CN106767752B - Combined navigation method based on polarization information - Google Patents

Combined navigation method based on polarization information Download PDF

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CN106767752B
CN106767752B CN201611062735.2A CN201611062735A CN106767752B CN 106767752 B CN106767752 B CN 106767752B CN 201611062735 A CN201611062735 A CN 201611062735A CN 106767752 B CN106767752 B CN 106767752B
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polarization
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coordinate system
optical flow
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郭雷
杨健
牛奔
王纲
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Beijing University of Aeronautics and Astronautics
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
    • G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers

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Abstract

The invention relates to a combined navigation method based on polarization information, which comprises the following steps of firstly, inquiring an astronomical calendar according to the position of a carrier and the moment to obtain sun position information; secondly, measuring by using a polarization sensor to obtain polarization information, and measuring carrier speed information by using an optical flow sensor; thirdly, establishing a filtering measurement model based on the polarization and the optical flow; finally, estimating the navigation error information by using a Kalman filter; the method establishes a linear measurement model based on the single polarization sensor, has the advantages of simple model, small filter calculation amount and high precision, and is suitable for autonomous navigation of a carrier for a longer period.

Description

Combined navigation method based on polarization information
Technical Field
The invention relates to a combined navigation method based on polarization information, which adopts equipment comprising a set of micro-electromechanical inertia combination, a polarization sensor and an optical flow sensor, adopts a Kalman filter to carry out multi-sensor information fusion, and can be used for autonomous navigation of moving bodies such as unmanned planes, ground robots or vehicles.
Background
Modern high performance vehicles place increasingly higher demands on the performance of navigation systems, which cannot be met by a single navigation system. For example, inertial navigation has the advantages of autonomy, concealment and capability of acquiring complete motion information of a carrier, but navigation errors are accumulated along with time, and the defect is more obvious for low-cost micro-electromechanical inertial combination; the GPS has the advantages of high positioning precision, bounded positioning error, good long-term navigation stability and the like, but the GPS signal is a radio signal and has the defects of easy interference, easy shielding of the signal by buildings and the like. Therefore, integrated navigation has become a main direction for the development of navigation systems.
The polarized light navigation is a navigation method for acquiring navigation information by using sky polarized light based on the development of a bionic mechanism. Polarized light navigation has the advantages that errors are not accumulated along with time, and the polarized light navigation is not easily interfered by human factors in a larger range. The visual odometer based on optical flow calculation only requires that the visual field has enough abundant texture information, does not depend on a specific landmark and the like as a reference for positioning, and has unique advantages in navigation. The combined navigation based on inertia, polarization and optical flow can keep the convergence of attitude and speed errors for a long time, and further slow down the divergence of position errors.
The existing combined navigation technology utilizing polarization information generally uses a plurality of polarization sensors to observe sun vectors for filtering, and when a single polarization sensor is used, the combined navigation technology is generally used for directly measuring course information and is suitable for two-dimensional plane motion.
Disclosure of Invention
The invention relates to a combined navigation method based on polarization information, which establishes a linear measurement model based on a polarization sensor and an optical flow sensor, and adopts Kalman filtering in an information fusion mode.
