A New Celestial Positioning Model Based on Robust Estimation
A large field of vision (FOV) star sensor can be used to image multiple celestial bodies at the same time, and then through center extraction of the star point and star patterns matching to realize navigation and positioning. The FOV based method has grad
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A New Celestial Positioning Model Based on Robust Estimation Chonghui Li, Yong Zheng, Zhuyang Li, Liang Yu and Yonghai Wang
Abstract A large field of vision (FOV) star sensor can be used to image multiple celestial bodies at the same time, and then through center extraction of the star point and star patterns matching to realize navigation and positioning. The FOV based method has gradually become the main way of celestial navigation. However, in the process of center extraction, mistakenly identifying image noise as the star point and encountering some abnormal coordinate errors are inevitable. Meanwhile, in the process of star patterns matching, wrong matches are always encountered too. To solve these problems, this paper introduces the Robust Estimation for the first time, and based on it a celestial positioning model is established. The experiment shows that the model can effectively exclude the impact of noise and wrong patching, limit the abnormal observations, and take full advantage of high-precision observation information, by which positioning accuracy is increased from 4.0500 to 1.1500 .
Keywords Robust estimation Celestial navigation Equal weights Positioning
Assistance Information: Nature science funds (41174025, 41174026), Shanghais Aerospace Navigation and Positioning Technology Key Laboratory Open Fund (0901), Accuracy PNT Key Laboratory Open Fund (2012PNTT07), Zhengzhou Institute of Surveying and Mapping Fund (Y1101). C. Li (&) Y. Zheng Z. Li Y. Wang Zhengzhou Institute of Surveying and Mapping, HeNan 450052, China e-mail: [email protected] L. Yu Zhengzhou Institute of Surveying and Mapping, 61363 Troops,, Xi an 710054, China
J. Sun et al. (eds.), China Satellite Navigation Conference (CSNC) 2013 Proceedings, Lecture Notes in Electrical Engineering 245, DOI: 10.1007/978-3-642-37407-4_45, Ó Springer-Verlag Berlin Heidelberg 2013
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45.1 Introduction Celestial navigation is a kind of technique and method which uses sun, moon, stars and other natural objects as navigation beacons. Taking the celestial horizon coordinates (azimuth or height) of such objects as observations, it could finally determine the geographical position (or space position) and orientation of the station [1, 2]. It has the advantages of simple equipment, not easy to be disturbed, and the positioning error doesn’t accumulate over time. So it is an important way of autonomous navigation. Early celestial navigation mainly used in sailing, which utilize the sextant for manual observation, and the International Maritime Organization (IMO) also explicitly provides that mariners must have the ability to use celestial bodies to determine the ship’s position in ‘‘STCW78/95 Convention’’ [3, 4]. Celestial navigation equipment has gradually developed into a star sensor with large field of vision, which can image multiply celestial body at the same time, and then realize navigation and positioning through solve integrated information of the image coordinates of celestial bodies, the imaging time a
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