CN113137964B - Airborne astronomical navigation method and device and electronic equipment - Google Patents
Airborne astronomical navigation method and device and electronic equipment Download PDFInfo
- Publication number
- CN113137964B CN113137964B CN202010465396.2A CN202010465396A CN113137964B CN 113137964 B CN113137964 B CN 113137964B CN 202010465396 A CN202010465396 A CN 202010465396A CN 113137964 B CN113137964 B CN 113137964B
- Authority
- CN
- China
- Prior art keywords
- angle
- axis
- azimuth
- pitch
- rotation
- 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 44
- 238000005259 measurement Methods 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 238000012360 testing method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000021384 green leafy vegetables Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The application provides an airborne astronomical navigation method, an airborne astronomical navigation device and electronic equipment, and relates to the technical field of airborne astronomical navigation. According to the technical scheme, the pitch angle and the azimuth angle of the inner frame of the two-axis four-frame turntable are always kept perpendicular to each other, the phenomenon that the azimuth angle change rate is increased when the pitch angle is increased is avoided, and the problem that the navigation precision is rapidly reduced along with the increase of the pitch angle and even the navigation fails is solved.
Description
Technical Field
The application relates to an astronomical navigation technology, in particular to an airborne astronomical navigation method, an airborne astronomical navigation device and electronic equipment, and belongs to the technical field of airborne astronomical navigation.
Background
The airborne navigation technology is one of the most important technologies in the field of aircrafts, and the realization of the autonomous and controllable airborne navigation technology has important significance for aerospace industry.
The prior airborne navigation has developed an astronomical inertial integrated navigation mode, and the inertial navigation has the advantages of high short-time sequence precision, continuous output, strong anti-interference capability and the like, but also has the defect of large accumulated error during long-time working; astronomical navigation has advantages of good concealment, strong autonomy, high precision and the like, but also has the defects of discontinuous output and easy environmental influence. By combining astronomical navigation and inertial navigation, the defects of both parties can be well overcome, and a practical, reliable and high-precision navigation technology is realized. The current astronomical navigation mainly uses a tracking turntable with two axes and two frames to track a target celestial body, and determines the position of the target celestial body according to the pitch angle and the azimuth angle fed back by the tracking turntable.
However, the current astronomical navigation method using a two-axis two-frame tracking turntable has the phenomenon that the navigation precision is deteriorated when the pitch angle is increased, so that the current astronomical navigation method has the problems that the navigation precision is rapidly reduced along with the increase of the pitch angle, and even the navigation is invalid.
Disclosure of Invention
In view of the above, the present application provides an airborne astronomical navigation method, device and electronic equipment, which are used for solving the problems that the navigation accuracy of astronomical navigation decreases rapidly with the increase of pitch angle, and even the navigation fails.
To achieve the above object, in a first aspect, an embodiment of the present application provides an airborne astronomical navigation method, applied to an aircraft, including:
controlling a two-axis four-frame turntable to track a target celestial body, wherein the two-axis four-frame turntable comprises an inner frame and an outer frame;
obtaining measurement information of a two-axis four-frame turntable, wherein the measurement information comprises: a first pitch angle and a first azimuth angle of the inner frame, and a second pitch angle and a second azimuth angle of the outer frame;
and determining the position information of the aircraft according to the measurement information and the preset astronomical information of the target celestial body, wherein the astronomical information comprises the local time angle of the target celestial body, the spring festival point green time angle, the right ascent and the right ascent, and the position information comprises the longitude and the latitude of the aircraft.
Optionally, the inner frame includes a photoelectric sensor, and the control two-axis four-frame turntable tracks the target celestial body, including:
according to target celestial body detection information fed back by the photoelectric sensor, determining rotation information of a tracking target celestial body, wherein the rotation information comprises a rotation angle of a pitch angle and a rotation angle of an azimuth angle;
and controlling the inner frame to rotate to a first target position according to the rotation angle of the pitch angle and the rotation angle of the azimuth angle, and controlling the outer frame to rotate to a second target position according to the rotation amount of the inner frame so as to track the target celestial body.
Optionally, the inner frame includes first pitch axis and first azimuth axis, and first pitch axis and first azimuth axis all are provided with corresponding motor, and rotation angle according to the rotation angle of pitch angle and the rotation angle of azimuth, control inner frame rotation to first target position includes:
the motor controlling the first pitch axis rotates the first pitch axis to a first position according to a rotation angle of the pitch angle, and the motor controlling the first azimuth axis rotates the first azimuth axis to a second position according to a rotation angle of the azimuth angle, so that the inner frame is located at a first target position.
Optionally, the outer frame includes second every single move axle and second azimuth axle, and first every single move axle and first azimuth axle all are provided with corresponding angle sensor, and second every single move axle and second azimuth axle all are provided with corresponding motor, according to the rotation volume of inner frame, control outer frame rotates to the second target position, include:
the motor of the second pitch axis is controlled to rotate the second pitch axis to a third position according to the rotation amount of the first pitch axis, and the motor of the second azimuth axis is controlled to rotate the second azimuth axis to a fourth position according to the rotation amount of the first azimuth axis so that the outer frame is located at the second target position, wherein the rotation amount of the first pitch axis is determined according to the angle measured by the angle sensor of the first pitch axis, and the rotation amount of the first azimuth axis is determined according to the angle measured by the angle sensor of the first azimuth axis.
Optionally, the second pitch axis and the second azimuth axis are both provided with corresponding angle sensors, and measurement information of the two-axis four-frame turntable is obtained, including:
acquiring an angle of a first pitching axis measured by an angle sensor of the first pitching axis, and determining the angle of the first pitching axis as a first pitch angle;
acquiring an angle of a first azimuth axis measured by an angle sensor of the first azimuth axis, and determining the angle of the first azimuth axis as a first azimuth angle;
acquiring an angle of a second pitching axis measured by an angle sensor of the second pitching axis, and determining the angle of the second pitching axis as a second pitching angle;
the angle of the second azimuth axis measured by the angle sensor of the second azimuth axis is acquired, and the angle of the second azimuth axis is determined as a second azimuth angle.
