CN119642866B - Rapid aircraft alignment system, method, equipment and medium based on starlight navigation device - Google Patents
Rapid aircraft alignment system, method, equipment and medium based on starlight navigation device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The application discloses a quick alignment system, a quick alignment method, quick alignment equipment and quick alignment media for an aircraft based on a starlight navigation device, which relate to the field of aircraft alignment and comprise an inertial navigation system, a GNSS satellite guide receiving module, an angle rotating mechanism, the starlight navigation device, a light source and a processing module; the inertial navigation system, the GNSS satellite guide receiving module and the angle rotating mechanism are fixedly arranged on a nose of the aircraft and are connected with the processing module, the inertial navigation system is connected with the GNSS satellite guide receiving module, the starlight navigation device is arranged on the angle rotating mechanism, the light source is arranged at a set position on the ground, the inertial navigation system measures the angular speed and the acceleration of the aircraft, the GNSS satellite guide receiving module receives signals of satellites, the angle rotating mechanism controls the horizontal direction of the optical axis of the starlight navigation device, the starlight navigation device captures the light source and images, and the processing module performs navigation resolving and Kalman filtering. The application can realize the rapid and effective alignment of the aircraft.
Description
Technical Field
The application relates to the field of aircraft alignment, in particular to an aircraft rapid alignment system, method, equipment and medium based on a starlight navigation device.
Background
For aircraft systems, it is critical that the navigation module must provide stable and reliable navigation data in order to achieve accurate attitude control and position control. Typically, these navigation data are calculated by a combined navigation algorithm of GNSS/INS (Global Navigation SATELLITE SYSTEM/Inertial Navigation System ) based on kalman filtering. The current mainstream inertial-based filtering algorithm is generally based on a small misalignment angle, so that high-precision attitude information is obtained in an initial alignment stage, the precision and stability of a subsequent filtering algorithm are ensured, otherwise, larger model errors can be introduced, the convergence speed of filtering is reduced, and even the filtering cannot be converged. Thus, online alignment techniques are critical to improving the navigational performance of an aircraft.
The mission characteristics of aircraft systems have led to more demanding requirements on the on-line alignment time of inertial navigation systems. However, the observability of the inertial navigation system is poor, especially in the case of a static base, and the observability is the weakest, which affects the convergence speed and convergence accuracy of the state estimation of the kalman filter, so that the alignment time becomes long. Since the rapid and accurate completion of the on-line alignment of the aircraft system is critical to improving the system reaction capability and achieving accurate positioning, it is of great importance to study the rapid alignment methods of the aircraft system. There is no disclosure of a manner in which aircraft alignment may be performed efficiently and quickly.
Disclosure of Invention
The application aims to provide an aircraft rapid alignment system, method, equipment and medium based on a starlight navigation device, which can realize rapid and effective alignment of an aircraft.
In order to achieve the above object, the present application provides the following solutions:
in a first aspect, the application provides an aircraft rapid alignment system based on a starlight navigation device, which comprises an inertial navigation system, a GNSS satellite guide receiving module, an angle rotating mechanism, the starlight navigation device, a light source and a processing module;
The inertial navigation system, the GNSS satellite guide receiving module and the angle rotating mechanism are fixedly arranged on a nose of an aircraft, the inertial navigation system is connected with the GNSS satellite guide receiving module through cables, the starlight navigation device is arranged on the angle rotating mechanism, the light source is fixedly arranged at a set position on the ground, and the processing module is respectively connected with the inertial navigation system, the GNSS satellite guide receiving module, the angle rotating mechanism and the starlight navigation device;
The inertial navigation system is used for measuring the angular speed and the acceleration of an aircraft, the GNSS satellite receiving module is used for receiving signals of satellites, the angle rotating mechanism is used for controlling the horizontal direction of the optical axis of the starlight navigation device, the starlight navigation device is used for capturing a light source and imaging, the light source is used as a position reference, and the processing module is used for navigation calculation and Kalman filtering.
Optionally, the starlight navigation device is a photoelectric ball.
