CN113834480B - Self-positioning method of compound eye-imitating polarization sensor based on scattering angle weight distribution - Google Patents
Self-positioning method of compound eye-imitating polarization sensor based on scattering angle weight distribution Download PDFInfo
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Abstract
The invention relates to a compound eye-imitating polarization sensor autonomous positioning method based on scattering angle weight distribution. And secondly, selecting three polarization degree measurement values within the polarization degree threshold range as a group of positioning calculation units. And then, obtaining the solar altitude angle under the carrier system by utilizing the space geometric relation of three observation points in each group of positioning resolving units and the installation matrix of the compound eye polarization sensor. Selecting a basic polarization sensing unit with a small scattering angle in each group of positioning resolving units, taking the scattering angle for measuring the accuracy of polarization information as a weight, and applying the normalized scattering angle as the weight to the solar altitude angle resolved by each positioning resolving unit through normalization processing to obtain the high-precision solar altitude angle. And finally, calculating the position of the carrier by using a height difference method through the solar altitude angles calculated at different moments.
Description
Technical Field
The invention belongs to the field of navigation, and particularly relates to a compound eye-imitating polarization sensor autonomous positioning method based on scattering angle weight distribution.
Background
Currently, common positioning techniques include inertial navigation, satellite navigation, visual navigation, and terrain-matched navigation. Position errors of the inertial navigation system can be accumulated along with time, the working requirement of long-term navigation cannot be met, and error correction needs to be carried out by means of satellite navigation; satellite navigation can provide precise latitude and longitude information of a carrier, but satellite signals are extremely vulnerable to electromagnetic interference or spoofing. Visual navigation and terrain matching techniques are limited by map accuracy and processor processing efficiency and are not suitable for use in strange, unstructured environments.
The atmospheric polarization distribution mode is relatively stable, and rich navigation information is contained in the atmospheric polarization distribution mode. Researches show that natural organisms such as sand ants, bees, migratory birds and the like can acquire polarization information by using a unique polarization sensing structure to realize activities such as long-distance foraging, homing and the like. Inspired by the autonomous perception and navigation mode of organisms, the bionic polarization navigation becomes a research hotspot. The bionic polarization navigation can acquire the position information of the carrier by simulating the extraction and analysis of the biological organs, thereby realizing the polarization positioning function.
Currently, methods for positioning a carrier based on polarization information include: a positioning system and a positioning method thereof based on polarized light bionic navigation are disclosed in the patent application number: CN201310037586.4, utilize the different moment polarization azimuth angle information of single polarization sensor measurement to solve local longitude and latitude, when polarization sensor receives the interference in this method, can not accomplish to solve the position, and need electronic compass to provide the course information. A positioning system and a positioning method thereof based on a multidirectional polarized light navigation sensor are disclosed in the patent application number: CN201410088363.5, through measuring many observation directions polarization azimuth information, utilize polarization vector cross product to get the sun vector, integrated electronic compass provides the heading information simultaneously, but the system is vulnerable to electromagnetic interference, and does not fully utilize polarization degree information. A polarization navigation real-time positioning method based on all-sky domain polarization degree information is disclosed in the patent application number: CN201810583734.5, the sun vector under the carrier system is solved by using the optimal three polarization degrees in the sky area, the sun vector under the geographic system is obtained by using the attitude sensor, and the longitude and latitude of the carrier are solved according to the astronomical navigation principle. The method requires providing attitude matrix information by means of an attitude sensor. A polarization navigation global autonomous positioning method based on maximum polarization degree observation is disclosed in the patent application number: CN201811328952.0, the maximum polarization degree is solved according to the relation between the polarization degree of each observation point and the maximum polarization degree, and then the solar altitude is solved. The longitude and latitude information of the carrier is solved by using a height difference method, but the method depends on a zenith polarization sensor, and the positioning accuracy is influenced when the zenith sensor is interfered or shielded. Compared with the existing polarization positioning method, the method provided by the invention can be independent of other auxiliary attitude sensors and zenith polarization sensors, and has the advantages of strong environmental adaptability, higher calculation accuracy and very high practicability.
