CN106382927B - A kind of star sensor autonomous navigation method based on satellite identification - Google Patents
A kind of star sensor autonomous navigation method based on satellite identification Download PDFInfo
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- 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
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Abstract
The present invention provides a kind of star sensor autonomous navigation methods based on satellite identification, belong to star sensor autonomous navigation method technical field.The full independent navigation based on star sensor can be achieved in the present invention, the posture and location information for providing high-precision for carrier and not dissipating at any time.Method of the invention is creation satellite star chart and creation fusion star chart, and according to the matching of celestial bodies and the star chart all in visual field, obtains all information and posture information of fixed star, satellite.According to the fixed star of acquisition and planet information, high-precision positioning is carried out using improved starlight angular distance method, and then complete the conversion of attitude of carrier information, realize the full autonomous navigation method based on star sensor truly.Advantages of the present invention: 1) using satellite information, has good adaptability and flexibility；2) satellite positioning, with good stability and precision are used；3) it is resolved using the more stars of redundancy, it is anti-interference；4) using fusion star pattern matching, information reliability is increased.
Description
Technical field
The present invention relates to a kind of star sensor autonomous navigation methods based on satellite identification, belong to star sensor independent navigation
Method and technology field.
Background technique
Star sensor can work independently and provide the inertial attitude information with very high degree of precision, which does not tire out
It accumulates error and does not dissipate at any time.Transport motion in the inertial attitude information of star sensor output comprising being introduced by earth rotation
Component and the precession of the equinoxes-nutating, Ghandler motion equal error component caused by being perturbed as the earth, so the inertial attitude output of usually star sensor
It can not be resolved directly as navigational parameter.In order to eliminate the influence of above-mentioned factor, the inertial attitude letter of star sensor output
Breath needs to be converted to the posture information under navigational coordinate system by coordinate transform and compensation.It is needed simultaneously during posture changing
Location information is introduced, realizes the decomposition and conversion of posture, thus the precision of location information will directly affect final carriage output
Precision.
Location information in star sensor attitude algorithm, current most of location information acquisition method are to be believed by outside
Breath source provides, such as inertial navigation system, but the location information of inertial navigation system can be generated because of the working principle of inertial navigation
Error accumulation, i.e. navigation accuracy dissipate at any time, so the location information that inertial navigation system provides is not able to satisfy star sensitivity
Device determines appearance, the high-precision requirement of positioning；Slightly at least part of location information acquisition method is by adding for star sensor system
Ancillary equipment, auxiliary parameter increase specific motor-driven realization, such as using the directly sensitive Horizon of sextant, such as increase atmospheric density ginseng
The indirect sensitive Horizon of number measurement starlight refraction, such as use specific motor-driven holding platform for a certain particular pose.Using star sensitivity
The advantage that device directly carries out position resolving is that the location information obtained by star sensor does not have accumulated error and do not send out at any time
It dissipates.But when using the direct localization method of star sensor, although can guarantee that system has certain stationkeeping ability, have
Following problems: introducing more errors while adding more parameters, reduces carrier while executing specific motor-driven
Mobility, the passivity and independence of star sensor are reduced when increasing more ancillary equipments, so urgently proposing one kind
New method realizes the autonomous positioning of star sensor.
Currently, star sensor autonomic positioning method can be generally divided into directly sensitive Horizon, indirectly sensitive Horizon and pure
The methods of astronomical geometry, wherein pure astronomy method of geometry is more advantageous, since it is without introducing additional auxiliary parameter, equipment
Or it is motor-driven at the same resolve it is relatively simple quickly.In pure astronomical geometry location method, starlight angular distance method can utilize star sensor
Angle between fixed star and other nonstellar astronomical objects and positional relationship in visual field are positioned, the precision of this localization method with
Corner dimension is directly proportional between celestial body and is inversely proportional with observation point away from the distance between tested celestial body, i.e., starlight angle is bigger, day
The nearlyr positioning accuracy of body distance is higher.So wish to use the near-Earth object closer away from the earth, such as satellite in position fixing process, this
Sample can effectively improve the precision of positioning.
