CN111795702A - Inertial measurement information and starlight measurement information data synchronization method and system - Google Patents
Inertial measurement information and starlight measurement information data synchronization method and system Download PDFInfo
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- 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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- G—PHYSICS
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- 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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Abstract
The invention provides a method and a system for synchronizing inertial measurement information and starlight measurement information data. The data synchronization method comprises the following steps: after the inertia measurement unit and the star sensor are simultaneously electrified and initialized, a synchronous pulse signal is sent to the star sensor at the same time when the inertia measurement unit is ready to sample, the measurement data of the inertia measurement unit at the corresponding time is obtained according to the measurement time rule of the star sensor, and then the starlight measurement information measured by the star sensor is processed and solved and then sent to a navigation computer in the inertia measurement unit, so that the navigation computer is ensured to use the received starlight measurement information and the inertia measurement information at the corresponding time to carry out combined navigation filtering calculation. The data synchronization method can eliminate the influence of imaging and information processing delay of the star sensor on information synchronization, and fully exerts the advantage of high-precision attitude measurement of the star sensor.
Description
Technical Field
The invention relates to the technical field of navigation of space vehicles, in particular to a method and a system for synchronizing inertial measurement information and starlight measurement information data.
Background
In an inertial and starlight combined navigation system used by a spacecraft, the sampling frequency of measurement information of an inertial measurement unit is high and can reach over 1000Hz, the sampling frequency of measurement information of a star sensor is low and is usually 1Hz or lower, and the star sensor needs longer imaging time for starlight measurement, usually tens of milliseconds. Therefore, before performing the integrated navigation by using the inertial measurement information and the starlight measurement information, time alignment needs to be performed on the information processing data to ensure that the inertial measurement information and the starlight measurement information entering the integrated navigation filter are information at the same time.
At present, in an inertial and starlight combined navigation system, an inertial measurement unit and a star sensor independently work according to respective time sequences, after inertial information is collected, timing is started until starlight measurement information arrives, and then timing is stopped, and the inertial measurement information is extrapolated to the arrival time of the starlight measurement information by using the time and the collected inertial information, so that time synchronization of the inertial information and the starlight measurement information is completed. According to the method, inertial information data needs to be subjected to linear extrapolation, calculation errors exist, imaging integral time when the star sensor collects star light information and delay influence caused by information processing and resolving are not considered, and the advantage of high-precision attitude measurement of the star sensor cannot be fully exerted.
Disclosure of Invention
Aiming at the technical problems in the related art, the invention provides a method and a system for synchronizing inertial measurement information and starlight measurement information data. The data synchronization method can eliminate the influence of star sensor imaging and information processing delay on the synchronization of the inertial measurement data information and the starlight measurement data information, ensures the synchronism of the inertial measurement data and the starlight measurement data, and avoids errors caused by linear extrapolation of the data according to time by using a traditional method.
One aspect of the invention provides a method for synchronizing inertial measurement information and starlight measurement information data. The method comprises the following steps:
respectively initializing the inertia measurement unit and the star sensor after being simultaneously electrified;
enabling the inertial measurement unit to sample the gyroscope and the accelerometer, and simultaneously sending sampling synchronous pulse signals to the star sensor;
after receiving the synchronous pulse signal, the star sensor synchronizes the working clock thereof with the sampling synchronous pulse and starts the imaging of the measuring period;
acquiring measurement data of an inertia measurement unit at a corresponding moment according to the measurement data of the imaging integral intermediate moment of the star sensor;
and processing and resolving the starlight measurement information measured at the imaging integration middle moment of the star sensor, and then sending the processed and resolved starlight measurement information to a navigation computer in the inertial measurement unit, wherein the navigation computer performs combined navigation filtering calculation on the starlight measurement information and the inertial measurement information at the corresponding moment.
Further, the method for acquiring the measurement data of the inertia measurement unit at the corresponding moment according to the measurement time rule of the star sensor specifically comprises the following steps: the star sensor sends an imaging integral intermediate time pulse to the inertia measurement unit at the imaging integral intermediate time, and the inertia measurement unit receives the imaging integral intermediate time pulse and latches the inertia measurement information at the moment.