Disclosure of Invention
The invention aims to solve the problem of providing an automatic positioning method of a compound eye-imitating polarization sensor based on scattering angle weight distribution. The method can realize autonomous positioning by utilizing the sky polarized light, and has the advantages of strong adaptability, strong autonomy and independence of other auxiliary attitude sensors and zenith polarization sensors. The compound eye-imitating polarization compass with the multi-eye curved surface structure is used for acquiring the polarization degree information of each observation point of a sky area. Designing a polarization degree threshold, and selecting three polarization degree measurement values in the threshold range as a group of positioning calculation units. And obtaining the solar altitude angle under the carrier system by utilizing the space geometric relationship of three observation points in each group of positioning resolving units and the installation matrix of the compound eye polarization sensor. Selecting a basic polarization sensing unit with a small scattering angle in each group of positioning resolving units, taking the scattering angle for measuring the accuracy of polarization information as a weight, and applying the normalized scattering angle as the weight to the solar altitude angle resolved by each positioning resolving unit through normalization processing to obtain the high-precision solar altitude angle. And calculating the position of the carrier by using a height difference method through the solar altitude calculated at different moments, thereby realizing the polarization positioning function. The method can realize the position output of the carrier, has better environmental adaptability, can dynamically distribute the weight, and overcomes the defects that the existing polarization positioning technology depends on other auxiliary devices and is easy to be interfered by electromagnetism; meanwhile, the defect that the existing polarization positioning technology is insufficient in polarization information utilization is overcome.
The technical solution of the invention is as follows: an artificial compound eye polarization sensor autonomous positioning method based on scattering angle weight distribution comprises the following implementation steps:
(1) a compound eye-imitating polarization compass with multi-view curved surface structure is providednPolarization sensorM 1,M 2, M 3…M n For real-time acquisition of sky regionsnPolarization degree information of individual observation pointd 1,d 2, d 3…d n ；
(2) Setting a polarization degree thresholdμWithin a selected threshold rangemA measure of the degree of polarization, whereinm≤nRandomly selecting three measured values from the three measured values as a group of positioning solution units, and sharing
Group (d);
(3) in order to improve the environmental adaptability and the calculation accuracy of the solar altitude angle, the weight corresponding to each group of positioning calculation units is established according to the scattering angle of the polarized light incident to the observation point:
θ pi the minimum scatter angle incident on the observation point in each set of localization solution units,W i weights for each set of positioning calculation units;
(4) and taking a zenith sensor coordinate system in the compound eye polarization compass as a module system of the compound eye polarization compass, and obtaining the solar altitude angle under the module system by utilizing the space geometric relation of three observation points in each group of positioning resolving units and the installation matrix of the compound eye polarization sensor. And (4) weighting the plurality of groups of solved solar altitude angles according to the weight obtained in the step (3) to obtain the final solar altitude angle.
(5) And calculating the longitude and latitude of the carrier by using a height difference method through the solar altitude calculated at different moments, so as to realize autonomous navigation and real-time positioning of the carrier.
Further, the step (1) is specifically realized as follows:
compound eye-imitating polarization compass with multi-eye curved surface structurenPoint source type polarization sensorM 1,M 2, M 3…M n Is composed of (a) whereinM 1As a result of the zenith polarization sensor,M 2, M 3…M n randomly distributed zenith polarization sensors on surface of hemispherical structureM 1Mounted in a modular coordinate systemzObserving polarization information in the zenith direction in the axial direction;M 2,M 3…M n polarization sensor randomly distributed on zenithM 1Four weeks; real-time acquisition using compound eye-like polarizing compassnDegree of polarization of individual sky observation pointd 1,d 2, d 3…d n 。
Further, the step (2) is specifically realized as follows:
under ideal conditions, the range of the polarization degree of the sky is 0-1, and the actual maximum polarization degree is influenced by weatherd maxGenerally less than 1. In order to avoid the abnormal data outlier condition in the measurement of the compound eye-imitating polarization compass, firstly, the measured value with the polarization degree larger than 1 is eliminated. Secondly, reasonably designing a polarization degree threshold value according to the weather conditions of the carrier, including cloud cover in the sky, PM2.5 content and the like, and chip parameters in the sensorμWithin a selected threshold rangemThree polarization degree measured values are randomly selected from the three measured values to be used as a group of positioning resolving units, and the total number is
In a combination, each set can be used as input for resolving the solar altitude.