Optionally, the inner frame further includes a gyroscope, the motor for controlling the first pitch axis rotates the first pitch axis to a first position according to a rotation angle of the pitch angle, and the motor for controlling the first azimuth axis rotates the first azimuth axis to a second position according to a rotation angle of the azimuth angle, including:
according to the rotation angle of the pitch angle and the speed information fed back by the gyroscope, carrying out speed feedback control on a motor of the first pitch axis, so that the motor of the first pitch axis rotates the first pitch axis to a first position;
And carrying out speed feedback control on the motor of the first azimuth axis according to the rotation angle of the azimuth angle and the speed information fed back by the gyroscope, so that the motor of the first azimuth axis rotates the first azimuth axis to a second position.
Optionally, the inner frame further includes a gyroscope, the second pitch axis and the second azimuth axis are both provided with corresponding angle sensors, the motor for controlling the second pitch axis rotates the second pitch axis to a third position according to a rotation amount of the first pitch axis, and the motor for controlling the second azimuth axis rotates the second azimuth axis to a fourth position according to a rotation amount of the first azimuth axis, including:
according to the rotation angle of the pitch angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second pitch axis, the speed and position feedback control is carried out on the motor of the second pitch axis, so that the motor of the second pitch axis rotates the second pitch axis to a third position;
and carrying out speed and position feedback control on the motor of the second azimuth axis according to the rotation angle of the azimuth angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second azimuth axis, so that the motor of the second azimuth axis rotates the second azimuth axis to a fourth position.
In a second aspect, embodiments of the present application provide an airborne astronomical navigation device, applied to an aircraft, including:
the turntable control module is used for controlling the two-axis four-frame turntable to track the target celestial body, and the two-axis four-frame turntable comprises an inner frame and an outer frame;
the acquisition module is used for acquiring measurement information of the two-axis four-frame turntable, wherein the measurement information comprises: a first pitch angle and a first azimuth angle of the inner frame, and a second pitch angle and a second azimuth angle of the outer frame;
the determining module is used for determining the position information of the aircraft according to the measurement information and preset astronomical information of the target celestial body, wherein the astronomical information comprises the local time angle of the target celestial body, the spring festival point green time angle, the right ascent and the right ascent, and the position information comprises the longitude and the latitude of the aircraft.
Optionally, the inner frame includes a photoelectric sensor, and the turntable control module is specifically configured to:
according to target celestial body detection information fed back by the photoelectric sensor, determining rotation information of a tracking target celestial body, wherein the rotation information comprises a rotation angle of a pitch angle and a rotation angle of an azimuth angle;
and controlling the inner frame to rotate to a first target position according to the rotation angle of the pitch angle and the rotation angle of the azimuth angle, and controlling the outer frame to rotate to a second target position according to the rotation amount of the inner frame so as to track the target celestial body.
Optionally, the inner frame includes a first pitch axis and a first azimuth axis, and the first pitch axis and the first azimuth axis are both provided with corresponding motors, and the turntable control module is specifically configured to:
the motor controlling the first pitch axis rotates the first pitch axis to a first position according to a rotation angle of the pitch angle, and the motor controlling the first azimuth axis rotates the first azimuth axis to a second position according to a rotation angle of the azimuth angle, so that the inner frame is located at a first target position.
Optionally, the outer frame includes second every single move axle and second azimuth axle, and first every single move axle and first azimuth axle all are provided with corresponding angle sensor, and second every single move axle and second azimuth axle all are provided with corresponding motor, and revolving stage control module is specifically used for:
the motor of the second pitch axis is controlled to rotate the second pitch axis to a third position according to the rotation amount of the first pitch axis, and the motor of the second azimuth axis is controlled to rotate the second azimuth axis to a fourth position according to the rotation amount of the first azimuth axis so that the outer frame is located at the second target position, wherein the rotation amount of the first pitch axis is determined according to the angle measured by the angle sensor of the first pitch axis, and the rotation amount of the first azimuth axis is determined according to the angle measured by the angle sensor of the first azimuth axis.
Optionally, the second pitch axis and the second azimuth axis are both provided with corresponding angle sensors, and the obtaining module is specifically configured to:
acquiring an angle of a first pitching axis measured by an angle sensor of the first pitching axis, and determining the angle of the first pitching axis as a first pitch angle;
acquiring an angle of a first azimuth axis measured by an angle sensor of the first azimuth axis, and determining the angle of the first azimuth axis as a first azimuth angle;
acquiring an angle of a second pitching axis measured by an angle sensor of the second pitching axis, and determining the angle of the second pitching axis as a second pitching angle;
the angle of the second azimuth axis measured by the angle sensor of the second azimuth axis is acquired, and the angle of the second azimuth axis is determined as a second azimuth angle.
Optionally, the inner frame further comprises a gyroscope, and the turntable control module is specifically configured to:
according to the rotation angle of the pitch angle and the speed information fed back by the gyroscope, carrying out speed feedback control on a motor of the first pitch axis, so that the motor of the first pitch axis rotates the first pitch axis to a first position;
and carrying out speed feedback control on the motor of the first azimuth axis according to the rotation angle of the azimuth angle and the speed information fed back by the gyroscope, so that the motor of the first azimuth axis rotates the first azimuth axis to a second position.
Optionally, the inner frame further includes a gyroscope, and the second pitch axis and the second azimuth axis are both provided with corresponding angle sensors, and the turntable control module is specifically configured to:
according to the rotation angle of the pitch angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second pitch axis, the speed and position feedback control is carried out on the motor of the second pitch axis, so that the motor of the second pitch axis rotates the second pitch axis to a third position;
and carrying out speed and position feedback control on the motor of the second azimuth axis according to the rotation angle of the azimuth angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second azimuth axis, so that the motor of the second azimuth axis rotates the second azimuth axis to a fourth position.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory and a processor, the memory for storing a computer program; the processor is adapted to perform the method of the first aspect or any of the embodiments of the first aspect described above when the computer program is invoked.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect or any implementation of the first aspect.
