CN115343743A - Astronomical satellite integrated navigation positioning system and method independent of horizontal reference and satellite signal - Google Patents
Astronomical satellite integrated navigation positioning system and method independent of horizontal reference and satellite signal Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
Abstract
The invention relates to an astronomical satellite integrated navigation positioning system and method independent of horizontal reference and satellite signals, which is characterized in that the system comprises an observation system, an observation control system and a data processing system; the method comprises the following steps: determining the position and height data of a reference satellite and a satellite; acquiring shooting trigger time, trigger pulse intervals and the number of trigger pulses to finish star map shooting, latching the shooting time according to time system information, and performing error correction on observation data and shooting time data; calculating the corrected observation data to obtain angular distance information between the reference satellite and the satellite at each moment, and calculating the right ascension value and the declination value of the satellite in a second equatorial coordinate system relative to each moment of the surveyor by using the angular distance information; and solving the coordinate values of the geocentric inertial coordinate system of the surveyor at each moment. The invention breaks through the traditional astronomical positioning theory, eliminates the direction and horizontal reference errors, has stronger interference resistance and higher positioning precision and realizes the full-time continuous positioning.
Description
Technical Field
The invention relates to the technical field of astronomical navigation positioning, in particular to a method for resolving the position of an observer by observing the right ascension and declination values of projection points of satellites on a celestial sphere.
Background
Astronomical navigation is a traditional positioning mode, which takes a natural celestial body with a known accurate space position as a reference, measures the position of the celestial body through a relevant instrument, and determines the position information of a carrier where a measuring point is located through calculation. The astronomical navigation does not need the support of other ground equipment, so the astronomical navigation has the characteristic of autonomous navigation, is not interfered by an electromagnetic field formed manually or naturally, does not radiate electromagnetic waves outwards, has good concealment, high positioning and orientation precision and does not accumulate positioning errors along with time. Therefore, nowadays when satellite navigation is widely applied, astronomical navigation technology is emphasized by all countries in the world, especially all major military strong countries, and equipment is carried out on various carriers such as space-based, space-based and sea-based.
Although the existing astronomical automatic navigation equipment is different, the height or the azimuth of a celestial body is used as observation quantity, and the observation of the height and the azimuth of the astronomical automatic navigation equipment needs to provide horizontal and directional reference by depending on an inertial platform. At present, the horizontal accuracy of a foreign inertial platform is generally 20-40 arc seconds, the accuracy is extremely difficult to further improve, and the positioning theoretical error of the astronomical automatic navigation system caused by the accuracy is about 1000 meters, which is not suitable for high-accuracy navigation of modern combat. Being limited by horizontal reference errors has become a bottleneck for the development of astronomical navigation towards high precision. Therefore, the restriction of a horizontal reference is eliminated, the traditional theoretical restriction taking the height difference principle as the core content is broken through, and the development of a new astronomical navigation theoretical system is a practical requirement for realizing high-precision astronomical navigation.
Since the first satellite was launched by mankind in 1954, thousands of satellites were launched into space in succession by countries in the world, and with the progressive implementation of the marsk chain project, the number of satellites, and in particular the number of low earth orbit satellites, is expected to increase dramatically to tens of thousands in the coming years. The artificial celestial bodies provide new observable celestial bodies for astronomical navigation, and the scheme of detecting the satellite by using radio waves is also successively proposed by the Wang Anguo of the naval university ship academy and the Xuzhong institute of optoelectronic technology, which provides a new idea for the development of astronomical navigation, but the traditional astronomical positioning theory is still continued at present.
In the initial stages of astronomical navigation development, scientists consider the use of the angular distance of the moon to the stars to determine position as the optimal solution. The idea is that if the celestial body is close to the earth, the position of the projection point of the celestial body on the celestial sphere observed by the observer is related to the position of the observer, namely, when the position of the observer on the earth surface changes, the projection of the celestial body on the celestial sphere changes, and the position of the observer can be calculated if the accurate motion information of the celestial body is mastered. The moon is the closest to the earth in all natural celestial bodies, so that at the early development stage, scientists in various countries are exploring how to determine the angular distance between the moon and other fixed stars, the establishment of the Greenwich astronomical stage and the invention of a sextant are directly or indirectly related to the scheme, and for the same purpose that Oila academy of Russian sciences establishes the theory of lunar motion, the Greenwich astronomical stage also compiles and publishes an almanac for determining the longitude by using the angular distance between the moon and the fixed stars in 1763. However, in the course of the subsequent development of this theory, it was found that the distance of the moon from the earth is too far in relation to the radius of the earth, and the observed positions of the projection points of the moon on the celestial sphere do not vary much, so that this solution was abandoned.
At present, the satellite can be accurately detected through technical means such as optics and radio, the traditional thought of measuring azimuth height is abandoned, the thought of measuring the angular distance between the moon and the fixed star can also realize positioning hundreds of years ago, and the satellite is relatively close to the earth, so that a more accurate positioning effect can be obtained.
Disclosure of Invention
Aiming at the defects of the existing navigation means, the invention provides an astronomical satellite integrated navigation positioning system and method which do not rely on a horizontal reference and a satellite signal.
