CN102538783A - Bionic navigation method and navigation positioning system based on remote sensing sky polarization mode patterns - Google Patents
Bionic navigation method and navigation positioning system based on remote sensing sky polarization mode patterns Download PDFInfo
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Abstract
The invention relates to a bionic navigation method and a navigation positioning system based on remote sensing sky polarization mode patterns. The method comprises the following steps: simultaneously measuring three images of light intensity of sky light by adopting a full-sky polarization remote sensing measurement method, and solving a polarization degree and a polarization azimuth angle which describe the polarization state of the sky light, thereby obtaining the remote sensing sky polarization mode patterns; analyzing each influence factor of the polarization degree and polarization azimuth angle in the remote sensing sky polarization mode patterns by adopting a full-sky polarization light measurement method, thereby obtaining the external conditions which are most suitable for polarization navigation; solving the sun azimuth angles at different time by combining celestial navigation theory knowledge, and amending the included angle between the sun meridian and a carrier by utilizing the sun azimuth angles, thereby obtaining a course angle taking geographical north and south as the reference directions; and processing the polarization navigation blind spot by adopting the combined navigation mode of a GPS (global positioning system) navigation mode and a polarization navigation mode. The bionic navigation method and navigation positioning system based on remote sensing sky polarization mode patterns can be widely applied to the measurement and research of navigation positioning under different conditions, and is a special new technology which enables the remote sensing observation image to serve the navigation positioning method and system by utilizing the bionic means.
Description
Technical field
The present invention relates to a kind of bionical air navigation aid and navigation positioning system, particularly about a kind of bionical air navigation aid and navigation positioning system based on remote sensing sky polarization mode figure.
Background technology
Bionical polarization navigation is a kind of self-aid navigation mode that biological utilisation polarisation of light characteristic is confirmed reference direction, is one of natural navigate mode of nature.This navigate mode can be avoided the some shortcomings of existing navigate mode, becomes a kind of precise navigation means with inertial navigation, GPS navigation or earth-magnetic navigation are combined.
Remote sensing is a kind of mode through remote imaging, or a kind of remote observation method.Utilize the sky polarized light to realize that remote sensing mainly is the single-point orientation survey at present; Promptly measure the sky polarized light distributed intelligence at a certain elevation angle place; Elevation angle through the adjustment instrument adopts the skylight to different azimuth to take multiple measurements then, at last the measurement result in each orientation is carried out analysis-by-synthesis and obtains result of detection, and above-mentioned single-point orientation survey method all has certain limitation to the each range for measuring and the visual field; And when the orientation is measured in adjustment; The meeting generation time is poor when different azimuth is measured respectively, and in the scope of this mistiming, the distribution of sky polarized light will change; Can cause the result who measures to produce error like this, and prior art can not effectively monitor and overcome to the blind spot problem (degree of polarization is zero) of sky polarized light in the navigation procedure.
Summary of the invention
To the problems referred to above; The purpose of this invention is to provide a kind of can be in real time, fast, measure that the overlay area is big, navigation accuracy is high; And the bionical air navigation aid and the navigation positioning system based on remote sensing sky polarization mode figure of the blind spot of can effectively avoiding navigating also are to utilize bionical means the remote sensing observations image to be served the technology of navigation locating method and system.
For realizing above-mentioned purpose; The present invention takes following technical scheme: a kind of bionical air navigation aid based on remote sensing sky polarization mode figure; May further comprise the steps: 1) be provided with one include three digital cameras all-sky polarized light measurement system; Each said digital camera front end is provided with a fish eye lens, and each said fish eye lens front end is disposed with a polaroid and a filter plate, and the output terminal of each said digital camera connects a computing machine; 2) adopt all-sky polarized light measurement method, measure when the skylight light intensity is carried out three width of cloth images, calculate degree of polarization and polarization position angle, obtain remote sensing sky polarization mode figure; 3) adopt all-sky polarized light measurement method,, obtain the external condition of the most suitable polarization navigation through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed; 4) combine the celestial navigation principle, find the solution different solar azimuths constantly, and utilize the angle between solar azimuth correction sun meridian and the carrier, obtaining with geographical north and south is the course angle of reference direction; 5) adopt the integrated navigation mode of GPS navigation mode and polarization navigate mode that polarization navigation blind spot is handled.
