Research On The Technology Of ATP Attitude Measurement Based On CNS/INS Integrated System

With the continuous development of technology and the ever-changing application requirements,photoelectric tracking devices have gradually become a multi-disciplinary technology product.With the application of astronomical orientation and orientation technology,the tracking accuracy of the photoelectric tracking equipment can be further improved,and the tracking accuracy of the equipment can be maintained within 1 arc-second.However,the astronomical technology also has its drawbacks.The output frequency of its attitude is within 100 Hz,which cannot satisfy the attitude measurement of the boresight in a specific situation.Especially in the case of foundation,the use of astronomical attitude determination technology is susceptible to atmospheric turbulence and weather.Effective attitude information can not be output in a timely manner when detecting or encountering obstructions in weak spatial targets,resulting in a decrease in the accuracy of equipment tracking.To solve this problem,this project proposes a sight-based attitude measurement scheme based on astronomical/inertia.Inertial technology,because of its strong autonomy,that is,after the initial alignment is completed,no external data input is required to complete the continuous measurement of the attitude.The combination of astronomical technology and inertial technology has the following two advantages: 1.Inertial component sampling with high frequency and good dynamics,combining it with astronomical technology can effectively increase the update rate of the attitude-oriented attitude data of the device,2.When the output frequency of the attitude data of astronomical technology decreases,the inertial attitude determination technology can give the attitude information pointed by the boresight of the device during the interval time;Based on the inertial attitude determination technology and astronomical attitude determination technology,this subject researches the attitude measurement method ofthe tracking system.On the basis of learning the relevant principles,the error model of the measurement device is first simulated and established.Based on this,the attitude information pointed by the boresight is solved according to the attitude calculation method.Secondly,the combined attitude measurement technology is studied,Verification of the feasibility of the inertia/astronomical combination attitude by simulation experiments.Build a physical platform to further verify the effectiveness of the project.Two-axis photoelectric tracking equipment was used as an experimental platform to conduct experiments.The inertial navigation system is installed on the lens barrel of the device and the sighting axis is measured to calculate the corresponding attitude angle.Through field experiments,the space target was tracked,inertial attitude data and astronomical attitude data were recorded.Respectively measure the boresight direction of the equipment based on the simple combination method and the optimal estimation combination method.Finally,the combined attitude determination experiment under the physical platform was completed.feasibility and practicality of the combined determination algorithm was tested.