The basic principle of the technical scheme of the invention is as follows:
as shown in FIG. 1, in the centroid inertial frame, the centroid is the origin of coordinates, the x-axis points to the spring equinox, the z-axis points to the north and the y-axis is determined by the right-hand side. The coordinate system is an inertial coordinate system, with each axis pointing fixed relative to the stars. The satellite position generally uses the coordinate system, and the coordinate values are three-dimensional rectangular coordinates. The geographical position generally adopts a geographical coordinate system, and the coordinate values are in a longitude and latitude representation mode. However, in the fields of satellite navigation, satellite measurement and control, etc., the geographic coordinates often need to be converted into geocentric inertial coordinates for calculation.
The coordinate values of the earth center inertial coordinate system are (X, Y, Z). When the observer observes the satellite, the projection point of the satellite on the celestial sphere is observed, and the coordinates of the projection point of the satellite can be expressed by using the coordinate values of the second equatorial coordinate system, namely the right ascension value and the declination value. The angular distance between the satellite projection point and the fixed star can be measured through observation equipment such as optics, radio and the like, and the right ascension and declination values of the satellite projection point can be calculated by utilizing the basic principle of astronomical triangles.
In the geocentric inertial coordinate system, if errors such as atmospheric refraction and light traveling difference are not considered, the measurer, the satellite and the projection point of the satellite on the celestial sphere are positioned in a straight line. The position of the linear satellite and the coordinates of the projection points of the satellite are known conditions, the coordinates of the satellite can be solved through an orbit equation, the coordinates of the projection points of the satellite can be observed and solved, and the intersection point of the spatial straight line and the earth surface is the position of the surveyor.
The coordinate of the surveyor on the sea surface in the geocentric inertial coordinate system is (x, y, z), the coordinate meets the earth ellipsoid equation, the included angle between the space vector determined by the surveyor, the satellite and the satellite projection point and the x axis is alpha, and the included angle between the space vector and the z axis is delta, two equations can be established to form a ternary equation set, and the coordinate of the surveyor in the geocentric inertial coordinate system can be solved by solving the equation set, so that the position of the surveyor can be determined.
The existing astronomical automatic navigation theory needs to measure celestial bodies in a horizon coordinate system of a measurer, and the existing astronomical automatic navigation equipment has larger positioning error due to the existence of errors which cannot be eliminated by the horizon and a direction reference. The invention adopts the angular distance of the satellite relative to other celestial bodies as the observed quantity, the observed quantity does not need to take the true ground plane of a measurer as the reference and does not contain horizontal reference and azimuth error, in addition, the observation of the satellite can adopt various means such as optics, infrared, radio and the like, and the angular distance measurement between the satellite projection point and the reference fixed star can also obtain the angular-second-level measurement precision, so compared with the existing astronomical automatic navigation method, the invention can obtain higher measurement precision and has extremely high popularization and application value.
An astronomical satellite integrated navigation positioning system independent of horizontal reference and satellite signals is characterized by comprising an observation system, an observation control system and a data processing system;
the observation system is used for observing a natural celestial body and a satellite, and comprises a horizon space stable observation platform carried on a naval vessel, and fixed star observation equipment and satellite observation equipment which are fixed on the horizon space stable observation platform;
the observation control system is used for controlling the observation system and celestial body identification and calculation and comprises an observation control module, a fixed star identification and calculation module and a satellite identification and calculation module;
the data processing system is mainly used for resolving the position of the surveyor and comprises an error correction module, a projection point resolving module and a position resolving module.
In one embodiment of the invention, the horizon space stable observation platform is fixed on the ship platform through a horizon servo system, and the horizon servo system controls the horizon space stable observation platform to reach a horizontal stable state through ship course attitude information sent by the observation control system;
in one embodiment of the invention, the fixed star observation equipment is fixed on a horizon space stable observation platform through a fixed star observation servo system, and the fixed star observation equipment points to a preset space angle according to the azimuth angle and the altitude angle sent by the observation control system to search and identify the preset fixed star;
in one embodiment of the invention, the satellite observation equipment is fixed on the horizon space stable observation platform through a satellite observation servo system, and the satellite observation equipment points to a preset space angle according to an azimuth angle and an altitude angle sent by an observation control system to search and identify a preset satellite;
in one embodiment of the present invention, the star observation device and the satellite observation device may be optical devices, or may be infrared or radio detection devices, and one or more groups may be provided.
In one embodiment of the present invention, the observation control module includes a control data calculation module and a photographing control module. The control data calculation module is mainly used for calculating the directions and heights of the selected fixed star and the satellite, sending the directions and heights to the observation system together with ship course attitude information, and providing observation guide data for stabilizing the horizon space stable observation platform and the observation equipment. The shooting control module is used for sending shooting trigger time, trigger pulse intervals and the number of trigger pulses to the observation system, and the observation system finishes star map shooting according to the instructions and latches the shooting time according to the time system information.
In one embodiment of the invention, the star identification module comprises a star catalogue database and a star map matching module. The star table database is mainly used for storing data of positions, motions, stars and the like of natural celestial bodies. The star map matching module is mainly used for matching and identifying star maps shot by a star sensor or other observation equipment by using a star map matching algorithm, and screening angular distance measurement reference stars.
