CN107677266B - Star light navigation system based on spin-elevation tracking theory and resolving method thereof - Google Patents
Star light navigation system based on spin-elevation tracking theory and resolving method thereof Download PDFInfo
- Publication number
- CN107677266B CN107677266B CN201710782835.0A CN201710782835A CN107677266B CN 107677266 B CN107677266 B CN 107677266B CN 201710782835 A CN201710782835 A CN 201710782835A CN 107677266 B CN107677266 B CN 107677266B
- Authority
- CN
- China
- Prior art keywords
- angle
- spin
- formula
- elevation
- starlight
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims description 25
- 230000004075 alteration Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 239000013598 vector Substances 0.000 claims description 4
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 239000005357 flat glass Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Images
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
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention relates to the technical field of starlight navigation, in particular to a starlight navigation system based on spin-elevation tracking theory and an astronomical resolving method thereof. Based on a newly proposed starlight navigation theory, the invention uses double-parameter measurement, single-star tracking and multi-element equation set solving to synchronously measure the posture and the position of the carrier through an accurate spin-elevation tracking formula, greatly improves the speed and the precision compared with the existing starlight navigation technology, and basically solves the technical problems of poor precision, slow processing speed and single measurement existing in the traditional starlight navigation technology. The astronomical starlight navigation system of the invention can be combined into instruments such as an aircraft navigator, a stable platform and the like in different numbers and forms, and is used for navigation application under different conditions.
Description
Technical Field
The invention relates to the technical field of starlight navigation, in particular to a starlight navigation system based on spin-elevation tracking theory and an astronomical resolving method thereof.
Background
Starlight navigation is an autonomous navigation technology with strong anti-interference, strong concealment, high reliability and high precision, and is the earliest developed orientation and positioning method for human beings in the field of navigation due to the requirement of remote navigation.
The starlight navigation system based on the hexameter principle of measuring altitude angle is formed by simple devices such as a handheld hexameter, compasses, an astronomical compass, an astronomical clock and the like in the early stage, not only can measure the posture of a carrier, but also can confirm the position of the carrier through the measurement of double stars by using a method such as 'equal altitude circle'. The modern astronomical starlight navigation system based on the principle of the altitude difference method consists of a photoelectric sextant, tracking equipment, an inertial platform and the like, and can automatically search and track stars and calculate the gesture and the position of a carrier. The star sensor developed in the lower half of the last century is the biggest breakthrough for improving the attitude measurement precision of an aircraft in the field of starlight navigation, and the astronomical starlight navigation based on multi-star vector positioning comprises a large-view-field and short-focal-length photoelectric camera system formed by CMOS, APS or CCD cameras, can measure various attitude angles to the precision of a few of an angle seconds after being matched with precise devices such as a photomultiplier, and is the highest in the measurement precision of the attitudes in all navigation equipment.
Despite the above-described leap developments, conventional starlight navigation techniques still suffer from the following disadvantages due to the limitations of astronomical tracking underlying theory:
1. the measurement technology based on sextant mainly measures single parameter of altitude angle, so that the calculation process of calculation program is very complex and lengthy, and the measurement precision is difficult to be greatly improved. Generally, the position accuracy of starlight navigation can only reach a few kilometers, and is basically inadaptable to the requirements of modern aircrafts; 2. the measurement time is long, the traditional one-time positioning and orientation process of starlight navigation needs 1-2 minutes, and even if a photoelectric technology is used, the measurement time needs about 15 seconds, so that the accuracy limitation of the long measurement time on the dynamic guidance of the aircraft is quite serious, and even if the star sensor with very good dynamic characteristics is adopted, the processing speed of the calculation is greatly influenced because the star gallery is too large and the image recognition and comparison speed is relatively slow;
3. the function of the star sensor which is most prominent in star navigation at present is only limited to the measurement of the attitude of a carrier, but not the measurement of the position, and the star navigation system which can rapidly and accurately measure the attitude and the position synchronously is still a blank point at home and abroad at present.
