RESUMEN
Star tracker is the most precise attitude measuring device, and its advantages include a high resolution and high update rate. Star centroid extraction, which is a very time-consuming process, has great influence on the attitude update rate. This paper proposes a real-time star centroid extraction algorithm based on a field programmable gate array. First, a 1D top-hat filter is used for star segmentation, which is suitable for both uniform and nonuniform background conditions. Second, multichannel image data is reorganized together into a complete frame through image stitching, which prevents the star spots on the channel boundary from being divided into different parts. Finally, star coordinates are extracted by the center-of-mass algorithm. For an image sensor with a resolution of 2048×2048 pixels, simulation results conducted by a ModelSim simulator show that the star centroid processing time of a single frame is roughly 5.2 ms. Real night experiments demonstrate that the standard deviation of a star centroid error is within 10-2 pixel and the standard deviation of attitude is (2.6 2.2 12.0) arcseconds, which proves that the proposed star centroid extraction algorithm can work continuously and stably.
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The white top-hat transformation has been widely used in small bright target extraction. It usually applies an erosion operation to remove the target and then a dilation operation to recover the intensity of the processed image. A bright target will be extracted by subtracting the opening operation (erosion followed by dilation) from the raw image. The drawback of this method is that its denoising ability is poor because the estimated background threshold by an opening operation is smaller than the raw image. This study puts forward the viewpoint that by use of a proposed one-dimensional (1D) symmetrical line-shaped structuring element a bright target can also be removed by the dilation operation. Consequently, the white top-hat transformation can be implemented by subtracting only the dilation operation from the raw image. To the best knowledge of the authors, it is the first time to use this method to achieve the top-hat transformation. The simulation experiment shows that the proposed 1D top-hat algorithm has excellent performance in denoising ability and detection ability. Moreover, real night experiments demonstrate that our proposed algorithm can work reliably under both complicated background conditions and good weather conditions. It is noticeable that the performance of computational efficiency and resource consumption have been considerably improved because a 1D structuring element is employed and the erosion operation is not included.
RESUMEN
Using a short-wave infrared (SWIR) camera to improve daytime star detection ability has become a trend for near-ground star trackers. However, the noise of SWIR star images greatly decreases the accuracy of the attitude measurement results. Aiming at a real-time application of the star tracker, an adaptive section non-uniformity correction method based on the two-point correction algorithm for SWIR star images is proposed. The correction parameters of different sections are first calculated after the defective pixels are detected and excluded, and the real-time image is corrected using adaptive section parameters according to its gray value distribution. Finally, the defective pixels are compensated for by their adjacent corrected pixels. The correction results of both simulated and live-shot star images have verified the validity of the proposed method. It adapts to different sky background radiation, which is effective for the application of a star tracker. By comparing with other linear correction methods, it has the advantages of low calculation complexity, better real-time performance, and easier implementation in the hardware.
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A star tracker should be well calibrated before it is equipped in order to achieve high accuracy. There exists, however, the coupling problem between the internal and external parameters for most commonly used laboratory calibration methods, which affect the star tracker's performance. We theoretically analyze the major aspects of the coupling mechanism based on the star tracker laboratory calibration model, which means the coupling between the principal point and the installation angle. The concept of equivalent principal point error, which illustrates the effectiveness of the calibration even with poor decoupling accuracy between the principal point and the installation angle, is introduced. Simulation and bench experiments are conducted to verify the laboratory calibration method and its coupling mechanism. The decoupling accuracy can be improved with more samples during calibration. In addition, the equivalent principal point error converges quickly and hardly affects the attitude of the star tracker, which is verified by both theory and experiment. The comprehensive calibration accuracy can still reach a high level even with poor decoupling accuracy.
RESUMEN
When applied inside Earth's atmosphere, the star tracker is sensitive to sky background produced by atmospheric scattering and stray light. The shot noise induced by the strong background reduces star detection capability and even makes it completely out of operation. To improve the star detection capability, an attitude-correlated frames adding (ACFA) approach is proposed in this paper. Firstly, the attitude changes of the star tracker are measured by three gyroscope units (GUs). Then the mathematical relationship between the image coordinates at different time and the attitude changes of the star tracker is constructed (namely attitude-correlated transformation, ACT). Using the ACT, the image regions in different frames that correspond to the same star can be extracted and added to the current frame. After attitude-correlated frames adding, the intensity of the star signal increases by n times, while the shot noise increases by n~n/2 times due to its stochastic characteristic. Consequently, the signal-to-noise ratio (SNR) of the star image enhances by a factor of n~2n. Simulations and experimental results indicate that the proposed method can effectively improve the star detection ability. Hence, there are more dim stars detected and used for attitude determination. In addition, the star centroiding error induced by the background noise can also be reduced.
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This paper investigates the attitude estimation errors caused by the deflections of vertical (DOV) in the case of a rotational inertial navigation system (INS) integrated with a global satellite navigation system (GNSS). It has been proved theoretically and experimentally that the DOV can introduce a tilt error to the INS/GNSS integration, whereas less attention has been given to its effect to the heading estimation. In fact, due to the intercoupling characteristic of attitude errors, the heading estimation of an INS/GNSS integrated navigation system can also be affected. In this paper, first, the attitude estimation errors caused by DOV were deduced based on the INS's error propagation functions. Then, the corresponding simulations were conducted and the results were well consistent with the theoretical analysis. Finally, a real shipborne marine test was organized with the aimed to verify the effect of DOV on attitude estimation in the rotational INS/GNSS integration, whereas the global gravity model was used for DOV compensation. The results with DOV compensation were compared with the corresponding results where the compensation was not used and showed that the heading estimation errors caused by DOV could exceed 20 arcsecs, which must be considered in high-precision application cases.