In one embodiment of the invention, the satellite identification module comprises a satellite database and a satellite identification module. The satellite database module is used for storing the related data of all the orbiting satellites and can update the satellite data through the communication system. The satellite identification module firstly calculates information such as satellite star and the like and angular velocity and the information is used for satellite identification together with the star map matching module.
In one embodiment of the invention, the error correction module is used for performing error correction on the detection data, including sensor internal error correction and external error correction. Internal errors are mainly due to deviations of the parameters from nominal values and, depending on the specific construction of the sensor, there are generally specific correction methods. External errors generally refer to errors that occur when the sensor is in a normal operating state due to factors other than the sensor itself. The internal errors mainly comprise camera assembly errors, thermal deformation errors, pixel resolution and the like. And the external errors mainly include atmospheric refraction, aberration, and the like.
In one embodiment of the invention, the projection point calculating module comprises a pseudo azimuth height calculating module, a celestial body angular distance calculating module and a right ascension declination calculating module. And the pseudo-azimuth height calculating module is used for calculating the azimuth and the height of the reference star and the satellite in the coordinate system of the observation platform. Although the observation data is subjected to error correction, the observation data still contains the azimuth and horizontal reference errors of the observation platform, so the azimuth and height information measured in the coordinate system of the observation platform is called pseudo azimuth and pseudo height. The celestial body angular distance module calculates the angular distance between the satellite and the reference satellite according to the pseudo azimuth and the pseudo altitude data of the reference satellite and the satellite, and the pseudo azimuth and the pseudo altitude data observed at the same moment contain the same reference error, so the calculated celestial body angular distance value can eliminate the platform reference error. And the right ascension and declination calculating module further calculates the right ascension and declination of the satellite in the second equatorial coordinate system according to the angular distance between the satellite and the reference satellite.
In one embodiment of the invention, the position calculation module is used for solving the latitude and longitude information of the testee and comprises a real-time position calculation module and a smooth filtering module. The real-time position resolving module establishes a sight line equation according to the declination of the right ascension of the satellite and the real-time position of the satellite, forms an equation set together with an earth ellipsoid equation, and can solve the three-dimensional coordinates in the geocentric inertial coordinate system of the testee by solving the equation set and convert the three-dimensional coordinates into longitude and latitude coordinates. And the smoothing filtering module is used for performing smoothing filtering on the position coordinates of the testee updated in real time by combining with the real-time calculation ship position to obtain more accurate latitude and longitude information of the testee.
Based on the system, the invention also provides an astronomical satellite combined navigation positioning method independent of the horizontal reference and the satellite signal, which is characterized by comprising the following steps:
the system stabilizes the horizon space stable observation platform to a horizontal state based on the acquired naval vessel course and attitude information;
the system updates the satellite database of the satellite identification module in real time based on the acquired satellite orbit data;
the system acquires ship reckoning position data and time system information, screens out reference satellites and determines the positions and height data of the reference satellites and the satellites by combining star catalogue data and satellite data;
the fixed star observation equipment and the satellite observation equipment respectively point to the reference star and the direction of the satellite, and the fixed star observation equipment captures a star map and completes the identification and tracking of the reference star through star map matching; the satellite observation equipment identifies and tracks the satellite;
the system acquires shooting trigger time, trigger pulse intervals and the number of trigger pulses, completes star atlas shooting according to an instruction, latches the shooting time according to time system information, and corrects errors of observation data and shooting time data;
resolving the corrected observation data to obtain angular distance information between the reference satellite and the satellite at each moment, and further resolving a right ascension value and a declination value of the satellite in a second equatorial coordinate system relative to each moment of the observer by using the angular distance information between the reference satellite and the satellite;
and establishing an equation set based on the satellite declination value of the right ascension through and the earth ellipsoid equation, and solving to calculate the coordinate value of the geocentric inertial coordinate system of the surveyor at each moment.
In one embodiment of the present invention, further comprising:
and carrying out smooth filtering on the coordinate value of the geordic inertial coordinate system of the testee obtained by the final calculation so as to obtain more accurate position information of the testee.
In an embodiment of the present invention, the corrected observation data is resolved to obtain angular distance information between the reference satellite and the satellite at each time, and a specific resolving process is as follows:
(1) According to the spherical triangle formula, the reference star is set as two natural celestial bodies A and B, and the angular distance between the two natural celestial bodies A and B is as follows:
wherein h' A 、h′ B Is a pseudo altitude angle A 'of two natural celestial bodies A and B in a horizontal coordinate system of the observation platform' A 、A′ B The pseudo azimuth angles of the two natural celestial bodies A and B in the horizontal coordinate system of the observation platform are shown. In addition, the angular distance between the two natural celestial bodies A and B can be calculated through the declination value of the right ascension in the aerospace ephemeris database:
wherein, delta A 、δ B Is the declination value of two natural celestial bodies A and B, alpha A 、α B The red channels of two natural celestial bodies A and B are shown.
