CN112066979B - Polarization pose information coupling iteration autonomous navigation positioning method - Google Patents
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Abstract
The invention relates to a polarization pose information coupling iteration autonomous navigation positioning method, which comprises the following steps that firstly, a polarization sensor measures a polarization angle and calculates a sun vector of a computer system, and the sun vector is converted into a sun vector under a geographic coordinate system; then, resolving the solar altitude and azimuth at the moment from the solar vector under the geographic coordinate system; calculating the declination of the sun through time, and calculating the longitude and latitude of the moving body; the navigation system solar vector is updated by using position and time, the solar vector and the gravity vector under the body system are updated by using new measurement information, the three-dimensional attitude of the moving body is solved by converting the direction cosine matrix of the attitude, and the concurrent resolution of the attitude of the polarization as the only external information source is realized by two-step loop iteration of position updating and attitude updating. The method uses polarization as a unique external information source, realizes simultaneous resolving of the position and the attitude, is applicable to navigation of a moving body under satellite rejection and magnetic interference conditions, and has the advantages of low cost of required sensors, small volume and easy realization and application.
Description
Technical Field
The invention relates to a polarization pose information coupling iteration-based autonomous navigation positioning method. The method takes polarization as a unique external information source, and realizes autonomous position calculation and three-dimensional attitude calculation of the moving body under the conditions of GNSS rejection or failure and magnetic interference. Belongs to the field of autonomous positioning and navigation of moving bodies.
Background
Currently, due to the mature technology and irreplaceable precision of satellite navigation, the global satellite navigation system (including GPS in the united states, BDS in china, GLONASS in russia, and GALILEO in the european union) has become a technology on which the transportation and transportation fields are generally dependent. However, with the widespread use of satellite navigation technology, in recent years, due to interference, occlusion and even tampering of satellite communication signals, unpredictable errors and huge economic losses are caused. In 2018, the light performance carried out by 1374 unmanned aerial vehicle clusters is held by the west security, and the failure of the performance and the falling of dozens of unmanned aerial vehicles are caused due to directional interference. In 2019, due to the fact that GPS interference equipment of a farm causes the problems that GPS signals of aircrafts are frequently lost near a plurality of flights of a Harbin airport, and faults of ADS-B systems occur on part of flights, and the problems warn people to research the urgency of autonomous navigation technology. The polarized navigation is a navigation mode inspiring some migratory birds and insects, researches show that sunlight forms regularly distributed polarized fields through atmospheric scattering, and some migratory birds (such as pigeons) and insects (such as imperial butterflies) can sense sky polarized light information, so that navigation and positioning are facilitated. The existing research mainly focuses on obtaining three-dimensional attitude information from polarization information, and is insufficient in the aspect of simultaneous position and attitude calculation by utilizing the polarization information.
In the existing research, for example, the chinese patent (CN109506660A) "an attitude optimization solution method for bionic navigation", the chinese patent (CN106651951A) "an atmospheric polarization mode detection and heading solution system and method", the chinese granted patent (CN103697893B) "a three-dimensional attitude determination method using atmospheric polarized light" and the chinese granted patent (CN102589544B) "a three-dimensional attitude acquisition method based on spatial characteristics of atmospheric polarization mode" in the application are all extracted according to the direction information contained in the polarization information, so as to provide reference for the real-time attitude and heading of the moving object, and no clue of the position information contained in the polarization information is further researched. The research on polarization positioning is less, and the papers published by zakunqi et al, "design and construction of a multidirectional polarized light real-time positioning prototype," and the chinese granted patent (CN103115623B) "positioning system and positioning method based on polarized light bionic navigation" all need to integrate a magnetic sensor in the system, and in the calculation process, the magnetic sensor is needed to provide course information of a moving body, and the polarization attitude resolving performance is not fully utilized. In the application, a Chinese patent (CN109459015A), a polarized navigation global autonomous positioning method based on maximum polarization degree observation, and a Chinese granted patent (CN106767766B), a sky polarized positioning method based on a single neutral point model, both need to perform initial alignment of postures, and the three-dimensional posture of a carrier is required to be kept unchanged during positioning. The existing method does not realize the fully autonomous coupling attitude determination positioning independent of GNSS and magnetic compass.