Furthermore, the specific method for sending the imaging integral intermediate time pulse to the inertial measurement unit by the star sensor at the imaging integral intermediate time is as follows: after a star sensor working clock and an inertia measurement unit sampling synchronous pulse are synchronized, the imaging start time and the imaging end time in each measurement period are calculated according to the current imaging integral time parameter, the imaging integral intermediate time is selected, and the imaging integral intermediate time pulse is sent to the inertia measurement unit.
In one embodiment, the method for synchronizing the inertial measurement information and the starlight measurement information further includes setting an imaging integration intermediate time pulse signal interface between the inertial measurement unit and the star sensor, so that the imaging integration intermediate time pulse signal is transmitted through the imaging integration intermediate time pulse signal interface.
In an embodiment, the method for acquiring the measurement data of the inertial measurement unit at the corresponding moment according to the measurement time law of the star sensor comprises:
adding timestamp information to each frame data in the inertial measurement unit measurement data and the star sensor measurement data;
and the navigation computer searches the inertia measurement information at the corresponding moment in the stored continuous inertia measurement information according to the timestamp information in the star sensor measurement information.
Further, the precision of the time stamp is milliseconds.
In one embodiment, the method for enabling the inertial measurement unit to sample the gyroscope and the accelerometer and simultaneously send the sampling synchronization pulse signal to the star sensor includes: and a synchronous pulse signal interface is arranged between the inertia measurement unit and the star sensor, so that the sampling synchronous pulse signal is transmitted through the synchronous pulse signal interface.
In one embodiment, after the star sensor completes image information processing and calculation, the method for sending the star light measurement information data to the navigation computer in the measurement unit includes: and a digital communication interface is arranged between the inertia measurement unit and the star sensor, so that the star light measurement data information is transmitted through the digital communication interface.
Another aspect of the present invention provides an inertial measurement information and starlight measurement information data synchronization system, which at least includes: the system comprises an inertia measurement unit, a star sensor, a navigation computer, a synchronous pulse signal interface, an imaging integral intermediate time pulse signal interface and a digital communication interface; the synchronous pulse signal interface is used for sending sampling synchronous pulse signals to the star sensor when the inertial measurement unit samples the gyroscope and the accelerometer; the imaging integral intermediate time pulse signal interface is used for sending an imaging integral intermediate time pulse generated by the star sensor at the imaging integral intermediate time to the inertia measurement unit, and the inertia measurement unit receives the imaging integral intermediate time pulse and latches the inertia measurement information at the moment; and the digital communication interface is used for processing and resolving the starlight measurement information measured by the star sensor and then sending the processed and resolved starlight measurement information to a navigation computer in the inertial measurement unit, and the navigation computer performs combined navigation filtering calculation on the starlight measurement information and the inertial measurement information at the corresponding moment.
Further, the system for synchronizing the inertial measurement information and the starlight measurement information further comprises a time stamp unit for adding time information to each frame of measurement data.
According to the method and the system for synchronizing the inertial measurement information and the starlight measurement information, the imaging integral intermediate time of the star sensor is calculated and adjusted according to the arrival time of the sampling synchronization pulse of the inertial measurement unit, the inertial measurement data is latched by using the imaging integral intermediate time pulse, the influence of imaging and information processing delay of the star sensor on the synchronization of the inertial measurement information and the starlight measurement information can be eliminated, the synchronism of the inertial measurement data and the starlight measurement data is ensured, the error caused by the recursion of the data according to time by using a traditional method is avoided, and the advantage of high-precision attitude measurement of the star sensor can be fully exerted.
Those skilled in the art will recognize additional features and advantages upon reading the detailed description, and upon viewing the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a method for synchronizing inertial measurement information and starlight measurement information data according to an embodiment of the present invention.