(2) The angular distance between the natural celestial body A and the satellite S is as follows:
wherein h' A 、h′ s Is a pseudo-altitude angle, A 'of the natural celestial body A and the satellite S in a horizon coordinate system of an observation platform' A 、A′ S The pseudo azimuth angles of the natural celestial body A and the satellite S in the horizon coordinate system of the observation platform are obtained. Since the observation platform contains azimuth and horizontal reference errors, the azimuth angle and the elevation angle in the horizontal coordinate system of the observation platform are called pseudo azimuth angle and pseudo elevation angle.
(3) The angular distance between the natural celestial body B and the satellite S is as follows:
wherein h' B 、h′ s Is a altitude angle, A 'of the natural celestial body B and the satellite S in a horizon coordinate system of an observation platform' B 、A′ S The azimuth angles of the natural celestial body B and the satellite S in the horizontal coordinate system of the observation platform are obtained.
In an embodiment of the present invention, the calculating the right ascension value and the declination value of the satellite in the second equatorial coordinate system at each time relative to the observer by using the angular distance information between the reference satellite and the satellite specifically includes:
(1) Solution of spherical angle PAB (P is the north and the north)
According to the spherical triangle formula
Wherein, the first and the second end of the pipe are connected with each other,
(2) Solution of spherical angle SAB
(3) Solution of spherical angle PAS
∠PAS＝∠PAB-∠SAB
(4) Solving of angle APS
(5) Satellite sight red channel alpha S Is solved for
α S ＝α A +∠APS
(6) Declination delta of satellite S Is solved for
In an embodiment of the present invention, the calculation process of the coordinate values of the geocentric inertial coordinate system of the surveyor at each moment is as follows:
(1) Solving coordinates of geodesic inertial coordinate system of surveyor
The coordinate of the surveyor satisfies the following equation set
Wherein X, Y and Z are coordinates of the surveyor in the geocentric inertial coordinate system, X, Y and Z are coordinates of the satellite in the geocentric inertial coordinate system, and alpha S 、δ S The declination and the right ascension values of the satellite relative to the testee are shown in the specification, wherein a is the length of a long axis of an ellipsoid of the earth, and b is the length of a short axis of the ellipsoid of the earth.
(2) Solving the longitude and latitude of the testee
And converting coordinates x, y and z of the geocenter inertial coordinate system of the surveyor into longitude and latitude coordinates lambda and phi.
The invention relates to an astronomical satellite combined navigation positioning system and method independent of a horizontal reference and a satellite signal, which take a satellite with known accurate space position and motion parameters as a beacon and calculate the position of an observer by measuring the observation right ascension and declination values of the projection points of the satellite on an celestial sphere, can overcome the defects of limited observation opportunity, easy interference on satellite navigation, expensive error accumulation of inertial navigation equipment and the like in the traditional astronomical positioning, and provides a new navigation system with strong anti-interference performance, accurate positioning and more observation opportunities for ships and warships as an effective supplement to the existing navigation means.
Drawings
FIG. 1 is a schematic diagram of an integrated navigation and positioning system for astronomical satellites without relying on horizontal reference and satellite signals according to the present invention;
FIG. 2 is a schematic block diagram of an integrated navigation and positioning system for astronomical satellites without relying on horizontal reference and satellite signals according to the present invention;
FIG. 3 is a diagram illustrating a configuration of an observation control system according to a first embodiment of the present invention;
FIG. 4 is a diagram illustrating a configuration of an observation system according to a first embodiment of the present invention;
FIG. 5 is a block diagram of a data processing system according to a first embodiment of the present invention;
FIG. 6 is a flowchart illustrating the operation of a system according to a first embodiment of the present invention;
FIG. 7 is a schematic diagram of a process of resolving celestial coordinates and data.
Examples
An astronomical satellite integrated navigation positioning system which does not depend on a horizontal reference and a satellite signal of the embodiment is shown in fig. 2 to 6, and the system mainly comprises an observation system, an observation control system and a data processing system; the data received by the system comprises ship course attitude information, ship dead reckoning position, time system information and satellite orbit data;
the observation system is mainly used for observing natural celestial bodies and satellites, and comprises an earth-level space stable observation platform carried on a naval vessel, and fixed star observation equipment and satellite observation equipment which are fixed on the earth-level space stable observation platform.
The horizon space stable observation platform is fixed on the ship platform through the horizon servo system, and the horizon servo system controls the horizon space stable observation platform to reach a horizontal stable state through ship course attitude information sent by the observation control system.
The fixed star observation device is fixed on the horizon space stable observation platform through the fixed star observation servo system, and points the fixed star observation device to a preset space angle according to the azimuth angle and the altitude angle sent by the observation control system, so as to search and identify the preset fixed star.
The satellite observation equipment is fixed on the horizon space stable observation platform through the satellite observation servo system, points the satellite observation equipment to a preset space angle according to the azimuth angle and the altitude angle sent by the observation control system, and searches and identifies a preset satellite.
The star observation device and the satellite observation device can be optical devices, and can also be infrared or radio detection devices, and one or more groups can be arranged. In order to ensure the observation capability of the satellite, an astronomical telescope with high multiplying power is adopted when an optical means is used.
The observation control system is mainly used for controlling the observation system and celestial body identification and calculation and comprises an observation control module, a fixed star identification and calculation module and a satellite identification and calculation module.