Further, the step (3) is specifically realized as follows:
the larger the scattering angle of the polarized light incident to the observation point is, the smaller the influence of sunlight is, and the polarization information observation is accurate. The polarization sensor with a small scattering angle can affect the resolving accuracy of each group of positioning resolving units. Therefore, in order to improve the environmental adaptability and the solar altitude angle calculation accuracy, three observation points of a group of data are screened, the minimum scattering angle incident to the observation points is selected as a distribution factor, the weight corresponding to each group of positioning calculation units is established, and the calculation result is as follows:
θ pi the minimum scatter angle incident on the observation point in each set of localization solution units,W i weights of the positioning solution units are calculated for each group.
Further, the step (4) is specifically realized as follows:
the degree of polarization is known from Rayleigh scattering theoryd 1,d 2, d 3And maximum degree of polarization of all-sky domaind maxThe relationship between:
wherein the content of the first and second substances,d n is as followsnThe polarization degree of an observation point measured by each polarization sensor,d maxis the maximum polarization degree in a full spatial domain,
，
is the maximum of the degrees of polarization for the three observation points,θ n first, thenThe angle between the observation direction of each polarization sensor and the sun vector,
；
solving corresponding observation vectors by the installation matrix of the compound eye polarization sensor, and solving each polarizationAzimuth angle of vibration sensor under module systemA pi And angle of elevationh pi Wherein
；
In the module system, observed points corresponding to the polarization sensors on the compound eye polarization compassPSun pointSBeing module is zenithZFormed spherical trianglePSZThe following relationship is established by the cosine theorem of spherical triangle:
wherein the content of the first and second substances,h p the height angle of the polarization sensor under the module system in the compound eye polarization compass is shown,A p shows the azimuth angle of the polarization sensor under the module system in the compound eye polarization compass,h s the indication module is a lower solar altitude angle,A s representing the solar azimuth angle of the module system;
taking the polarization degree of each group of observation points as the resolving input of the solar altitude angle, the following equation set can be established:
wherein the content of the first and second substances,d 1,d 2, d 3representing three degrees of polarization in a set of inputs,θ 1,θ 2 ,θ 3representing the angle of three observation vectors in a set of inputs with respect to the sun vector,h p1,h p2,h p3representing the elevation angle of three polarization sensors in a set of inputs under the module system,A p1,A p2,A p3indicating that three polarization sensors in a set of inputs are azimuthal under the module system,h s which represents the altitude of the sun,A s representing the sun azimuth;
the nonlinear equation set contains six unknowns, a genetic algorithm is adopted to solve the numerical solution of the equation set, and the range of each parameter is determined as follows:
and obtaining the solar altitude angle under the module system by utilizing the space geometric relationship of three observation points in each group of positioning resolving units and the installation matrix of the compound eye polarization sensor. Weighting the solved multiple groups of solar altitude angles according to the weight obtained in the step (3) to obtain the final solar altitude angle and the solar altitude angleH s The calculation formula is as follows:
wi is the weight of the ith weight,
is the ith solar altitude.
Declination is obtained from the astronomical almanac according to the rough estimate of the carrier or the known initial latitude and longitude Lon0, Lat0DecAnd local time angleLHATo obtainT 1AndT 2 solar altitude angle calculated at any momentH c1,H c2And azimuth of the sunA c1AndA c2；
the elevation angles of the same celestial body at different times can be observed to obtain the variation of the elevation angles under the carrier system
：
And resolving by using an analytic height difference method. Introducing intermediate auxiliary quantities a, b, c, d, e and f;
the longitude and latitude of the carrierλ, LThe solution can be solved by:
compared with the prior art, the invention has the advantages that:
the invention collects the polarization degree information of a plurality of observation points in the sky by the compound eye-imitating polarization compass, randomly selects three sensor data as resolving input, can adaptively distribute weight according to the scattering angle of polarized light incident to the observation points, combines the principles of polarization navigation and altitude difference method, outputs the position of a carrier in real time, does not depend on satellite navigation and other auxiliary devices, has high autonomy, is not influenced by natural or man-made electromagnetic interference, and has strong environmental adaptability. The positioning method fully utilizes polarization information, has a simple structure and fewer steps, and has higher practicability.