Fig. 2 is a block diagram of a system for data synchronization between inertial measurement information and starlight measurement information according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. Spatially relative terms such as "below," "… below," "lower," "above," "… above," "upper," and the like are used for convenience in describing the positioning of one element relative to a second element and are intended to encompass different orientations of the device in addition to different orientations than those illustrated in the figures. Further, for example, the phrase "one element is over/under another element" may mean that the two elements are in direct contact, or that there is another element between the two elements. Furthermore, terms such as "first", "second", and the like, are also used to describe various elements, regions, sections, etc. and should not be taken as limiting. Like terms refer to like elements throughout the description.
One aspect of the invention provides a method for synchronizing inertial measurement information and starlight measurement information data. The data synchronization method is mainly applied to a combined navigation system in the launching process of a space vehicle.
Referring to fig. 1, the method for synchronizing the inertial measurement information and the starlight measurement information data comprises the following steps:
s10, respectively initializing the inertia measurement unit and the star sensor after being electrified simultaneously;
s20, the inertial measurement unit samples the gyroscope and the accelerometer, and sends a sampling synchronous pulse signal to the star sensor;
s30, after receiving the synchronous pulse signal, the star sensor synchronizes the working clock and the sampling synchronous pulse and starts the imaging of the measuring period;
s40, acquiring the measurement data of the inertia measurement unit at the corresponding moment according to the measurement data of the imaging integration intermediate moment of the star sensor;
s50, starlight measurement information measured at the imaging integration middle moment of the star sensor is processed and resolved and then sent to a navigation computer in the inertial measurement unit, and the navigation computer performs combined navigation filtering calculation on the starlight measurement information and the inertial measurement information at the corresponding moment.
After the inertia measurement unit and the star sensor are simultaneously electrified and initialized, the synchronous pulse signals are sent to the star sensor at the same time when the inertia measurement unit is ready to sample the gyroscope and the accelerometer, so that the star sensor and the inertia measurement unit simultaneously start to sample, the measurement data of the inertia measurement unit at the corresponding time is obtained according to the measurement time rule of the star sensor, the starlight measurement information measured by the star sensor is processed and calculated and then sent to a navigation computer in the inertia measurement unit, and the received starlight measurement information and the inertia measurement information measured by the inertia unit at the time corresponding to the measurement of the star sensor are simultaneously subjected to combined navigation filtering calculation by the navigation computer.
By the method, the inertia measurement information and the starlight measurement information can be guaranteed to be sampling values at the same moment, extrapolation or interpolation calculation of the inertia measurement data is not needed, the influence of imaging and information processing delay of the star sensor on synchronization of the inertia measurement information and the starlight measurement information is eliminated, the data information synchronization rate is improved, and the navigation process of the carrier is more accurate.
Further, a method for acquiring measurement data of the inertia measurement unit at a corresponding moment according to a measurement time rule of the star sensor specifically comprises the following steps: the star sensor sends an imaging integral intermediate time pulse to the inertia measurement unit at the imaging integral intermediate time, and the inertia measurement unit receives the imaging integral intermediate time pulse and latches the inertia measurement information at the moment.
According to the embodiment of the invention, when the star sensor is in the imaging integration intermediate time, the imaging integration intermediate time pulse is sent to the inertial measurement unit, so that the inertial measurement unit immediately latches the inertial measurement information at the moment when receiving the imaging integration intermediate time pulse. The method can ensure that the inertial measurement information and the starlight measurement information are sampling values at the same time, and utilizes the imaging integral intermediate time pulse to latch the inertial measurement data, thereby eliminating the influence of imaging and information processing delay of the star sensor on the data synchronization of the inertial measurement information and the starlight measurement information and further eliminating the navigation error of the spacecraft caused by the data information asynchronization.
Furthermore, the specific method for sending the imaging integral intermediate time pulse to the inertial measurement unit by the star sensor at the imaging integral intermediate time is as follows: and after synchronizing the working clock and the sampling synchronous pulse, calculating the imaging start time and the imaging end time in each measurement period according to the current imaging integral time parameter, selecting an imaging integral intermediate time and sending the imaging integral intermediate time pulse to the inertial measurement unit.