The observation control module comprises a control data calculation module and a shooting control module. The control data calculation module is mainly used for calculating the directions and heights of the selected fixed star and the satellite, sending the directions and heights to the observation system together with ship course attitude information, and providing observation guide data for stabilizing the horizon space stable observation platform and the observation equipment. The shooting control module is used for sending shooting trigger time, trigger pulse intervals and the number of trigger pulses to the observation system, and the observation system finishes star map shooting according to instructions and latches the shooting time according to time system information.
The star identification module comprises a star catalogue database and a star map matching module. The star catalogue database is mainly used for storing data such as positions, motions, stars and the like of natural celestial bodies. The star map matching module is mainly used for matching and identifying star maps shot by a star sensor or other observation equipment by using a star map matching algorithm and screening out angular distance measurement reference stars.
The satellite identification module comprises a satellite database and a satellite identification module. The satellite database module is used for storing relevant data of all orbiting satellites and can update satellite data through a communication system. The satellite identification module firstly calculates information such as satellite star and angular velocity, and the information and the star map matching module are used for satellite identification.
The data processing system is mainly used for resolving the position of the surveyor and comprises an error correction module, a projection point resolving module and a position resolving module.
The error correction module is used for performing error correction on the detection data, and comprises sensor internal error correction and external error correction. Internal errors are mainly due to deviations of the parameters from nominal values and, depending on the specific construction of the sensor, there are generally specific correction methods. External errors generally refer to errors that occur when the sensor is in a normal operating state due to factors other than the sensor itself. The internal errors mainly comprise camera assembly errors, thermal deformation errors, pixel resolution and the like. And the external errors mainly include atmospheric refraction, aberration, and the like.
The projection point calculating module comprises a pseudo azimuth height calculating module, a celestial body angular distance calculating module and a right ascension declination calculating module. And the pseudo-azimuth height calculating module is used for calculating the azimuth and the height of the reference star and the satellite in the coordinate system of the observation platform. Although the observation data is subjected to error correction, the observation data still contains the azimuth and horizontal reference errors of the observation platform, so that the azimuth and altitude information measured in the coordinate system of the observation platform is called pseudo azimuth and pseudo altitude. The celestial body angular distance module calculates the angular distances between the satellite and the reference satellite according to the pseudo azimuth and the pseudo altitude data of the reference satellite and the satellite, and the pseudo azimuth and the pseudo altitude data observed at the same moment contain the same reference error, so the calculated celestial body angular distance value can eliminate the platform reference error. And the right ascension and declination calculating module further calculates the right ascension and declination of the satellite in the second equatorial coordinate system according to the angular distance between the satellite and the reference satellite.
The position calculating module is used for solving the longitude and latitude information of the testee and comprises a real-time position calculating module and a smooth filtering module. The real-time position resolving module establishes a sight line equation according to the satellite right ascension declination and the satellite real-time position, and forms an equation set together with an earth ellipsoid equation, and the three-dimensional coordinates in the geocentric inertial coordinate system of the testee can be resolved by resolving the equation set and can be converted into longitude and latitude coordinates. And the smoothing filtering module is used for performing smoothing filtering on the position coordinates of the testee updated in real time by combining with the real-time calculation ship position to obtain more accurate latitude and longitude information of the testee.
The working flow of the navigation positioning system of the present embodiment, that is, the positioning method, is shown in fig. 6, and includes:
1. the observation control system acquires the course and attitude information of the naval vessel, servo data are calculated by the observation control module and then sent to an observation platform module of the observation system, and an observation platform servo system of the observation platform module starts to work to control the horizontal space stable observation platform to keep a horizontal stable state;
2. the observation control system acquires satellite orbit data and updates the satellite database of the satellite identification module in real time;
3. the observation control system respectively acquires ship position calculation data and time system information, screens a reference satellite and a satellite by combining a star catalogue database under the fixed star identification module and a satellite database under the satellite identification module, calculates azimuth and altitude data of the reference satellite and the satellite, and sends the azimuth and altitude data to the observation system;
4. the observation system receives azimuth and altitude data of the reference star and the satellite, and the fixed star observation servo system and the satellite observation servo system respectively drive the fixed star observation equipment and the satellite observation equipment to point to the space areas where the reference star and the satellite are located;
5. the fixed star observation equipment shoots a star map and matches the star map to finish reference star identification and tracking; the satellite observation equipment searches for the satellite to complete the identification and tracking of the satellite;
6. after the fixed star observation equipment and the satellite observation equipment finish the identification and tracking of the reference star and the satellite, a shooting control module of the observation control system sends shooting trigger time, trigger pulse intervals and the number of trigger pulses to the observation system;
7. the observation system finishes star map shooting according to the instruction, latches shooting time according to time system information, and sends observation data and shooting time data to the data processing system;
8. an error correction module of the data processing system corrects the internal error and the external error of the sensor of the observation data respectively;
9. the pseudo azimuth height resolving module resolves the error-corrected observation data, and resolves according to a pseudo horizon coordinate value to obtain angular distance information between the reference satellite and the satellite at each moment;
the resolving process comprises the following steps:
(1) According to the formula of spherical triangle, the reference star is two natural celestial bodies A and B, and the angular distance between the two natural celestial bodies A and B is:
wherein h' A 、h′ B Is a pseudo-altitude angle, A ', of two natural celestial bodies A and B in the horizon coordinate system of the observation platform' A 、A′ B The pseudo azimuth angles of the two natural celestial bodies A and B in the horizontal coordinate system of the observation platform are shown. In addition, the angular distance between the two natural celestial bodies A and B can be calculated through the declination value of the right ascension in the aerospace ephemeris database:
wherein, delta A 、δ B Is the declination value of two natural celestial bodies A and B, alpha A 、α B The red channel values of two natural celestial bodies A and B are shown.