The coordinate system of the invention is selected as follows: the geographical coordinate system (n system) adopts a northeast coordinate system, namely a right-hand coordinate system O-XYZ is formed by taking the centroid O of the carrier as an origin, the geographical east direction as an X axis, the geographical north direction as a Y axis and the sky direction as a Z axis; the carrier coordinate system (system B) is a coordinate system fixedly connected on the carrier, the origin of the coordinate system is the centroid B of the carrier, the horizontal axis of the carrier is the X axis, the longitudinal axis is the Y axis forwards, and the vertical axis is the Z axis upwards, so that a right-hand coordinate system B-XYZ is formed.
The technical solution of the invention is a combined navigation based on polarization information, which comprises the following steps:
(1) inquiring the astronomical calendar according to the current calculated carrier position and time information to obtain the azimuth angle of the sun vector under a geographic coordinate system, namely an n system
Figure BDA0001162143080000021
And angle of elevation
Figure BDA0001162143080000022
Obtaining a unit sun vector s under a geographic coordinate systemn；
(2) Measuring polarization information by using a polarization sensor, and measuring speed information by using an optical flow sensor;
(3) establishing a filtering measurement model based on the polarization measurement model and the optical flow measurement model;
(4) and estimating navigation error information by using Kalman filtering.
In the step (1), the altitude angle of the sun vector
Figure BDA0001162143080000023
And azimuth angle
Figure BDA0001162143080000024
Determined by the position and time information and obtained by inquiring the astronomical calendar, thereby obtaining a single sun vector s under a geographic coordinate system, namely n systemsnComprises the following steps:
Figure BDA0001162143080000025
in the step (2), the respective module coordinate systems of the polarization sensor and the optical flow sensor are superposed with a carrier coordinate system, namely a system b, and the polarization sensor measures to obtain a polarization azimuth angle
Figure BDA0001162143080000026
Polarization vector p under carrier coordinate systembComprises the following steps:
the speed information v of the carrier on the X axis and the Y axis of the carrier coordinate system is obtained by the measurement of the optical flow sensorx、vyVelocity vector v in carrier coordinate systembComprises the following steps:
vb＝[vxvy0]T；
in the step (3), the filtering measurement model is specifically established as follows:
the polarization measurement model is established as follows: according to the rayleigh scattering model, the sun vector is perpendicular to the polarization vector, and the following can be obtained:
Figure BDA0001162143080000028
wherein the content of the first and second substances,
Figure BDA0001162143080000029
representing a posture conversion matrix from a carrier coordinate system to a geographic coordinate system;
due to the presence of the attitude misalignment angle error phi, the actual calculated attitude transformation matrix is
Figure BDA00011621430800000210
So that:
Figure BDA00011621430800000211
according to the above formula, the polarization measurement model is:
Figure BDA00011621430800000212
wherein z ispolRepresents the observed quantity, vpolWhich is indicative of the measurement noise,
Figure BDA00011621430800000213
the optical flow measurement model is established as follows: taking the difference between the speed obtained by the micro-electromechanical inertia combination strapdown resolving and the speed obtained by the optical flow measurement as the measurement, wherein the measurement equation is as follows:
Figure BDA0001162143080000031
wherein z isofRepresenting observed quantities, matrix
Figure BDA0001162143080000032
Figure BDA0001162143080000033
Representing the velocity in a geographical coordinate system obtained by inertia strapdown solution, δ v representing the velocity error, vofRepresenting the measurement noise;
in summary, the filtering measurement model based on polarization and optical flow is:
zk＝Hkxk+νk，
wherein the content of the first and second substances,
Figure BDA0001162143080000034
indicating navigation error information, δ p position error, vkRepresenting the measurement noise;
in the step (4), the navigation error information x at the time kkEstimated as:
xk＝xk,k-1+K(zk-Hkxk,k-1)，
wherein x isk,k-1And expressing a Kalman filtering predicted value, and K expresses a Kalman filtering gain.
The invention has the advantages that: a linear measurement model based on a single polarization sensor is established, the hardware and the calculation complexity are reduced, and the estimation of the three-dimensional motion error information of the carrier can be realized by combining the speed measurement information of the optical flow sensor; the polarization and light flow measurement errors are not accumulated along with time, and the precision of the navigation system can be kept stable for a long time by the aid of the polarization and light flow measurement errors.