After receiving a sampling synchronization pulse sent by an inertial measurement unit, the embodiment of the invention firstly enables a star sensor to synchronize an internal working clock with the sampling synchronization pulse, calculates the imaging start time and the imaging end time in each measurement period according to the current imaging integration time parameter, selects the imaging integration intermediate time and sends the imaging integration intermediate time pulse to the inertial measurement unit, and the inertial measurement unit immediately latches the inertial measurement information at the moment when receiving the imaging integration intermediate time pulse so as to synchronize the inertial measurement information with starlight measurement information data. The invention utilizes the method of latching the inertia measurement data to carry out the inertia and starlight combined navigation, and eliminates the influence of the imaging and information processing delay of the star sensor on the synchronization of the inertia measurement information and the starlight measurement information.
In one embodiment, the method for synchronizing the inertial measurement information and the starlight measurement information further includes setting an imaging integration intermediate time pulse signal interface between the inertial measurement unit and the star sensor, so that the imaging integration intermediate time pulse signal is transmitted through the imaging integration intermediate time pulse signal interface.
According to the embodiment of the invention, an imaging integral intermediate time pulse signal interface is arranged between the inertial measurement unit and the star sensor, so that the inertial measurement unit can send sampling synchronous pulse signals to the star sensor through the interface.
The hardware pulse in the invention can also become software time synchronization information, namely time stamp information is added to each frame of measurement data.
For example, the method for acquiring the measurement data of the inertia measurement unit at the corresponding moment according to the measurement time law of the star sensor comprises the following steps: adding timestamp information to each frame data in the inertial measurement unit measurement data and the star sensor measurement data; and the navigation computer searches the inertia measurement information at the corresponding moment in the stored continuous inertia measurement information according to the timestamp information in the star sensor measurement information.
In this embodiment, time stamp information may be added to each frame of data in the measurement data of the inertial measurement unit and the measurement data of the star sensor, that is, the measurement data of the inertial measurement unit and the star sensor at each time has a time mark. Specifically, after the inertia measurement unit and the star sensor are simultaneously powered on and initialized, the time of the inertia measurement unit and the time of the star sensor are synchronized, and the measurement work is started simultaneously. Because the measurement imaging time of the star sensor is later than that of the inertia measurement unit, the inertia measurement information at the corresponding moment can be searched in the continuous inertia measurement information stored in the system according to the time information in the measurement information of the star sensor, and then the synchronization of the inertia measurement information and the starlight measurement information is completed.
It should be noted that, in the above embodiment, since the measurement data at the intermediate time of the imaging integration is most stable in the measurement period of the star sensor, the aforementioned finding of the inertia measurement information at the corresponding time in the continuous inertia measurement information already stored in the system according to the time information in the measurement information of the star sensor can be performed by selecting the intermediate time data of the measurement data of the star sensor and finding the inertia measurement information at the corresponding time according to the time information of the imaging integration intermediate time data.
Further, in the above-described embodiment, the time stamp accuracy may be set to millisecond for more accurate time capture during measurement.
In the above embodiment, the method for sampling the gyroscope and the accelerometer by the inertial measurement unit and sending the sampling synchronization pulse signal to the star sensor includes: and a synchronous pulse signal interface is arranged between the inertia measurement unit and the star sensor, so that the sampling synchronous pulse signal is transmitted through the synchronous pulse signal interface.
According to the embodiment of the invention, the sampling synchronous pulse signal interface is arranged between the inertia measurement unit and the star sensor, so that the sampling synchronous pulse signal is sent to the star sensor through the sampling synchronous pulse signal interface when the inertia measurement unit is ready to sample the gyroscope and the accelerometer. The transmission speed of the synchronous pulse signal interface is higher, and the precision of data synchronization can be improved.
In one embodiment, after the star sensor completes image information processing and resolving, the method for sending the star light measurement information data to the navigation computer in the measurement unit comprises the following steps: and a digital communication interface is arranged between the inertia measurement unit and the star sensor, so that the star light measurement data information is transmitted through the digital communication interface.