(2) The angular distance between the natural celestial body A and the satellite S is as follows:
wherein h' A 、h′ s Is a pseudo-altitude angle, A 'of the natural celestial body A and the satellite S in a horizon coordinate system of an observation platform' A 、A′ S The pseudo azimuth angles of the natural celestial body A and the satellite S in the horizon coordinate system of the observation platform are obtained. Because the observation platform contains azimuth and horizontal reference errors, the azimuth angle and the elevation angle in the horizontal coordinate system of the observation platform are called pseudo azimuth angle and pseudo elevation angle.
(3) The angular distance between the natural celestial body B and the satellite S is as follows:
wherein h' B 、h′ s Is a altitude angle, A 'of the natural celestial body B and the satellite S in a horizon coordinate system of an observation platform' B 、A′ S The azimuth angles of the natural celestial body B and the satellite S in the horizontal coordinate system of the observation platform are obtained.
10. The right ascension and declination module utilizes angular distance information between the reference star and the satellite to calculate right ascension values and declination values of the satellite in a second equatorial coordinate system at all times relative to the measurer;
the resolving process is as follows:
(1) Solution of spherical angle PAB (P is the natural north pole)
According to the spherical triangle formula
Wherein, the first and the second end of the pipe are connected with each other,
(2) Solution of spherical angle SAB
(3) Solution of spherical angle PAS
∠PAS＝∠PAB-∠SAB
(4) Solving of angle APS
(5) Satellite sight red channel alpha S Is solved for
α S ＝α A +∠APS
(6) Declination delta of satellite S Is solved for
11. The position resolving module receives the satellite right ascension declination value, establishes an equation set together with an earth ellipsoid equation, and resolves coordinate values of a geocenter inertial coordinate system of the surveyor at each moment;
the resolving process is as follows:
(1) Solving coordinates of geodetic inertial coordinate system
The coordinate of the measurer satisfies the following equation set
Wherein X, Y and Z are coordinates of the surveyor in the geocentric inertial coordinate system, X, Y and Z are coordinates of the satellite in the geocentric inertial coordinate system, and alpha S 、δ S The declination and declination values of the satellite relative to the surveyor are shown in the specification, wherein a is the length of the long axis of the earth ellipsoid, and b is the length of the short axis of the earth ellipsoid.
(3) Solving the longitude and latitude of the testee
And converting the coordinates x, y and z of the geocentric inertial coordinate system of the surveyor into longitude and latitude coordinates lambda and phi.
12. And the smoothing filtering module performs smoothing filtering on the position of the surveyor at each moment to acquire more accurate position information of the surveyor.
The invention has the beneficial effects that:
1. breaking through the traditional astronomical positioning theory and eliminating the direction and horizontal reference errors. The traditional astronomical positioning theory needs to rely on direction or horizontal reference to obtain the azimuth and height information of a celestial body, wherein the direction and horizontal reference errors cannot be eliminated, and the positioning accuracy is poor. The observation quantity is the angular distance between the satellite and other celestial bodies, and direction and horizontal reference errors are not included, so that the positioning precision can be greatly improved.
2. Observation methods that do not rely on a horizontal reference platform may be developed. Although the invention still adopts the horizontal reference platform for observation, the error requirement on the platform is greatly reduced only for completing the search of celestial bodies. And a star map matching algorithm without a stable observation platform can be developed subsequently, the star map matching is completed without depending on azimuth and altitude information, and the angular distance between the satellite and the reference satellite is directly measured, so that the positioning is completed. The existing astronomical automatic navigation equipment needs inertial navigation to provide a stable observation platform, and the inertial navigation equipment is high in price, and if the existing astronomical automatic navigation equipment can be separated from a horizontal reference platform to finish detection and positioning, the system cost can be greatly reduced.
3. Has stronger anti-interference performance. For example, the satellite orbit data in the satellite database is accurate, and the positioning can be automatically completed without depending on external information. If the satellite data is not accurate, the base station is required to send satellite orbit updating data to the ship, and the comprehensive anti-interference performance of various communication means of the ship is far stronger than that of satellite navigation.
4. The positioning precision is higher. The invention is not influenced by level and azimuth reference errors at all, and the angle measurement precision of detection means such as optics and the like is higher, so that the invention has higher positioning precision compared with the existing astronomical automatic navigation equipment.
5. Full-time continuous positioning can be realized. Because the number of available satellites is large, and detection means such as optics, infrared rays, radio waves and the like are comprehensively used, the full-time continuous positioning can be realized under the condition of good weather.