In a second aspect, the application provides an aircraft rapid alignment method based on a starlight navigation device, which is realized based on the aircraft rapid alignment system provided by the application, and comprises the following steps:
Acquiring an installation error angle between an installation reference surface of an inertial navigation system and an installation reference surface of a photoelectric ball;
The optical axis of the starlight navigation device is controlled to horizontally rotate through the angle rotating mechanism so as to capture an imaging point of the light source on an imaging plane of the starlight navigation device, and the rotating angle of the optical axis is recorded at the same time;
Based on an imaging point of a light source on an imaging plane of a starlight navigation device, combining an aircraft and an initial position of the light source to obtain an included angle between an optical axis direction and a north direction;
Determining the distance from an imaging point of a light source to the light source in an imaging plane of the starlight navigation device, and acquiring the focal length of the starlight navigation device;
determining an included angle between an imaging direction and a rotated optical axis direction based on a distance from an imaging point of a light source to the light source in an imaging plane of the starlight navigation device;
and determining the initial azimuth angle of the aircraft based on the included angle between the optical axis direction and the north direction, the installation error angle, the rotation angle of the optical axis and the included angle between the imaging direction and the optical axis direction after rotation, and realizing the alignment of the aircraft.
Optionally, the initial azimuth angle is expressed as:
;
in the formula, Indicating an initial azimuth angle,Represents the included angle between the optical axis direction and the north direction,Indicating the angle between the imaging direction and the optical axis direction after rotation,The rotation angle of the optical axis is indicated,Indicating the angle of the installation error,Representing the distance between the initial position of the eastern aircraft and the target light source position,Representing the distance between the initial position of the northbound aircraft and the target light source position,Representing the distance of the light source from the imaging point of the light source at the imaging plane of the star navigation device,Representing the focal length of the starlight navigation device.
Optionally, the angle between the optical axis direction and the north direction is expressed as:
;
where arctan represents the arctangent function.
Optionally, the angle between the imaging direction and the optical axis direction after rotation is expressed as:
;
where arctan represents the arctangent function.
Optionally, the aircraft rapid alignment method further comprises:
Determining the measurement accuracy of the clamp angle between the optical axis direction and the north direction based on the measurement accuracy of the inertial navigation system and the GNSS satellite guide receiving module and the distance from the initial position of the aircraft to the light source;
determining the measurement accuracy of the angle between the imaging direction and the optical axis direction after rotation based on the pixel size and the focal length of the starlight navigation device;
and acquiring a threshold angle of the installation error angle, and determining the measurement accuracy of the initial azimuth angle based on the threshold angle of the installation error angle, the measurement accuracy of the clamping angles of the optical axis direction and the north direction, and the measurement accuracy of the clamping angles of the imaging direction and the optical axis direction after rotation.
Optionally, the measurement accuracy of the initial azimuth angle is less than 0.1 °.
In a third aspect, the application provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the computer program to perform the steps of the method for fast alignment of an aircraft based on a starlight navigation device provided above.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the star-based navigation device-based aircraft rapid alignment method provided above.
According to the specific embodiment provided by the application, the application has the following technical effects:
The application provides an aircraft rapid alignment system, method, equipment and medium based on a starlight navigation device, which can determine an installation error angle between an installation reference plane of an inertial navigation system and an installation reference plane of a photoelectric ball, an included angle between an optical axis direction and a north direction and an included angle between an imaging direction and an optical axis direction after rotation based on structural arrangement of the aircraft rapid alignment system, so as to obtain an initial azimuth angle of an aircraft, realize rapid and effective alignment of the aircraft, and solve the problem of long online alignment time of the aircraft.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are 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 application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an exemplary embodiment of an aircraft rapid alignment system based on a starlight navigation device;
fig. 2 is a schematic flow chart of an aircraft rapid alignment method based on a starlight navigation device according to an embodiment of the present application;
FIG. 3 is a schematic diagram of alignment parameters according to an embodiment of the present application;
fig. 4 is a schematic diagram illustrating an initial azimuth determination principle according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.
In one exemplary embodiment, the application provides an aircraft rapid alignment system based on a starlight navigation device, which comprises an inertial navigation system, a GNSS navigation receiving module, an angle rotating mechanism, the starlight navigation device, a light source and a processing module. Wherein, adopt photoelectric ball as starlight navigation device.
The aircraft is used as a carrier, and the inertial navigation system, the GNSS satellite navigation receiving module and the angle rotating mechanism are fixedly arranged on the aircraft nose. The inertial navigation system and the GNSS navigation satellite system receiving module are connected through a cable. The starlight navigation device is arranged on the angle rotating mechanism. The light source is fixedly arranged at a set position on the ground. The processing module is respectively connected with the sexual navigation system, the GNSS satellite navigation receiving module, the angle rotating mechanism and the starlight navigation device;
Inertial navigation systems are used to measure angular velocity and acceleration of an aircraft. The GNSS satellite guide receiving module is used for receiving signals of satellites. And the inertial navigation system and the GNSS navigation satellite system receiving module perform integrated navigation calculation to obtain the initial position of the aircraft. The angle rotating mechanism is used for controlling the horizontal direction of the optical axis of the starlight navigation device. The starlight navigation device is used for capturing the light source and imaging. The processing module is used for navigation calculation and Kalman filtering.
