Abstract
Based on the situation that the traditional SINS (strapdown inertial navigation system)/CNS (celestial navigation system) integrated navigation system fails to realize all-day and all-weather navigation, this paper proposes a SINS/Landmark integrated navigation method based on landmark attitude determination to solve this problem. This integrated navigation system takes SINS as the basic scheme and uses landmark navigation to correct the error of SINS. The way of the attitude determination is to use the landmark information photographed by the landmark camera to complete feature matching. The principle of the landmark navigation and the process of attitude determination are discussed, and the feasibility of landmark attitude determination is analyzed, including the orthogonality of the attitude transform matrix, as well as the influences of the factors such as quantity and geometric position of landmarks. On this basis, the paper constructs the equations of the SINS/Landmark integrated navigation system, testifies the effectiveness of landmark attitude determination on the integrated navigation by Kalman filter, and improves the navigation precision of the system.
Highlights
In view of the advantages of strong autonomy, anti-interference and good concealment, SINS and CNS are widely used [1,2]
In view of the autonomous navigation around the Earth, this paper proposes a SINS/Landmark integrated navigation method with high precision based on landmark attitude determination to meet the demands of the all-day and all-weather autonomous navigation
The landmark information can be obtained from the landmark camera, and the operation process is mainly divided into two parts: the shooting process of the landmark camera and the matching process of the landmark feature database
Summary
In view of the advantages of strong autonomy, anti-interference and good concealment, SINS and CNS are widely used [1,2]. When the environment makes it hard to observe landmarks, the landmark visual navigation is forced to interrupt; the inertial devices continue working and providing position, velocity and attitude information. This method can make up the shortfalls of single landmark navigation and realize a continuous navigation. In view of the autonomous navigation around the Earth, this paper proposes a SINS/Landmark integrated navigation method with high precision based on landmark attitude determination to meet the demands of the all-day and all-weather autonomous navigation. (2) This method uses the landmark features obtained by the landmark camera to accomplish attitude determination, and combines the attitude information with the measurement of SINS to realize an integrated navigation with high precision.
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