CN110879064A - Exposure triggering method for strapdown star sensor in shaking carrier - Google Patents
Exposure triggering method for strapdown star sensor in shaking carrier Download PDFInfo
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- CN110879064A CN110879064A CN201911154849.3A CN201911154849A CN110879064A CN 110879064 A CN110879064 A CN 110879064A CN 201911154849 A CN201911154849 A CN 201911154849A CN 110879064 A CN110879064 A CN 110879064A
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- star sensor
- carrier
- index function
- exposure
- threshold value
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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
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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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
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- 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)
- Gyroscopes (AREA)
Abstract
The invention provides an exposure triggering method for a strapdown star sensor in a shaking carrier. The method utilizes the triaxial angular rate output information of the gyroscope in the inertia combination, and also can only utilize the output information of the other two axially-mounted gyroscopes which are not optical axes to establish an index function expression reflecting the angular rate of the carrier. Setting a threshold value according to the dynamic application range of the star sensor, and when the index function value is not greater than the threshold value, judging that the carrier is in a low angular velocity motion state and sending an exposure trigger signal of the star sensor; and when the index function value is larger than the threshold value, the trigger signal of the star sensor is not sent out, and the star sensor does not image. The invention has the beneficial effects that: under the condition that the conventional working mode fails due to carrier shaking, the strapdown star sensor can still capture the low-angular-rate motion moment through gyroscope information, the exposure imaging tail of the star sensor at the moment is slight, the attitude determination can be completed, discontinuous measurement is provided for a combined navigation system, and therefore the dynamic applicability of inertia/astronomical combined navigation is improved.
Description
(I) technical field
The invention belongs to the technical field of integrated navigation, and can be used for improving the performance of an inertia/astronomical integrated navigation system under a dynamic condition.
(II) background of the invention
The star sensor is used as a key component in an inertia/astronomical autonomous integrated navigation system, the attitude determination precision is high, and errors do not drift along with time. However, the optical sensitive imaging chip of the star sensor needs light integration exposure imaging for a certain time, and an imaging tailing phenomenon is generated under a dynamic condition, so that the signal-to-noise ratio of a star image is reduced, the difficulty of star image extraction is increased, even the star image extraction fails, the positioning accuracy of the centroid of the star image is reduced, and star image matching is seriously influenced. This is a bottleneck restriction factor that has affected the use of star sensors under dynamic conditions for many years. When the star sensor is applied in space, the attitude of the aircraft relative to an inertial system is kept stable through attitude control, or the attitude is controlled within a certain angular rate limit, so that the small application range of the star sensor can be met. Under the condition that the carrier continuously shakes, the technical research on how to improve the applicability or usability of the star sensor has obvious engineering application value.
Disclosure of the invention
The invention provides an exposure triggering method for a strapdown star sensor in a shaking carrier, which can be used in an inertia/astronomical integrated navigation system.
The technical scheme provided by the invention is as follows:
and (3) establishing an index function expression reflecting the angular rate of the carrier by utilizing the three-axis angular rate output information of the gyroscope in the inertia combination and also only utilizing the output information of the other two axially-mounted gyroscopes which are not optical axes. Setting a threshold value according to the dynamic application range of the star sensor, judging that the carrier is in a low angular velocity motion state and sending a trigger signal of the star sensor when the index function value is not greater than the threshold value, wherein the exposure imaging tail of the star sensor under the condition is slight, and the attitude determination can be completed; and when the index function value is larger than the threshold value, the trigger signal of the star sensor is not sent out, and the star sensor does not image.
The invention has the beneficial effects that:
the invention relates to an exposure triggering method for a strapdown star sensor in a shaking carrier, which can enable the strapdown star sensor to still capture the moment of low-angular-rate motion through gyroscope information under the condition that the carrier fails due to shaking in the traditional working mode, the exposure imaging trailing of the star sensor at the moment is slight, the attitude determination can be completed, discontinuous measurement is provided for a combined navigation system, and the dynamic applicability of inertia/astronomical combined navigation is improved.