In order to enable data communication to be faster, the embodiment of the invention ensures that the starlight measurement information is sent to the navigation computer in the inertial measurement unit through the digital communication interface by arranging the digital communication interface between the inertial measurement unit and the star sensor.
The above-described embodiments of the present invention may be combined with each other with corresponding technical effects.
Another aspect of the invention provides a system for synchronizing inertial measurement information and starlight measurement information data.
Referring to fig. 2, the system for synchronizing the inertial measurement information and the starlight measurement information at least comprises: the device comprises an inertia measurement unit A, a star sensor B, a navigation computer, a synchronous pulse signal interface 1, an imaging integral intermediate time pulse signal interface 2 and a digital communication interface 3, wherein the navigation computer is arranged in the inertia measurement unit A. The synchronous pulse signal interface 1 is used for sending a sampling synchronous pulse signal to the star sensor B when the inertial measurement unit A samples the gyroscope and the accelerometer; the imaging integration intermediate time pulse signal interface 2 is used for sending an imaging integration intermediate time pulse generated by the star sensor B at the imaging integration intermediate time to the inertia measurement unit A, and the inertia measurement unit A receives the imaging integration intermediate time pulse and latches the inertia measurement information at the moment; and the digital communication interface 3 is used for processing and resolving the starlight measurement information measured by the star sensor B and then sending the processed and resolved starlight measurement information to a navigation computer in the inertial measurement unit A, and the navigation computer performs combined navigation filtering calculation on the starlight measurement information and the inertial measurement information at the corresponding moment.
The system for synchronizing the inertial measurement information and the starlight measurement information data can ensure the pulse signal transmission and the data transmission between the star sensor and the inertial measurement unit through the matching of the pulse signal interface 1, the imaging integration intermediate time pulse signal interface 2 and the digital communication interface 3, further complete the synchronization of the inertial measurement information and the starlight measurement information, and remarkably improve the navigation precision of the spacecraft.
Further, the system for synchronizing the inertial measurement information and the starlight measurement information further comprises a time stamp unit for adding time information to each frame of measurement data.
In the embodiment, the time stamp unit is added into the data synchronization system to realize the addition of the time information into the inertial measurement information and the starlight measurement data, so that the synchronization of the inertial measurement information and the starlight measurement information can be completed by searching the corresponding measurement data at the corresponding moment.
According to the method and the system for synchronizing the inertial measurement information and the starlight measurement information, the imaging integral intermediate time of the star sensor is calculated and adjusted according to the arrival time of the sampling synchronization pulse of the inertial measurement unit, the inertial measurement data is latched by using the imaging integral intermediate time pulse, the influence of imaging and information processing delay of the star sensor on the synchronization of the inertial measurement information and the starlight measurement information can be eliminated, the synchronism of the inertial measurement data and the starlight measurement data is ensured, the error caused by the recursion of the data according to time by using a traditional method is avoided, and the advantage of high-precision attitude measurement of the star sensor can be fully exerted.
The above-described embodiments of the present invention may be combined with each other with corresponding technical effects.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method for synchronizing inertial measurement information and starlight measurement information data is characterized by comprising the following steps:
respectively initializing the inertia measurement unit and the star sensor after being simultaneously electrified;
enabling the inertial measurement unit to sample the gyroscope and the accelerometer, and simultaneously sending sampling synchronous pulse signals to the star sensor;
after receiving the synchronous pulse signal, the star sensor synchronizes the working clock thereof with the sampling synchronous pulse and starts the imaging of the measuring period;
acquiring measurement data of an inertia measurement unit at a corresponding moment according to the measurement data of the imaging integral intermediate moment of the star sensor;
and processing and resolving the starlight measurement information measured at the imaging integration middle moment of the star sensor, and then sending the processed and resolved starlight measurement information to a navigation computer in the inertial measurement unit, wherein the navigation computer performs combined navigation filtering calculation on the starlight measurement information and the inertial measurement information at the corresponding moment.
