Inertia/vision integrated navigation method for deep-space detection patrolling device
A technology for integrated navigation and deep space exploration, which can be applied in directions such as integrated navigators to solve problems such as poor safety and low accuracy
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[0045] The patrol inertial / visual combined navigation method described in this embodiment involves many different coordinate systems and mutual transformations in both the state model and the measurement model. The coordinate systems are defined as follows:
[0046] ① Inertial coordinate system (o p x i the y i z i ): its origin is at the center of mass of the planet, z i axis perpendicular to the equatorial plane points to the North Pole, x i The axis points in the direction of the vernal equinox in the equatorial plane, y i axis and x i ,z i The axes form a right-handed orthogonal coordinate system.
[0047] ② Planetary fixed coordinate system (o p x p the y p z p ): its origin and z p The axis points to the same as the inertial coordinate system, x p axis points to the prime meridian in the equatorial plane, y p axis and x p ,z p The axes form a right-handed orthogonal coordinate system.
[0048] ③Planetary geodetic coordinate system (L, λ, h): The coordina...
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