Disclosure of Invention
The invention provides a polarization pose information coupling iteration autonomous navigation positioning method. The method has the advantages that a detailed polarization positioning process is given through analysis of the space-time position relation of the polarization distribution field in the forming and transmission processes, resolving of polarization information to the three-dimensional attitude is achieved through combination of the passive gravity vector, and real-time pose concurrent resolving of polarization as the only external information source is achieved through construction of two-step loop iteration. The method is suitable for the fully autonomous pose calculation under the conditions of satellite navigation rejection or failure and magnetic interference, and under the conditions of static motion and non-large-motor motion of the moving body.
The technical scheme adopted by the invention for solving the technical problems is as follows: a polarization pose information coupling iteration autonomous navigation positioning method comprises the following steps:
step (1), measuring polarization E vectors E of two different observation directions by using a compound eye polarization navigation systemiAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving bodyObtaining a solar vector based on polarization inversion under a navigation system
Step (2), utilizing the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy, and inverting the solar vector s based on polarization from the navigation systemnResolving a solar azimuth angle v and a solar altitude angle h;
step (3), calculating the annual cumulative day parameter delta d by using the time information t, calculating the solar declination delta according to the astronomical calendar, combining the solar azimuth angle v and the altitude angle h obtained in the step (2), calculating and updating the position information of the moving body according to the spherical triangular relation formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system by the spherical triangular relation: longitude λ, latitude L;
and (4) calculating the solar vector of the navigation system at the moment of t by combining the astronomical almanac according to the next sampling time t and the position information lambda and L calculated in the step (3)Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurementAnd the vector of gravitySolving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*;
And (5) constructing two-step loop iteration by the position updating steps of the steps (1), (2) and (3) and the three-dimensional attitude updating step of the step (4), resolving and updating in real time, and realizing the coupling iteration autonomous navigation positioning based on the polarization pose information.
Further, the polarization E vector E of two different observation directions is measured by the compound eye polarization navigation system in the step (1)iAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving bodyObtaining a solar vector based on polarization inversion under a navigation systemThe specific requirements are as follows:
polarization sensor acquisition machine system (0,0,1)TAndpolarization angle phi of two directions1,φ2Separately calculating E vectors E in both directionsi、EjThen, the system can be solved (the sensor coordinate system is coincident with the machine system, and the installation matrix is a unit matrix I)3×3) The sun vector of (a) is:
and solving a direction cosine matrix of the attitude transformation according to the attitude angles psi, theta and gamma of the moving body, wherein the direction cosine matrix is expressed as:
where c γ is cos (γ), s γ is sin (γ), and the directional cosine matrix satisfies the characteristic of unit orthogonality, that is:so far, the sun vector s under the navigation system can be obtainedn:
Further, the space position information of the sun azimuth angle v and the zenith angle alpha in astronomy is utilized in the step (2), and the sun vector s based on polarization inversion is obtained from the navigation systemnResolving the solar azimuth angle v and the altitude angle h, and concretely realizing the following steps:
in astronomy, the solar zenith angle α is defined as the angle between the incident direction of the direct solar ray and the zenith direction, the solar altitude angle h is defined as the angle between the incident direction of the direct solar ray and the ground plane, and the two angles are complementary angles to each other:
the sun azimuth angle v is the sun position, and refers to the included angle between the projection of the sun light on the ground plane and the local meridian line, i.e. the included angle v between the projection of the incident sun light on the horizontal ground and the southo. In the invention, because the navigation system is an east-north-sky coordinate system (a geographical coordinate system), the solar azimuth is defined as a geographical azimuth for simple calculationThe projection of the sunlight on the horizontal ground and the included angle of the due north direction are as follows: v ═ vo+ π, north is positive. According to the spatial position relationship:
sn=[sinνcosh cosνcosh sinh]T
further, the time information t in the step (3) is used to calculate the solar annual-cumulative day parameter Δ d, the solar declination δ is obtained according to the astronomical calendar, the longitude λ and the latitude L of the moving body are resolved and updated through the spherical triangle relationship according to the spherical triangle relationship formed by the moving body, the north pole of the zenith and the sun in the celestial coordinate system by combining the solar azimuth ν and the altitude h obtained in the step (2), and the specific implementation is as follows:
the time information t is used for calculating the annual product day parameter delta d, and the specific calculation method comprises the following steps:
according to the astronomical calendar, the solar declination delta is obtained by the accumulated-year-day parameter delta d:
in an celestial coordinate system, a moving body B, a north pole A of the celestial axis and the sun S form a spherical triangle on the celestial sphere, and the space angle relation of the moving body B, the north pole A of the celestial axis and the sun S is described in the coordinate system by combining delta, ν and h calculated in the steps, so that the following requirements are met:
wherein, L is the latitude of the moving body on the earth at the moment, delta is the declination of the sun in the celestial coordinate system at the moment, and T is the local solar hour angle of the moving body.