Disclosure of Invention
Aiming at the technical problems existing in the traditional starlight navigation technology, the invention provides a new solution.
The invention relates to a novel star light navigation system based on spin-elevation tracking theory, as shown in figure 1, the system comprises a plane reflector (1), a star light condensing system (9), a position sensor (3), an absolute elevation sensor (6) and an absolute spin angle sensor (7), wherein:
(i) The plane reflector (1) is used for collecting starlight and reflecting the starlight to the central axis of the starlight condensing system (9) through the tracking driving mechanisms (4, 5) of the plane reflector,
(ii) The starlight condensing system (9) is used for focusing the starlight to ensure that the light intensity of the collected starlight reaches the density suitable for the detection of the position sensor (3),
(iii) The position sensor (3) is used for photoelectric conversion to convert the position change of the light spot on the position sensor into an electric signal,
(iv) The negative feedback electronic system is a tracking driving mechanism (4, 5) which amplifies the electric signal and feeds back the electric signal to the plane mirror (1) so that a light spot positioned on the position sensor (3) is static at the central part of the position sensor (3),
(v) The absolute elevation sensor (6) and the absolute spin angle sensor (7) are used for reading out the spin angle and elevation angle data of the plane reflector (1) when the light spot is static at the central part of the position sensor (3), and leading the data into an electronic computer system carrying a spin-elevation angle tracking formula for resolving, and the resolved data are used for starlight navigation.
Preferably, the system comprises a plane mirror (1) having a rotation axis and an elevation axis, the rotation axis being directed towards the central part of the position sensor (3).
Preferably, the system comprises a starlight condensing system (9) comprising a higher order mirror (2) defined by a color filter (8), literature (y.t. chen et al, off-axis aberration correction surface in Solar Energy application, solar Energy 80 (2006) 268-271) or a system of color filter (14), schmidt compensator (12), condensing lens (13) in fig. 2 capable of greatly reducing aberrations of starlight spots and adjusting light intensity to a density suitable for detection by the position sensor (3).
Preferably, after tracking a specific star and forming a negative feedback tracking form, the system calculates any two parameters of the posture and the position of the system by the following steps: at a certain point, spin angle data ρ and elevation angle data θ obtained by the absolute type elevation angle sensor (6) and the absolute type spin angle sensor (7) shown in fig. 1 pass through the formulas (1) and (2) or the formulas equivalent to the formulas (1) and (2),
wherein ,
solving the self-body posture (target angle lambda and facing angle)
) Or the position itself (latitude phi and longitude omega) or the target angle lambda, the facing angle +.>
Any two parameters of four parameters of latitude phi and longitude omega.
Preferably, after tracking a specific star and forming a negative feedback tracking mode, when the system is stationary in a celestial coordinate system or its motion speed is far less than the linear velocity of the earth surface due to earth rotation, one of the methods for resolving the posture and position of the system is as follows: at time t 1 And time t 2 Spin angle data and elevation angle data obtained by an absolute elevation angle sensor (6) and an absolute spin angle sensor (7) are ρ 1 、θ 1 and ρ2 、θ 2 By the formula (3), the formula (4), the formula (5) and the formula (6), or the formula equivalent to the formula (3), the formula (4), the formula (5) and the formula (6),
and ,
and
wherein ,
ω 1 ＝ω
ω 2 ＝ω+Ω(t 2 -t 1 )
omega is the rotation speed of the earth, and the attitude (target angle lambda and facing angle) of the system itself when the system is stationary in the celestial coordinate system or its movement speed is much smaller than the linear speed of the earth surface due to rotation is calculated
Preferably, the astronomical star navigation system fixed on a mobile carrier consists of two said systems having the same target angle, different facing angles and respective facing angles
Heading angle +.>
After a specific star is tracked and a negative feedback tracking form is formed, when the motion carrier is in a high-speed motion state, one of the methods for resolving the gesture and the position of the motion carrier is as follows: at a certain moment, the spin angle data and the elevation angle data obtained by the respective angle sensors are ρ respectively 3 、λ 3 and ρ4 、θ 4 By the formula (7), the formula (8), the formula (9) and the formula (10), or the formula equivalent to the formula (7), the formula (8), the formula (9) and the formula (10),
and ,
and
wherein ,
respectively two systems face angles
Course angle with motion vector->
Geometric function between them, calculate the attitude of its motion carrier itself (pitch angle lambda and heading angle +.>
) And the position of the motion carrier itself (latitude Φ and longitude ω).