Drawings
FIG. 1 is a diagram illustrating an autonomous positioning method of a compound eye-simulated polarization sensor based on scattering angle weight distribution according to the present invention;
FIG. 2 is a schematic view of an artificial compound eye polarization compass to which the present invention relates;
fig. 3 is a schematic view of the geometric relationship between the sun vector and the observation vector in the carrier coordinate system according to the present invention.
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.
As shown in fig. 1, the specific implementation steps of the present invention are as follows:
1. as shown in FIG. 2, which is a schematic view of the compound eye-imitating polarization compass according to the present invention, the compound eye-imitating polarization compass with a multi-view surface structure is composed ofnPoint source type polarization sensorM 1,M 2,M 3…M n Is composed of (a) whereinM 1As a result of the zenith polarization sensor,M 2,M 3…M n randomly distributed zenith polarization sensors on surface of hemispherical structureM 1Mounted in a modular coordinate systemzObserving polarization information in the zenith direction in the axial direction;M 2,M 3…M n polarization sensor randomly distributed on zenithM 1Four weeks; real-time acquisition using compound eye-like polarizing compassnDegree of polarization of individual sky observation pointd 1,d 2, d 3…d n ；
2. Under ideal conditions, the range of the polarization degree of the sky is 0-1, and the actual maximum polarization degree is influenced by weatherd maxGenerally less than 1. In order to avoid the wild value situation of the artificial compound eye polarization compass, the measured value with the polarization degree larger than 1 is firstly removed. Secondly, reasonably designing a polarization degree threshold value according to the weather conditions of the carrier, including cloud cover in the sky, PM2.5 content and the like, and chip parameters in the sensorμWithin a selected threshold rangemThree polarization degree measured values are randomly selected from the three measured values to be used as a group of positioning resolving units, and the total number is
In a combination, each set can be used as input for resolving the solar altitude.
3. The larger the scattering angle of the polarized light incident to the observation point is, the smaller the influence of sunlight is, and the polarization information observation is accurate. The polarization sensor with a small scattering angle can affect the resolving accuracy of each group of positioning resolving units. Therefore, in order to improve the environmental adaptability and the solar altitude angle calculation accuracy, three observation points of a group of data are screened, the minimum scattering angle incident to the observation points is selected as a weight, the weight corresponding to each group of positioning calculation units is established, and the calculation result is as follows:
θ pi the minimum scatter angle incident on the observation point in each set of localization solution units,W i weights for each set of positioning calculation units;
4. the degree of polarization is known from Rayleigh scattering theoryd 1,d 2, d 3And maximum degree of polarization of all-sky domaind maxThe relationship between:
wherein the content of the first and second substances,d n is as followsnThe polarization degree of an observation point measured by each polarization sensor,d maxis the maximum polarization degree in a full spatial domain,
，
is the maximum of the degrees of polarization for the three observation points,θ n first, thenThe angle between the observation direction of each polarization sensor and the sun vector,
；
solving the corresponding observation vector by the installation matrix of the compound eye polarization sensor, and solving the azimuth angle of each polarization sensor under the module systemA pi And angle of elevationh pi Wherein
；
FIG. 3 is a schematic diagram of the geometric relationship between the sun vector and the observation vector in a carrier coordinate system according to the present invention, wherein in the module coordinate system, the observed point corresponding to the polarization sensor on the compound eye polarization compassPSun pointSBeing module is zenithZFormed spherical trianglePSZThe following relationship is established by the cosine theorem of spherical triangle:
wherein the content of the first and second substances,h p the height angle of the polarization sensor under the module system in the compound eye polarization compass is shown,A p shows the azimuth angle of the polarization sensor under the module system in the compound eye polarization compass,h s the indication module is a lower solar altitude angle,A s representing the solar azimuth angle of the module system;
taking the polarization degree of each group of observation points as the resolving input of the solar altitude angle, the following equation set can be established:
wherein the content of the first and second substances,d 1,d 2, d 3representing three degrees of polarization in a set of inputs,θ 1,θ 2 ,θ 3representing the angle of three observation vectors in a set of inputs with respect to the sun vector,h p1,h p2,h p3representing the elevation angles of three polarization sensors in a set of inputs under the module system,A p1,A p2,A p3representing the azimuth angle of the three polarization sensors in a set of inputs under the module system,h s which represents the altitude of the sun,A s representing the sun azimuth;
in the nonlinear equation set, six unknowns are included, and a genetic algorithm can be adopted to solve the numerical solution of the equation set, and the parameter ranges are determined as follows:
inputting a set of polarization data to obtain a solar altitude corresponding to a weight ofW i To make full use ofkGroup data, the solar altitude under the module system can be calculatedH s ；
W i Is the (i) th weight, and is,
is the ith solar altitude.