In an exemplary embodiment, the application further provides an aircraft rapid alignment method based on the starlight navigation device, and the aircraft rapid alignment method is realized based on the aircraft rapid alignment system provided by the application. As shown in fig. 2, the method for rapid alignment of an aircraft includes:
And 100, acquiring an installation error angle between an installation reference plane of the inertial navigation system and an installation reference plane of the photoelectric ball. Wherein the initial position of the aircraft is given in figure 1 Light source positionMounting error angle of inertial navigation mounting reference plane and photoelectric ball mounting reference plane. In fig. 1, the a position represents the installation positions of the inertial navigation system, the GNSS guide reception module, and the photo ball.
And 101, controlling the optical axis of the starlight navigation device to horizontally rotate through an angle rotating mechanism so as to capture the imaging point of the light source on the imaging plane of the starlight navigation device and simultaneously recording the rotating angle of the optical axis. Wherein the rotation angle of the optical axis is recorded as。
Step 102, obtaining an included angle between the optical axis direction and the north direction by combining the initial positions of the aircraft and the light source based on the imaging point of the light source on the imaging plane of the starlight navigation device. Wherein, the contained angle of optical axis direction and north direction represents as:
。
Where arctan denotes the arctangent function, Represents the included angle between the optical axis direction and the north direction,Representing the distance between the initial position of the eastern aircraft and the target light source position,Representing the distance between the initial position of the northbound aircraft and the target light source position.
Step 103, determining the distance from an imaging point of the light source to the light source in the imaging plane of the starlight navigation device, and acquiring the focal length of the starlight navigation device.
And 104, determining an included angle between the imaging direction and the optical axis direction after rotation based on the distance from an imaging point of the light source to the light source in the imaging plane of the starlight navigation device and the focal length of the starlight navigation device. Wherein, the contained angle of imaging direction and optical axis direction after rotating represents as:
。
in the formula, Indicating the angle between the imaging direction and the optical axis direction after rotation,Representing the distance of the light source from the imaging point of the light source at the imaging plane of the star navigation device,Representing the focal length of the starlight navigation device.
And 105, determining an initial azimuth angle of the aircraft based on the included angle between the optical axis direction and the north direction, the installation error angle, the rotation angle of the optical axis and the included angle between the imaging direction and the optical axis direction after rotation, and realizing the alignment of the aircraft. As can be seen from fig. 4, the initial azimuth angle is expressed as:
。
in the formula, Indicating an initial azimuth angle,Indicating the angle of rotation of the optical axis.
In the practical application process, the included angle between the optical axis direction and the north direction is shown in FIG. 3Included angle between imaging direction and optical axis direction after rotationDistance from imaging point of light source to light source in imaging plane of star navigation deviceFocal length of starlight navigation deviceOn the basis of (a), the initial position of the aircraft is knownAnd light source positionThe distance between the east and north positionsAndExpressed as:
。
。
in the formula, Representing the length unit fresnel.
In another exemplary embodiment of the present application, the initial azimuth angle may also be analyzed in order to further enhance the navigational performance of the aircraftBased on the precision of the (b), the method for rapidly aligning the aircraft based on the starlight navigation device provided by the application further comprises the following steps:
and step1, determining the measurement accuracy of the clamp angle between the optical axis direction and the north direction based on the measurement accuracy of the inertial navigation system and the GNSS satellite navigation receiving module and the distance from the initial position of the aircraft to the light source.
Wherein due to the initial position of the aircraftThe method is obtained by combined navigation calculation of an inertial navigation system and a GNSS satellite navigation receiving module, so that the position accuracy is less than 1m, the light source position accuracy is less than 1cm, and the included angle between the optical axis direction and the north direction can be calculated by assuming that the distance from the initial position of the aircraft to the light source is 2kmThe measurement accuracy of (2) is。
And 2, determining the measurement accuracy of the angle between the imaging direction and the optical axis direction after rotation based on the pixel size and the focal length of the starlight navigation device.
Wherein, the pixel size and focal length of the star light navigation device (such as photoelectric ball) are respectively 5 μm and 7mm, and the distance from the imaging point of the light source to the light source in the imaging plane of the star light navigation deviceThe precision of the image sensor is smaller than 1 pixel size, and the included angle between the imaging direction and the optical axis direction after rotation can be calculatedThe measurement accuracy of (2) is。
And step3, acquiring a threshold angle of the installation error angle, and determining the measurement accuracy of the initial azimuth angle based on the threshold angle of the installation error angle, the measurement accuracy of the clamping angle of the optical axis direction and the north direction and the measurement accuracy of the clamping angle of the imaging direction and the optical axis direction after rotation.
