摘要 为减小杂光影响,全天时星光定向仪一般采用小视场,同一时刻只能观测一颗恒星无法输出姿态信息。本文提出一种基于单星测量的星光惯性组合导航系统,首先根据惯导输出的姿态和位置信息,控制转台和星光定向仪摆镜保证星光定向仪对目标导航星的观测,之后根据惯导的误差模型建立系统状态方程,根据星光定向仪测量的导航星方向矢量建立测量方程,利用卡尔曼滤波算法修正惯导输出的姿态位置信息。该方法引入星光定向仪与惯导安装误差作为系统状态量,在修正导航信息的同时对星光定向仪与惯导之间的安装误差进行估计,因此无需在实验室进行标定。通过仿真分析了不同安装姿态误差及不同惯导和星光定向仪误差对组合导航系统导航精度的影响。结果显示采用该方法导航1 h,位置精度优于90 m,姿态精度优于8″,相比利用实验室标定的安装姿态进行导航,该方法的精度更高。最后进行了静态导航实验,结果显示组合导航的位置误差为102.90 m,相比直接采用实验室标定的安装姿态进行解算结果提高近45.39%,验证了该算法的有效性。 A small-field optical system is typically used in an all-day star sensor to reduce the stray light ef⁃fect.Generally,only one star can be observed at a particular time by an all-day star sensor,and attitude in⁃formation cannot be output.Therefore,a method of starlight-inertial integrated navigation based on a sin⁃gle star vector was developed in this study.First,the turntable and the mirror were controlled using the position and attitude information provided by the inertial navigation system to track the star.Next,the state equation was derived using the inertial navigation error model,and the measurement equation was es⁃tablished based on the direction vector of a single star,which was measured using the star sensor.The po⁃sition and the attitude information were corrected through Kalman filtering.Because the installation attitude error was pulled in the state quantity,the installation attitude error and the navigation information were estimated simultaneously.It was unnecessary to calibrate the installation attitude between the star sensor and inertial navigation in the laboratory.Therefore,this method was proven to show stronger proj⁃ect practicability.The effects of the star sensor and inertial navigation error and the calibration error of the installation attitude were analyzed through simulation,which showed that the position and attitude errors after 1 h were less than 90 m and 8″,respectively.Compared to the navigation method,which is typically used for installation attitude calibration in the laboratory,this integrated navigation algorithm showed bet⁃ter accuracy.Finally,the validity of the integrated navigation algorithm was verified through static naviga⁃tion tests.The navigation position error was 102.90 m,which was lower than that obtained based on the calibrated installation attitude by 45.39%.
机构地区 北京控制工程研究所 空间光电测量与感知实验室
出处 《光学精密工程》 EI CAS CSCD 北大核心 2021年第3期503-512,共10页 Optics and Precision Engineering
基金 国家自然科学基金资助项目(No.11903004,No.51905034)。
关键词 星光惯性组合导航 安装误差估计 误差分析 卡尔曼滤波 starlight-inertial integrated navigation installation attitude error error analysis Kalman fil⁃tering