The location information using satellite is needed in satellite positioning procedures, this just needs to identify defending for current participation calculating
Star information.Usual satellite identification is progress satellite identification in the situation known to the position of carrier and posture, and in star sensor
In independent navigation, the position of carrier and posture are all unknown state, and do not research and propose effective satellite now
Recognition methods, while without corresponding star sensor autonomous attitude determination, the air navigation aid of positioning.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, i.e., cannot achieve for existing research
Satellite identification is carried out under navigational parameter unknown condition, and then high-precision fixed appearance, positioning independently can not be carried out in fact using star sensor
The problem of existing star sensor independent navigation.And then provide a kind of star sensor autonomous navigation method based on satellite identification.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of star sensor autonomous navigation method based on satellite identification, comprising the following steps:
Step 1: inertial attitude measures: star sensor is according to the fixed star S captured in visual fieldiInformation is complete with having created
Celestial sphere star chart MapstarIt is matched, obtains posture information Att of the current star sensor relative to inertial coodinate system；
Step 2: fixed star information identifies: according to matched posture information, identify fixed star information all in current field,
The information of right ascension, declination is obtained, while calculating current star sensor optical axis and being directed toward unit vector Li；
Step 3: plane of vision determines: star sensor uses more mesh star sensor forms, if all star sensor optical axis are handed over
In calculating space a bit, and any two star sensor optical axis determines inertial system plane where a star sensor optical axis
Poptical axis；
Step 4: satellite star chart creates: being created according to the satellite of operation on orbit all in space based on inertial coodinate system
Satellite star chart Mapsatellite, MapsatelliteIt is related to zebra time UTC, that is, it changes over time, and rotated around earth the earth's core；
Step 5: satellite star-fields segmentation: plane Poptical axisWith satellite star chart MapsatelliteIt is crossed to form round CP×Map；
With CP×MapCentered on, using the half of star sensor visual field width Width as bandwidth, by satellite star chart MapsatelliteProlong to both sides
It stretches to be divided into and is parallel to Poptical axisRing belt Fwidth/2, Swidth/2I=2 π/width parts in total, and Fi//Fj{i,j∈I,
i≠j}；
Step 6: segmentation star chart projection: by ring belt Fwidth/2L is directed toward to perpendicular to optical axisiPlane P⊥oaUpper projection,
Spherical surface satellite spatial is projeced into plane by the projection, forms the rectangle plane with certain relative position distortion；By
MapsatelliteThe band-like star chart that projection is formed is Mapprojection, and the projection is related to UTC time and posture Att；
Step 7: permanent satellite mapping fusion: by MapstarAnd MapprojectionIt is comprehensive to form fusion star chart Mapintegrated
(UTC, Att), MapintegratedFor the function of UTC and Att；
Step 8: fusion star pattern matching: by celestial body all in visual field, including fixed star and satellite and star chart Mapintegrated
It is matched, obtains the information R for being currently observed satellitei；
Step 9: starlight angular distance positions: utilizing the starlight vector information S of fixed stari, starlight angle letter between fixed star satellite
Cease IAij, satellite relative distance information ρiAnd the inertial position information R of satelliteiThe position for carrying out location Calculation carrier is r；
Choose Step 10: improving Heng Wei: introducing in calculating every time is more than that minimum perseverance needed for calculating is defended the fixed star of quantity and defended
Star is positioned, to improve computational accuracy；If number of stars are N, number of satellite is K, 2 fixed stars calculate starlight in optional N
Vector angle IA, i.e. IAM,3 starlight angles calculate L in optional Mi, i.e. Li,Similarly satellite Rj,
Step 11: improving location Calculation: when not considering that carrier deviates influence of the celestial sphere origin to attitude measurement, star is sensitive
Device directly gives attitude angle Att of the carrier relative to inertial space by Starry sky observation and star pattern matchingi, satellite and fixed star are in star
Relationship in sensor photo coordinate system is R (α, β), then satellite direction vector can pass through Li=R (α, β) AttiIt calculates；
Step 12: limitation Heng Wei chooses: limitation introduces the quantity of fixed star M and satellite K, due in celestial body observation process
There can be certain measurement error, excessive error can be introduced instead by participating in calculating using excessive fixed star and satellite, and then be dropped
The accuracy of low positioning and navigation；It is followed in Heng Wei selection:
1, the fixed star, satellite of selection are as far as possible close to field of view center；
2, the starlight vector angle between fixed star and fixed star, fixed star and satellite is greater than the threshold value δ of settingthreshold；
3, satellite is new satellite, orbit perturbation is weaker, orbit parameter is more accurate；
4, the single measurement error of starlight angle is within σ；
Step 13: the quick independent navigation of star: calculating the position of carrier, and be converted to the location information under navigational coordinate system
Autonomous positioning is completed, posture is carried out on the basis of known location, time and earth parameter and converts autonomous attitude determination, to sum up most
Independent navigation is completed eventually.