Preferably, the astronomical star navigation system fixed on a mobile carrier consists of two said systems having the same facing angle, different target angles, and respective target angles (λ 5 、λ 6 ) The method has a specific geometric relation with the pitch angle (lambda) of the moving carrier, and after a specific star is tracked and a negative feedback tracking mode is formed, when the moving carrier is in a high-speed moving state, one of the methods for resolving the gesture and the position of the moving carrier is as follows: at a certain moment, the spin angle data and the elevation angle data obtained by the respective angle sensors are ρ respectively 5 、θ 5 and ρ6 、θ 6 By the formula (11), the formula (12), the formula (13) and the formula (14), or the formulas equivalent to the formula (11), the formula (12), the formula (13) and the formula (14),
and ,
and
wherein ,
λ 5 ＝F(λ)
λ 6 ＝G(λ)
respectively two system target angles lambda 5 、λ 6 The geometrical function between the pitch angle lambda of the motion carrier and the motion carrier is calculated to obtain the posture (pitch angle lambda and course angle)
) And the position of the moving carrier itself (latitude phi and longitude omega).
Drawings
Figure 1 is a schematic diagram of a spin-elevation star tracking system,
in the figure: the plane reflector 1 high-order reflection condensing lens 2 position sensor 3 elevation axis motor 4 spin angle axis motor 5 absolute elevation angle sensor (or encoder) 6 absolute spin angle sensor (or encoder) 7 color filter 8 starlight condensing system 9.
Figure 2 is a schematic diagram of a specific design of a spin-elevation star tracking system in an example embodiment,
in the figure:
the plane reflecting mirror 10 is provided with a window glass 11, a spherical aberration compensating sheet 12, a condensing lens 13, a color filter 14, a position sensor 15, a spin angle sensor 16, a spin axis motor 17, a spin rotating bearing seat 18 and a self rotating bearing seat 19.
Figure 3 is a schematic diagram of an aircraft navigator composed of two spin-elevation star tracking systems in an example of embodiment,
in the figure:
Figure 4 is a schematic diagram of a stabilized platform composed of two spin-elevation star tracking systems in an example of an embodiment,
in the figure:
Detailed Description
The invention discloses a star light tracking system based on spin-elevation tracking theory, which consists of a plane reflector, a star light focusing system, a position sensor, an angle sensor and an electronic device forming a negative feedback tracking mode. The spin-elevation star tracking system may be combined in different forms to achieve a variety of scientific applications including, but not limited to, non-inertial astronomical stabilized platforms, astronomical navigator to measure the attitude and position of a carrier synchronously, etc.; the spin-elevation star light tracking system can also be combined with other inertial gyroscopes and optical gyroscopes to form astronomical star light navigators with different functions.