Realize the navigation positioning system based on remote sensing sky polarization mode figure of said bionical air navigation aid; It is characterized in that: it comprises a GPS receiver, a mileage gauge and a polarized light measurement system; Said mileage gauge is connected the input end of a dead reckoning module with the output terminal of polarized light measurement system; The output terminal of said GPS receiver and dead reckoning module is connected respectively to the input end of a data acquisition module; The output terminal of said data acquisition module connects the output terminal of an input and decision-making module; Said input and the output terminal of decision-making module are connected the navigate input end of independent positioning system of the independent positioning system of a GPS navigation, GPS/ polarization navigation integrated positioning system and a polarization respectively; The navigate output terminal of independent positioning system of the independent positioning system of said GPS navigation, GPS/ polarization navigation integrated positioning system and polarization is connected a location information respectively and resolves module; The while output terminal of said polarized light measurement system also connects a navigation blind spot monitoring modular, and the output terminal of said navigation blind spot monitoring modular connects the output terminal of said input and decision-making module.
The present invention is owing to take above technical scheme; It has the following advantages: 1, the present invention adopts three digital cameras that measured zone is carried out multi-faceted measurement simultaneously; Spot measurement is expanded to the polarized light measurement in all-sky zone, and then the sky polarization state figure that forms similar magnetic field, gravity field is remote sensing sky polarization mode figure, this method quick real-time; Avoid single-point orientation survey method because adjust the Measuring Time error of measuring the position angle and causing, effectively guaranteed the precision of measurement result.2, digital camera of the present invention adopts fish eye lens, has enlarged visual-field space, makes its solid space angle with 180 °, has effectively avoided the little shortcoming of spot measurement spatial dimension.3, the present invention adopts all-sky polarized light measurement method, through each influence factor of remote sensing sky polarization mode figure is measured, has obtained the external condition of the most suitable polarization navigation.4, the present invention combines the celestial navigation principle, utilizes the current position angle of the sun to revise the angle of polarized light measurement system output, makes the polarization navigation have more practicality.5, navigation positioning system of the present invention is provided with navigation blind spot monitoring modular; In case detect degree of polarization is that the zero then independent independent positioning system of GPS navigation that adopts is avoided the blind spot that navigates; Increased the validity of polarization navigation; When degree of polarization is non-vanishing, can adopt the mode precision navigation of GPS navigation and the integrated navigation of polarization navigational system.6, the present invention can carry out grade classification, demonstration to the degree of polarization power of polarization image, deflection angle size etc., the polarization image that obtains is handled in real time, thereby obtained the photodistributed visual information of remote sensing sky polarization.The present invention can be widely used in the measurement and research of the navigator fix under the various different conditions.
Description of drawings
Fig. 1 is the schematic flow sheet of the inventive method;
Fig. 2 be among the present invention degree of polarization mean value and sun altitude concern synoptic diagram, wherein horizontal ordinate is the time, unit is h, ordinate is the degree of polarization value, representes with percentage;
Fig. 3 is the degree of polarization mean value synoptic diagram of different-waveband degree of polarization image among the present invention, and wherein horizontal ordinate is represented wave band, and unit is nm, and ordinate is the degree of polarization value, representes with percentage, and "+" is clear sky, and " zero " is cloudy sky;
Fig. 4 is under the observation wave band different among the present invention; Each wave band degree of polarization mean value and sun altitude concern synoptic diagram, wherein among the figure
of the top be red wave band, middle
for blue wave band,
of below be the purple wave band;
Fig. 5 is the distribution situation effect synoptic diagram of polarization position angle under the different weather condition among the present invention;
Fig. 6 is that clear sky polarization position angle is sun altitude situation of change effect synoptic diagram in time among the present invention;
Fig. 7 is the sky polarization azimuthal distribution effect synoptic diagram of different-waveband under the clear sky condition among the present invention;
Fig. 8 (a) is a celestial body perspective view on earth among the present invention;
Fig. 8 (b) is a navigational triangle synoptic diagram among the present invention;
Fig. 9 is polarization navigation neutral point-navigation blind spot synoptic diagram among the present invention;
Figure 10 is the structural representation of navigation positioning system of the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is carried out detailed description.
As everyone knows, owing to sunshine makes skylight have polarization characteristic through the atmospheric particles scattering, the distribution characteristics of sky polarized light is represented with degree of polarization and polarization position angle usually.Target atural object in earth surface and the atmosphere makes scattered light produce polarization characteristic in the process of reflection, scattering and transmission sunshine (electromagnetic radiation), can be used as the information source of polarization navigation with this.