The latitude L and the local solar time angle T can be solved. Time zone longitude lambda where time information t of the moving body is knownUTCCan be obtained by looking up a table, thusThe longitude λ of the moving body is solved according to the following formula:
λ=T-15t-λUTC+180
further, the navigation system sun vector at the moment t is solved by combining the astronomical almanac and the position information λ, L solved by the next sampling time t and the step (3) in the step (4)Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurementAnd the vector of gravitySolving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*The specific method comprises the following steps:
substituting the position information lambda and L solved in the step (3) and the updated time information t into the astronomical calendar to calculate the solar azimuth angle v under the navigation system*Altitude h from sun*Thereby updating the sun vector under the navigation system
Measuring angle using new polarizationThe solar vector under the updating machine system is as follows:
measurement a by accelerometer at that momentx,ay,azThe renewing machine is tied downThe gravity vector is:
wherein, goFor the gravitational acceleration constant, the gravitational vector in the geographic coordinate system is always vertically downward, which can be expressed as:then, a new three-dimensional vector group Lambda under a machine system and a navigation system is respectively constructed by utilizing the sun vector and the gravity vectorbAnd Λn,
The angle relation between the three-dimensional attitude angles can be obtained through the direction cosine matrix between the two coordinate systems, and the three-dimensional attitude theta can be further solved*,γ*,ψ*:
Further, in the step (5), two-step loop iteration is constructed by updating the positions (steps (1), (2) and (3)) and the three-dimensional attitude (step (4)), the updating is solved in real time, and the polarization pose information-based coupled iteration autonomous navigation positioning is realized, specifically as follows:
at the initial moment of the moving body, an initial three-dimensional attitude angle is obtained through initial alignment, the sampling frequency f of the sensor is set to be more than or equal to 50Hz, and the moving body is restrained not to carry out large maneuvering, so that the movement of the moving body between two adjacent sampling can be approximated to a quasi-steady state due to the time slow change characteristic of the polarization distribution mode. When the sensor acquires first sampling data, the position calculation of the first sampling moment can be realized according to the algorithms in the steps (1), (2) and (3); when the sensor acquires the second sampling data, combining the calculated position information, and realizing the attitude update at the second sampling moment according to the algorithm in the step (4); and then, the calculated three-dimensional attitude is used as the known information for next position calculation to carry out iterative calculation. Therefore, with the updating of the measured data, two-step loop iteration is constructed, namely the concurrent resolution of the pose with the polarization as the only external information source is realized.
Compared with the prior art, the invention has the following advantages:
the existing navigation field mainly focuses on an algorithm for resolving heading and attitude from polarization information, clues about positions in a sky polarization mode are researched less, a part of algorithms need a geomagnetic sensor to provide heading information in the implementation process, the method is easy to fail when used in the environment of geomagnetic interference, even misleading error information is provided for a moving body, the method only depends on the polarization information externally and is not influenced by the geomagnetic interference, meanwhile, a multi-time information positioning method and a polarization camera image post-processing method adopted in the existing method need to limit the moving body to a specific position, the method breaks through the limitation, and the method has good applicability to the static state or the non-large maneuvering moving state of the moving body. The invention takes polarization as the only exogenous information, realizes the fully-autonomous pose resolving under the condition of GNSS rejection or failure, has low cost of required devices and is easy to realize and apply.
Drawings
FIG. 1 is a flow chart of a polarization pose information coupling iteration-based autonomous navigation positioning method according to the present invention;
FIG. 2 is a graph showing the relationship between the sun zenith angle, altitude angle, azimuth angle and sun vector in a local geographic coordinate system;
FIG. 3 is a spherical triangular space relationship formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
The method is suitable for the global navigation satellite system rejection or failure, magnetic interference, unmanned aerial vehicles, missiles, ships and other moving bodies.
According to one embodiment of the invention, a polarization sensor with an included angle of 45 ° between two polarization channels is designed, and during the experiment, one polarization collection channel is vertically directed to the zenith direction, and the other channel is in the plane of the sensor coordinate system YOZ and forms an included angle of 45 ° with the y axis.