Specific examples of applications are:
(1) Design of spin-elevation star tracking system:
fig. 2 shows a schematic illustration of a specific design of the star tracker system described herein, wherein the optical system is arranged by coaxial devices, the axis of which is the spin axis of the plane mirror 10, and the optical system is stably fixed inside a metal casing with a length of about 400mm, and the incident light is projected by the window glass 11 onto the plane mirror 10 capable of performing the spin and elevation movements. The starlight condensing system consists of 3 main components, namely a spherical aberration compensating sheet 12, a condensing lens 13 and a color filter 14, for a high-precision optical system, aberration is a main source of systematic error, although a spin-tracking mode is used, the aberration of the spherical lens still needs to be corrected by the Schmidt compensating sheet (12), the color filter (14) mainly serves to adjust light intensity, and an infrared cut-off sheet can also be used to remove heat possibly generated on a position sensor 15. The light passing through the starlight condensing system is focused on the position sensor 15, the negative feedback control loop of which has been illustrated in the schematic diagram of fig. 1. 16 is a spin angle sensor, which can use a single-turn absolute encoder with a high number of bits up to the order of an angle second in recognition accuracy if possible, so that an encoder with a recognition accuracy up to the order of an angle second, generally 18 to 20 bits, is available; if the precision requirement is not high, a 14-16 bit encoder can also be used. Reference numeral 17 is a spin axis motor, and reference numerals 18 and 19 are two rotational bearings for the spin axis, and bearings of special construction and materials can be used if desired to accommodate the harsh operating environment of the space available for sailing. Preferably, when the accuracy of the angle sensor reaches the level of an angle second, the accuracy of the starlight tracking system can also reach the level of an angle second. Preferably, the negative feedback system and the computing system of the design are very fast, and the orientation and positioning procedure of the system does not exceed one second, which is advanced by one step compared with the existing astronomical star tracking system.
(2) An aircraft navigator with the same optical fiber angular displacement sensor combination:
fig. 3 shows an example of an application of the star tracker system of the present invention to an aircraft navigator, where two systems 20 and 21 form an angle of 60 ° and are firmly mounted on a fixed plate 22, the center line of the angle of 60 ° is aligned with the flight direction of the aircraft, the roll rotation axis 23 of the fixed plate 22 is parallel to the flight direction, the roll angle is measured by a concentrically arranged optical fiber angular displacement sensor 24, and the rotation motor (not shown) of the rotation axis 23 receives the negative feedback signal of the angular displacement sensor 24, so as to realize a fixed platform with zero roll angle.
In such designs, the constraint equation is represented by the following formula:
substituting the relation of the formula (15) into the quaternary simultaneous equations of the formulas (7) to (10) can solve the attitude angle and the position of the aircraft.
(3) A local astronomical stabilized platform consisting of two systems:
the use of a stabilized platform is not limited to navigator applications, which are widespread in many fields, including but not limited to local platforms for accurate tracking of aircraft by devices; a local platform for precisely transmitting laser or radar waves; a platform for mounting on a floating airship for directional transmission of signals; turret for use on bumpy vessels, small launcher, etc. Such a local astronomical stabilized platform can be constructed using two spin-elevation tracking systems, the structure of which is schematically shown in fig. 4.
Two spin-elevation star tracking systems 25, 26 are fixed on a plate 27 with their spin axes perpendicular to each other, the data acquired by the two perpendicular tracking systems must be mutually incoherent, so that when both systems track the same star, the spin angle ρ of the system 25 1 Elevation angle theta 1 Spin angle sum ρ with system 26 2 Elevation angle theta 2 Are independent of each other and are in the same local position, and the position parameters are known data; preferably, when they track the same star at the local position, the respective spin and elevation angle data and the local longitude, declination position coordinates are input into equations (1) and (2) to obtain the angle-oriented and target angle data, respectively, the target angle λ obtained by the system 25 1 The difference from the theoretical value is used to control the pitch motion of the plate 27 in the x-direction, the target angle lambda obtained by the system 26 2 The difference from the theoretical value is used to control the rolling motion of the plate 28 in the y-direction, so that the stationary plate 27 becomes a stable platform with the star as a frame of reference under the control of the systems 25, 26. The angular-oriented data acquired by the two systems should be perpendicular to each other, thereby serving as a criterion for stabilizing whether the platform is working properly.