As shown in Figure 1; Polarized light measurement of the present invention system includes three digital cameras; Each digital camera front end is provided with a fish eye lens; Each fish eye lens front end is disposed with a polaroid and a filter plate, and the output terminal of each digital camera is connected to same computing machine, and the method that adopts polarized light measurement of the present invention system to obtain navigation information may further comprise the steps:
1) adopts all-sky polarized light measurement method, measure when the skylight light intensity is carried out three width of cloth images, find the solution degree of polarization and the polarization position angle of describing the skylight polarization state, obtain remote sensing sky polarization mode figure.
At arbitrary XOY plane, be to carry out the skylight light intensity that observation station gets on the direction of α to be with X axle clamp angle:
As long as the light intensity of the skylight of all-sky zone different azimuth is carried out four times to be measured; Promptly can obtain four parameter I, Q, U and V of Stokes (Stocks) vector through above-mentioned formula simultaneous solution; Wherein I is unpolarized light intensity, and Q, U are respectively the linearly polarized light on the both direction, and V represents circularly polarized light; Can solve simultaneously the degree of polarization d and the polarization position angle ψ that describe the skylight polarization state, the computing formula of degree of polarization d and polarization position angle ψ is following:
In actual measurement, because the V component values in the Stocks vector is less, can be similar to and thinks V=0, as long as therefore measure the light intensity I (α of the sky polarized light of three different azimuth
i), just can obtain I, Q, U and d and ψ by simultaneous, concrete solution procedure is: through the light intensity I (α of three digital cameras to the sky polarized light in three orientation in all-sky zone
i) measure α simultaneously
iGet 0 ° respectively, 45 °, 90 ° of simultaneous solutions:
The above-mentioned formula of simultaneous (4) abbreviation gets:
Can obtain I, Q, U in the hope of separating through formula (5), be updated to respectively in formula (2) and (3) and can obtain corresponding degree of polarization d and polarization position angle ψ in the hope of separating with finding the solution the I, Q, the U that obtain.
Polarization image to the different azimuth obtained when concrete experiment is handled in real time; At first three tunnel light intensity of measuring are carried out the brightness hierarchical processing; Utilize formula (5) to calculate first three component I, the Q of Stocks vector, the classification figure of U then; And then obtain corresponding degree of polarization and the azimuthal classification figure of polarization according to formula (2) and (3), and degree of polarization power, deflection angle size etc. are carried out grade classification and demonstration, thus obtained the photodistributed visual information of sky polarization.
2) adopt all-sky polarized light measurement method,, obtain the external condition of the most suitable polarization navigation through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed.
Receive the influence of weather condition, observation wave band and sun altitude because the sky polarized light distributes, the present invention adopts all-sky polarized light measurement method that polarisation-affecting degree and azimuthal each influence factor of polarization are analyzed.
1. the analysis of Influential Factors of degree of polarization
As shown in Figure 2; The embodiment of the invention is chosen in two kinds of different weather conditions and carries out all-sky polarization remote sensing experiments of measuring; Experimental result shows; Little more a lot of under the cloundiness than all-sky degree of polarization under the clear sky condition, mainly be because the fevering sodium effect that the repeatedly scattering of atmosphere causes under the cloudy condition, the degree of polarization of image has been reduced greatly.In order to obtain the regularity of distribution of all-sky degree of polarization in a period of time, the present invention distributes to the sky polarized light and has carried out continuous remote sensing observations experiment (as shown in Figure 2).Under the clear sky condition from the morning 10:30 to afternoon 15:00 adopt digital camera that all-sky is taken at set intervals, as shown in table 1 through the somewhere sky polarized light distribution situation that observed in continuous 6 hours:
Table 1 degree of polarization over time
| Time | 10:30 | 11:00 | 12:00 | 13:00 | 14:00 | 15:00 |
| Degree of polarization mean value | 0.1370 | 0.1073 | 0.0971 | 0.1023 | 0.1555 | 0.3225 |
From table 1, can see, from the morning 10:30 to 12:00, the degree of polarization mean value of image diminishes gradually; Degree of polarization mean value reaches minimum during to sun altitude maximum (12 point), and then as time passes, it is big that the mean value of degree of polarization image becomes again gradually; Therefore can draw, the sky degree of polarization distributes closely related with sun altitude, along with the variation of sun altitude; Shape and the size of remote sensing sky polarization figure are all taking place to change, and sun altitude is low more, and degree of polarization mean value is big more; Otherwise degree of polarization mean value is more little.
As shown in Figure 3, adopt said method, under different weather conditions, select different observation wave bands to obtain the distribution of all-sky degree of polarization.