Drawings
FIG. 1 is a flow chart of the calculation of the present invention.
Detailed Description
The following describes a specific embodiment of the present invention with reference to the accompanying drawings, wherein a coordinate system related to the present invention mainly includes a carrier coordinate system (b) and a geographic coordinate system (n), a polarization sensor and an optical flow sensor are both fixedly connected to the carrier coordinate system, the polarization sensor observes the sky direction, and the optical flow sensor observes the ground direction;
fig. 1 shows a calculation flow chart of the present invention, and the specific implementation steps of the present invention are as follows:
1. inquiring the astronomical calendar according to the position and time information calculated at the current moment to determine the altitude angle of the sun vector
Figure BDA0001162143080000035
And azimuth angle
Figure BDA0001162143080000036
Wherein the altitude angle of the sun
Figure BDA0001162143080000037
Indicating the angle, azimuth angle, of the line connecting the sun and the carrier to the local horizontal planeThe included angle between the projection of the connecting line of the sun and the carrier on the local horizontal plane and the east direction of the geography is shown, and the north direction is positive, so that a single sun vector s under a geography coordinate system, namely an n system is obtainednComprises the following steps:
Figure BDA0001162143080000041
2. the respective module coordinate systems of the polarization sensor and the optical flow sensor are coincided with a carrier coordinate system, namely a system b, the measurement direction of the polarization sensor is the Z-axis positive direction of the carrier coordinate system, the zero direction is the X-axis positive direction of the carrier coordinate system, and the polarization azimuth angle is obtained by the measurement of the polarization sensor
Figure BDA0001162143080000042
Polarization vector p under carrier coordinate systembComprises the following steps:
the speed information v of the carrier on the X axis and the Y axis of the carrier coordinate system is obtained by the measurement of the optical flow sensorx、vyVelocity vector v in carrier coordinate systembComprises the following steps:
vb＝[vxvy0]T；
3. establishing a filtering measurement model based on polarization and optical flow, specifically establishing the following steps:
the polarization measurement model is established as follows: according to the rayleigh scattering model, the sun vector is perpendicular to the polarization vector, and the following can be obtained:
Figure BDA0001162143080000044
wherein the content of the first and second substances,
Figure BDA0001162143080000045
representing a posture conversion matrix from a carrier coordinate system to a geographic coordinate system;
due to the presence of the attitude misalignment angle error phi, the actual calculated attitude transformation matrix is
Figure BDA0001162143080000046
So that:
according to the above formula, the polarization measurement model is:
Figure BDA0001162143080000048
wherein z ispolRepresents the observed quantity, vpolWhich is indicative of the measurement noise,
Figure BDA0001162143080000049
the optical flow measurement model is established as follows: taking the difference between the speed obtained by the micro-electromechanical inertia combination strapdown resolving and the speed obtained by the optical flow measurement as the measurement, wherein the measurement equation is as follows:
Figure BDA00011621430800000410
wherein z isofRepresenting observed quantities, matrix
Figure BDA00011621430800000411
Figure BDA00011621430800000412
Representing the velocity in a geographical coordinate system obtained by inertia strapdown solution, δ v representing the velocity error, vofRepresenting the measurement noise;
in summary, the filtering measurement model based on polarization and optical flow is:
zk＝Hkxk+νk，
wherein the content of the first and second substances,
Figure BDA0001162143080000051
indicating navigation error information, δ p position error, vkRepresenting the measurement noise;
4. k time navigation error information xkEstimated as:
xk＝xk,k-1+K(zk-Hkxk,k-1)，
wherein x isk,k-1Expressing a Kalman filtering predicted value, and K expressing a Kalman filtering gain;
and repeating the steps and recursion until the navigation is finished.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (2)