Claims (7)
1. The star light navigation system based on the new spin-elevation tracking theory is characterized by comprising a plane reflector (1), a star light condensing system (9), a position sensor (3), a negative feedback electronic system, an absolute elevation sensor (6) and an absolute spin angle sensor (7), wherein,
the plane reflector (1) is used for collecting starlight and reflecting the starlight to the central axis of the starlight condensing system (9) through the elevation axis motor (4) and the spin angle axis motor (5),
the starlight condensing system (9) is used for focusing the starlight to ensure that the light intensity of the collected starlight reaches the density suitable for the detection of the position sensor (3),
the position sensor (3) is used for photoelectric conversion to convert the position change of the light spot on the position sensor into an electric signal,
the negative feedback electronic system amplifies the electric signal and feeds the electric signal back to an elevation axis motor (4) and a spin angle axis motor (5) of the plane reflector (1) so that a light spot positioned on the position sensor (3) is static at the central part of the position sensor (3),
the absolute elevation sensor (6) and the absolute spin angle sensor (7) are used for reading out the spin angle and elevation angle data of the plane reflector (1) when the light spot is static at the central part of the position sensor (3), and leading the data into an electronic computer system carrying a spin-elevation angle tracking formula for resolving, and the resolved data are used for starlight navigation.
2. A system as claimed in claim 1, characterized in that the system comprises a plane mirror (1) having a spin angle axis of rotation and an elevation angle axis of rotation, the spin angle axis of rotation being directed towards the central part of the position sensor (3).
3. A system as claimed in claim 1, characterized in that the system comprises a starlight condensing system (9) comprising a system of color filters (8), higher order mirrors (2) or color filters (14), schmidt compensation sheets (12), condensing lenses (13) capable of reducing the aberrations of the starlight spots and adjusting the light intensity to a density suitable for detection by the position sensor (3).
4. A system as claimed in claim 1, wherein after tracking a specific star and forming a negative feedback tracking form, the system calculates any two parameters of the posture and the position of the system by: at a certain moment, the elevation angle data θ and the spin angle data ρ obtained by the absolute elevation angle sensor (6) and the absolute spin angle sensor (7) pass through the formulas (1) and (2),
wherein ,
solving the posture of the model: target angle lambda and facing angle
Or the position itself: latitude Φ and longitude ω, or target angle λ, facing angle +.>
Any two parameters of four parameters of latitude phi and longitude omega.
5. A system according to claim 1, wherein after tracking a specific star and forming a negative feedback tracking mode, when the system is stationary in a celestial coordinate system or its moving speed is far less than the linear speed of the earth surface due to the rotation of the earth, the method for resolving the posture and position of the system is as follows: at time t 1 And time t 2 Elevation angle data and spin angle data obtained by an absolute elevation angle sensor (6) and an absolute spin angle sensor (7) are respectively θ 1 、ρ 1 and θ2 、ρ 2 Through the formula (3), the formula (4), the formula (5) and the formula (6),
wherein ,
wherein ,
wherein ,
ω 1 ＝ω
ω 2 ＝ω+Ω(t 2 -t 1 )
omega is the rotation speed of the earth, and the attitude of the system itself when the system is stationary in the celestial coordinate system or its movement speed is much smaller than the linear speed of the earth surface due to rotation is solved:
target angle lambda and facing angle
And at t 1 The position of the moment itself: latitude Φ and longitude ω.
6. A system as claimed in claim 1, wherein the astronomical navigation system fixed to a moving carrier is composed of two said systems having the same target angle, different facing angles, and respective facing angles
Heading angle +.>
After a specific star is tracked and a negative feedback tracking form is formed, when the motion carrier is in a high-speed motion state, the method for resolving the gesture and the position of the motion carrier comprises the following steps: at a certain moment, the elevation angle data and spin angle data obtained by the absolute elevation angle sensor (6) and the absolute spin angle sensor (7) are respectively theta 3 、ρ 3 and θ4 、ρ 4 Through the formula (7), the formula (8), the formula (9) and the formula (10),
wherein ,
wherein ,
wherein ,
respectively two systems face angles
Course angle with motion vector->
Geometric functions among the motion vectors, and calculating the posture of the motion carrier: pitch angle lambda and heading angle->
And the position of the motion vector itself: latitude Φ and longitude ω.