According to the airborne astronomical navigation method, device and electronic equipment, the two-axis four-frame turntable can be controlled to track the target celestial body, measurement information of the two-axis four-frame turntable is obtained, and finally, the position information of the aircraft is determined according to the measurement information and preset astronomical information of the target celestial body. According to the method and the device, the pitch angle and the azimuth angle of the inner frame can be kept perpendicular to each other all the time, the phenomenon that the azimuth angle change rate is increased when the pitch angle is increased is avoided, the problem that the navigation precision is rapidly reduced along with the increase of the pitch angle and even the navigation fails is solved.
Drawings
FIG. 1 is a graphical illustration of azimuth angle change rate as a function of pitch angle provided by embodiments of the present application;
fig. 2 is a schematic flow chart of an airborne astronomical navigation method provided in an embodiment of the present application;
fig. 3 is a schematic diagram of a two-axis four-frame turntable according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a two-axis four-frame turntable control provided in an embodiment of the present application;
fig. 5 is a schematic diagram of a spatial coordinate system of a two-axis four-frame turntable according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an inner frame angular rate error test provided in an embodiment of the present application;
Fig. 7 is a schematic diagram of an angular position error test of an inner frame according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram of a monte carlo error impact factor according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of an airborne astronomical navigation device provided in an embodiment of the present application;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The airborne astronomical navigation method provided by the embodiment of the application can be applied to electronic equipment such as a computer, a workstation or a processing terminal, and the specific type of the electronic equipment is not limited.
At present, in the field of airborne astronomical navigation, a two-axis two-frame turntable is mainly used when tracking a target celestial body, two frames in the two-axis two-frame turntable respectively correspond to two axes, one is a pitching axis, the other is a azimuth axis, the pitching axis corresponds to a pitch angle of a photoelectric sensor, the azimuth axis corresponds to an azimuth angle of the photoelectric sensor, and the pitch angle and the azimuth angle of the photoelectric sensor can be changed by adjusting the pitching axis and the azimuth axis, so that the photoelectric sensor can track the target celestial body. Based on the structural principle of two-axis two frames, when the two-axis two-frame turntable increases along with the pitch angle, the change rate of the azimuth angle is also increasing, and when the pitch angle increases to 90 degrees, the azimuth angle is degenerated into a transverse rolling shaft, so that the two-axis two-frame turntable loses one degree of freedom, and finally the astronomical navigation is disabled. Fig. 1 is a schematic diagram of a change rate of azimuth angle with a change of pitch angle, which is provided in the embodiment of the present application, and it can be seen from fig. 1 that, when the pitch angle exceeds 75 °, the change rate of azimuth angle starts to increase significantly, until when the pitch angle approaches 90 °, the change rate of azimuth angle is completely uncontrollable.
In order to solve the above-mentioned problems and improve the navigation accuracy of astronomical navigation, the technical solution of the present application will be described in detail with specific embodiments. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 2 is a schematic flow chart of an airborne astronomical navigation method provided in an embodiment of the present application, as shown in fig. 2, the method includes the following steps:
s110, controlling the two-axis four-frame turntable to track the target celestial body.
The turntable of two-axis four-frame is adopted in the embodiment of the application, the turntable of two-axis four-frame comprises an inner frame and an outer frame, referring to fig. 3, fig. 3 is a schematic diagram of the turntable of two-axis four-frame, the inner frame comprises an a ring and an E ring, the outer frame comprises an A ring and an E ring, the E ring corresponds to a first pitching shaft, the E ring corresponds to a second pitching shaft, the a ring corresponds to a first azimuth shaft, the A ring corresponds to a second azimuth shaft, each shaft is controlled by a corresponding motor, and the motor can control the corresponding shaft to rotate after receiving a rotation instruction.
The following describes an exemplary process of tracking a target celestial body with a photoelectric sensor in conjunction with a two-axis four-frame turret.
The inner frame is provided with a photoelectric sensor for receiving light signals, and the two-axis four-frame turntable can be controlled by a computer of the aircraft. When the astronomical navigation system of the aircraft works, the computer can control the photoelectric sensor to search for the target celestial body. The aircraft is always in a high-speed motion state, the photoelectric sensor can also generate target celestial body detection information under the condition that the photoelectric sensor locks a target celestial body, and the computer can determine rotation information for tracking the target celestial body according to the target celestial body detection information fed back by the photoelectric sensor, wherein the rotation information comprises a rotation angle of a pitch angle and a rotation angle of an azimuth angle.
After the computer determines the rotation angle of the pitch angle and the rotation angle of the azimuth angle, the computer can control the inner frame to rotate to the first target position according to the rotation angle of the pitch angle and the rotation angle of the azimuth angle, and then the computer can control the outer frame to rotate to the second target position according to the rotation amount of the inner frame so as to track the target celestial body.
For the rotation process of the inner frame: the computer may control the motor of the first pitch axis to rotate the first pitch axis to a first position according to a rotation angle of the pitch angle, and control the motor of the first azimuth axis to rotate the first azimuth axis to a second position according to a rotation angle of the azimuth angle, so that the inner frame is located at the first target position.
For example, the first pitch axis is currently at a position of 10 °, the rotation angle of the pitch angle is positive 5 °, the first azimuth axis is currently at a position of 25 °, and the rotation angle of the azimuth angle is positive 10 °, then the computer may control the motor of the first pitch axis to rotate the first pitch axis forward by 5 °, i.e. to a position of 15 °, and control the motor of the first azimuth axis to rotate the first azimuth axis forward by 10 °, i.e. to a position of 35 °.
For the rotation process of the outer frame: the computer may control the motor of the second pitch axis to rotate the second pitch axis to the third position according to the rotation amount of the first pitch axis, and control the motor of the second azimuth axis to rotate the second azimuth axis to the fourth position according to the rotation amount of the first azimuth axis, so that the outer frame is located at the second target position.
