基于惯性系重力的高精度水平姿态确定方法
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摘要
针对舰载星敏感器定位需依赖外部提供的水平姿态基准,提出了一种基于惯性系重力的高精度水平姿态确定方法。该方法利用星敏感器输出的载体系相对于惯性系的姿态转换矩阵,将加速度计的测量信息投影转换至惯性坐标系,设计自适应滤波器对加速度计投影后信息进行滤波,最大限度地对风浪和加速度计的噪声等外部干扰信息进行剔除,根据提取出的较纯净的重力矢量信息解算高精度的水平姿态,把这一高精度水平姿态作为星敏感器定位所需外部水平基准。仿真结果表明,该方法能有效剔除舰船海上航行时的各种扰动信息,水平姿态精度较高且误差不随时间积累,进而提高了星敏感器的定位精度,满足舰船长时间海上航行对于导航精度的要求。
Aimed at the positioning dependence of shipboard star sensor on external horizontal attitudes,a method of high-precision horizontal attitudes based on the features of gravity in the Inertial coordinate system was put forward.Making use of the output of star sensor,the attitude transformation matrix in the carrier coordinate system was related to the one in Inertial coordinate system.The measurement information projection of the accelerometer,filtering by adaptive filter,was then converted in the Inertial coordinate system,which could eliminate external interference like the noise of wind and the waves or the accelerometer.At last the more pure gravity information was utilized to calculate high-precision horizontal attitudes,which would be the external horizontal standard needed for star sensor positioning.The simulation results showed that this method could calculate the horizontal disturbance information of the ship effectively.The horizontal precision was high without error accumulation.This method increased the location precision of the star sensor,which could well meet the requirements of navigation precision of ship for long-time sailing on the sea.
Aimed at the positioning dependence of shipboard star sensor on external horizontal attitudes,a method of high-precision horizontal attitudes based on the features of gravity in the Inertial coordinate system was put forward.Making use of the output of star sensor,the attitude transformation matrix in the carrier coordinate system was related to the one in Inertial coordinate system.The measurement information projection of the accelerometer,filtering by adaptive filter,was then converted in the Inertial coordinate system,which could eliminate external interference like the noise of wind and the waves or the accelerometer.At last the more pure gravity information was utilized to calculate high-precision horizontal attitudes,which would be the external horizontal standard needed for star sensor positioning.The simulation results showed that this method could calculate the horizontal disturbance information of the ship effectively.The horizontal precision was high without error accumulation.This method increased the location precision of the star sensor,which could well meet the requirements of navigation precision of ship for long-time sailing on the sea.
引文
[1]朱长征.基于星敏感器的星模式识别算法及空间飞行器姿态确定技术研究[D].长沙:国防科学技术大学,2004.
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[4]孙伟,孙枫.重力矢量在SINS快速系泊自对准中的应用研究[J].压电与声光,2013,35(3):368-371.SUN Wei,SUN Feng.Research on the fast mooring self-alignment for SINS based on gravity[J].Piezoelectrics&Acoustooptics,2013,35(3):368-371.
[5]李宁.LMS自适应滤波算法的收敛性能研究与应用[D].哈尔滨:哈尔滨工程大学,2009.
[6]夏晓.自适应滤波器中LMS算法的研究及应用[D].北京:北京邮电大学,2013.
[2]何炬.国外天文导航技术发展综述[J].舰船科学技术,2005,27(5):91-96.HE Ju.Survey of overseas celestial navigation technology development[J].Ship Science and Technology,2005,27(5):91-96.
[3]GAIFFE T,COTTREAU Y,FAUSSOT N,et al.Highly compact fiber optic gyrocompass for applications at depths up to 3000meters[C]//Tokyo:Underwater Technology,2000.UT 00.Proceedings of the2000International Symposium on,IEEE,2000:155-160.
[4]孙伟,孙枫.重力矢量在SINS快速系泊自对准中的应用研究[J].压电与声光,2013,35(3):368-371.SUN Wei,SUN Feng.Research on the fast mooring self-alignment for SINS based on gravity[J].Piezoelectrics&Acoustooptics,2013,35(3):368-371.
[5]李宁.LMS自适应滤波算法的收敛性能研究与应用[D].哈尔滨:哈尔滨工程大学,2009.
[6]夏晓.自适应滤波器中LMS算法的研究及应用[D].北京:北京邮电大学,2013.