基于姿态四元数的SINS/星敏感器组合导航方法

分析了一种星敏感器多矢量定姿原理,在考虑了惯性元器件误差及星敏感器误差的基础上,建立了SINS/星敏感器组合导航系统模型;以模拟的实时星敏感器测量信息为基础,通过将SINS确定的载体相对惯性空间的四元数姿态信息与星敏感器输出的高精度四元数姿态信息进行信息融合,实时估计出陀螺漂移量及失准角并对SINS进行在线修正,从而达到保证SINS高精度导航的目的。最后,通过仿真验证表明了这种SINS/CNS组合反馈校正方案的可行性和有效性。

A Method of SINS/Star Sensor Integrated Navigation Based on Attitude Quaternion

The principle of attitude determination based on multi-vector sets is analyzed.With considering the errors from both inertial measurement units and the star sensor,the system model of SINS combined with star sensor is established.Based on the simulative real-time measurement information of the star sensor,both the attitude quaternion calculated by SINS,which is corresponding to the attitude rotation of the carrier frame and the inertial frame,and the high accuracy quaternion obtained by star sensor are fused,to achieve real-time estimation of gyroscope drift as well as the supervened online SINS correction of gyro drift errors and misalignment angles,to ensure the high precise of SINS consequently.Finally,the simulations indicate that the scheme of feedback alignment based on SINS/CNS integrated navigation system is feasible and effective.