Specifically, referring to fig. 3, the first pitch axis and the first azimuth axis may be provided with corresponding angle sensors, the angle sensor of the first pitch axis may form an external pitch follower loop with the motor of the second pitch axis, and the angle sensor of the first azimuth axis may form an external azimuth follower loop with the motor of the second azimuth axis. The computer may determine the amount of rotation of the first pitch axis through an angle measured by the angle sensor of the first pitch axis, and determine the amount of rotation of the first azimuth axis through an angle measured by the angle sensor of the first azimuth axis.
For example, the first pitch axis is currently at a position of 10 °, the rotation angle of the pitch angle is positive 5 °, the first azimuth axis is currently at a position of 25 °, the rotation angle of the azimuth angle is positive 10 °, the second pitch axis is currently at a position of 10 °, and the second azimuth axis is currently at a position of 25 °, but the first pitch axis is actually rotated to a position of 13 ° and the first azimuth axis is actually rotated to a position of 37 ° due to an error of the motor. The angle sensor of the first pitch axis may determine that the rotation amount of the first pitch axis is 3 ° according to the angles before and after rotation, and the angle sensor of the first azimuth axis may determine that the rotation amount of the first azimuth axis is 12 ° according to the angles before and after rotation. The computer can control the motor of the second pitching axis to rotate the second pitching axis forward by 3 degrees, namely to a position of 13 degrees, according to the rotation amount of the first pitching axis by 3 degrees and the rotation amount of the first azimuth axis by 12 degrees, namely to a position of 37 degrees.
In practical application, errors can be generated in the operation of the turntable due to various reasons, so that the actual position of the turntable is inconsistent with the target position corresponding to the computer instruction, and in order to improve the accuracy of the operation of the turntable, feedback control can be added in the control process of the turntable, so that the accuracy of the operation of the turntable is improved.
Referring to fig. 3, the inner frame may further include a gyroscope, and the second pitch axis and the second azimuth axis may each be provided with a corresponding angle sensor.
In the rotating process of the inner frame, the computer can perform speed feedback control on the motor of the first pitching shaft according to the rotating angle of the pitching angle and the speed information fed back by the gyroscope, so that the motor of the first pitching shaft rotates the first pitching shaft to a first position; and carrying out speed feedback control on the motor of the first azimuth axis according to the rotation angle of the azimuth angle and the speed information fed back by the gyroscope, so that the motor of the first azimuth axis rotates the first azimuth axis to a second position.
In the rotating process of the outer frame, the gyroscope of the inner frame can also measure the angular rate of the outer frame, and the computer can perform speed and position feedback control on the motor of the second pitching shaft according to the rotating angle of the pitching angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second pitching shaft, so that the motor of the second pitching shaft rotates the second pitching shaft to a third position; and carrying out speed and position feedback control on the motor of the second azimuth axis according to the rotation angle of the azimuth angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second azimuth axis, so that the motor of the second azimuth axis rotates the second azimuth axis to a fourth position.
Specifically, in the aspect of feedback information control, reference may be made to fig. 4, and fig. 4 is a schematic diagram of two-axis four-frame turntable control provided in an embodiment of the present application, and a photoelectric sensor will aim atThe angle value theta of the target celestial body is transmitted to a computer, the computer determines input values corresponding to all the motors of the inner frame shafts according to the angle value theta of the target celestial body, the input values are transmitted to all the motors of the inner frame shafts after being amplified by the power of the inner frame, and the motors are interfered by friction torque M f And rotating the corresponding shaft under the influence of the load of the inner frame. At this time, the speed feedback control of the inner frame is: the gyroscope can measure the pitch angle rate and the azimuth angle rate of the inner frame, the measured values are fed back to the computer, the computer determines the adjusted angular rate (namely, carries out speed correction) according to the angular rate and the feedback value, and then the motor is controlled to rotate the corresponding shaft according to the adjusted angular rate until the inner frame rotates to a first target position.
After each shaft of the inner frame rotates, the corresponding angle sensor of each shaft can measure the rotation quantity of each shaft, and then the rotation quantity is transmitted to each motor of the outer frame after the power amplification treatment of the outer frame, and the motor is interfered by friction moment M f And rotating the corresponding shaft under the influence of the load of the outer frame. At this time, the speed feedback control of the outer frame is: the gyroscope can measure the pitch angle rate and the azimuth angle rate of the outer frame, the measured values are fed back to the computer, the computer determines the adjusted angular rate information (namely, carries out speed correction) according to the angular rate and the feedback values, and then the motor is controlled to rotate the corresponding shaft according to the adjusted angular rate until the outer frame rotates to a second target position. The position feedback control of the outer frame is as follows: the angle sensor of each axis of the outer frame can measure the pitch angle rotation amount and the azimuth angle rotation amount of the outer frame, the measured value is fed back to the computer, the computer determines the adjusted rotation amount (namely, performs position correction) according to the rotation amount of the inner frame and the feedback value, and then controls the motor to rotate the corresponding axis according to the adjusted rotation amount until the outer frame rotates to the second target position.
Finally, the photoelectric sensor can measure the rotation quantity of each shaft of the outer frame and the rotation quantity of each shaft of the inner frame, and the total rotation quantity is fed back to the computer.
S120, acquiring measurement information of the two-axis four-frame turntable.
After step S110, the two-axis four-frame turntable can accurately track the target celestial body, and at this time, the computer can acquire measurement information through the two-axis four-frame turntable, where the measurement information may include: pitch angle (i.e., first pitch angle) and azimuth angle (i.e., first azimuth angle) of the inner frame, pitch angle (i.e., second pitch angle) and azimuth angle (i.e., second azimuth angle) of the outer frame.
Specifically, the computer may determine measurement information by measuring angles of the respective axes through angle sensors corresponding to the respective axes, respectively. Namely, the computer can acquire the angle of the first pitching axis measured by the angle sensor of the first pitching axis, and the angle of the first pitching axis is determined as a first pitch angle; acquiring an angle of a first azimuth axis measured by an angle sensor of the first azimuth axis, and determining the angle of the first azimuth axis as a first azimuth angle; acquiring an angle of a second pitching axis measured by an angle sensor of the second pitching axis, and determining the angle of the second pitching axis as a second pitch angle; and acquiring the angle of the second azimuth axis measured by the angle sensor of the second azimuth axis, and determining the angle of the second azimuth axis as a second azimuth angle.