The polarization sensor and the accelerometer need to be calibrated in advance to ensure that coordinate systems of the polarization sensor and the accelerometer are superposed, when the sensor is installed on a moving body, the coordinate system of the sensor and the corresponding three shafts of a machine body system are respectively installed in parallel in the same direction, and the installation matrix is a unit matrix I3×3If the installation is carried out in other modes, the conversion relation of the installation matrix is considered in the resolving process. The machine system is a coordinate system established by taking a moving body as a reference;
as shown in the attached figure 1, the polarization pose information coupling iteration-based autonomous navigation positioning method comprises the following specific implementation steps:
step 1, measuring polarization E vectors E of two different observation directions by using a compound eye polarization navigation systemiAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving bodyObtaining a solar vector based on polarization inversion under a navigation systemThe concrete implementation is as follows:
polarization sensor acquisition machine system (0,0,1)TAndpolarization angle phi of two directions1,φ2Separately calculating E vectors E in both directionsi、EjThen, the system can be solved (the sensor coordinate system is coincident with the machine system, and the installation matrix is a unit matrix I)3×3) The sun vector of (a) is:
and solving a direction cosine matrix of the attitude transformation according to the attitude angles psi, theta and gamma of the moving body, wherein the direction cosine matrix is expressed as:
where c γ is cos (γ), s γ is sin (γ), and the directional cosine matrix satisfies the characteristic of unit orthogonality, that is:so far, the sun vector s under the navigation system can be obtainedn:
Step 2, utilizing the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy to carry out the solar vector s based on polarization inversion under the navigation systemnResolving the solar azimuth angle v and the altitude angle h, and specifically realizing the following steps:
in astronomy, the solar zenith angle α is defined as the angle between the incident direction of the direct solar ray and the zenith direction, the solar altitude angle h is defined as the angle between the incident direction of the direct solar ray and the ground plane, and the two angles are complementary angles to each other:
the sun azimuth angle v is the sun position, and refers to the included angle between the projection of the sun light on the ground plane and the local meridian line, i.e. the included angle v between the projection of the incident sun light on the horizontal ground and the southo. In this document, because the navigation system is an east-north-sky coordinate system (geographical coordinate system), for the sake of simple calculation, the solar azimuth is defined as the included angle between the projection of the solar ray on the horizontal ground and the true north direction: v ═ vo+ π, north is positive. The spatial positional relationship described with reference to fig. 2:
sn=[sinνcosh cosνcosh sinh]T
and 3, calculating a yearly-accumulated daily parameter delta d by using the time information t, calculating a solar declination delta according to the astronomical calendar, combining the solar azimuth angle v and the altitude angle h obtained in the step 2, calculating and updating the longitude lambda and the latitude L of the moving body according to a spherical triangular relation formed by the moving body, the north pole of the zenith and the sun in the celestial coordinate system by the spherical triangular relation, and specifically realizing the following steps:
the time information t is used for calculating the annual product day parameter delta d, and the specific calculation method comprises the following steps:
according to the astronomical calendar, the solar declination delta is obtained by the accumulated-year-day parameter delta d:
in the celestial coordinate system, the moving body B, the north pole A of the celestial axis and the sun S form a spherical triangle (as shown in figure 3) on the celestial sphere, and the space angle relation of the moving body B, the north pole A of the celestial axis and the sun S is described in the coordinate system by combining delta, ν and h calculated in the steps, so that the following requirements are met:
wherein, L is the latitude of the moving body on the earth at the moment, delta is the declination of the sun in the celestial coordinate system at the moment, and T is the local solar hour angle of the moving body.
