CN109459027A - It is a kind of based on polarization-ground magnetic vector tight integration air navigation aid - Google Patents

It is a kind of based on polarization-ground magnetic vector tight integration air navigation aid Download PDF

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CN109459027A
CN109459027A CN201811336222.5A CN201811336222A CN109459027A CN 109459027 A CN109459027 A CN 109459027A CN 201811336222 A CN201811336222 A CN 201811336222A CN 109459027 A CN109459027 A CN 109459027A
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CN109459027B (en
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郭雷
杨健
刘鑫
王善澎
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Beihang University
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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
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • 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
    • 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
    • G01C21/20—Instruments for performing navigational calculations

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Abstract

The present invention relates to a kind of based on polarization-ground magnetic vector tight integration air navigation aid, firstly, using imitative compound eye polarization compass, the intelligent extraction solar vector information under carrier coordinate system；Secondly, obtaining solar vector information under geographic coordinate system in conjunction with sun astronomical yearbook, and establish information transformational relation of the solar vector under body coordinate system and geographic coordinate system；Extract under body coordinate system and geographic coordinate system magnetic vector, establish under body coordinate system and geographic coordinate system magnetic vector transformational relation；Later under body coordinate system, magnetic vector and solar vector carry out information fusion over the ground；Finally, establishing based on polarization/earth magnetism Vector Fusion integrated navigation system model.This method realizes the depth integration of Geomagnetism Information and polarization information than existing methods, and system accuracy and stability can be improved, and can be used for the fields such as posture determination and the positioning of the carriers such as naval vessel, unmanned plane, guided missile, unmanned vehicle.

Description

It is a kind of based on polarization-ground magnetic vector tight integration air navigation aid
Technical field
The present invention relates to a kind of based on polarization-ground magnetic vector tight integration air navigation aid, and this method is used for unmanned plane, warship The autonomous posture of the three-dimensional space of the carriers such as ship, guided missile determines and positioning.
Background technique
The working environment of the carriers such as unmanned plane, naval vessel, guided missile is increasingly sophisticated at present, in order to make up the deficiency of single navigation, The integrated navigation of Multi-sensor Fusion is the developing direction of the following navigation.Inertia/satellite combined guidance system is current using most For extensive integrated navigation system, but satellite navigation is vulnerable to natural environment and human interference, in rings such as defence, interference, confrontation Accurately and reliably navigation information can not be provided under border.Therefore, satellite navigation system answering in fields such as deep space exploration, deep-sea detectings With being greatly limited.Therefore it needs to develop the integrated navigation system independent of satellite navigation.
Bionical polarization navigates passive, radiationless, good concealment, independence by force and not by electromagnetic interference influence, can be load Body provides three posture informations and location information, can have complementary advantages in inertial navigation system, to improve integrated navigation system Independence, reliability provide new solution route.Earth-magnetism navigation system is another common navigation mode, can also be mentioned For the posture and location information of degree of precision, the posture and location error of inertial navigation system are made up.For existing polarization/ground The integrated navigation system of magnetic auxiliary, has all used satellite navigation system, the Chinese patent 201510312112.5 such as authorized, " a kind of bionic polarization/combined geomagnetism aided navigation system, paper " bionical polarised light/GPS/ earth magnetism Combinated navigation method Design and realization ", " is carried out more at " polarised light/earth magnetism/GPS/SINS Integrated Navigation Algorithm research " using polarised light, earth magnetism, GPS Research and realization of information source fusion air navigation aid " etc..In addition, the Chinese patent 201310037586.4 applied, " based on inclined The positioning system and its localization method of vibration light bionic navigation ", the Chinese patent CN 103822629 applied, " based on multi-direction The positioning system and its localization method of polarotactic navigation sensor " is not examined although not using satellite navigation system Consider the depth integration of Geomagnetism Information and polarization information, system reliability needs to be further increased.
In order to make full use of the measurement information of polarization and earth magnetism, the precision of bionical integrated navigation system and reliable is effectively improved Property, the present invention carries out depth integration with earth magnetism Vector Message to polarization, establishes the navigation of polarization/ground magnetic vector tight integration for the first time System model can realize the full independent combined navigation of bionical polarization/earth magnetism auxiliary in no satellite navigation.