S130, determining the position information of the aircraft according to the measurement information and the astronomical information of the preset target celestial body.
The computer can input the acquired measurement information and preset astronomical information of the target celestial body into a navigation system for navigation calculation, wherein the first pitch angle and the second pitch angle are total pitch angles of the photoelectric sensor relative to the target celestial body, the first azimuth angle and the second azimuth angle are total azimuth angles of the photoelectric sensor relative to the target celestial body, the astronomical information can comprise local time angle of the target celestial body, spring festival greens time angle, right ascension and declination, and the position information comprises longitude and latitude of an aircraft.
The pitch angle and the azimuth angle measured by the two-axis four-frame turntable are accurate, and the problems that the navigation precision is rapidly reduced along with the increase of the pitch angle and even the navigation fails can be solved by applying the two-axis four-frame turntable in a navigation system. The principle thereof is as follows.
Fig. 5 is a schematic diagram of a space coordinate system of a two-axis four-frame turntable according to an embodiment of the present application, as shown in fig. 5, assuming point P as a target dayThe position of the body in space with azimuth angle theta A Pitch angle is theta E The spatial position coordinates of the target celestial body P point can be expressed as follows:
Deriving the space position coordinates of the P point of the target celestial body to obtain the speed information of the P point:
the velocity information of the P point can also be represented by a three-axis divided velocity sum of squares:
further, the combination of the relations (2) and (3) can be obtained:
wherein θ E As a function of time t, let θ E ＝θ E (t), assuming that the target celestial body P is at t 1 The moment reaches the zenith, i.e. the maximum value in the Z-axis direction is theta Emax The method comprises the steps of carrying out a first treatment on the surface of the At t=t 1 At the time of theta E (t) reaches a maximum value, there isWill->The following relation can be obtained by substituting the relation (4):
as can be seen from the analysis of the relation (5),for theta E An increasing function of (t) when θ Emax When =90°, i.e. when the target celestial body reaches the zenith, the following relationship can be obtained:
in summary, in a two-axis two-frame, azimuth angle θ A Rate of change with pitch angle θ E Increase at θ by increasing (t) Emax When=90°, azimuth angle θ A The rate of change of (a) reaches infinity, i.e., azimuthal failure. In the two-axis four-frame turntable, the outer frame moves with the inner frame so that the pitch axis and the azimuth axis in the inner frame are always kept vertical, thus, θ E (t) is always 0. Therefore, it can be seen from the relation (5) that the azimuth angle θ A Is not dependent on pitch angle theta E The increase in (t) is increased, and the occurrence of the relation (6) is avoided.
In the actual simulation test, the simulation input signal is 90sint, and after the simulation input signal runs through the two-axis four-frame turntable, fig. 6 is a schematic diagram of the inner frame angular rate error test provided by the embodiment of the application, and fig. 7 is a schematic diagram of the inner frame angular position error test provided by the embodiment of the application, as can be seen from fig. 6 and 7, the inner frame rate error is controlled within 0.02 °/s; the position error of the inner frame is controlled to be 5e -4 Within (1.8 "). Fig. 8 is a schematic diagram of a monte carlo error impact factor according to an embodiment of the present application, where the positioning accuracy of the navigation system using the two-axis four-frame turntable is approved within a range of 300m, and the positioning accuracy of the navigation system using the two-axis two-frame turntable is generally 700m, so that the positioning accuracy of the navigation system using the two-axis four-frame turntable is higher.
In the embodiment of the application, the computer can control the two-axis four-frame turntable to track the target celestial body, acquire the measurement information of the two-axis four-frame turntable, and finally determine the position information of the aircraft according to the measurement information and the astronomical information of the preset target celestial body. According to the method and the device, the pitch angle and the azimuth angle of the inner frame can be kept perpendicular to each other all the time, the phenomenon that the azimuth angle change rate is increased when the pitch angle is increased is avoided, the problem that the navigation precision is rapidly reduced along with the increase of the pitch angle and even the navigation fails is solved.
Based on the same inventive concept, as an implementation of the above method, an embodiment of an airborne astronomical navigation device is provided, where the embodiment of the device corresponds to the embodiment of the foregoing method, and for convenience of reading, the embodiment of the device does not describe details in the embodiment of the foregoing method one by one, but it should be clear that the device in the embodiment can correspondingly implement all the details in the embodiment of the foregoing method.
Fig. 9 is a schematic structural diagram of an airborne astronomical navigation device provided in an embodiment of the present application, and as shown in fig. 9, the device provided in the embodiment is applied to an aircraft, and includes:
the turntable control module 110 is used for controlling a two-axis four-frame turntable to track a target celestial body, and the two-axis four-frame turntable comprises an inner frame and an outer frame;
the obtaining module 120 is configured to obtain measurement information of the two-axis four-frame turntable, where the measurement information includes: a first pitch angle and a first azimuth angle of the inner frame, and a second pitch angle and a second azimuth angle of the outer frame;
the determining module 130 is configured to determine, according to the measurement information and astronomical information of the preset target celestial body, position information of the aircraft, where the astronomical information includes a local time angle of the target celestial body, a spring festival point green time angle, a right ascent and a right ascent, and the position information includes a longitude and a latitude of the aircraft.
Optionally, the inner frame includes a photoelectric sensor, and the turntable control module 110 is specifically configured to:
according to target celestial body detection information fed back by the photoelectric sensor, determining rotation information of a tracking target celestial body, wherein the rotation information comprises a rotation angle of a pitch angle and a rotation angle of an azimuth angle;
and controlling the inner frame to rotate to a first target position according to the rotation angle of the pitch angle and the rotation angle of the azimuth angle, and controlling the outer frame to rotate to a second target position according to the rotation amount of the inner frame so as to track the target celestial body.
