CN107621262B - Starlight navigation method - Google Patents
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- CN107621262B CN107621262B CN201710719207.8A CN201710719207A CN107621262B CN 107621262 B CN107621262 B CN 107621262B CN 201710719207 A CN201710719207 A CN 201710719207A CN 107621262 B CN107621262 B CN 107621262B
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Abstract
A starlight navigation method relates to the technical field of astronomical navigation. The method divides the starlight entering the optical lens into two paths, and the two paths of the starlight are respectively imaged on detectors of the attitude measurement component and the angular velocity measurement component. The angular velocity measurement component has high frame frequency, large field of view, low detection star and the like, provides the carrier motion angular velocity at high frame frequency by matching the corresponding relation of star points in the continuous time star map, and sends the measurement data to the attitude measurement component. The attitude measurement component compensates the influence of carrier motion on shooting star maps by utilizing the received angular speed information, completes the attitude measurement process and provides continuous and high-precision attitude measurement data for the carrier. The method can simultaneously measure angular velocity and attitude information based on the starlight vector, and greatly improves the dynamic performance of starlight attitude navigation.
Description
Technical Field
The invention relates to the technical field of astronomical navigation, in particular to a starlight navigation method.
Background
In various astronomical navigations using stars as beacons, the fixed star is equivalent to an infinite distance luminous body, the field angle of the fixed star is very small, the fixed star can be regarded as a point light source target, and the fixed star has high-precision position stability, so that starlight navigation using starlight as beacons is the highest precision in current navigation. However, the sensitive detection of the starlight needs to accumulate charges for a period of time, especially the detection of the starlight of a higher star and the like, a longer charge integration time is needed, when the carrier is large in mobility, the longer integration time can cause the starlight to be trailing, and effective signal charges generated by the starlight are dispersed to more pixels, so that the detection capability is reduced, and the tracking capability and the attitude measurement accuracy are reduced.
Disclosure of Invention
The invention provides a starlight navigation method for solving the problem of poor dynamic performance of the existing starlight navigation equipment.
A starlight navigation method comprises a starlight navigation system, wherein the starlight navigation system comprises an optical beam splitting system, an angular velocity measurement assembly and an attitude measurement assembly, the angular velocity measurement assembly and the attitude measurement assembly have the same structure and are both composed of a detector and a processor; the method is realized by the following steps:
the method comprises the following steps that firstly, starlight enters an optical light splitting system, is subjected to neutral light splitting and is imaged on an angular velocity measurement component detector and an attitude measurement component detector respectively, and the angular velocity measurement component detector acquires a star map and sends the star map to an angular velocity measurement component processor;
secondly, the angular velocity measurement component processor acquires star maps at continuous shooting moments, matches the corresponding relation of star points in the star maps at the continuous shooting moments, solves an attitude conversion matrix between the star maps, obtains carrier motion angular velocity measurement data, and sends the angular velocity measurement data to the attitude measurement component processor;
and thirdly, the attitude measurement component processor compensates the influence of the motion of the carrier on the shot star map according to the received angular velocity measurement data, completes attitude measurement, obtains attitude information of the carrier, provides continuous and high-precision attitude measurement data for the carrier, and realizes starlight navigation.
The invention has the beneficial effects that: the invention provides a single-view field starlight navigation method based on an integrated scheme, which integrates a starlight angular velocity measuring component independent of an attitude measuring component and independent of effective attitude measurement by utilizing an optical neutral light splitting mode on the basis of original attitude measurement. After starlight enters a view field, the starlight can reach the detectors of the two measurement assemblies at the same time, extra calibration of a coordinate system and optical axis pointing are not needed, attitude measurement and angular velocity measurement can be independently and simultaneously completed, and dynamic performance of starlight navigation can be greatly improved by effectively fusing angular velocity information and attitude information.
Drawings
Fig. 1 is a schematic view of a starlight navigation method according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. The optical light splitting system splits the star light entering the optical lens into two paths, wherein one path of the star light is imaged on a detector of the attitude measurement component, and the other path of the star light is imaged on a detector of the high-frame-frequency angular velocity measurement component.
The method is realized by the following steps:
and step A, determining parameters of the angular velocity measurement assembly and the attitude measurement assembly respectively according to the maximum motion angular velocity and the attitude measurement precision of the carrier. Balancing parameters of an angular velocity measuring assembly on the basis that the maximum motion angular velocity of the carrier is not more than 1/3 visual fields, enough stars are in the visual fields and no trailing of star images is generated; the attitude measurement component takes the attitude measurement precision as a target performance parameter, and determines the parameters of the attitude measurement component by calculating the detection capability of stars and the like, the field of view and the number of stars in the field of view.