1. A combined navigation method based on polarization information is characterized by comprising the following implementation steps:
(1) inquiring the astronomical calendar according to the current calculated carrier position and time information to obtain the azimuth angle of the sun vector under a geographic coordinate system, namely an n system
Figure FDA0002244090740000011
And angle of elevation
Figure FDA0002244090740000012
Obtaining a unit sun vector s under a geographic coordinate systemn；
(2) Measuring polarization information by using a polarization sensor, and measuring speed information by using an optical flow sensor; the polarization sensor observes the sky direction, and the optical flow sensor observes the ground direction; the polarization azimuth angle is obtained by the measurement of the polarization sensor
Figure FDA0002244090740000013
Polarization vector p under carrier coordinate systembComprises the following steps:
Figure FDA0002244090740000014
the speed information v of the carrier on the X axis and the Y axis of the carrier coordinate system is obtained by the measurement of the optical flow sensorx、vyVelocity vector v in carrier coordinate systembIs v isb＝[vxvy0]T；
(3) Establishing a filtering measurement model based on the polarization measurement model and the optical flow measurement model; firstly, establishing a polarization measurement model: according to the rayleigh scattering model, the sun vector is perpendicular to the polarization vector, and the following can be obtained:
Figure FDA0002244090740000015
wherein the content of the first and second substances,representing a posture conversion matrix from a carrier coordinate system to a geographic coordinate system;
due to the presence of the attitude misalignment angle error phi, the actual calculated attitude transformation matrix is
Figure FDA0002244090740000017
So that:
Figure FDA0002244090740000018
according to the above formula, the polarization measurement model is:
Figure FDA0002244090740000019
wherein z ispolRepresents the observed quantity, vpolWhich is indicative of the measurement noise,
Figure FDA00022440907400000110
pbx denotes the polarization vector pbAn antisymmetric matrix of (a);
secondly, establishing an optical flow measurement model: taking the difference between the speed obtained by the micro-electromechanical inertia combination strapdown resolving and the speed obtained by the optical flow measurement as the measurement, wherein the measurement equation is as follows:
Figure FDA00022440907400000111
wherein z isofRepresenting observed quantities, matrix
Figure FDA0002244090740000021
Figure FDA0002244090740000022
Representing the velocity in a geographical coordinate system obtained by inertia strapdown solution, δ v representing the velocity error, vofRepresenting the measurement noise;
by combining the polarization measurement model and the optical flow measurement model, a filtering measurement model based on polarization and optical flow can be obtained as follows:
zk＝Hkxk+νk，
wherein the content of the first and second substances,
Figure FDA0002244090740000023
indicating navigation error information, δ p position error, vkRepresenting the measurement noise;
(4) estimating navigation error information by using Kalman filtering, wherein the navigation error information x at the k momentkEstimated as:
xk＝xk,k-1+K(zk-Hkxk,k-1)
wherein x isk,k-1Expressing a Kalman filtering predicted value, and K expressing a Kalman filtering gain;
the linear measurement model based on the single polarization sensor is established in the steps, the hardware and the calculation complexity are reduced, and the estimation of the three-dimensional motion error information of the carrier can be realized by combining the speed measurement information of the optical flow sensor.
2. Combined navigation based on polarization information according to claim 1The method is characterized in that: in the step (1), the altitude angle of the sun vector
Figure FDA0002244090740000024
And azimuth angleDetermined by the position and time information and obtained by inquiring the astronomical calendar, thereby obtaining a single sun vector s under a geographic coordinate system, namely n systemsnComprises the following steps:
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CN108225336B (en) * 2018-01-24 2021-06-25 北京航空航天大学 Polarization autonomous combined navigation method based on confidence
CN108375381B (en) * 2018-02-08 2021-12-21 北方工业大学 Bionic polarization sensor multi-source error calibration method based on extended Kalman filtering
CN109471433B (en) * 2018-11-09 2021-07-02 北京航空航天大学 Course and attitude reference system based on polarization compass
CN109506660B (en) * 2019-01-08 2022-03-29 大连理工大学 Attitude optimization resolving method for bionic navigation
CN110887476B (en) * 2019-12-09 2021-08-13 北京航空航天大学 Autonomous course and attitude determination method based on polarization-astronomical included angle information observation
CN110887472B (en) * 2019-12-09 2021-10-22 北京航空航天大学 Polarization-geomagnetic information deep fusion fully-autonomous attitude calculation method
CN110887473B (en) * 2019-12-09 2021-12-10 北京航空航天大学 Bionic polarization autonomous combined navigation method based on polarization degree weighting
CN111220150B (en) * 2019-12-09 2021-09-14 北京航空航天大学 Sun vector calculation method based on underwater polarization distribution mode
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CN111595329B (en) * 2020-05-29 2022-03-08 北京航空航天大学 Autonomous positioning method based on observation moonlight atmospheric polarization mode
CN113739795B (en) * 2021-06-03 2023-10-20 东北电力大学 Underwater synchronous positioning and mapping method based on polarized light/inertia/vision integrated navigation
CN113819907B (en) * 2021-11-22 2022-02-11 北京航空航天大学 Inertia/polarization navigation method based on polarization and sun dual-vector switching
CN113834481B (en) * 2021-11-26 2022-02-22 北京航空航天大学 Night polarization angle error correction method based on starlight vector information
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CN104880191B (en) * 2015-06-02 2016-03-02 北京航空航天大学 A kind of polarization auxiliary navigation method based on solar vector

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