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INS's error compensation on the base of the celestial theodolite

机译：基于天经纬仪的INS误差补偿

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In recent years there has been a major upsurge of interest in the integrated inertial navigation system (INS)/celestial navigation system (CNS) as a cost-effective way of providing accurate and reliable navigation aid for civil and military vehicles (ships, aircrafts, land vehicles and so on). One of the disadvantages of INS is its errors will grow unbounded. The CNS can be used to improve position estimation resulting from INS measurement. This paper describes the design of this. An error model developed earlier is used for CNS/INS filter (Kalman filter) mechanization. In CNS, celestial theodolite acquires an image of the sky, recognize the most brilliant stars in the image, creates with them a "constellation", and searches for this pattern in an on board star catalogue of the observed region to get the precise position and attitude information of vehicles. The Kalman filter method is used to fuse measurement from the system. We can use this information to compensate INS's error. The tests carry out with this system show that system will get accurate navigation information.
机译：近年来，人们对集成惯性导航系统（INS）/天体导航系统（CNS）的兴趣激增，这是一种为民用和军用车辆（船舶，飞机，陆地车辆等）。 INS的缺点之一是它的错误将无限增长。 CNS可用于改善由INS测量产生的位置估计。本文介绍了这种设计。较早开发的错误模型用于CNS / INS滤波器（卡尔曼滤波器）的机械化。在CNS中，天经纬仪获取天空图像，识别图像中最灿烂的恒星，并与它们一起创建“星座”，然后在观测区域的机载星表中搜索该模式，以获取精确的位置和车辆的姿态信息。卡尔曼滤波方法用于融合系统的测量结果。我们可以使用此信息来补偿INS的错误。使用该系统进行的测试表明，该系统将获得准确的导航信息。

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