5. Declination is obtained from the astronomical almanac according to the rough estimate of the carrier or the known initial latitude and longitude Lon0, Lat0DecAnd local time angleLHATo obtainT1 andT 2solar altitude angle calculated at any momentH c1,H c2And azimuth of the sunA c1AndA c2。
the elevation angles of the same celestial body at different times can be observed to obtain the variation of the elevation angles under the carrier system
。
And resolving by using an analytic height difference method. Introducing intermediate auxiliary quantities a, b, c, d, e and f;
the longitude and latitude of the carrierλ, LThe solution can be solved by:
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 (4)
1. An automatic positioning method of a compound eye-imitating polarization sensor based on scattering angle weight distribution is characterized by comprising the following implementation steps:
(1) a compound eye-imitating polarization compass with multi-view curved surface structure is providednPolarization sensorM 1,M 2,M 3…M n For real-time acquisition of sky regionsnPolarization degree information of individual observation pointd 1,d 2, d 3…d n ；
(2) Setting a polarization degree threshold value according to the weather conditions of the carrier, including the cloud cover in the sky, the PM2.5 content and the chip parameters in the sensorμWithin a selected threshold rangemA measure of the degree of polarization, whereinm≤nRandomly selecting three measured values from the three measured values as a group of positioning solution units, and sharing
Group (d); the step (2) is specifically realized as follows:
the range of sky polarization degree is 0-1, actual maximum degree of polarization affected by weatherd maxLess than 1, in order to avoid abnormal data situation in the measurement of the compound eye-imitating polarization compass, firstly, the measured value with the polarization degree greater than 1 is rejected, and secondly, the polarization degree threshold value is designed according to the weather conditions of the carrier, including the cloud cover in the sky, the PM2.5 content, and the chip parameters in the sensorμWithin a selected threshold rangemThree polarization degree measured values are randomly selected from the three measured values to be used as a group of positioning resolving units, and the total number is
Each group can be used as input for resolving the solar altitude angle;
(3) in order to improve the environmental adaptability and the calculation accuracy of the solar altitude angle, the weight corresponding to each group of positioning calculation units is established according to the scattering angle of the polarized light incident to the observation point;
the step (3) is specifically realized as follows:
screening three observation points of a group of data, selecting the minimum scattering angle incident to the observation points as a distribution factor, and establishing the weight corresponding to each group of positioning resolving units, wherein the calculation result is as follows:
wherein the content of the first and second substances,θ pi the minimum scatter angle incident on the observation point in each set of localization solution units,W i weights for each set of positioning calculation units;
(4) taking a zenith sensor coordinate system in the compound eye polarization compass as a module system of the compound eye polarization compass, and obtaining a solar altitude angle under the module system by utilizing the space geometric relationship of three observation points in each group of positioning resolving units and the installation matrix of the compound eye polarization sensor; weighting the plurality of groups of solved solar altitude angles according to the weight obtained in the step (3) to obtain a final solar altitude angle;
(5) and calculating the longitude and latitude of the carrier by using a height difference method through the solar altitude calculated at different moments, so as to realize autonomous navigation and real-time positioning of the carrier.