RESUMEN
Carried on the deck of the satellite maritime tracking and control ship, Yuan Wang 6, we have conducted a long-term on-ship dynamic experiment for a star sensor in the South Pacific. Motion-blurred star images of the star sensor obtained under different dynamic conditions are processed by our previously proposed region confined restoration method method, after which the SNR of the motion-blurred star images and the identification rate of the star sensor have been improved remarkably. With the attitude-correlated frames approach, the random noise aroused by the motion of the ship is reduced further. As a result, considering the accuracy and star observation length of the ship-borne star sensor, we believe reported for the first time, a three-axis attitude accuracy of better than 5 arcseconds is obtained in our on-ship experiment.
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Due to the temperature delay effect, the coefficients of the traditional ring laser gyroscope's (RLG) bias temperature model usually change with environmental temperature. In order to improve the applicability of the temperature model in complex temperature-varying environments, a modified RLG bias modeling method based on the temperature delay effect is proposed. The time series model (TSM), whose coefficients are independent of the environmental temperature variation, is established through theoretical analysis according to the temperature delay effect. The forecasting accuracy of the proposed method is compared with the conventional stepwise regression model (SRM) when both the temperature and temperature-varying rate exceed their boundaries. The experimental results indicate that the proposed TSM can overcome the defect that the compensation accuracy will decline or even diverge when outside the boundaries of temperature and temperature-varying rate. Therefore, the TSM is more suitable for the RLG bias temperature modeling in complex temperature-varying environments.
RESUMEN
The integration of a star tracker and gyroscope units (GUs) can take full advantage of the benefits of each, and provide continuous and accurate attitude information with a high update rate. The systematic error calibration of the integrated system is a crucial step to guarantee its attitude accuracy. In this paper, a comprehensive calibration method for the star tracker and GUs integrated system is proposed from a global perspective. Firstly, the observation model of the predicted star centroid error (PSCE) with respect to the systematic errors including the star tracker intrinsic parameter errors, GUs errors and fixed angle errors is accurately established. Then, the systematic errors are modeled by a series of differential equations, based on which the state-space model is established. Finally, the systematic errors are decoupled and estimated by a Kalman filter according to the established state-space model and observation model. The coupling between the errors of the principal point and subcomponents of the fixed angles (i.e., Ψ x and Ψ y ) is analysed. Both simulations and experiments indicate that the proposed method is effective at estimating the systematic errors of the star tracker and GUs integrated system with high accuracy and robustness with respect to different star centroid accuracies and gyroscope noise levels.
RESUMEN
A new method for dynamic measurement of deflections of the vertical (DOV) is proposed in this paper. The integration of an inertial navigation system (INS) and global navigation satellite system (GNSS) is constructed to measure the body's attitude with respect to the astronomical coordinates. Simultaneously, the attitude with respect to the geodetic coordinates is initially measured by a star sensor under quasi-static condition and then maintained by the laser gyroscope unit (LGU), which is composed of three gyroscopes in the INS, when the vehicle travels along survey lines. Deflections of the vertical are calculated by using the difference between the attitudes with respect to the geodetic coordinates and astronomical coordinates. Moreover, an algorithm for removing the trend error of the vertical deflections is developed with the aid of Earth Gravitational Model 2008 (EGM2008). In comparison with traditional methods, the new method required less accurate GNSS, because the dynamic acceleration calculation is avoided. The errors of inertial sensors are well resolved in the INS/GNSS integration, which is implemented by a Rauch-Tung-Striebel (RTS) smoother. In addition, a single-axis indexed INS is adopted to improve the observability of the system errors and to restrain the inertial sensor errors. The proposed method is validated by Monte Carlo simulations. The results show that deflections of the vertical can achieve a precision of better than 1â³ for a single survey line. The proposed method can be applied to a gravimetry system based on a ground vehicle or ship with a speed lower than 25 m/s.
RESUMEN
The stellar/inertial integrated navigation system, which combines the inertial navigation system (INS) and the star tracker, can restrain the accumulated INS errors. In the traditional loosely coupled stellar/inertial integration method, the star tracker needs to observe more than two navigation stars on an image for attitude determination and to use the attitude information as the observation to estimate the systematic errors of the INS. However, under strong background radiation conditions, the star number in the field of view (FOV) usually drops below 3; thus, the loosely coupled method fails to work. To overcome this difficulty, an improved tightly coupled stellar/inertial integration method based on the observation of the star centroid prediction error (SCPE) is proposed in this paper. It calculates the difference between the extracted star centroid and the predicted star centroid, namely, the SCPE, as the observation and then estimates the INS errors with a Kalman filter. Numerical simulations and ground experiments are conducted to validate the feasibility of the tightly coupled method. It is proved that the proposed method, which makes full use of all star observation information, can improve the navigation accuracy compared with the loosely coupled method and is more robust when there are not enough stars in the FOV.