Wherein the installation error angle is knownThe measurement accuracy of (2) is less than 0.05 DEG and the rotation angle of the optical axisThe measurement accuracy of the initial azimuth angle is less than 10 angular seconds, so the measurement accuracy of the initial azimuth angle isThere are cases where the measurement accuracy of the initial azimuth angle is less than 0.1 °.
In summary, the quick alignment system and method of the aircraft based on the starlight navigation device solve the problem of long online alignment time of the aircraft system and the initial azimuth angleThe measurement precision of the method is smaller than 0.1 degree, the high-precision initial alignment is beneficial to reducing fluctuation and error accumulation of the navigation system in the operation process, the navigation system can be helped to enter a stable working state more quickly, more accurate navigation information is provided, and the navigation performance of the aircraft is further improved.
In an exemplary embodiment, taking an example of implementing the rapid alignment method of the aircraft on the rapid alignment system of the aircraft provided by the application, a specific implementation process of the scheme provided by the application is described, which comprises the following steps:
Step one, installation and maintenance:
In the installation and maintenance stage of the aircraft system, according to the installation mode described in the system architecture provided by the application, each component part is installed, and meanwhile, the installation reference surface of the inertial navigation system and the installation reference surface of the photoelectric ball are required to be ensured to be consistent, and after the installation is completed, the installation error angle between the installation reference surface of the inertial navigation system and the installation reference surface of the photoelectric ball is required to be measured and recorded (Absolute value is less than 0.05 °).
Step two, leveling:
Before the aircraft starts to be aligned on line, the triaxial acceleration is measured by the inertial navigation system, and the aircraft body is adjusted to be horizontal according to the measured triaxial acceleration, so that the direction of the optical axis of the photoelectric ball fixedly connected with the aircraft is ensured to be parallel to the horizontal plane. Wherein the aircraft has an acceleration of 9.8g in the sky to determine the level, and the aircraft body is adjusted to the level when the acceleration of the other two axes is approximately 0. g is gravitational acceleration.
Step three, optical axis adjustment and target capture:
The photoelectric ball may not recognize the light source in the direction of the initial optical axis, so it is necessary to control the horizontal rotation of the optical axis by the angle rotation mechanism to capture the light source while recording the rotation angle of the optical axis 。
Step four, quick alignment:
according to the imaging point of the light source on the photoelectric ball imaging plane and the initial position of the aircraft and the light source, the included angle between the optical axis direction and the north direction can be calculated, and the installation error angle in the first step is caused And the rotation angle of the optical axis in step threeIt is known that the initial azimuth angle of the aircraft can then be deducedThereby achieving rapid alignment of the aircraft.
In an exemplary embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method embodiments described above.
In an exemplary embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are both information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to meet the related regulations.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic RandomAccess Memory, DRAM), etc.
The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The principles and embodiments of the present application have been described herein with reference to specific examples, which are intended to facilitate an understanding of the principles and concepts of the application and are to be varied in scope and detail by persons of ordinary skill in the art based on the teachings herein. In view of the foregoing, this description should not be construed as limiting the application.
Claims (10)
1. The quick aircraft alignment system based on the starlight navigation device is characterized by comprising an inertial navigation system, a GNSS satellite receiving module, an angle rotating mechanism, the starlight navigation device, a light source and a processing module;
The inertial navigation system, the GNSS satellite guide receiving module and the angle rotating mechanism are fixedly arranged on a nose of an aircraft, the inertial navigation system is connected with the GNSS satellite guide receiving module through cables, the starlight navigation device is arranged on the angle rotating mechanism, the light source is fixedly arranged at a set position on the ground, and the processing module is respectively connected with the inertial navigation system, the GNSS satellite guide receiving module, the angle rotating mechanism and the starlight navigation device;
The system comprises an inertial navigation system, a GNSS satellite navigation receiving module, an angle rotating mechanism, a starlight navigation device, a processing module and a processing module, wherein the inertial navigation system is used for measuring the angular speed and the acceleration of an aircraft, the GNSS satellite navigation receiving module is used for receiving signals of satellites, the angle rotating mechanism is used for controlling the horizontal direction of an optical axis of the starlight navigation device, the starlight navigation device is used for capturing a light source and imaging, and the light source is used as a position reference;
The optical axis of the starlight navigation device is controlled to horizontally rotate through the angle rotating mechanism so as to capture an imaging point of the light source on an imaging plane of the starlight navigation device, and the rotating angle of the optical axis is recorded at the same time;
Based on an imaging point of a light source on an imaging plane of a starlight navigation device, combining an aircraft and an initial position of the light source to obtain an included angle between an optical axis direction and a north direction;
Determining the distance from an imaging point of a light source to the light source in an imaging plane of the starlight navigation device, and acquiring the focal length of the starlight navigation device;
determining an included angle between an imaging direction and a rotated optical axis direction based on a distance from an imaging point of a light source to the light source in an imaging plane of the starlight navigation device;
And determining the initial azimuth angle of the aircraft based on the included angle between the optical axis direction and the north direction, the installation error angle, the rotation angle of the optical axis and the included angle between the imaging direction and the optical axis direction after rotation, and realizing the alignment of the aircraft.
