing flight direction of a spacecraft | |
| CN101793517B (en) | Online quick method for improving accuracy of attitude determination of airborne platform | |
| CN104154932A (en) | Implementation method of high-dynamic star sensor based on EMCCD and CMOS | |
| CN111652276B (en) | All-weather portable multifunctional bionic positioning and attitude-determining viewing system and method | |
| CN104316046B (en) | A kind of intensity correlation star sensor | |
| CN113740864A (en) | Self-pose estimation method for soft landing tail segment of detector based on laser three-dimensional point cloud | |
| CN107621262A (en) | A kind of Star navigation system method | |
| CN115077560A (en) | Dynamic detection method for parallelism of optical axis of shipborne visible light and medium wave infrared system | |
| CN112837374B (en) | Space positioning method and system | |
| CN114509071A (en) | Attitude measurement method for wind tunnel test model |
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 |