Alignment and Calibration of Optical and Inertial Sensors Using Stellar Observations

摘要

Aircraft navigation information (position, velocity, and attitude) can be determined using optical measurements from an imaging sensor pointed toward the ground combined with an inertial navigation system. A critical factor governing the level of accuracy achievable in such a system is the alignment and calibration of the sensors. Currently, alignment accuracy is limited by machining and mounting tolerances for low-cost applications. In this paper, a novel alignment and calibration method is proposed which combines inertial and stellar observations using an extended Kalman filter algorithm. The approach is verified using simulation and experimental data, and conclusions regarding alignment accuracy versus sensor quality are drawn.