The latitude L and the local solar time angle T can be solved. Time zone longitude lambda where time information t of the moving body is knownUTCIt can be found by looking up a table, so that the longitude λ of the moving body can be solved according to the following formula:
λ=T-15t-λUTC+180
and 4, calculating the solar vector of the navigation system at the t-x moment by combining the astronomical almanac according to the next sampling time t and the position information lambda and L calculated in the step 3Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurementAnd the vector of gravitySolving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*The method is concretely realized as follows:
substituting the position information lambda and L solved in the step (3) and the updated time information t into the astronomical calendar to calculate the solar azimuth angle v under the navigation system*Altitude h from sun*Thereby updating the sun vector under the navigation system
Measuring angle using new polarizationThe solar vector under the updating machine system is as follows:
measurement a by accelerometer at that momentx,ay,azThe updated system has the following gravity vector:
wherein, goFor the gravitational acceleration constant, the gravitational vector in the geographic coordinate system is always vertically downward, which can be expressed as:then, a new three-dimensional vector group Lambda under a machine system and a navigation system is respectively constructed by utilizing the sun vector and the gravity vectorbAnd Λn,
The angle relation between the three-dimensional attitude angles can be obtained through the direction cosine matrix between the two coordinate systems, and the three-dimensional attitude theta can be further solved*,γ*,ψ*:
And 5, establishing two-step loop iteration by the position updating (steps (1), (2) and (3)) and the three-dimensional attitude updating (step (4)), resolving and updating in real time, and realizing the coupling iteration autonomous navigation positioning based on the polarization pose information, wherein the method specifically comprises the following steps:
at the initial moment of the moving body, an initial three-dimensional attitude angle is obtained through initial alignment, the sampling frequency f of the sensor is set to be 100Hz, and the moving body is restrained from large maneuvering, so that the movement of the moving body between two adjacent sampling can be approximated to a quasi-steady state due to the time slow-change characteristic of the polarization distribution mode. When the sensor acquires first sampling data, the position calculation of the first sampling moment can be realized according to the algorithms in the steps (1), (2) and (3); when the sensor acquires the second sampling data, combining the calculated position information, and realizing the attitude update at the second sampling moment according to the algorithm in the step (4); and carrying out iterative solution by using the solved attitude as known information of the next position solution. Therefore, with the updating of the measured data, two-step loop iteration is constructed, namely the concurrent resolution of the pose with the polarization as the only external information source is realized.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.
Claims (5)
1. A polarization pose information coupling iteration autonomous navigation positioning method is characterized by comprising the following steps:
step (1), measuring polarization E vectors E of two different observation directions by using a compound eye polarization navigation systemiAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving bodyObtaining the sun based on polarization inversion under the navigation systemVector
Step (2), utilizing the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy, and inverting the solar vector s based on polarization from the navigation systemnResolving a solar azimuth angle v and a solar altitude angle h;
step (3), calculating a yearly-integrated daily parameter delta d corresponding to the time information t by using the time information t, calculating a solar declination delta according to the astronomical calendar, combining the solar azimuth angle v and the altitude angle h obtained in the step (2), and calculating and updating the position information of the moving body according to the spherical triangular relation formed by the moving body, the north pole of the zenith and the sun in the celestial coordinate system by the spherical triangular relation: longitude λ, latitude L;
and (4) calculating the solar vector of the navigation system at the moment of t by combining the astronomical almanac according to the next sampling time t and the position information lambda and L calculated in the step (3)Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurementAnd the vector of gravitySolving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*;
Step (5), constructing two-step loop iteration by the position updating steps of the steps (1), (2) and (3) and the three-dimensional attitude updating step of the step (4), resolving and updating in real time, and realizing the coupling iteration autonomous navigation positioning based on the polarization pose information;
in the step (3), the time information t is used to calculate the annual product day parameter Δ d, the solar declination δ is obtained according to the astronomical calendar, the solar azimuth angle ν and the altitude angle h obtained in the step (2) are combined, and the longitude λ and the latitude L of the moving body are resolved and updated through the spherical triangular relation according to the spherical triangular relation formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system, and the specific implementation is as follows:
the time information t is used for calculating the annual product day parameter delta d, and the specific calculation method comprises the following steps:
the floor function represents rounding down, and the maximum integer not greater than the acted variable is taken; year, month and day represent the current year, month and day, and the solar declination delta is obtained from the accumulated-year-day parameter delta d according to the astronomical calendar:
in an celestial coordinate system, a moving body B, a north pole A of the celestial axis and the sun S form a spherical triangle on the celestial sphere, and the space angle relation of the moving body B, the north pole A of the celestial axis and the sun S is described in the coordinate system by combining delta, ν and h calculated in the steps, so that the following requirements are met:
wherein, L is the latitude of the moving body on the earth at the moment, delta is the declination of the sun in the celestial coordinate system at the moment, and T is the local solar hour angle of the moving body;
then the latitude L and the local solar time angle T are obtained by calculation, the time information T of the moving body is known, and the longitude lambda of the time zone where the moving body is locatedUTCCan be found by looking up a table to solve the longitude λ of the moving body according to the following formula:
λ=T-15t-λUTC+180。
2. the polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
measuring polarization E vectors E of two different observation directions by using compound eye polarization navigation system in step (1)iAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving bodyObtaining a solar vector based on polarization inversion under a navigation systemThe specific requirements are as follows:
polarization sensor acquisition machine system (0,0,1)TAndpolarization angle phi of two directions1,φ2Separately calculating E vectors E in both directionsi、EjWherein the sensor coordinate system is coincident with the machine body system, and the installation matrix is a unit matrix I3×3Then, the sun vector under the organism system is calculated as:
and solving a direction cosine matrix of the attitude transformation according to the attitude angles psi, theta and gamma of the moving body, wherein the direction cosine matrix is expressed as:
where c γ ═ cos (γ), s γ ═ sin (γ), ψ, θ angles are the same, c denotes the value of cos for angles, and s denotes the value of sin for angles; at the same time, the direction cosine matrix is fullThe characteristic of orthotropic, namely:thus, the sun vector s under the navigation system is obtainedn:
3. The polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
the step (2) utilizes the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy to obtain a solar vector s based on polarization inversion from a navigation systemnResolving the solar azimuth angle v and the altitude angle h, and concretely realizing the following steps:
in astronomy, the solar zenith angle α is defined as the angle between the incident direction of the direct solar ray and the zenith direction, the solar altitude angle h is defined as the angle between the incident direction of the direct solar ray and the ground plane, and the two angles are complementary angles to each other:
the sun azimuth angle v is the sun position, and refers to the included angle between the projection of the sun light on the ground plane and the local meridian line, i.e. the included angle v between the projection of the incident sun light on the horizontal ground and the southo(ii) a Because the navigation system is an east-north-sky coordinate system, for the sake of simple calculation, the solar azimuth is defined as the included angle between the projection of the sunlight on the horizontal ground and the true north direction: v ═ vo+ pi, north is positive; according to the spatial position relationship:
sn=[sinνcosh cosνcosh sinh]T。
4. the polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
in the step (4), the solar vector of the navigation system at the moment of t is solved by combining the astronomical almanac by utilizing the next sampling time t and the position information lambda and L solved in the step (3)Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurementAnd the vector of gravitySolving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*The specific method comprises the following steps:
substituting the position information lambda and L solved in the step (3) and the updated time information t into the astronomical calendar to calculate the solar azimuth angle v under the navigation system*Altitude h from sun*Thereby updating the sun vector under the navigation system
Measuring angle using new polarizationThe solar vector under the updating machine system is as follows:
measurement a by accelerometer at that momentx,ay,azUpdating the body system lower gravity vectorComprises the following steps:
wherein, goFor the gravitational acceleration constant, the gravity vector in the geographic coordinate system is always vertically downward, expressed as:then, a new three-dimensional vector group Lambda under a machine system and a navigation system is respectively constructed by utilizing the sun vector and the gravity vectorbAnd Λn,
The angle relation between the three-dimensional attitude angles is obtained through a direction cosine matrix between the two coordinate systems, and the three-dimensional attitude theta is further solved*,γ*,ψ*:
5. The polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
in the step (5), two-step loop iteration is constructed by the position updating steps of the steps (1), (2) and (3) and the three-dimensional attitude updating step of the step (4), the updating is resolved in real time, and the polarization pose information-based coupling iteration autonomous navigation positioning is realized, and the method is specifically realized as follows:
at the initial moment of the moving body, acquiring an initial three-dimensional attitude angle through initial alignment, setting the sampling frequency f of a sensor to be more than or equal to 50Hz, and constraining the moving body not to perform large maneuvering, wherein the movement of the moving body between two adjacent samplings is approximately quasi-steady-state due to the time slow-change characteristic of a polarization distribution mode; the large motor comprises the actions of taking off and landing of the aircraft, quickly turning and turning over; when the sensor acquires first sampling data, the position of the first sampling moment is calculated according to the algorithms in the steps (1), (2) and (3); when the sensor acquires the second sampling data, combining the calculated position information, and realizing the attitude update at the second sampling moment according to the algorithm in the step (4); then, the calculated attitude is used as known information for next position calculation to carry out iterative calculation; therefore, with the updating of the measured data, two-step loop iteration is constructed, namely the concurrent resolution of the pose with the polarization as the only external information source is realized.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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