As shown in Figure 4, adopt said method, along with the variation of sun altitude, the sky degree of polarization that obtains different observation wave bands distributes.
Show that through above measurement result when sky was sunny, the sky degree of polarization reduced with wavelength and reduces; But at turbulent flow, cloudy weather, the long-wave band fevering sodium effect is apparent in view, and degree of polarization reduces thereupon, and less at short wave band fevering sodium effect, takes all factors into consideration above various factors, thinks that blue wave band is the wave band that is best suited for the polarization navigation.
2. to the azimuthal analysis of Influential Factors of polarization
The biology of occurring in nature can utilize the sky polarotactic navigation, surveys the existence of sky polarized light except relying on corresponding polarization vision, also need obtain directional information from the azimuthal distribution of skylight polarization.Therefore, the distribution of polarization position angle under different condition of analysis skylight is particularly important.Measurement result (as shown in Figure 5) can be found out; Skylight polarization position angle under the different weather condition is symmetrical distribution clocklike around central point; From central point outwards along clockwise direction; The polarization position angle increases to 30 ° then to 60 ° gradually from 0 °, and then is reduced to-30 ° gradually from-60 ° and gets back to 0 ° at last.
Under cloudy weather condition, polarization position angle size changes than the clear sky state to some extent, and this is because the fevering sodium effect that the repeatedly scattering of atmosphere causes under the cloud form attitude arranged, and the polarization position angle of whole image has been reduced.However, the polarization azimuthal distribution is symmetrical in the meridianal characteristic of the sun and does not change, and still can utilize its distribution to obtain the required directional information of navigation.In order to obtain the regularity of distribution of all-sky polarization position angle in a period of time, the embodiment of the invention distributes to the sky polarized light and has carried out Continuous Observation experiment (as shown in Figure 6).Under the sunny weather condition, whenever all-sky is taken the sky polarized light distribution situation that observed in continuous 6 hours at 16 in afternoon at a distance from 1 hour from 11 at noon.From single polarization azimuthal distribution image; The polarization azimuthal distribution has certain similarity; But the shape of polarization azimuthal distribution all is different with size during different sun altitude; Along with the variation of sun altitude, the polarization azimuthal distribution of whole sky is rotated around zenith, and this is the dynamic perfromance of polarization mode figure.
As shown in Figure 7; Under sunny weather condition, observing sky polarization position angle through remote sensing can draw in distribution situation purple, blue, red three wave bands; Under different observation wave band conditions, the not too big variation of polarization azimuthal distribution all is the symmetrical distribution that presents rule.In conjunction with the distribution situation of degree of polarization, think and obtain navigation information the best from the azimuthal distribution of clear sky blue wave band polarization.
3) utilize the celestial navigation principle, find the solution different solar azimuths constantly, and utilize the output of solar azimuth correction polarized light measurement system, obtaining with geographical north and south is the course angle of reference direction.
Existing research shows; Insects such as husky ant, honeybee have the visual system extremely responsive to the sky direction of polarized light; They are through line of symmetry---the sun meridian of the responsive remote sensing sky polarization mode figure of polarization vision system of self, and the angle β between definite on this basis its cephalocaudal axis and the sun meridian.The Polarization-Sensitive mechanism of the polarized light measurement system imitation insect of the present invention's design is obtained the angle β between current direction of motion of carrier and the sun meridian.
The polarized light measurement system of the present invention's design adopts three digital cameras that a certain zone of sky is taken simultaneously, can obtain three width of cloth remote sensing sky polarization images simultaneously, and the polarized light measurement system is output as:
c
1(φ)＝k[1+dcos(2β)] (6)
In the above-mentioned formula, c
i(φ) (i=1; 2; 3) represent that respectively polaroid establishes the average brightness value of folk prescription captured image when being 0 °, 45 ° and 90 ° with the current direction of carrier, the k constant factor, simultaneous above-mentioned (6) (7) (8) can solve the angle β between current direction of motion of carrier and the sun meridian.But sun meridian is constantly to change, and as the navigation reference line certain limitation is arranged with it for a long time, therefore needs to adopt the position angle of the sun to revise.