2. The rapid aircraft alignment system of claim 1, wherein the starlight navigation device is a photoelectric sphere.
3. An aircraft rapid alignment method based on a starlight navigation device, which is characterized in that the aircraft rapid alignment method is realized based on the aircraft rapid alignment system according to any one of claims 1-2, and comprises the following steps:
Acquiring an installation error angle between an installation reference surface of an inertial navigation system and an installation reference surface of a photoelectric ball;
The optical axis of the starlight navigation device is controlled to horizontally rotate through the angle rotating mechanism so as to capture an imaging point of the light source on an imaging plane of the starlight navigation device, and the rotating angle of the optical axis is recorded at the same time;
Based on an imaging point of a light source on an imaging plane of a starlight navigation device, combining an aircraft and an initial position of the light source to obtain an included angle between an optical axis direction and a north direction;
Determining the distance from an imaging point of a light source to the light source in an imaging plane of the starlight navigation device, and acquiring the focal length of the starlight navigation device;
determining an included angle between an imaging direction and a rotated optical axis direction based on a distance from an imaging point of a light source to the light source in an imaging plane of the starlight navigation device;
and determining the initial azimuth angle of the aircraft based on the included angle between the optical axis direction and the north direction, the installation error angle, the rotation angle of the optical axis and the included angle between the imaging direction and the optical axis direction after rotation, and realizing the alignment of the aircraft.
4. A method of rapid alignment of an aircraft based on starlight navigation devices as claimed in claim 3 wherein the initial azimuth angle is expressed as: In the formula (I), in the formula (II), Indicating an initial azimuth angle,Represents the included angle between the optical axis direction and the north direction,Indicating the angle between the imaging direction and the optical axis direction after rotation,The rotation angle of the optical axis is indicated,Indicating the angle of the installation error,Representing the distance between the initial position of the eastern aircraft and the target light source position,Representing the distance between the initial position of the northbound aircraft and the target light source position,Representing the distance of the light source from the imaging point of the light source at the imaging plane of the star navigation device,Representing the focal length of the starlight navigation device.
5. The method for rapid alignment of an aircraft based on an starlight navigation device of claim 4, wherein the angle between the optical axis direction and the north direction is expressed as: Wherein arctan represents an arctangent function.
6. The method for rapid alignment of an aircraft based on an starlight navigation device of claim 4, wherein the angle between the imaging direction and the optical axis direction after rotation is expressed as:
;
where arctan represents the arctangent function.
7. The method for quickly aligning an aircraft based on a starlight navigation device according to claim 3, further comprising determining the measurement accuracy of the angle between the optical axis direction and the north direction based on the measurement accuracy of the inertial navigation system and the GNSS satellite navigation receiving module and the distance from the initial position of the aircraft to the light source;
determining the measurement accuracy of the angle between the imaging direction and the optical axis direction after rotation based on the pixel size and the focal length of the starlight navigation device;
and acquiring a threshold angle of the installation error angle, and determining the measurement accuracy of the initial azimuth angle based on the threshold angle of the installation error angle, the measurement accuracy of the clamping angles of the optical axis direction and the north direction, and the measurement accuracy of the clamping angles of the imaging direction and the optical axis direction after rotation.
8. The method of claim 7, wherein the initial azimuth angle measurement accuracy is less than 0.1 °.
9. Computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the starlight navigation device based aircraft rapid alignment method according to any of claims 3-8.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the star-based rapid alignment method of an aircraft according to any of claims 3-8.
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| CN101758934B (en) * | 2010-01-29 | 2012-08-22 | 航天东方红卫星有限公司 | Star sensor setting angle determining method based on mission planning |
| CN116222301A (en) * | 2022-12-29 | 2023-06-06 | 北京中科宇航技术有限公司 | Rapid aiming method and system for offshore launching rocket |
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