Optionally, the inner frame includes a first pitch axis and a first azimuth axis, where the first pitch axis and the first azimuth axis are both provided with corresponding motors, and the turntable control module 110 is specifically configured to:
the motor controlling the first pitch axis rotates the first pitch axis to a first position according to a rotation angle of the pitch angle, and the motor controlling the first azimuth axis rotates the first azimuth axis to a second position according to a rotation angle of the azimuth angle, so that the inner frame is located at a first target position.
Optionally, the outer frame includes a second pitch axis and a second azimuth axis, the first pitch axis and the first azimuth axis are both provided with corresponding angle sensors, the second pitch axis and the second azimuth axis are both provided with corresponding motors, and the turntable control module 110 is specifically configured to:
the motor of the second pitch axis is controlled to rotate the second pitch axis to a third position according to the rotation amount of the first pitch axis, and the motor of the second azimuth axis is controlled to rotate the second azimuth axis to a fourth position according to the rotation amount of the first azimuth axis so that the outer frame is located at the second target position, wherein the rotation amount of the first pitch axis is determined according to the angle measured by the angle sensor of the first pitch axis, and the rotation amount of the first azimuth axis is determined according to the angle measured by the angle sensor of the first azimuth axis.
Optionally, the second pitch axis and the second azimuth axis are both provided with corresponding angle sensors, and the obtaining module 110 is specifically configured to:
acquiring an angle of a first pitching axis measured by an angle sensor of the first pitching axis, and determining the angle of the first pitching axis as a first pitch angle;
acquiring an angle of a first azimuth axis measured by an angle sensor of the first azimuth axis, and determining the angle of the first azimuth axis as a first azimuth angle;
acquiring an angle of a second pitching axis measured by an angle sensor of the second pitching axis, and determining the angle of the second pitching axis as a second pitching angle;
the angle of the second azimuth axis measured by the angle sensor of the second azimuth axis is acquired, and the angle of the second azimuth axis is determined as a second azimuth angle.
Optionally, the inner frame further comprises a gyroscope, and the turntable control module 110 is specifically configured to:
according to the rotation angle of the pitch angle and the speed information fed back by the gyroscope, carrying out speed feedback control on a motor of the first pitch axis, so that the motor of the first pitch axis rotates the first pitch axis to a first position;
and carrying out speed feedback control on the motor of the first azimuth axis according to the rotation angle of the azimuth angle and the speed information fed back by the gyroscope, so that the motor of the first azimuth axis rotates the first azimuth axis to a second position.
Optionally, the inner frame further includes a gyroscope, and the second pitch axis and the second azimuth axis are both provided with corresponding angle sensors, and the turntable control module 110 is specifically configured to:
according to the rotation angle of the pitch angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second pitch axis, the speed and position feedback control is carried out on the motor of the second pitch axis, so that the motor of the second pitch axis rotates the second pitch axis to a third position;
and carrying out speed and position feedback control on the motor of the second azimuth axis according to the rotation angle of the azimuth angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second azimuth axis, so that the motor of the second azimuth axis rotates the second azimuth axis to a fourth position.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Based on the same inventive concept, the embodiment of the application also provides electronic equipment. Fig. 10 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, and as shown in fig. 10, the electronic device provided in the embodiment includes: at least one processor 20 (only one shown in fig. 10), a memory 21, and a computer program 22 stored in the memory 21 and executable on the at least one processor 20, the processor 20 implementing the steps in any of the various computer control method embodiments described above when executing the computer program 22.
The processor 20 may be a central processing unit (Central Processing Unit, CPU), and the processor 20 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 21 may in some embodiments be an internal storage unit of a computer, such as a hard disk or a memory of the computer. The memory 21 may also be an external storage device of the computer in other embodiments, such as a plug-in hard disk provided on the computer, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), etc. Further, the memory 21 may also include both an internal storage unit and an external storage device of the computer. The memory 21 is used to store an operating system, application programs, boot loader (BootLoader), data, and other programs and the like, such as program codes of computer programs and the like. The memory 21 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method described in the above method embodiment.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other manners. For example, the apparatus/device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (7)
1. An airborne astronomical navigation method applied to an aircraft, comprising the following steps:
controlling a two-axis four-frame turntable to track a target celestial body, wherein the two-axis four-frame turntable comprises an inner frame and an outer frame, and comprises: determining rotation information of tracking the target celestial body according to target celestial body detection information fed back by the photoelectric sensor, wherein the rotation information comprises a rotation angle of a pitch angle and a rotation angle of an azimuth angle; controlling the inner frame to rotate to a first target position according to the rotation angle of the pitch angle and the rotation angle of the azimuth angle, and controlling the outer frame to rotate to a second target position according to the rotation amount of the inner frame so as to track the target celestial body;
Obtaining measurement information of the two-axis four-frame turntable, wherein the measurement information comprises: the first pitch angle and the first azimuth angle of the inner frame, and the second pitch angle and the second azimuth angle of the outer frame;
determining position information of an aircraft according to the measurement information and preset astronomical information of the target celestial body, wherein the astronomical information comprises a local time angle, a spring festival point green time angle, a right ascent and a declination of the target celestial body, and the position information comprises longitude and latitude of the aircraft; the first pitch angle and the second pitch angle are total pitch angles of the photoelectric sensor relative to the target celestial body, and the first azimuth angle and the second azimuth angle are total azimuth angles of the photoelectric sensor relative to the target celestial body;
the outer frame includes second every single move axle and second azimuth axle, the inner frame includes first every single move axle and first azimuth axle, first every single move axle with first azimuth axle all is provided with corresponding motor, first every single move axle with first azimuth axle all is provided with corresponding angle sensor, second every single move axle with second azimuth axle all is provided with corresponding motor, according to the rotation volume of inner frame, control outer frame rotates to the second target position, includes:
Controlling the motor of the second pitch axis to rotate the second pitch axis to a third position according to the rotation amount of the first pitch axis, and controlling the motor of the second azimuth axis to rotate the second azimuth axis to a fourth position according to the rotation amount of the first azimuth axis so that the outer frame is positioned at the second target position, wherein the rotation amount of the first pitch axis is determined according to the angle measured by the angle sensor of the first pitch axis, and the rotation amount of the first azimuth axis is determined according to the angle measured by the angle sensor of the first azimuth axis;
the inner frame further includes a gyroscope, the second pitch axis and the second azimuth axis are both provided with corresponding angle sensors, the motor controlling the second pitch axis rotates the second pitch axis to a third position according to the rotation amount of the first pitch axis, and the motor controlling the second azimuth axis rotates the second azimuth axis to a fourth position according to the rotation amount of the first azimuth axis, including:
according to the rotation angle of the pitch angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second pitch axis, carrying out speed and position feedback control on a motor of the second pitch axis, so that the motor of the second pitch axis rotates the second pitch axis to the third position;
And carrying out speed and position feedback control on a motor of the second azimuth axis according to the rotation angle of the azimuth angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second azimuth axis, so that the motor of the second azimuth axis rotates the second azimuth axis to the fourth position.