The invention has the following advantages: can directly utilize satellite information, high degree using satellite recognition methods
Improve the flexibility and applicability of positioning；Using fusion star pattern matching, more accurate satellite recognition result can be obtained, is improved
The reliability in system location information source；Using satellite positioning method, since satellite position information precision is higher, so relatively going
Star positioning method positioning is more acurrate, and is influenced by observation astronomical perturbation smaller, while number of satellite is more, improves consecutive tracking
Stability；It is resolved, can be effectively eliminated by fixed star, moonscope information inaccuracy and bring using the more star measurements of redundancy
Error is calculated, final positioning accuracy is improved.The present invention may be implemented Rotating Platform for High Precision Star Sensor and determine appearance and positioning, and navigation results
It does not dissipate at any time, positioning accuracy is better than 50m, and the accuracy of attitude determination error as caused by position error is no more than 1 ".
Specific embodiment
The present invention is described in further detail below: the present embodiment under the premise of the technical scheme of the present invention into
Row is implemented, and gives detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
A kind of star sensor autonomous navigation method based on satellite identification involved in the present embodiment, comprising the following steps:
Step 1: inertial attitude measures: star sensor is according to the fixed star S captured in visual fieldiInformation is complete with having created
Celestial sphere star chart MapstarIt is matched, obtains posture information Att of the current star sensor relative to inertial coodinate system；
Step 2: fixed star information identifies: according to matched posture information, identify fixed star information all in current field,
The information of right ascension, declination is obtained, while calculating current star sensor optical axis and being directed toward unit vector Li；
Step 3: plane of vision determines: star sensor uses more mesh star sensor forms, if all star sensor optical axis are handed over
In calculating space a bit, and any two star sensor optical axis determines inertial system plane where a star sensor optical axis
Poptical axis；
Step 4: satellite star chart creates: being created according to the satellite of operation on orbit all in space based on inertial coodinate system
Satellite star chart Mapsatellite, and new satellite, the perturbation lesser satellite of error selection priority with higher, MapsatelliteWith
Zebra time UTC is related, that is, changes over time, and rotates around earth the earth's core；
Step 5: satellite star-fields segmentation: plane Poptical axisWith satellite star chart MapsatelliteIt is crossed to form round CP×Map；
With CP×MapCentered on, using the half of star sensor visual field width Width as bandwidth, by satellite star chart MapsatelliteProlong to both sides
It stretches to be divided into and is parallel to Poptical axisRing belt Fwidth/2, Swidth/2I=2 π/width parts in total, and Fi//Fj{i,j∈I,
i≠j}；
Step 6: segmentation star chart projection: by ring belt Fwidth/2L is directed toward to perpendicular to optical axisiPlane P⊥oaUpper projection,
Spherical surface satellite spatial is projeced into plane by the projection, forms the rectangle plane with certain relative position distortion；By
MapsatelliteThe band-like star chart that projection is formed is Mapprojection, and the projection is related to UTC time and posture Att；In order to the greatest extent
Possible elimination is distorted by projection bring, can it is appropriate keep unit visual field in matching number of satellite it is enough under the conditions of
Reduce Fwidth/2Width Width；
Step 7: permanent satellite mapping fusion: by MapstarAnd MapprojectionIt is comprehensive to form fusion star chart Mapintegrated
(UTC, Att), MapintegratedFor the function of UTC and Att；
Step 8: fusion star pattern matching: by celestial body all in visual field, including fixed star and satellite and star chart Mapintegrated
It is matched, obtains the information R for being currently observed satellitei；
Step 9: starlight angular distance positions: utilizing the starlight vector information S of fixed stari, starlight angle letter between fixed star satellite
Cease IAij, satellite relative distance information ρiAnd the inertial position information R of satelliteiThe position for carrying out location Calculation carrier is r；
