Method for determining attitude of star sensor based on rolling shutter imaging

A method for determining an attitude of a star sensor based on a rolling shutter imaging, comprising steps of:

• S1:
• optimizing a relation among an exposure time tInt, a line readout time trd, an interline integral interval time tri and a frame processing time tFp of an image for the rolling shutter imaging by using a rolling shutter model of an image sensor in the star sensor based on a line;
• S2:
• predicting and extracting locations of M navigation stars comprised in a star map in the star sensor according to the optimized relation among the exposure time tInt, the line readout time trd, the interline integral interval time tri and the frame processing time tFp, in which the location of each navigation star is used to determine a line number of the each navigation star in the star sensor;
• and
• S3:
• updating an attitude matrix and an angular velocity of the star sensor according to the locations of the navigation stars and based on a single star recursion attitude estimation of the rolling shutter imaging whenever the position of one navigation star is extracted, applying the attitude matrix of the star sensor to a calculation of the attitude matrix of a next navigation star by recursion to obtain a recurring attitude matrix of the star sensor, fusing the location of the next navigation star and the recurring attitude matrix of the star sensor to form an updated attitude matrix and an updated angular velocity of the star sensor, and transferring the updated the attitude matrix and the updated angular velocity of the star sensor sequentially until a final attitude matrix and a final angular velocity of the star sensor are obtained.