2. The method for synchronizing the inertial measurement information and the starlight measurement information according to claim 1, wherein the method for obtaining the measurement data of the inertial measurement unit at the corresponding time according to the measurement time law of the star sensor specifically comprises: the star sensor sends an imaging integral intermediate time pulse to the inertia measurement unit at the imaging integral intermediate time, and the inertia measurement unit receives the imaging integral intermediate time pulse and latches the inertia measurement information at the moment.
3. The method for synchronizing the inertial measurement information and the starlight measurement information according to claim 2, wherein the specific method for the star sensor to send the imaging integration intermediate time pulse to the inertial measurement unit at the imaging integration intermediate time is as follows: and after synchronizing the working clock and the sampling synchronous pulse, calculating the imaging start time and the imaging end time in each measurement period according to the current imaging integral time parameter, selecting an imaging integral intermediate time and sending the imaging integral intermediate time pulse to the inertial measurement unit.
4. The method for synchronizing the inertial measurement information and the starlight measurement information according to claim 3, further comprising providing an imaging integration intermediate time pulse signal interface between the inertial measurement unit and the star sensor, so that the imaging integration intermediate time pulse signal is transmitted through the imaging integration intermediate time pulse signal interface.
5. The method for synchronizing the inertial measurement information and the starlight measurement information according to claim 1, wherein the method for obtaining the measurement data of the inertial measurement unit at the corresponding moment according to the measurement time law of the star sensor comprises:
adding timestamp information to each frame data in the inertial measurement unit measurement data and the star sensor measurement data;
and the navigation computer searches the inertia measurement information at the corresponding moment in the stored continuous inertia measurement information according to the timestamp information in the star sensor measurement information.
6. The method of data synchronization of inertial measurement information and starlight measurement information according to claim 5, wherein the time stamp has a precision of milliseconds.
7. The method for data synchronization of inertial measurement information and starlight measurement information according to any one of claims 1 to 6, wherein the method for enabling the inertial measurement unit to sample the gyroscope and the accelerometer and simultaneously transmit the sampled synchronous pulse signal to the star sensor comprises: and a synchronous pulse signal interface is arranged between the inertia measurement unit and the star sensor, so that the sampling synchronous pulse signal is transmitted through the synchronous pulse signal interface.
8. The method for synchronizing the inertial measurement information and the starlight measurement information data according to claim 7, wherein the method for sending the starlight measurement information data to the navigation computer in the measurement unit after the image information processing and resolving by the star sensor is as follows: and a digital communication interface is arranged between the inertia measurement unit and the star sensor, so that the star light measurement data information is transmitted through the digital communication interface.
9. An inertial measurement information and starlight measurement information data synchronization system, characterized by comprising at least: the system comprises an inertia measurement unit, a star sensor, a navigation computer, a synchronous pulse signal interface, an imaging integral intermediate time pulse signal interface and a digital communication interface;
the synchronous pulse signal interface is used for sending sampling synchronous pulse signals to the star sensor when the inertial measurement unit samples the gyroscope and the accelerometer;
the imaging integral intermediate time pulse signal interface is used for sending an imaging integral intermediate time pulse generated by the star sensor at the imaging integral intermediate time to the inertia measurement unit, and the inertia measurement unit receives the imaging integral intermediate time pulse and latches the inertia measurement information at the moment;
and the digital communication interface is used for processing and resolving the starlight measurement information measured by the star sensor and then sending the processed and resolved starlight measurement information to a navigation computer in the inertial measurement unit, and the navigation computer performs combined navigation filtering calculation on the starlight measurement information and the inertial measurement information at the corresponding moment.
10. The system for data synchronization of inertial measurement information and starlight measurement information according to claim 9, further comprising a time stamp unit for adding time information to each frame of measurement data.
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| CN109104259A (en) * | 2017-08-25 | 2018-12-28 | 杭州德泽机器人科技有限公司 | A kind of multisensor clock synchronization synchronization system and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113916216A (en) * | 2020-09-09 | 2022-01-11 | 蓝箭航天空间科技股份有限公司 | Inertial measurement information and starlight measurement information data synchronization method and system |
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| CN113916216A (en) | 2022-01-11 |
| CN113916216B (en) | 2022-07-22 |
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