(IV) description of the drawings
Fig. 1 is a schematic diagram of triaxial angular rate distribution when a carrier is shaken.
In FIG. 1, the horizontal axis represents time t, and the vertical axis represents the angular rate ω of three axes from top to bottomx、ωy、ωz。
Numeral 1 denotes an x-axis angular velocity value ω at time t1 when the index function value is not greater than the set threshold valuext1。
Numeral 2 denotes a y-axis angular rate value ω at time t1 when the index function value is not greater than the set threshold valueyt1。
Numeral 3 denotes a z-axis angular velocity value ω at time t1 when the index function value is not greater than the set threshold valuezt1。
The star sensor exposure pulse triggered at time t1 is denoted by reference numeral 4.
The scenarios at times t2 and t3 captured in fig. 1 coincide with time t1, neither of which index function values is greater than the set threshold.
(V) detailed description of the preferred embodiments
The invention is described in more detail below with reference to fig. 1:
omega according to output value of gyroscopex、ωy、ωzAnd establishing an index function expression reflecting the angular speed of the carrier. And setting a threshold value delta, and sending a pulse signal to the star sensor to trigger exposure when the index function value is smaller than delta. The following lists 3 index function expressions, where expression 1 is:
adding 3 coefficients c1、c2、c3Expression 2 of (a) is:
has 3 coefficients c1、c2、c3Expression 3 of (a) is:
Iω＝c1|ωx|+c2|ωy|+c3|ωz|
if IωDelta is less than or equal to delta, then the symbol is consideredAnd (3) sending out an exposure trigger pulse according to the dynamic application range of the star sensor, imaging by the star sensor and finishing attitude determination. In FIG. 1, t1, t2 and t3 are IωAt the moment of ≦ δ.
Coefficient c given by different algorithms1、c2、c3There will be differences in these 3 coefficients, which can be considered as different weights for the triaxial angular rate.
Claims (2)
1. An exposure triggering method for a strapdown star sensor in a shaking carrier is characterized by comprising the following steps: the method comprises the following steps:
and (2) utilizing the three-axis angular rate output information of the gyroscope in the inertia combination to establish an index function expression reflecting the angular rate of the carrier, setting a threshold value according to the dynamic application range of the star sensor, and sending an external trigger signal of the star sensor when the index function value is not greater than the threshold value.
2. The method for triggering the exposure of the strapdown star sensor in the sloshing carrier as claimed in claim 1, wherein: the established index function expression reflecting the angular rate of the carrier can utilize the triaxial angular rate information output by the gyroscope, and can also only utilize the other two axially-mounted gyroscopes which are not optical axes to output information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911154849.3A CN110879064A (en) | 2019-11-22 | 2019-11-22 | Exposure triggering method for strapdown star sensor in shaking carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911154849.3A CN110879064A (en) | 2019-11-22 | 2019-11-22 | Exposure triggering method for strapdown star sensor in shaking carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110879064A true CN110879064A (en) | 2020-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911154849.3A Pending CN110879064A (en) | 2019-11-22 | 2019-11-22 | Exposure triggering method for strapdown star sensor in shaking carrier |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103674023A (en) * | 2013-12-26 | 2014-03-26 | 中国人民解放军国防科学技术大学 | Method for dynamically measuring attitude of star sensor based on top accurate angle relevance |
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2019
- 2019-11-22 CN CN201911154849.3A patent/CN110879064A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103674023A (en) * | 2013-12-26 | 2014-03-26 | 中国人民解放军国防科学技术大学 | Method for dynamically measuring attitude of star sensor based on top accurate angle relevance |
Non-Patent Citations (1)
| Title |
|---|
| 吴志华: "基于星敏感器/陀螺组合定姿***研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
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Application publication date: 20200313 |