Choose Step 10: improving Heng Wei: introducing in calculating every time is more than that minimum perseverance needed for calculating is defended the fixed star of quantity and defended
Star is positioned, to improve computational accuracy；If number of stars are N, number of satellite is K, 2 fixed stars calculate starlight in optional N
Vector angle IA, i.e. IAM,3 starlight angles calculate L in optional Mi, i.e. Li,Similarly satellite Rj,
Step 11: improving location Calculation: when not considering that carrier deviates influence of the celestial sphere origin to attitude measurement, star is sensitive
Device directly gives attitude angle Att of the carrier relative to inertial space by Starry sky observation and star pattern matchingi, satellite and fixed star are in star
Relationship in sensor photo coordinate system is R (α, β), then satellite direction vector can pass through Li=R (α, β) AttiIt calculates；
Step 12: limitation Heng Wei chooses: limitation introduces the quantity of fixed star M and satellite K, due in celestial body observation process
There can be certain measurement error, excessive error can be introduced instead by participating in calculating using excessive fixed star and satellite, and then be dropped
The accuracy of low positioning and navigation；It is followed in Heng Wei selection:
1, the fixed star, satellite of selection are as far as possible close to field of view center；
2, the starlight vector angle between fixed star and fixed star, fixed star and satellite is greater than the threshold value δ of settingthreshold；
3, satellite is new satellite, orbit perturbation is weaker, orbit parameter is more accurate；
4, the single measurement error of starlight angle is within σ；
Step 13: the quick independent navigation of star: calculating the position of carrier, and be converted to the location information under navigational coordinate system
Autonomous positioning is completed, posture is carried out on the basis of known location, time and earth parameter and converts autonomous attitude determination, to sum up most
Independent navigation is completed eventually.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (2)
1. a kind of star sensor autonomous navigation method based on satellite identification, which is characterized in that
Step 1: inertial attitude measures: star sensor is according to the fixed star S captured in visual fielduInformation, with the whole day ball created
Star chart MapstarIt is matched, obtains posture information Att of the current star sensor relative to inertial coodinate system；
Step 2: fixed star information identifies: according to matched posture information, identifying fixed star information all in current field, obtain
The information of right ascension, declination, while calculating current star sensor optical axis and being directed toward unit vector Li；
Step 3: plane of vision determines: star sensor uses more mesh star sensor forms, if all star sensor optical axis meet at meter
It calculates in space a bit, and any two star sensor optical axis determines inertial system plane where a star sensor optical axis
Poptical axis；
Step 4: satellite star chart creates: creating the satellite based on inertial coodinate system according to the satellite of operation on orbit all in space
Star chart Mapsatellite, MapsatelliteIt is related to zebra time UTC, that is, it changes over time, and rotated around earth the earth's core；
Step 5: satellite star-fields segmentation: plane Poptical axisWith satellite star chart MapsatelliteIt is crossed to form round CP×Map；With
CP×MapCentered on, using the half of star sensor visual field width Width as bandwidth, by satellite star chart MapsatelliteExtend to both sides
It is divided into and is parallel to Poptical axisRing belt Fwidth/2, Fwidth/2I=2 π/width parts in total, and Fp//Fq{p,q∈I,p
≠q}；
Step 6: segmentation star chart projection: by ring belt Fwidth/2L is directed toward to perpendicular to optical axisiPlane P⊥oaUpper projection, the projection
Spherical surface satellite spatial is projeced into plane, forms the rectangle plane with certain relative position distortion；By MapsatelliteIt throws
The band-like star chart that shadow is formed is Mapprojection, and the projection is related to UTC time and posture Att；
Step 7: permanent satellite mapping fusion: by MapstarAnd MapprojectionIt is comprehensive to form fusion star chart Mapintegrated(UTC,
Att), MapintegratedFor the function of UTC and Att；