Summary of the invention
The invention discloses a kind of based on polarization-ground magnetic vector tight integration air navigation aid, first by designing imitative compound eye Polarization compass, position of sun information under real-time measurement body coordinate system, and astronomical yearbook is combined, it establishes solar vector and is sat in ontology Secondly information transformational relation under mark and under geographic coordinate system establishes ground magnetic vector under ontology coordinate and under geographic coordinate system Information transformational relation, under body coordinate system, magnetic vector and solar vector carry out information depth fusion over the ground, establish based on inclined Vibration-ground magnetic vector tight integration Navigation System Model.
Technical solution of the invention are as follows: it is a kind of based on polarization-ground magnetic vector tight integration air navigation aid, realize step It is as follows:
Step (1), the imitative compound eye polarization compass being made of polarization navigation sensor obtain under detection body coordinate system in real time Solar vector
Step (2), in conjunction with sun astronomical yearbook, obtain solar vector under Department of GeographyThe sheet obtained in conjunction with step (1) Solar vector under body coordinate establishes the transformational relation of solar vector under geographic coordinate system and body coordinate system
Step (3), under body coordinate system and geographic coordinate system, seek respectively ground magnetic vectorAndIt establishes geographical Under coordinate system and body coordinate system magnetic vector transformational relation
Step (4), under body coordinate system, magnetic vector and solar vector carry out information fusion over the ground
Step (5), in conjunction with step (4), establish based on polarization-ground magnetic vector tight integration Navigation System Model.
The imitative compound eye polarization compass that the step (1) is made of polarization navigation sensor obtains detection body coordinate in real time Solar vector under systemIt is implemented as follows:
Imitative compound eye polarization compass is made of three polarization sensors, is denoted as M respectively1、M2、M3, wherein M1Observed direction is day Push up direction, M2And M3Respectively symmetrically it is mounted on M1It measures, setting angle is all η, with M1On the basis of establish coordinate system Mxyz, x-axis is Carrier body axis direction, z-axis are directed toward zenith, and y-axis is determined by the right-hand rule；
Under body coordinate system, solar azimuthM can be passed through1The polarization azimuth that sensor measurement obtainsThe ground and The azimuth ψ that Magnetic Sensor provides is calculated:
The degree of polarization measured value d of three polarization sensors is obtained in real time1, d2, d3, it is based on Rayleigh scattering theory, observation The degree of polarization and angle of scattering of point have following relationship:
Wherein, dmax∈[max{d1,d2,d3, 1), θ1, θ2, θ3For M1、M2、M3The angle of observed direction and solar vector,
According to imitative compound eye polarization compass structure, θ1, θ2, θ3Between relationship may be expressed as:
cosθ2+cosθ3=2cos η cos θ1 (3)
According to formula (2)-(3), omnimax maximum degree of polarization d can be soughtmax；
Under geographic coordinate system, according to full airspace maximum degree of polarization dmax, obtain main polarization sensor M1Polarization view angle θ1:
Wherein, θ1Direction can be judged by extraneous additional intensity sensor or gravity sensor；
According to M1The mounting means and observation solar elevation of sensorWith scatteringangleθ1Between relationship, obtain this Observation solar elevation under body coordinate systemAre as follows:
Under module coordinate system, solar vector be may be expressed as:
It enables
The step (2) obtains solar vector under Department of Geography according to sun astronomical yearbookIt is obtained in conjunction with step (1) Solar vector under ontology coordinate establishes the transformational relation of solar vector under body coordinate system and geographical coordinate It is implemented as follows:
According to where carrier geographical location and the local time, obtained under geographic coordinate system too by sun astronomical yearbook Positive azimuth and solar elevation, respectively indicate are as follows:
Wherein, L is geographic latitude, and δ is solar declination, and Ω is solar hour angle；
According to formula (6), solar vector under Department of Geography is obtained,
It enables
According to the posture transformational relation between body coordinate system and geographic coordinate system, body coordinate system and geographical coordinate are established It is the transformational relation of lower solar vector:
Wherein,Pose transformation matrix between body coordinate system and geographic coordinate system；
Wherein, θ, γ, ψ are respectively carrier pitch angle, roll angle and course angle,
