Attitude correction apparatus and method for inertial navigation system using camera-type solar sensor
First Claim
1. An attitude correction apparatus for an inertial navigation system using a camera-type solar sensor, comprising:
- a camera-type solar sensor for detecting a sun using a camera in order to measure an attitude of an airplane;
a signal processing unit for receiving attitude and position values from the inertial navigation system and information about a sun-line of sight vector from the camera-type solar sensor, and synchronizing the attitude and position values with the sun-line of sight vector information; and
a data collection processing unit for performing post-processing on information received from the signal processing unit, thus correcting an error,the camera-type solar sensor comprises;
the camera;
a camera driving motor unit, on which the camera is mounted, and which is adapted to perform rotational motion; and
an image acquisition processor for acquiring an image required for data processing from the camera, and detecting a position of the sun from the acquired image.
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Abstract
Disclosed herein is an attitude correction apparatus for an Inertial Navigation System (INS) using a camera-type solar sensor. The present invention relates to a system for correcting errors occurring in an inertial navigation system, in which inertial sensors, such as gyroscopes and accelerometers are combined with each other to calculate the attitude, velocity and position of an airplane, and to an apparatus for utilizing a sun-line of sight vector, generated by a camera-type solar sensor, that uses images of the moving sun, and the output value of the inertial navigation system, thus correcting the attitude of an airplane and the errors of sensors. The attitude correction apparatus of the present invention includes a camera-type solar sensor for detecting the sun, a signal processing unit for receiving and synchronizing information, and a data collection processing unit for performing post-processing on information, thus correcting an error.
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Citations
8 Claims
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1. An attitude correction apparatus for an inertial navigation system using a camera-type solar sensor, comprising:
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a camera-type solar sensor for detecting a sun using a camera in order to measure an attitude of an airplane; a signal processing unit for receiving attitude and position values from the inertial navigation system and information about a sun-line of sight vector from the camera-type solar sensor, and synchronizing the attitude and position values with the sun-line of sight vector information; and a data collection processing unit for performing post-processing on information received from the signal processing unit, thus correcting an error, the camera-type solar sensor comprises; the camera; a camera driving motor unit, on which the camera is mounted, and which is adapted to perform rotational motion; and an image acquisition processor for acquiring an image required for data processing from the camera, and detecting a position of the sun from the acquired image. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An attitude correction method for an inertial navigation system using a camera-type solar sensor, wherein information about an attitude of an airplane is extracted through comparison of a sun-line of sight vector in a navigation coordinate system with a sun-line of sight vector in a body coordinate system generated by the camera-type solar sensor, and an error in attitude is corrected using the information about the attitude of the airplane, wherein a method of correcting the error in attitude comprises the steps of
(a) a camera capturing an image of a sun through rotation of a camera driving motor unit included in the camera-type solar sensor; -
(b) an image acquisition processor receiving the captured image, and thus calculating the sun-line of sight vector in the body coordinate system in consideration of an angle of motion of the camera driving motor unit; (c) synchronizing the sun-line of sight vector, calculated at step (b), with information about attitude, velocity and position obtained by an inertial navigation system, using a signal synchronization microprocessor of a signal processing unit; (d) a data collection processor of a data collection processing unit receiving the synchronized information, and estimating an error in attitude using a Kalman filter, which is an algorithm for minimizing a mean square error between an actual value and an estimated value; and (e) transmitting the estimated error to the inertial navigation system, thus correcting the attitude of the airplane. - View Dependent Claims (8)
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Specification