7. A system as claimed in claim 1, characterized in that the astronomical navigation system fixed on a moving carrier consists of two said systems having the same facing angle, different target angles and respective target angles λ 5 、λ 6 The method for calculating the posture and the position of the moving carrier when the moving carrier is in a high-speed moving state after tracking a specific star and forming a negative feedback tracking state comprises the following steps of: at a certain moment, the elevation angle data and spin angle data obtained by the absolute elevation angle sensor (6) and the absolute spin angle sensor (7) are respectively theta 5 、ρ 5 and θ6 、ρ 6 Through the formula (11), the formula (12), the formula (13) and the formula (14),
wherein ,
wherein ,
wherein ,
λ 5 ＝F(λ)
λ 6 ＝G(λ)
respectively two system target angles lambda 5 、λ 6 And solving the attitude of the motion carrier by using a geometrical function between the motion carrier and the pitch angle lambda of the motion carrier: pitch angle lambda and heading angle
And the position of the motion vector itself: latitude Φ and longitude ω.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710782835.0A CN107677266B (en) | 2017-09-03 | 2017-09-03 | Star light navigation system based on spin-elevation tracking theory and resolving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710782835.0A CN107677266B (en) | 2017-09-03 | 2017-09-03 | Star light navigation system based on spin-elevation tracking theory and resolving method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107677266A CN107677266A (en) | 2018-02-09 |
| CN107677266B true CN107677266B (en) | 2023-06-20 |
Family
ID=61135953
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710782835.0A Active CN107677266B (en) | 2017-09-03 | 2017-09-03 | Star light navigation system based on spin-elevation tracking theory and resolving method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107677266B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110763258A (en) * | 2019-11-06 | 2020-02-07 | 中国北方车辆研究所 | Turret rotation angle measuring system based on rotary connector and coded disc |
| CN114142926B (en) * | 2021-10-15 | 2023-05-23 | 北京遥测技术研究所 | Ultra-far deep space laser communication capturing and tracking system |
| CN114739307B (en) * | 2022-04-08 | 2023-10-20 | 中国人民解放军国防科技大学 | All-fiber structure combined attitude determination device and application method thereof |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101672655A (en) * | 2009-09-25 | 2010-03-17 | 北京航空航天大学 | Measuring method for position, posture and course of car on the ground based on double shaft photoelectric measurement system |
| CN104296754A (en) * | 2014-10-10 | 2015-01-21 | 北京大学 | Autonomous navigation system and autonomous navigation method thereof based on laser space communication transceiver |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4564275A (en) * | 1984-06-21 | 1986-01-14 | Mcdonnell Douglas Corporation | Automatic heliostat track alignment method |
| US7447591B2 (en) * | 2004-10-18 | 2008-11-04 | Trex Enterprises Corp. | Daytime stellar imager for attitude determination |
| CN101236296B (en) * | 2008-01-31 | 2010-06-02 | 北京控制工程研究所 | Ultraviolet navigation sensor optical system |
| CN101368764A (en) * | 2008-09-01 | 2009-02-18 | 陈应天 | Solar furnace adopting spin-elevation tracking mode |
| CN101788296B (en) * | 2010-01-26 | 2011-11-16 | 北京航空航天大学 | SINS/CNS deep integrated navigation system and realization method thereof |
| CN101859014B (en) * | 2010-06-09 | 2012-07-18 | 中国科学院电工研究所 | Azimuth-elevation tracking method of heliostat with reflecting mirror surface deviated from rotating center |
| CN102590831B (en) * | 2012-02-13 | 2013-11-13 | 北京华力创通科技股份有限公司 | Method and device for judging satellite visibility under carrier rotating condition |
| CN103676960B (en) * | 2012-09-11 | 2017-02-08 | 北京信普尼科技有限公司 | Concentrating solar tracking self-calibration device and application thereof |
