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A high accuracy multiplex two-position alignment method based on SINS with the aid of star sensor

机译：借助星传感器的基于SINS的高精度多重二位置对准方法

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摘要

In order to achieve high precision of initial alignment and inertial sensor calibration, this paper proposes a high accuracy multiplex two-position alignment method based on SINS (Strapdown Inertial Navigation System) with the aid of star sensor. Firstly, the Mars rover's approximate initial position is determined by the lander's landing position, and its initial attitude is obtained with the time and the output of star sensor. Based on that, a two-position alignment method aided by star sensor's precise attitude information is used to improve accuracy of initial alignment and inertial sensor calibration. It can take full advantages of both inertial navigation and celestial navigation. Finally, we deduce the relationships between estimation errors of accelerometer bias, estimation errors of misalignment angles and position errors. The rover's higher accuracy initial alignment is achieved by using the deduced relationships and the estimates of accelerometer bias to correct the rover's initial position and attitude. The simulation results demonstrate that the presented method can meet the high accuracy requirements of the rover's initial alignment and inertial sensor calibration. (C) 2015 Elsevier Masson SAS. All rights reserved.
机译：为了实现高精度的初始对准和惯性传感器标定，本文提出了一种基于星型传感器的捷联惯性导航系统（SINS）的高精度多路两点对准方法。首先，火星探测器的近似初始位置由着陆器的着陆位置确定，其初始姿态随时间和恒星传感器的输出而获得。在此基础上，采用恒星传感器精确姿态信息辅助的二位置对准方法，提高了初始对准和惯性传感器标定的精度。它可以充分利用惯性导航和天体导航的优势。最后，推导了加速度计偏差的估计误差，偏心角的估计误差与位置误差之间的关系。通过使用推导的关系和加速度计偏差的估算值来校正流动站的初始位置和姿态，可以实现流动站的较高精度的初始对准。仿真结果表明，该方法能够满足流动站初始对准和惯性传感器标定的高精度要求。 （C）2015 Elsevier Masson SAS。版权所有。

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