And B, the starlight enters the optical light splitting system, and is subjected to neutral light splitting to be respectively imaged on the angular velocity measurement component detector and the attitude measurement component detector. The detector of the angular velocity measurement component detects low star, a star map with a large field of view is obtained at a high frame frequency, such as 50 frames/second to 100 frames/second, and the star map is sent to the processor of the angular velocity measurement component; the attitude measurement component detector obtains more detection stars through detecting fixed stars such as high stars and the like so as to ensure high-precision attitude measurement data.
And step C, the angular velocity measurement component processor acquires the continuous shooting time t, t + delta t star map, and matches the corresponding relation of star points in the continuous shooting time t, t + delta t star map by the geometric shape or effective characteristics among the star maps, wherein the process does not need the support of a navigation star library.
Moving the star sensor from the time t to the time t + delta t, wherein the attitude angle changes of the yaw direction, the pitch direction and the roll direction between the star maps are respectively (α, kappa), and then constructing an attitude conversion matrix from the star map at the time t to the star map at the time t + delta t into an attitude conversion matrix containing an attitude angle (α, kappa)
At this time, the process of the present invention,
substituting the star point pairs into the star map at the time t, t + delta t to solve the attitude transformation matrix
And obtaining the instantaneous motion angular velocity of the carrier, and sending the angular velocity data to the attitude measurement component.
And D, the attitude measurement component compensates the influence of the carrier motion on the shot star map by using the received angular velocity information and adopting technologies such as inverse filtering restoration and the like, and completes the processes of rapid target extraction, star map identification, attitude calculation and the like to obtain attitude information.
In the embodiment, the time correlation of the compensated adjacent frame star images is greatly enhanced, and the generation of a tailing phenomenon is avoided as much as possible, so that the star image signal-to-noise ratio and the single star measurement precision are improved, and continuous and high-precision attitude measurement data are finally provided for a carrier.
Claims (2)
1. A starlight navigation method comprises a starlight navigation system and is characterized in that; the starlight navigation system comprises an optical beam splitting system, an angular velocity measuring assembly and an attitude measuring assembly, wherein the angular velocity measuring assembly and the attitude measuring assembly have the same structure and are composed of a detector and a processor; the method is realized by the following steps:
the method comprises the following steps that firstly, starlight enters an optical light splitting system, is subjected to neutral light splitting and is imaged on an angular velocity measurement component detector and an attitude measurement component detector respectively, and the angular velocity measurement component detector acquires a star map and sends the star map to an angular velocity measurement component processor;
secondly, the angular velocity measurement component processor acquires star maps at continuous shooting moments, matches the corresponding relation of star points in the star maps at the continuous shooting moments, solves an attitude conversion matrix between the star maps, obtains carrier motion angular velocity measurement data, and sends the angular velocity measurement data to the attitude measurement component processor;
and thirdly, the attitude measurement component processor compensates the influence of the motion of the carrier on the shot star map according to the received angular velocity measurement data, completes attitude measurement, obtains attitude information of the carrier, provides continuous and high-precision attitude measurement data for the carrier, and realizes starlight navigation.
2. The star light navigation method according to claim 1, further comprising, before the step one, determining parameters of the angular velocity measurement component and the attitude measurement component at the maximum angular velocity of the carrier movement and the attitude measurement accuracy, respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710719207.8A CN107621262B (en) | 2017-08-21 | 2017-08-21 | Starlight navigation method |
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| CN201710719207.8A CN107621262B (en) | 2017-08-21 | 2017-08-21 | Starlight navigation method |
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| CN107621262B true CN107621262B (en) | 2020-06-16 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9217643B1 (en) * | 2009-01-08 | 2015-12-22 | Trex Enterprises Corp. | Angles only navigation system |
| CN101770072B (en) * | 2009-12-30 | 2011-04-27 | 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 |
| CN102564453B (en) * | 2011-12-23 | 2014-08-27 | 北京控制工程研究所 | Correcting method for optical system of star sensor |
| CN102607564B (en) * | 2012-03-09 | 2014-12-17 | 北京航空航天大学 | Small satellite autonomous navigation system based on starlight/ geomagnetism integrated information and navigation method thereof |
| CN103344256B (en) * | 2013-06-19 | 2015-07-08 | 哈尔滨工业大学 | Laboratory testing method for multi-field-of-view star sensor |
| CN103335648B (en) * | 2013-06-27 | 2015-11-11 | 北京航天自动控制研究所 | A kind of autonomous method for recognising star map |
| CN106482731B (en) * | 2016-09-29 | 2019-03-15 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | A kind of big visual field survey star sensor and application method of inhibition atmospheric turbulence effect on daytime |
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