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On-line calibrating method of inertia/astronomy combination system error

A technology of combined system and calibration method is applied in the field of online calibration of inertial/astronomical combined system errors to achieve the effects of improving efficiency, improving comprehensive performance and improving reliability

Active Publication Date: 2018-09-28
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

The existing on-orbit calibration methods for star sensors are mostly limited to the calibration of the parameters of a single star sensor or the calibration of the error angle of the star-inertial installation, and fail to realize the optimal information fusion of SINS and star sensors from a global perspective

Method used

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  • On-line calibrating method of inertia/astronomy combination system error

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Embodiment approach

[0063] Step 6: Use the Kalman filter algorithm to optimally estimate the system error of the inertial / astronomical combined system. The specific implementation method is as follows:

[0064] 6.1 Establish a state-space model for online calibration of inertial / astronomical combined system errors

[0065] Dynamically model the state variable of the inertial / astronomical combined system error online calibration described in step 1.2, φ X , φ Y , φ Z Satisfy the differential equation:

[0066]

[0067] It is the attitude matrix relative to the inertial system output by the strapdown inertial navigation system.

[0068] Star habitual installation error angle ψ x ,ψ y ,ψ z Satisfy the differential equation:

[0069]

[0070] Three gyroscope zero bias error values ​​δε x , δε y , δε z Satisfy the differential equation:

[0071]

[0072] The internal parameter error of the star sensor satisfies the following differential equation:

[0073]

[0074] Combining...

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Abstract

The invention discloses an on-line calibrating method of inertia / astronomy combination system error. According to the method, prior attitude information provided by strapdown inertial navitation is used to obtain a prediction coordinate of a fixed star coordinate at a star sensor image, a star atlas identification algorithm is used for realizing coupling of star point position through practical shooting and the predicted coordinate, accurate connection of deviation of a star point prediction image position coordinate and the practical star point image coordinate as well as error with inertialnavitation attitude, error with the star sensor internal and external parameters and the amount of dispersion with the star point coordinate can be established, and the estimation and compensation ofthe inertial navitation and the star sensor error can be realized by using a Kalman filtering algorithm. The method can realize global calibration on all error factors, increases the comprehensive performance of an inertia / astronomy combination navigation system, and can reach optimum combination. The method can avoid an attitude solving method of the star sensor, normal work of a filter in a viewfiled under less available star numbers (if the star number is less than 3), the effective rate of the observation information is increased, and the algorithm reliability is increased.

Description

technical field [0001] The invention relates to a system error calibration method in the field of inertial / astronomical integrated navigation, in particular to an online calibration method for inertial / astronomical integrated system error. Background technique [0002] The strapdown inertial navigation system (hereinafter referred to as the strapdown inertial navigation system) has the characteristics of strong real-time, high autonomy, and strong anti-jamming ability, and has been widely used in military and civilian fields. Guaranteed high precision. Star Sensor (SS) is a main method of modern astronomical navigation, which has the characteristics of absolute measurement, objectivity, high precision and error independent of time. Using integrated navigation technology, the respective advantages of star sensors and strapdown inertial navigation can be fully integrated to achieve high-precision, high-dynamic, high-reliability long-endurance autonomous navigation and positio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00G01C25/005
Inventor 戴东凯谭文锋秦石乔王省书郑佳兴吴伟战德军赵英伟
Owner NAT UNIV OF DEFENSE TECH
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