The attitude error angle of definition system is as follows:
φ=[φx φy φz]T (9)
Then the transformational relation of solar vector may be expressed as: under body coordinate system and geographic coordinate system
WhereinFor nominal matrix, it can be obtained, be embodied as by attitude of carrier angle:
The step (3) seeks ground magnetic vector under body coordinate system and geographic coordinate system respectivelyAndIt establishes Under body coordinate system and geographic coordinate system magnetic vector transformational relationIt is implemented as follows:
Ground magnetic vector under geographic coordinate system is sought, obtain under geographic coordinate system magnetic vector, indicate are as follows:
Ground magnetic vector under body coordinate system can be directly obtained by geomagnetic sensor, be indicated are as follows:
Establish under body coordinate system and geographic coordinate system magnetic vector transformational relation:
The step (4) is under body coordinate system, magnetic vector over the groundAnd solar vectorCarry out information depth fusionIt is implemented as follows:
The body coordinate system solar vector obtained according to step (2) and step (3)With ground magnetic vectorTo formula (6) and formula (12) carries out multiplication cross processing, polarization, earth magnetism Vector Fusion under obtained body coordinate system:
In conjunction with formula (10) and (13), then formula (15) may be expressed as:
Wherein:
The step (5) is established in conjunction with step (4) based on polarization-ground magnetic vector tight integration Navigation System Model, tool Body is accomplished by
By formula (15), obtain based on polarization-earth magnetism Vector Fusion integrated navigation system model:
The principle of the present invention is: position of sun information measured by imitative compound eye polarization compass, and combines sun astronomical yearbook, Establish the solar vector information transfering relation under ontology coordinate and geographic coordinate system.According to geomagnetic sensor under body coordinate system Obtained ground magnetic vector establishes the transformational relation of the ground magnetic vector under body coordinate system and geographic coordinate system, and in ontology coordinate Under system, the information depth fusion of earth magnetism vector sum polarization vector is completed, is established based on polarization-ground magnetic vector tight integration navigation system System model.
The advantages of the present invention over the prior art are that:
(1) present invention can be carried out inclined independent of satellite navigation signals by the observation to atmospheric polarization field, earth's magnetic field Shake vector sum magnetic vector information fusion, make up the posture and errors in position measurement of inertial navigation jointly, have strong independence, Robustness and reliability；
(2) present invention passes through introducing inertial navigation using the thought of polarization navigation system and earth-magnetism navigation system tight integration Attitude measurement error, establish based on polarization-earth magnetism integrated navigation system model, the observability of system model can be improved.
(3) present invention determines the orientation of the sun using polarization degree information, is compared to conventional method, this method is not polarized The influence of azimuth angle error transmitting can be improved the precision of altitude of the sun observation, and then improve based on polarization-earth magnetism tight integration Navigation system performance.
Detailed description of the invention
Fig. 1 is a kind of flow chart based on polarization-ground magnetic vector tight integration air navigation aid of the present invention；
Fig. 2 is that the present invention relates to imitative compound eye polarization compass structural schematic diagrams.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the present invention.
As shown in Figure 1, a kind of specific implementation step based on polarization-ground magnetic vector tight integration air navigation aid of the present invention is such as Under:
1, the imitative compound eye polarization compass being made of polarization navigation sensor obtains the sun under detection module coordinate system in real time VectorImitative compound eye polarization compass structural schematic diagram is made of as shown in Fig. 2, imitating compound eye polarization compass three polarization sensors, It is denoted as M respectively1、M2、M3, wherein M1Observed direction is zenith direction, M2And M3Respectively symmetrically it is mounted on M1It measures, setting angle is all For η, with M1On the basis of establish coordinate system Mxyz, x-axis is carrier body axis direction, and z-axis is directed toward zenith, and y-axis is determined by the right-hand rule,
Under body coordinate system, solar azimuthM can be passed through1The polarization azimuth that sensor measurement obtainsThe ground and The azimuth ψ that Magnetic Sensor provides is calculated:
