Design Of SINS/CNS Integrated Navigation Simulation System

In modern navigation systems,the combined navigation method of astronomical navigation and inertial navigation has received more and more attention due to its strong autonomy and high accuracy,but because its test cost is too expensive,the SINS / CNS integrated navigation algorithm In order to solve the problem that the cost of SINS / CNS integrated navigation is too high during testing,this article designs a set of SINS / CNS integrated navigation simulation system available in the laboratory,which can better simulate SINS / CNS in the laboratory Integrated navigation real application environment.This paper relies on the National Natural Science Foundation of China(61573113)and the Harbin Innovative Talent Research Special Fund(2014RFXXJ074)to design a simulation test system for SINS / CNS integrated navigation,and to design better star map filtering for SINS / CNS integrated navigation Algorithm and more suitable integrated navigation algorithm.Based on the characteristics of SINS / CNS integrated navigation,this paper uses LCo S to design a semi-physical simulation system.These include: trajectory generator,star map generator,star field simulator,industrial camera and other parts.By writing software to realize the linkage between the trajectory generator and the star map generator,the simulated carrier trajectory information can be generated according to the initial value set by the user,and the corresponding star map can be generated according to the trajectory information.Analyze the star map imaging characteristics and noise characteristics,add noise to the star map as required,and send the generated star map to the star field simulator.The star field simulator uses LCo S in cooperation with the optical system to simulate the generated star map into parallel light from "infinity".Finally,the industrial camera replaces the star sensor to take a simulated star map.With reference to the space environment information and the star map actually taken by the star sensor,the noise during star map simulation is improved,and the star map filter algorithm is optimized for the new noise model.Adding moving median filtering to the original star map filtering algorithm can effectively deal with the effects of stray light.Comparative experiments show that the star filter algorithm proposed in this paper performs better than traditional filter algorithms in the real shooting of star maps and simulated star maps.The singular value decomposition method of the matrix is used to derive the astronomical navigation positioning method under the single star sensor.Considering the frequent measurement loss of astronomical navigation,a robust recursive algorithm is used to derive the Kalman algorithm suitable for SINS / CNS integrated navigation.A SINS / CNS integrated navigation simulation system platform was built and the simulation performance test was performed.Introduce the debugging process and use method of the simulation platform,test and record the data of each subsystem,test the performance of the entire simulation platform,use the PSNR value to evaluate the performance of the star map filtering algorithm proposed in this paper,and give the recommended parameter settings.At the same time,based on the data information of the integrated navigation simulation experiment,the correction effect of astronomical navigation on inertial navigation is illustrated.