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面向无人机的天文导航
Celestial Navigation for Drones
进阶 · 约 60 分钟读完前置知识：惯性导航基础、天文学基础、无人机系统
导读
这篇论文研究无人机在GPS不可用或受干扰时如何利用天体观测进行导航。它把天体作为被动、抗干扰的位置参考，并讨论在精确时钟支持下估计全局位置的方法与精度限制。结论倾向于认为天体导航可作为GPS拒止环境下的补充或替代方案。
HN 关注点：GPS拒止环境下的导航备份方案，以及低成本无人机能否用天体导航实现自主定位，讨论也延伸到军事应用和授时依赖。
HN 评论精选
这几条评论里：质疑 1 补充 3
补充担心DIY天体导航会招致审查，后更正称军方一直在研究astro-inertial导航并部署于军机。
也许我太偏执，但有人告诉我不要在这个研究领域做任何DIY。据说，在众多会让你被列入名单的方式中，做一个能用的天体导航系统会带来非常麻烦的后果，仅次于在网上订购大量某些化学品。这是真的吗？——编辑——根据论文，这不正确：GPS引入后天体导航因精度相对较低而兴趣衰退，但美国和其他军队从未停止使用这些系统，只是不再多谈。这里有一个文献检索显示相关缓慢而稳步的研究，示例系统已部署在许多美国作战飞机上。
areoform查看英文原文
Perhaps I am too paranoid, but I've been told to avoid doing any DIY in this field of study. Apparently, or so I'm told, out of the many, many ways to end up on a list — building a working celestial navigation system can lead to some very inconvenient outcomes. Second, only to ordering large quantities of certain chemicals online. Is this true? ——— EDIT - from the paper, this is incorrect, > The introduction of GPS caused the interest in celestial navigation to wither due to its relative inaccuracy. Consequently, celestial navigation is primarily seen only in space-based systems, whose orientation must be known to high levels of precision. Nonetheless, celestial navigation was identified as a desirable alternative to GPS [2], primarily due its robustness against potential jamming. Critically, few GPS-denied alternatives exist that are capable of using passive sensors to estimate global position at night or over the ocean. For this reason, celestial navigation remains an important topic of research. The US and other militaries never stopped using these systems. They just stopped talking about them as much. Here's a literature search showing some of the slow & steady research on the topic, https://scholar.google.com/scholar?q=astro-inertial+navigation&hl=en&as_sdt=7,39&as_ylo=2000&as_yhi=2015 Example systems that have been deployed in many (most? all???) American combat aircraft, https://theaviationist.com/2021/09/10/lets-have-another-look-at-the-b-2s-air-data-ports-and-astroinertial-navigation-system/ https://www.gpsworld.com/honeywell-demonstrates-military-grade-alternative-navigation-tech/ https://ieeexplore.ieee.org/document/290940 Alright. I'm ready to be on that list, Mr NSA agent.
补充早期侦察机已使用自动天体导航，还有误把屋顶漏光当星的故事。
趣闻：SR-71和U2飞机有自动天体导航系统，因为它们服役时还没有GPS。在关于洛克希德·马丁Skunk Works的书中提到一个故事：系统在一架飞机停在机库时开机，并锁定到屋顶的一个洞——阳光从洞中照进来，系统把它当成了星星。
alexpotato查看英文原文
Fun fact: The SR-71 and U2 planes had automated celestial navigation systems b/c GPS wasn't around when they came out. There a story in the book about Lockheed Martin's Skunk Works where they mention turning on the system while one of the planes was in the hangar and it locked on to a hole in the roof (sun was shining through the hole and system thought it was a start).
质疑质疑论文实际是低成本无人机在GPS拒止下接近目标，可能军民两用。
Ctrl+F搜索munitions或bombs，0结果。看起来这其实是关于：25美元的控制器让无人机在GPS拒止环境中飞到4公里内，之后用50美元红外相机+DSMAC寻找目标并命中。
maxglute查看英文原文
Ctrl+F and 0 results for munitions or bombs. Seems like this is really about $25 controller gets drones to within 4km in GPS denied enviroments, after which a $50 infrared camera + DSMAC find targets to hit.
补充天体定位关键依赖精确时钟，GPS可能更多提供时间基准。
我想GPS之类会不会更多用于授时而非定位。天体是完美的基准标记，但把它们连接到位置仍需要精确计时，正如论文指出：只要使用精确时钟，本文结果不会随时间退化。
adolph查看英文原文
I wonder if GPS and the like will be used more for their clock features than for position. The emissions celestial bodies are perfect fiducial markers [0,1], but connecting them to position still requires accurate timekeeping [2], as the paper notes: Provided the use of an accurate clock, the results presented in this paper will not degrade over time. 0. https://www.twz.com/17207/sr-71s-r2-d2-could-be-the-key-to-winning-future-fights-in-gps-denied-environments 1. https://timeandnavigation.si.edu/multimedia-asset/nortronics-nas-14v2-astroinertial-navigation-system 2. https://www.rmg.co.uk/stories/topics/harrisons-clocks-longitude-problem
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