The degree of polarization measured value d of three polarization sensors is obtained in real time1, d2, d3, it is based on Rayleigh scattering theory, observation The degree of polarization and angle of scattering of point have following relationship:
Wherein, dmax∈[max{d1,d2,d3, 1), θ1, θ2, θ3For M1、M2、M3The angle of observed direction and solar vector；
According to imitative compound eye polarization compass structure, θ1, θ2, θ3Between relationship may be expressed as:
cosθ2+cosθ3=2cos η cos θ1 (3)
According to formula (2)-(3), omnimax maximum degree of polarization d can be soughtmax；
Under geographic coordinate system, according to full airspace maximum degree of polarization dmax, obtain main polarization sensor M1View angle θ1:
Wherein, θ1Direction can be judged by extraneous additional intensity sensor or gravity sensor；
According to M1The mounting means and observation solar elevation of sensorWith scatteringangleθ1Between relationship, obtain this Observation solar elevation under body coordinate systemAre as follows:
Under body coordinate system, solar vector is represented by,
It enables
2, in conjunction with sun astronomical yearbook, solar vector under Department of Geography is obtainedIt establishes under geographic coordinate system and ontology coordinate The transformational relation of solar vectorAccording to where carrier geographical location and the local time, pass through the sun astronomical year It goes through to obtain the solar azimuth and solar elevation under geographic coordinate system, respectively indicates are as follows:
Wherein, L is geographic latitude, and δ is solar declination, and Ω is solar hour angle；
According to formula (6), solar vector under Department of Geography is obtained,
It enables
According to the posture transformational relation between body coordinate system and geographic coordinate system, body coordinate system and geographical coordinate are established It is the transformational relation of lower solar vector:
Wherein,Pose transformation matrix between body coordinate system and geographic coordinate system,
Wherein, θ, γ, ψ are respectively carrier pitch angle, roll angle and course angle,
The attitude error angle of definition system is as follows:
φ=[φx φy φz]T (9)
Then the transformational relation of solar vector may be expressed as: under body coordinate system and geographic coordinate system
WhereinFor nominal matrix, it can be obtained, be embodied as by attitude of carrier angle:
3, under body coordinate system and geographic coordinate system, ground magnetic vector is sought respectivelyAndEstablish body coordinate system With under geographic coordinate system the transformational relation of magnetic vector:
Ground magnetic vector under geographic coordinate system is sought, obtain under geographic coordinate system magnetic vector, indicate are as follows:
Ground magnetic vector under body coordinate system can be directly obtained by geomagnetic sensor, be indicated are as follows:
Establish under body coordinate system and geographic coordinate system magnetic vector transformational relation:
4, under body coordinate system, magnetic vector over the groundAnd solar vectorCarry out information depth fusion
The body coordinate system solar vector obtained according to step (2) and step (3)With ground magnetic vectorTo formula (6) and formula (12) carries out multiplication cross processing, polarization, earth magnetism Vector Fusion under obtained body coordinate system:
In conjunction with formula (10) and (13), then formula (15) may be expressed as:
Wherein
5, it in conjunction with step (4), establishes based on polarization/ground magnetic vector tight integration Navigation System Model:
By formula (15), obtain based on polarization/earth magnetism Vector Fusion integrated navigation system model:

Claims (6)

1. a kind of based on polarization-ground magnetic vector tight integration air navigation aid, it is characterised in that: this method realizes that steps are as follows:
Step (1), the imitative compound eye polarization compass being made of polarization navigation sensor obtain under detection body coordinate system too in real time Positive vector
Step (2), according to sun astronomical yearbook, obtain solar vector under Department of GeographyThe ontology coordinate obtained in conjunction with step (1) Under solar vector, establish the transformational relation of solar vector under body coordinate system and geographic coordinate system
Step (3), under body coordinate system and geographic coordinate system, seek respectively ground magnetic vectorAndEstablish ontology coordinate It is the transformational relation of under geographic coordinate system magnetic vector
Step (4), under body coordinate system, magnetic vector over the groundAnd solar vectorCarry out information depth fusion
Step (5), in conjunction with step (4), establish based on polarization-ground magnetic vector tight integration Navigation System Model.
