| Because of its strong autonomy,good concealment,high reliability,no error accumulation and so on,celestial navigation technology has been paid attention to by all countries in the world.However,the disadvantages of the traditional astronomical navigation experiment,such as high cost,time limits and weather conditions,restrict the further development of celestial navigation technology.The simulation technology of celestial navigation has the advantages of safety,low cost and not restricted by the outdoor environment.It can be used to solve the problems in the traditional experiment of celestial navigation.In this paper,the research status and development trend of the technology at home and abroad is analyzed,and the design scheme of a whole-sky celestial navigation physical simulation system is proposed,and the key technologies are studied.The main work and innovation points are summarized as follows:(1)Focusing on the disadvantages of the traditional astronomical navigation experiment,such as high cost,limited by the outdoor environment,a scheme of celestial navigation simulation system is proposed,which can make simulation experiment of celestial navigation equipment and algorithms in the laboratory all time and all-weather.The simulated star field of similar system known at home and abroad is only 9.5 degrees,and the simulated star position precision is 10 seconds,but the simulated star field of celestial navigation simulation system studied in this paper is 180 degrees and the simulated star position precision reached 2 arcsecs,far better than similar systems known.(2)Focusing on the problem of calculating the transformation parameters of the relevant coordinate systems in vehicle motion simulation system,the calibration model of vehicle motion simulation system based on camera vector observation is presented,the pixel position residual RMS of the simulated stars calibrated by which is 0.57 pixel.The model can calculate the transformation parameters of parallel robot platform coordinate system and camera coordinate system and the transformation parameters of parallel robot base coordinate system and the dome coordinate system in the meantime.It provides high-precision transformation parameters for the motion data calculation of the parallel robot,and provides the basis for the physical simulation of position and attitude of the star sensor.(3)The method of physical simulation for the position and attitude of star sensor is studied.Firstly,simulation algorithm of position and attitude of star sensor on land and sea is studied,and then the algorithm of motion data of the parallel robot simulating the star sensor vehicle's movement is studied,then the parallel robot motion control,including the trajectory macro command and second development of the robot,is studied,and finally the physical simulation of the motion of the star sensor with parallel robot is realized.(4)The application of celestial navigation physical simulation system is studied.The method of using celestial navigation simulation system to calibrate the shafting consistency of celestial navigation equipment prototype is presented.The method takes the parallel robot platform coordinate system for intermediate coordinate system,the rotation matrixs between which and navigation camera coordinate system and gradienter coordinate system are calibrated and then the rotation matrix between navigation camera coordinate system and the gradienter coordinate system is obtained.Celestial navigation simulation system is used for the indoor calibration experiment of fisheye camera,and the calibration precision reaches 80 ",which is the best at home and abroad. |
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