Claims (9)
1. An astronomical satellite integrated navigation positioning system independent of horizontal reference and satellite signals is characterized by comprising an observation system, an observation control system and a data processing system;
the observation system is used for observing a natural celestial body and a satellite, and comprises a horizon space stable observation platform carried on a naval vessel, and fixed star observation equipment and satellite observation equipment which are fixed on the horizon space stable observation platform;
the observation control system is used for controlling the observation system and celestial body identification and calculation and comprises an observation control module, a fixed star identification and calculation module and a satellite identification and calculation module;
the data processing system is mainly used for calculating the position of the surveyor and comprises an error correction module, a projection point calculating module and a position calculating module.
2. An integrated astronomical satellite navigation positioning system which is independent of horizontal reference and satellite signals as claimed in claim 1,
the horizon space stable observation platform is fixed on the ship platform through a horizon servo system, and the horizon servo system controls the horizon space stable observation platform to reach a horizontal stable state through ship course attitude information sent by the observation control system;
the fixed star observation equipment is fixed on the horizon space stable observation platform through the fixed star observation servo system, and points the fixed star observation equipment to a preset space angle according to the azimuth angle and the altitude angle sent by the observation control system, so as to search and identify the preset fixed star;
the satellite observation equipment is fixed on the horizon space stable observation platform through a satellite observation servo system, points the satellite observation equipment to a preset space angle according to the azimuth angle and the altitude angle sent by the observation control system, and searches and identifies a preset satellite;
the star observation equipment and the satellite observation equipment are arranged in one group or multiple groups, and optical equipment or infrared/radio detection equipment is adopted.
3. An integrated navigation and positioning system of astronomical satellites independent of horizontal reference and satellite signals as claimed in claim 1,
the observation control module comprises a control data calculation module and a shooting control module; the control data calculation module is used for calculating the azimuth and the height of the selected fixed star and satellite, sending the azimuth and the height to the observation system together with ship course attitude information, and providing observation guide data for stabilizing the horizon space stable observation platform and observation equipment; the shooting control module is used for sending shooting trigger time, trigger pulse intervals and the number of trigger pulses to the observation system, and the observation system finishes star map shooting according to instructions and latches the shooting time according to time system information;
the star identification module comprises a star catalogue database and a star map matching module; the star table database is used for storing the position, the movement and the star data of the natural celestial body; the star map matching module is used for matching and identifying star maps shot by the star sensor or other observation equipment by using a star map matching algorithm, and screening out angular distance measurement reference stars;
the satellite identification module comprises a satellite database and a satellite identification module; the satellite database module is used for storing the related data of all the orbiting satellites and can update the satellite data through a communication system; the satellite identification module firstly calculates satellite star and the like and angular speed information, and the satellite identification module and the star map matching module are jointly used for satellite identification.
4. An integrated navigation and positioning system of astronomical satellites independent of horizontal reference and satellite signals as claimed in claim 1,
the error correction module is used for performing error correction on the detection data, and comprises sensor internal error correction and sensor external error correction; the internal errors comprise camera assembly errors, thermal deformation errors and pixel resolution, and the external errors comprise atmospheric refraction and optical aberration;
the projection point calculating module comprises a pseudo azimuth height calculating module, a celestial body angular distance calculating module and a right ascension declination calculating module; the pseudo azimuth height calculating module is used for calculating the azimuth and height of the reference star and the satellite in the observation platform coordinate system; the celestial body angular distance module calculates the angular distances of the satellite and the reference satellite according to the pseudo azimuth and pseudo altitude data of the reference satellite and the satellite, and the right ascension and declination calculation module further calculates the right ascension and declination of the satellite in a second equatorial coordinate system according to the angular distances of the satellite and the reference satellite;
the position resolving module is used for solving the latitude and longitude information of the testee and comprises a real-time position resolving module and a smooth filtering module; the real-time position resolving module establishes a sight line equation according to the satellite right ascension declination and the satellite real-time position, and forms an equation set together with an earth ellipsoid equation, and the three-dimensional coordinate in the geocentric inertial coordinate system of the testee can be solved by solving the equation set and can be converted into longitude and latitude coordinates; and the smoothing filtering module is used for smoothing filtering by combining the real-time calculation ship position according to the position coordinates of the measurer updated in real time to obtain more accurate longitude and latitude information of the measurer.
5. An astronomical satellite integrated navigation positioning method independent of horizontal reference and satellite signals based on the system of claims 1-4, comprising:
the system stabilizes the horizon space stable observation platform to a horizontal state based on the acquired naval vessel course and attitude information;
the system updates the satellite database of the satellite identification module with real-time data based on the acquired satellite orbit data;
the system acquires ship reckoning position data and time system information, screens out reference satellites and determines the positions and height data of the reference satellites and the satellites by combining star catalogue data and satellite data;
the fixed star observation equipment and the satellite observation equipment respectively point to the reference star and the direction of the satellite, and the fixed star observation equipment captures a star map and completes the identification and tracking of the reference star through star map matching; the satellite observation equipment identifies and tracks the satellite;
the system acquires shooting trigger time, trigger pulse intervals and the number of trigger pulses, completes star atlas shooting according to an instruction, latches the shooting time according to time system information, and corrects errors of observation data and shooting time data;
resolving the corrected observation data to obtain angular distance information between the reference satellite and the satellite at each moment, and further resolving a right ascension value and a declination value of the satellite in a second equatorial coordinate system relative to each moment of the observer by using the angular distance information between the reference satellite and the satellite;
and establishing an equation set based on the declination value of the right ascension of the satellite and an earth ellipsoid equation, and solving to calculate the coordinate value of the geocentric inertial coordinate system of the surveyor at each moment.