Shown in Fig. 8 (a), in celestial navigation, normally through the inquiry Nautical Alamanac or calculate right ascension, the declination of celestial body, the position of subpoint GP---longitude and latitude are corresponding on earth with this celestial body for right ascension of a celestial body, declination that inquiry obtains.Through resolving navigational triangle, shown in Fig. 8 (b), can try to achieve the elevation angle and the position angle of the sun.In navigational triangle, sun altitude h
sAvailable computes:
sinh
s＝sinφsinδ+cosφcosδcost (9)
Solar azimuth A
sAvailable computes:
In the above-mentioned formula, h
sBe sun altitude; A
sBe solar azimuth; T is local solar hour angle; φ is a geographic latitude; δ is a solar declination.Adopt the current position angle A of the sun
sβ is revised the angle that just can obtain current direction of motion of carrier and geographical north and south, and promptly the course angle of carrier is θ=β+A
sAs long as go out movement velocity, just can calculate next position constantly by other sensor sensing.And known next position constantly; The relative position of the sun has just been confirmed; And the determining positions of the sun distribution pattern of sky polarized light, so the polarized light measurement system through design again can be responsive go out the angle between current carrier movement direction and the sun meridian.Iteration (11) formula just can be accomplished the navigator fix task like this, successively.
In the above-mentioned formula, (x
i, y
i) and v
iRepresent i position and speed constantly respectively, θ is a course angle.
4) adopt the navigate mode of GPS navigation mode and polarization navigate mode combination that polarization navigation blind spot is handled.
Polarotactic navigation is to utilize the polarization characteristic of skylight to obtain directional information, but theoretical analysis and actual measured results show that it is zero point---polarization neutral point (as shown in Figure 9) that there is degree of polarization in the air in the sky.Can it be a blind spot that the polarization neutral point navigates for polarization, utilize polarotactic navigation need check degree of polarization whether within detectable range, if degree of polarization is zero, the polarization navigation is just inoperative.So in actual polarization navigation procedure, will avoid degree of polarization is zero zone, can adopt the navigate mode of GPS navigation and polarization navigation combination to avoid polarization navigation blind spot; When detecting degree of polarization and be zero; Adopt the separate GPS navigate mode to navigate, when degree of polarization is non-vanishing, can adopt the polarization navigation separately; Also can adopt the navigation of GPS navigation and polarization to combine to realize precision navigation simultaneously as required.
Shown in figure 10; Based on above-mentioned bionical air navigation aid; Navigation positioning system of the present invention includes a GPS receiver 1, a mileage gauge 2 and a polarized light measurement system 3; Mileage gauge 1 constitutes the polarization navigation positioning system with polarized light measurement system 3; Mileage gauge 2 is connected the input end of a dead reckoning module 4 with the output terminal of polarized light measurement system 3; The output terminal of GPS receiver 1 and dead reckoning module 4 is connected respectively to the input end of a data acquisition module 5; The output terminal of data acquisition module 5 connects the output terminal of an input and decision-making module 6, and input and the output terminal of decision-making module 6 are connected the navigate input end of independent positioning system 9 of the independent positioning system of GPS navigation 7, GPS/ polarization navigation integrated positioning system 8 and polarization respectively, and the navigate output terminal of independent positioning system 9 of the independent positioning system of GPS navigation 7, GPS/ polarization navigation integrated positioning system 8 and polarization is connected respectively to locating information and resolves module 10; The output terminal of polarized light measurement system 3 also connects a navigation blind spot monitoring modular 11 simultaneously, and navigation blind spot monitoring modular 11 calculates the degree of polarization value and sends to input and decision-making module 6.During navigation positioning system work; GPS receiver 1 sends to data acquisition module 5 with navigation information separately respectively with dead reckoning module 4; Two groups of navigation informations that data acquisition module 5 will collect send to input and decision-making module 6; Input and decision-making module 6 are confirmed concrete navigate mode according to the actual conditions and the predetermined weights factor; When navigation blind spot monitoring modular 11 monitors degree of polarization is zero when being polarization navigation blind spot, and input and decision-making module 6 automatically switch to the independent positioning system 7 of GPS navigation, adopts the GPS mode blind spot of avoiding navigating to accomplish and navigate.When degree of polarization is non-vanishing; According to actual needs, can utilize the polarization independent positioning system of navigating, the information that also can adopt integrated navigation to adopt two kinds of navigation positioning systems to provide simultaneously positions information and resolves; Obtain optimum positioning result, thereby obtain best bearing accuracy.
In sum, the present invention is through sky polarized light measurement system, all-sky polarized light measurement method; The factor analysis of sky polarized light distribution influence; Realize that remote sensing sky polarization mode figure obtains and handles, and reaches the monitoring to the navigation blind spot through the polarization navigate mode, and combines with other assisting navigation mode; Obtain bionical navigator fix information and resolve, realize bionical polarization navigation.The implementation step that said method is related and the structure of each parts, connected mode etc. all can change to some extent, and every equivalents of on the basis of technical scheme of the present invention, carrying out and improvement all should not got rid of outside protection scope of the present invention.