2. The method for autonomously positioning the simulated compound eye polarization sensor based on scattering angle weight distribution of claim 1, wherein the method comprises the following steps: the step (1) is specifically realized as follows:
compound eye-imitating polarization compass with multi-eye curved surface structurenPoint source type polarization sensorM 1,M 2,M 3…M n Is composed of (a) whereinM 1As a result of the zenith polarization sensor,M 2,M 3 …M n randomly distributed zenith polarization sensors on surface of hemispherical structureM 1Mounted in a modular systemzObserving polarization information in the zenith direction in the axial direction;M 2,M 3…M n polarization sensor randomly distributed on zenithM 1Four weeks; real-time acquisition using compound eye-like polarizing compassnPolarization degree information of sky observation pointd 1,d 2,d 3…d n 。
3. The method for autonomously positioning the simulated compound eye polarization sensor based on scattering angle weight distribution of claim 1, wherein the method comprises the following steps: the step (4) is specifically realized as follows:
the information of the degree of polarization can be known from Rayleigh scattering theoryd 1,d 2,d 3And maximum degree of polarization of all-sky domaind maxThe relationship between:
wherein the content of the first and second substances,d j is as followsjThe polarization degree of an observation point measured by each polarization sensor,d maxis the maximum polarization degree in a full spatial domain,
，
is the maximum of the degrees of polarization for the three observation points,θ j is as followsjThe angle between the observation direction of each polarization sensor and the sun vector,
；
solving the corresponding observation vector by the installation matrix of the compound eye polarization sensor, and solving the azimuth angle of each polarization sensor under the module systemA pi And angle of elevationh pi Wherein
；
In the module system, observed points corresponding to the polarization sensors on the compound eye polarization compassPSun pointSBeing module is zenithZFormed spherical trianglePSZThe following relationship is established by the cosine theorem of spherical triangle:
wherein the content of the first and second substances,h p the height angle of the polarization sensor under the module system in the compound eye polarization compass is shown,A p shows the azimuth angle of the polarization sensor under the module system in the compound eye polarization compass,h s the indication module is a lower solar altitude angle,A s representing the solar azimuth angle of the module system;
and (3) taking the polarization degree of each group of observation points as resolving input of the solar altitude angle, and establishing the following equation set:
wherein the content of the first and second substances,d 1,d 2 ,d 3representing three degrees of polarization in a set of inputs,θ 1,θ 2 ,θ 3representing the angle of three observation vectors in a set of inputs with respect to the sun vector,h p1,h p2 ,h p3representing the elevation angles of three polarization sensors in a set of inputs under the module system,A p1,A p2 ,A p3representing the azimuth angle of the three polarization sensors in a set of inputs under the module system,h s which represents the altitude of the sun,A s representing the sun azimuth;
the nonlinear equation set contains six unknowns, a genetic algorithm is adopted to solve the numerical solution of the equation set, and the range of each parameter is determined as follows:
obtaining the solar altitude angle under the module system by utilizing the space geometric relationship of three observation points in each group of positioning resolving units and the installation matrix of the compound eye polarization sensor; weighting the solved multiple groups of solar altitude angles according to the weight obtained in the step (3) to obtain the final solar altitude angle and the solar altitude angleH s The calculation formula is as follows:
W i is the (i) th weight, and is,
is the ith solar altitude.
4. The method for autonomously positioning the simulated compound eye polarization sensor based on scattering angle weight distribution of claim 1, wherein the method comprises the following steps: the step (5) is specifically realized as follows:
declination from almanac according to estimated or known initial latitude and longitude Lon0, Lat0 of the vectorDecAnd local time angleLHATo obtainT 1AndT 2solar altitude angle calculated at any momentH c1，H c2And azimuth of the sunA c1AndA c2；
observing the altitude angles of the same celestial body at different moments to obtain the change amount of the altitude angles under the carrier system
；
Resolving by using an analytic height difference method, and introducing intermediate auxiliary quantities a, b, c, d, e and f;
the longitude and latitude of the vectorλ、LSolving by:
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