Step 8: fusion star pattern matching: by celestial body all in visual field, including fixed star and satellite and star chart MapintegratedIt carries out
Matching obtains the inertial position information R for being currently observed satellitej；
Step 9: starlight angular distance positions: utilizing the starlight vector information S of fixed staru, starlight angle information between fixed star satellite
IAuv, satellite relative distance information ρvAnd the inertial position information R of satellitejThe position for carrying out location Calculation carrier is r；
Chosen Step 10: improving Heng Wei: introduced in calculating every time be more than minimum perseverance needed for calculating defend quantity fixed star and satellite into
Row positioning, to improve computational accuracy；If number of stars are N, number of satellite is K, 2 fixed stars calculate starlight vector in optional N
Angle IAM, i.e.,3 starlight vector angle calcu-lation L in optional Mi, i.e.,The similarly inertia position of satellite
Confidence breath
Step 11: improving location Calculation: when not considering that carrier deviates influence of the celestial sphere origin to attitude measurement, star sensor is logical
Cross the attitude angle Att that Starry sky observation and star pattern matching directly give carrier relative to inertial spacew, satellite and fixed star are in star sensitivity
Relationship in device photo coordinate system is R (α, β), then satellite direction vector can pass through Qw=R (α, β) AttwIt calculates；
Step 12: limitation Heng Wei chooses: limitation introduces the quantity of fixed star M and satellite K, due to that can have in celestial body observation process
There is certain measurement error, excessive error can be introduced instead by participating in calculating using excessive fixed star and satellite, and then is reduced and determined
The accuracy of position and navigation；It is followed in Heng Wei selection:
1), the fixed star, satellite of selection are as far as possible close to field of view center；
2), the starlight vector angle between fixed star and fixed star, fixed star and satellite is greater than the threshold value δ of settingthreshold；
3), satellite is new satellite, orbit perturbation is weaker, orbit parameter is more accurate；
4), the single measurement error of starlight angle is within σ；
Step 13: the quick independent navigation of star: calculating the position of carrier, and be converted to the completion of the location information under navigational coordinate system
Autonomous positioning carries out posture on the basis of known location, time and earth parameter and converts autonomous attitude determination, to sum up final complete
At independent navigation.
2. the star sensor autonomous navigation method according to claim 1 based on satellite identification, which is characterized in that the step
It in rapid six, is distorted to eliminate as far as possible by projection bring, is keeping matching the enough items of number of satellite in unit visual field
F is reduced under partwidth/2Width Width.
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| CN107084715B (en) * | 2017-04-10 | 2019-06-18 | 北京控制工程研究所 | A kind of asynchronous multiframe star chart fusion method of star sensor |
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| CN108469261A (en) * | 2018-02-07 | 2018-08-31 | 天津大学 | A kind of method for recognising star map suitable for boat-carrying ultra-large vision field celestial navigation system |
| CN108759818B (en) * | 2018-04-26 | 2021-10-15 | 上海微小卫星工程中心 | Method for determining attitude of ultra-high-precision guide star sensor |
| CN109506663B (en) * | 2018-12-11 | 2022-04-05 | 上海航天控制技术研究所 | Multi-angular distance fusion-based constellation distributed autonomous orbit determination method |
| RU2749580C1 (en) * | 2020-08-05 | 2021-06-15 | Федеральное государственное бюджетное учреждение науки Институт космических исследований Российской академии наук | Method for determining orientation by images of starry sky areas |
| CN112461231A (en) * | 2020-10-23 | 2021-03-09 | 中国人民解放***箭军工程大学 | Multi-star map fused astronomical positioning method |
| CN113984069B (en) * | 2021-04-30 | 2023-06-06 | 北京临近空间飞行器***工程研究所 | Satellite light positioning navigation method based on artificial satellite |
| CN114485624B (en) * | 2022-01-05 | 2024-06-18 | 清华大学 | All-day optical navigation method and device based on combination of fixed star and satellite |
| CN115326061B (en) * | 2022-10-17 | 2023-01-17 | 中国人民解放军国防科技大学 | Autonomous navigation method based on ordered space target sequential observation |
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