6. An integrated astronomical satellite navigation positioning method independent of horizontal reference and satellite signals as claimed in claim 5, further comprising:
and carrying out smooth filtering on the coordinate value of the geordic inertial coordinate system of the testee obtained by the final calculation so as to obtain more accurate position information of the testee.
7. An integrated navigation and positioning method of astronomical satellites independent of horizontal reference and satellite signals as claimed in claim 5,
the corrected observation data are resolved to obtain angular distance information between the reference satellite and the satellite at each moment, and the specific resolving process is as follows:
(1) According to the spherical triangle formula, the reference star is set as two natural celestial bodies A and B, and the angular distance between the two natural celestial bodies A and B is as follows:
wherein h' A 、h′ B Is a pseudo-altitude angle, A ', of two natural celestial bodies A and B in the horizon coordinate system of the observation platform' A 、A′ B The pseudo azimuth angles of two natural celestial bodies A and B in the horizontal coordinate system of the observation platform are obtained, and in addition, the pseudo azimuth angles of two natural celestial bodies A and B in the horizontal coordinate system of the observation platform are obtainedThe angular distance of the natural celestial body is also calculated through the declination value of the right ascension in the aerospace ephemeris database:
wherein, delta A 、δ B Is the declination value of two natural celestial bodies A and B, alpha A 、α B The red channel values of A and B natural celestial bodies;
(2) The angular separation of the natural celestial body A from the satellite S is:
wherein h' A 、h′ s Is a pseudo-altitude angle, A 'of the natural celestial body A and the satellite S in a horizontal coordinate system of the observation platform' A 、A′ S Pseudo azimuth angles of a natural celestial body A and a satellite S in a horizontal coordinate system of an observation platform are obtained; because the observation platform comprises azimuth and horizontal reference errors, the azimuth angle and the elevation angle in the horizontal coordinate system of the observation platform are called pseudo azimuth angle and pseudo elevation angle;
(3) The angular separation of the natural celestial body B from the satellite S is:
wherein h' B 、h′ s Is the altitude angle, A 'of the natural celestial body B and the satellite S in the horizon coordinate system of the observation platform' B 、A′ S The azimuth angles of the natural celestial body B and the satellite S in the horizontal coordinate system of the observation platform are obtained.
8. An integrated navigation and positioning method of astronomical satellites independent of horizontal reference and satellite signals as claimed in claim 5,
the method for calculating the right ascension value and the declination value of the satellite in the second equatorial coordinate system at each moment relative to the measurer by using the angular distance information between the reference satellite and the satellite comprises the following specific calculation processes:
(1) Solution of spherical angle PAB
According to the spherical triangle formula
Wherein, the first and the second end of the pipe are connected with each other,
(2) Solution of spherical angle SAB
(3) Solution of spherical angle PAS
∠PAS＝∠PAB-∠SAB
(4) Solving of angle APS
(5) Satellite vision right ascension alpha S Is solved for
α S ＝α A +∠APS
(6) Declination delta of satellite vision S Is solved for
9. An integrated astronomical satellite navigation positioning method which is independent of horizontal reference and satellite signals as claimed in claim 5,
the calculating process of the coordinate value of the geocentric inertial coordinate system of the surveyor at each moment is as follows:
(1) Solving coordinates of geodesic inertial coordinate system of surveyor
The coordinate of the surveyor satisfies the following equation set
Wherein, X, Y and Z are coordinates of the surveyor in the geocentric inertial coordinate system, X, Y and Z are coordinates of the satellite in the geocentric inertial coordinate system, and alpha S 、δ S The declination and declination values of the satellite relative to the surveyor are shown in the specification, wherein a is the length of a long axis of an earth ellipsoid, and b is the length of a short axis of the earth ellipsoid;
(2) Solving the longitude and latitude of the testee
And converting coordinates x, y and z of the geocenter inertial coordinate system of the surveyor into longitude and latitude coordinates lambda and phi.
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| CN116679759A (en) * | 2023-05-16 | 2023-09-01 | 刘沛乐 | Automatic control method and device for cradle head equipment |
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| CN115542363A (en) * | 2022-11-24 | 2022-12-30 | 浙江航天润博测控技术有限公司 | Attitude measurement method suitable for vertical downward-looking aviation pod |
| CN116679759A (en) * | 2023-05-16 | 2023-09-01 | 刘沛乐 | Automatic control method and device for cradle head equipment |
| CN116679759B (en) * | 2023-05-16 | 2024-04-05 | 刘沛乐 | Automatic control method and device for cradle head equipment |
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