Research On Anti-interference Technique Of Ship-borne Inertial/Star Sensor Integrated Navigation System

The full-autonomous navigation system independent of satellite navigation system is always research focus in ship-borne navigation system,integrated mode based on inertial /star sensor, which not only avoid relying on the traditional satellite navigation, assure navigation precision of system and achieve integrated purpose, has become the research focus recently years. However,Star sensor couldn't be the high-precision baseline information when it's applied to surface boat,because the difference of carrier and star viewing height between space vehicle and ship.This paper makes a deep research to the issue.First, this paper expounds inertial navigation system, the ultimate principle of star sensor,and error analysis by introducing the definition and relation of coordinate frames in this paper.Based on this,it introduces the ultimate principle of inertial/star sensor navigation system,including basic frame of inertial navigation system, model building, estimate approach. laying a foundation for follow-up study.Then, this paper carries out in-depth study on ship-borne inertial/star sensor navigation system mode, including the ultimate principle of inertial/star sensor navigation system, and the basic characteristics of star sensor outputting navigation information relative to inertial frame directly, deduce and discuss the influence of outside horizontal posture error and position error to star sensor navigation frame,and build a new integrated navigation system to the characteristics.To the short failure of star sensor,this paper makes a deep study which import ANFIS theory and proposes integrated navigation solution for star sensor short failure, after explaining the influence of star quality to position precision. Finally, simulated verification is made for fundamental integrated navigation solution and revised integrated navigation system mentioned by charter 3 and charter 4 of this paper. Static and ship-borne experiments are conducted by integrated navigation built by IMU and star sensor to verify the designed method.