2. The method of claim 1, wherein controlling the rotation of the inner frame to a first target position according to the rotation angle of the pitch angle and the rotation angle of the azimuth angle comprises:
and controlling the motor of the first pitching shaft to rotate the first pitching shaft to a first position according to the rotation angle of the pitching angle, and controlling the motor of the first azimuth shaft to rotate the first azimuth shaft to a second position according to the rotation angle of the azimuth angle, so that the inner frame is positioned at the first target position.
3. The method of claim 2, wherein the second pitch axis and the second azimuth axis are each provided with a corresponding angle sensor, and the obtaining measurement information of the two-axis four-frame turntable comprises:
acquiring an angle of the first pitching axis measured by an angle sensor of the first pitching axis, and determining the angle of the first pitching axis as the first pitching angle;
Acquiring an angle of the first azimuth axis measured by an angle sensor of the first azimuth axis, and determining the angle of the first azimuth axis as the first azimuth angle;
acquiring an angle of the second pitching axis measured by an angle sensor of the second pitching axis, and determining the angle of the second pitching axis as the second pitching angle;
acquiring an angle of the second azimuth axis measured by an angle sensor of the second azimuth axis, and determining the angle of the second azimuth axis as the second azimuth angle.
4. The method of claim 2, wherein the inner frame further comprises a gyroscope, the controlling the motor of the first pitch axis to rotate the first pitch axis to a first position based on the angle of rotation of the pitch angle, and controlling the motor of the first azimuth axis to rotate the first azimuth axis to a second position based on the angle of rotation of the azimuth angle, comprising:
according to the rotation angle of the pitch angle and the speed information fed back by the gyroscope, carrying out speed feedback control on the motor of the first pitch axis, so that the motor of the first pitch axis rotates the first pitch axis to a first position;
And carrying out speed feedback control on the motor of the first azimuth axis according to the rotation angle of the azimuth angle and the speed information fed back by the gyroscope, so that the motor of the first azimuth axis rotates the first azimuth axis to a second position.
5. An airborne astronomical navigation device applied to an aircraft, characterized in that it comprises:
the turntable control module is used for controlling a two-axis four-frame turntable to track a target celestial body, and the two-axis four-frame turntable comprises an inner frame and an outer frame; the inner frame comprises a photoelectric sensor, and the turntable control module is specifically used for: according to target celestial body detection information fed back by the photoelectric sensor, determining rotation information of a tracking target celestial body, wherein the rotation information comprises a rotation angle of a pitch angle and a rotation angle of an azimuth angle; controlling the inner frame to rotate to a first target position according to the rotation angle of the pitch angle and the rotation angle of the azimuth angle, and controlling the outer frame to rotate to a second target position according to the rotation amount of the inner frame so as to track a target celestial body;
the acquisition module is used for acquiring measurement information of the two-axis four-frame turntable, and the measurement information comprises: the first pitch angle and the first azimuth angle of the inner frame, and the second pitch angle and the second azimuth angle of the outer frame;
The determining module is used for determining the position information of the aircraft according to the measurement information and preset astronomical information of the target celestial body, wherein the astronomical information comprises the local time angle, the spring festival point green time angle, the right ascent and the declination of the target celestial body, and the position information comprises the longitude and the latitude of the aircraft; the first pitch angle and the second pitch angle are total pitch angles of the photoelectric sensor relative to the target celestial body, and the first azimuth angle and the second azimuth angle are total azimuth angles of the photoelectric sensor relative to the target celestial body;
the outer frame includes second every single move axle and second azimuth axle, and the inside casing includes first every single move axle and first azimuth axle, and first every single move axle and first azimuth axle all are provided with corresponding motor, and first every single move axle and first azimuth axle all are provided with corresponding angle sensor, and second every single move axle and second azimuth axle all are provided with corresponding motor, and the revolving stage control mould body is used for:
controlling the motor of the second pitch axis to rotate the second pitch axis to a third position according to the rotation amount of the first pitch axis, and controlling the motor of the second azimuth axis to rotate the second azimuth axis to a fourth position according to the rotation amount of the first azimuth axis so that the outer frame is positioned at the second target position, wherein the rotation amount of the first pitch axis is determined according to the angle measured by the angle sensor of the first pitch axis, and the rotation amount of the first azimuth axis is determined according to the angle measured by the angle sensor of the first azimuth axis;
The inner frame further comprises a gyroscope, the second pitching axis and the second azimuth axis are respectively provided with a corresponding angle sensor, and the turntable control module is specifically used for:
according to the rotation angle of the pitch angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second pitch axis, the speed and position feedback control is carried out on the motor of the second pitch axis, so that the motor of the second pitch axis rotates the second pitch axis to a third position;
and carrying out speed and position feedback control on the motor of the second azimuth axis according to the rotation angle of the azimuth angle, the speed information fed back by the gyroscope and the angle measured by the angle sensor of the second azimuth axis, so that the motor of the second azimuth axis rotates the second azimuth axis to a fourth position.
6. An electronic device, comprising: a memory and a processor, the memory for storing a computer program; the processor is configured to perform the method of any of claims 1-4 when the computer program is invoked.
7. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010465396.2A CN113137964B (en) | 2020-05-28 | 2020-05-28 | Airborne astronomical navigation method and device and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010465396.2A CN113137964B (en) | 2020-05-28 | 2020-05-28 | Airborne astronomical navigation method and device and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113137964A CN113137964A (en) | 2021-07-20 |
| CN113137964B true CN113137964B (en) | 2024-03-19 |
Family
ID=76809749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010465396.2A Active CN113137964B (en) | 2020-05-28 | 2020-05-28 | Airborne astronomical navigation method and device and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113137964B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132029A (en) * | 2013-12-05 | 2014-11-05 | 北京中金泰达电液科技有限公司 | Large-sized, high-precision and ultra-low-speed two-degree-of-freedom electro-hydraulic servo turntable |
| CN104596503A (en) * | 2015-01-26 | 2015-05-06 | 中国人民解放军国防科学技术大学 | Tracking rotating table attitude determining and instruction compensating method based on differential satellite navigation measurement |
| CN104635746A (en) * | 2013-11-14 | 2015-05-20 | 北京环境特性研究所 | Servo control method and system of two-axis four-frame optoelectronic pod |
| CN107656548A (en) * | 2017-08-11 | 2018-02-02 | 安徽聚合自动化工程有限公司 | A kind of frame stability platform structure of two axle four |
| CN109470265A (en) * | 2018-10-31 | 2019-03-15 | 湖北航天技术研究院总体设计所 | A kind of inertial navigation prism height difference Calibration Method and system |
| CN109709852A (en) * | 2018-12-27 | 2019-05-03 | 中国科学院长春光学精密机械与物理研究所 | An airborne photoelectric pod composite axis control system and method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5459678B2 (en) * | 2011-02-17 | 2014-04-02 | 株式会社東芝 | Mobile image tracking device |
| US10962625B2 (en) * | 2013-10-22 | 2021-03-30 | Polaris Sensor Technologies, Inc. | Celestial positioning system and method |
| US9791278B2 (en) * | 2015-03-24 | 2017-10-17 | Honeywell International Inc. | Navigating with star tracking sensors |
| FR3044756B1 (en) * | 2015-12-04 | 2021-03-19 | Innalabs Ltd | IMPROVED PRECISION INERTIAL NAVIGATION SYSTEM |
-
2020
- 2020-05-28 CN CN202010465396.2A patent/CN113137964B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635746A (en) * | 2013-11-14 | 2015-05-20 | 北京环境特性研究所 | Servo control method and system of two-axis four-frame optoelectronic pod |
| CN104132029A (en) * | 2013-12-05 | 2014-11-05 | 北京中金泰达电液科技有限公司 | Large-sized, high-precision and ultra-low-speed two-degree-of-freedom electro-hydraulic servo turntable |
| CN104596503A (en) * | 2015-01-26 | 2015-05-06 | 中国人民解放军国防科学技术大学 | Tracking rotating table attitude determining and instruction compensating method based on differential satellite navigation measurement |
| CN107656548A (en) * | 2017-08-11 | 2018-02-02 | 安徽聚合自动化工程有限公司 | A kind of frame stability platform structure of two axle four |
| CN109470265A (en) * | 2018-10-31 | 2019-03-15 | 湖北航天技术研究院总体设计所 | A kind of inertial navigation prism height difference Calibration Method and system |
| CN109709852A (en) * | 2018-12-27 | 2019-05-03 | 中国科学院长春光学精密机械与物理研究所 | An airborne photoelectric pod composite axis control system and method |
Non-Patent Citations (1)
| Title |
|---|
| 大俯仰角度的两轴两框架平台稳定技术;李红光;纪明;吴玉敬;郭新胜;彭侠;;应用光学;20151115(06);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113137964A (en) | 2021-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106052682B (en) | A kind of hybrid inertial navigation system and air navigation aid | |
| CN105588567A (en) | Automatic magnetometer correction assisted AHRS (altitude and heading reference system) and method | |
| CN111123280A (en) | Laser radar positioning method, device and system, electronic equipment and storage medium | |
| CN112964240B (en) | Continuous north-seeking device and method, electronic equipment and storage medium | |
| CN103822624B (en) | Uniaxial laser gyro north seeker and north-seeking method thereof | |
| CN111366144B (en) | Multi-position north-seeking method for gyro north-seeking instrument | |
| CN114111753B (en) | A fiber optic gyro north finder | |
| CN111765879A (en) | Three-dimensional electronic compass device and practical calibration method | |
| CN113776560B (en) | A test method for gyroscope scale factor based on high-precision three-axis turntable | |
| CN110209186A (en) | Gyro stability control system with drift compensation | |
| CN114608611A (en) | Photoelectric pod collimation axis error correction method based on combined navigation post-processing | |
| CN112129321B (en) | Gyro zero offset calibration value determining method and device and computer storage medium | |
| CN104880215A (en) | Multi-sensor platform camera-laser integrated calibration method | |
| CN111551164B (en) | Compensation method for course effect error of rate offset frequency laser gyro north seeker | |
| CN111983550B (en) | GPS-based radio direction finding precision testing method | |
| CN109470274B (en) | A vehicle-mounted photoelectric theodolite vehicle-mounted platform deformation measurement system and method | |
| CN113137964B (en) | Airborne astronomical navigation method and device and electronic equipment | |
| CN114167900B (en) | Photoelectric tracking system calibration method and device based on unmanned aerial vehicle and differential GPS | |
| CN118131359B (en) | High-precision establishment method for measurement reference of unmanned platform type gravity meter | |
| CN118274884B (en) | Error compensation method of inertial measurement unit | |
| CN115790668B (en) | High-precision inertial navigation scale factor error calculation method | |
| CN109724579B (en) | Gyro compass calibration method and device, computing equipment and storage medium | |
| CN114234902B (en) | Starlight platform field angle autonomous test method | |
| CN110488853A (en) | A kind of calculation method reducing the hybrid inertial navigation system stability contorting instruction that shaft whirling motion influences | |
| CN214951273U (en) | Orientation indication system |
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 |