2. according to claim 1 a kind of based on polarization-ground magnetic vector tight integration air navigation aid, it is characterised in that: institute The imitative compound eye polarization compass that step (1) is made of polarization navigation sensor is stated, obtains the sun under detection body coordinate system in real time VectorIt is implemented as follows:
Imitative compound eye polarization compass is made of three polarization sensors, is denoted as M respectively1、M2、M3, wherein M1Observed direction is zenith side To M2And M3Respectively symmetrically it is mounted on M1It measures, setting angle is all η, with M1On the basis of establish coordinate system Mxyz, x-axis is carrier Body axis direction, z-axis are directed toward zenith, and y-axis is determined by the right-hand rule；
Under body coordinate system, solar azimuthM can be passed through1The polarization azimuth that sensor measurement obtainsIt is passed with earth magnetism The azimuth ψ that sensor provides is calculated:
The degree of polarization measured value d of three polarization sensors is obtained in real time1, d2, d3, it is based on Rayleigh scattering theory, observation point Degree of polarization and angle of scattering have following relationship:
Wherein, dmax∈[max{d1,d2,d3, 1), θ1, θ2, θ3For M1、M2、M3The angle of observed direction and solar vector；
According to imitative compound eye polarization compass structure, θ1, θ2, θ3Between relationship may be expressed as:
cosθ2+cosθ3=2cos η cos θ1 (3)
According to formula (2)-(3), omnimax maximum degree of polarization d can be soughtmax,
Under geographic coordinate system, according to full airspace maximum degree of polarization dmax, obtain main polarization sensor M1View angle θ1:
Wherein, θ1Direction can be judged by extraneous additional intensity sensor or gravity sensor；
According to M1The mounting means and observation solar elevation of sensorWith scatteringangleθ1Between relationship, obtain ontology seat Observation solar elevation under mark systemAre as follows:
Under body coordinate system, solar vector be may be expressed as:
It enables
3. according to claim 1 a kind of based on polarization-ground magnetic vector tight integration air navigation aid, it is characterised in that: institute Step (2) is stated according to sun astronomical yearbook, obtains solar vector under Department of GeographyUnder the ontology coordinate obtained in conjunction with step (1) Solar vector, establish the transformational relation of solar vector under body coordinate system and geographical coordinateSpecific implementation is such as Under:
According to where carrier geographical location and the local time, the sun side under geographic coordinate system is obtained by sun astronomical yearbook Parallactic angle and solar elevation, respectively indicate are as follows:
Wherein, L is geographic latitude, and δ is solar declination, and Ω is solar hour angle,
According to formula (6), solar vector under Department of Geography is obtained,
It enables
According to the posture transformational relation between body coordinate system and geographic coordinate system, establish under body coordinate system and geographic coordinate system The transformational relation of solar vector:
Wherein,Pose transformation matrix between body coordinate system and geographic coordinate system,
Wherein, θ, γ, ψ are respectively carrier pitch angle, roll angle and course angle；
The attitude error angle of definition system is as follows:
φ=[φx φy φz]T (9)
Then the transformational relation of solar vector may be expressed as: under body coordinate system and geographic coordinate system
WhereinFor nominal matrix, it can be obtained, be embodied as by attitude of carrier angle:
4. according to claim 1 a kind of based on polarization-ground magnetic vector tight integration air navigation aid, it is characterised in that: institute Step (3) is stated under body coordinate system and geographic coordinate system, seeks ground magnetic vector respectivelyAndEstablish body coordinate system With under geographic coordinate system the transformational relation of magnetic vectorIt is implemented as follows:
Ground magnetic vector under geographic coordinate system is sought, obtain under geographic coordinate system magnetic vector, indicate are as follows:
Ground magnetic vector under body coordinate system can be directly obtained by geomagnetic sensor, be indicated are as follows:
Establish under body coordinate system and geographic coordinate system magnetic vector transformational relation:
5. according to claim 1 a kind of based on polarization-ground magnetic vector tight integration air navigation aid, it is characterised in that: institute Step (4) is stated under body coordinate system, under body coordinate system, magnetic vector over the groundAnd solar vectorIt is deep to carry out information Degree fusionIt is implemented as follows:
The body coordinate system solar vector obtained according to step (2) and step (3)With ground magnetic vectorTo formula (6) and Formula (12) carries out multiplication cross processing, polarization, earth magnetism Vector Fusion under obtained body coordinate system:
In conjunction with formula (10) and (13), then formula (15) may be expressed as:
Wherein:
6. according to claim 1 a kind of based on polarization-ground magnetic vector tight integration air navigation aid, it is characterised in that: institute Step (5) are stated, in conjunction with step (4), establishes based on polarization-ground magnetic vector tight integration Navigation System Model, is implemented as follows:
By formula (15), obtain based on polarization-earth magnetism Vector Fusion integrated navigation system model:
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CN111045454A (en) * 2019-12-30 2020-04-21 北京航空航天大学 Unmanned aerial vehicle self-driving instrument based on bionic autonomous navigation
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CN114018257B (en) * 2021-11-05 2024-05-24 北京航空航天大学杭州创新研究院 Polarization/inertia installation error independent self-calibration method
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