Claims (9)
1. bionical air navigation aid based on remote sensing sky polarization mode figure may further comprise the steps:
1) be provided with one include three digital cameras all-sky polarized light measurement system; Each said digital camera front end is provided with a fish eye lens; Each said fish eye lens front end is disposed with a polaroid and a filter plate, and the output terminal of each said digital camera connects a computing machine;
2) adopt all-sky polarized light measurement method, measure when the skylight light intensity is carried out three width of cloth images, calculate degree of polarization and polarization position angle, obtain remote sensing sky polarization mode figure;
3) adopt all-sky polarized light measurement method,, obtain the external condition of the most suitable polarization navigation through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed;
4) combine the celestial navigation principle, find the solution different solar azimuths constantly, and utilize the angle between solar azimuth correction sun meridian and the carrier, obtaining with geographical north and south is the course angle of reference direction;
5) adopt the integrated navigation mode of GPS navigation mode and polarization navigate mode that polarization navigation blind spot is handled.
2. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 1; It is characterized in that: the all-sky polarized light measurement method single measurement region area said step 2) is big; The solid space angle can reach 180 degree; The time error of having avoided spot measurement to bring forms the Systematization method that different parameters is extracted, form remote sensing sky polarization mode figure simultaneously.
3. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 1; It is characterized in that: adopt all-sky polarized light measurement method in the said step 3); Through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed; Obtain the external condition of the most suitable polarization navigation; Be to be the basis with remote sensing sky polarization mode figure, obtained polarization image system transaction module and software,, deflection angle strong and weak to degree of polarization be big or small carries out grade classification, clear display is directly perceived.
4. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 2; It is characterized in that: adopt all-sky polarized light measurement method in the said step 3); Through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed; Obtain the external condition of the most suitable polarization navigation; Be to be the basis with remote sensing sky polarization mode figure, obtained polarization image system transaction module and software,, deflection angle strong and weak to degree of polarization be big or small carries out grade classification, clear display is directly perceived.
5. like claim 1 or 2 or 3 or 4 described bionical air navigation aids based on remote sensing sky polarization mode figure; It is characterized in that: analysis-by-synthesis is the sky polarized light regularity of distribution under the condition of different weather condition, differing heights angle and different observation wave bands; The analysis result of binding isotherm; Obtain the environmental baseline of the most suitable navigation, provided the disposal route of navigation blind spot simultaneously.
6. like claim 1 or 2 or 3 or 4 described bionical air navigation aids based on remote sensing sky polarization mode figure; It is characterized in that: said step 4) is different from the method for sun meridian as the navigation reference line; But with solar azimuth the navigation angle is compensated, with fixing south poles as the navigation reference direction.
7. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 5; It is characterized in that: said step 4) is different from the method for sun meridian as the navigation reference line; But with solar azimuth the navigation angle is compensated, with fixing south poles as the navigation reference direction.
8. like each described bionical air navigation aid of claim 1～7 based on remote sensing sky polarization mode figure; It is characterized in that: the method through remote sensing observations obtains remote sensing sky polarization mode figure; Serve bionical navigation application and navigation application, form the technology that the remote sensing means are served air navigation aid and system.
9. realize navigation positioning system based on remote sensing sky polarization mode figure like each said bionical air navigation aid of claim 1～8; It is characterized in that: it comprises a GPS receiver, a mileage gauge and a polarized light measurement system; Said mileage gauge is connected the input end of a dead reckoning module with the output terminal of polarized light measurement system; The output terminal of said GPS receiver and dead reckoning module is connected respectively to the input end of a data acquisition module; The output terminal of said data acquisition module connects the output terminal of an input and decision-making module; Said input and the output terminal of decision-making module are connected the navigate input end of independent positioning system of the independent positioning system of a GPS navigation, GPS/ polarization navigation integrated positioning system and a polarization respectively; The navigate output terminal of independent positioning system of the independent positioning system of said GPS navigation, GPS/ polarization navigation integrated positioning system and polarization is connected a location information respectively and resolves module; The while output terminal of said polarized light measurement system also connects a navigation blind spot monitoring modular, and the output terminal of said navigation blind spot monitoring modular connects the output terminal of said input and decision-making module.
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