| CN103076015B (en) * | 2013-01-04 | 2015-10-28 | 北京航空航天大学 | A kind of SINS/CNS integrated navigation system based on optimum correction comprehensively and air navigation aid thereof |
| CN105806346B (en) * | 2014-12-31 | 2018-09-07 | 上海新跃仪表厂 | Angular distance measurement method between camera observation sensor and its star between middle high rail constellation star |
| CN105468032B (en) * | 2015-11-30 | 2018-10-09 | 北京控制工程研究所 | A kind of Stellar orientation instrument structure for round-the-clock Star navigation system |
-
2017
- 2017-09-03 CN CN201710782835.0A patent/CN107677266B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101672655A (en) * | 2009-09-25 | 2010-03-17 | 北京航空航天大学 | Measuring method for position, posture and course of car on the ground based on double shaft photoelectric measurement system |
| CN104296754A (en) * | 2014-10-10 | 2015-01-21 | 北京大学 | Autonomous navigation system and autonomous navigation method thereof based on laser space communication transceiver |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107677266A (en) | 2018-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4714907B2 (en) | Gyro system for bore sighting equipment | |
| CN102252673B (en) | Correction method for on-track aberration of star sensor | |
| CN107677266B (en) | Star light navigation system based on spin-elevation tracking theory and resolving method thereof | |
| CN108731674B (en) | Inertial astronomical integrated navigation system based on single-axis rotation modulation and calculation method | |
| US5155327A (en) | Laser pointing system | |
| CN109032153A (en) | Based on photoelectricity-inertia combination guiding unmanned plane autonomous landing on the ship method and system | |
| CN105823420A (en) | Method for precise derivation of light-return energy center coordinates of pyramid combined part | |
| CN102288201A (en) | Precision measurement method for star sensor | |
| ITRM20120664A1 (en) | HIGH PRECISION SOLAR ELECTRONIC COMPASS. | |
| RU141801U1 (en) | ASTROINERCIAL NAVIGATION SYSTEM | |
| CN112212858A (en) | Daytime star-sensitive imaging system based on field-of-view gating technology | |
| CN114111723B (en) | Celestial body capturing method based on dynamic small view field | |
| CN115343743A (en) | Astronomical satellite integrated navigation positioning system and method independent of horizontal reference and satellite signal | |
| US3326619A (en) | Gyro stabilized sight system utilizing a mirror with front and back reflecting surfaces | |
| CN109470274B (en) | Vehicle-mounted photoelectric theodolite vehicle-mounted platform deformation measurement system and method | |
| CN111895968B (en) | High-precision composite horizontal angle measuring system | |
| US10690876B2 (en) | Enhanced image detection for celestial-aided navigation and star tracker systems | |
| CN115793722A (en) | High-precision tracking method and system for ground level type solar telescope storehouse de-focus surface | |
| CN115077560A (en) | Dynamic detection method for parallelism of optical axis of shipborne visible light and medium wave infrared system | |
| Borrello | A multi stage pointing acquisition and tracking (PAT) control system approach for air to air laser communications | |
| CN112882498A (en) | Three-axis photoelectric search tracking device and method with image rotation inhibiting function | |
| CN111380563A (en) | Detection device, photoelectric theodolite detection system and aviation airborne optical platform detection system | |
| CN116300417B (en) | Large-scale distributed space telescope primary and secondary mirror formation control method | |
| Yu et al. | Differential measurement of atmospheric refraction using a telescope with double fields of view | |
| CN113551671B (en) | Real-time high-precision measurement method for attitude and position of unmanned aerial vehicle |
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 |