CN114018258A - Bionic combined navigation method based on polarization measurement noise variance adaptive estimation - Google Patents

Bionic combined navigation method based on polarization measurement noise variance adaptive estimation Download PDF

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CN114018258A
CN114018258A CN202111305825.0A CN202111305825A CN114018258A CN 114018258 A CN114018258 A CN 114018258A CN 202111305825 A CN202111305825 A CN 202111305825A CN 114018258 A CN114018258 A CN 114018258A
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郭雷
王善澎
邱真兵
杨健
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Hangzhou Innovation Research Institute of 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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 invention discloses a bionic combined navigation method based on polarization measurement noise variance adaptive estimation. Firstly, obtaining a local magnetic declination initial value by utilizing the difference between the polarization initial course and the geomagnetic initial course; then, establishing a combined navigation system model, establishing a local magnetic declination as a random walk model, and adding the random walk model into a system state; under the condition that the polarization sensor is normal, the system is switched to a polarization navigation mode, the polarization measurement noise is adjusted in real time according to the weather environment, and meanwhile, the local magnetic declination is estimated in the system state; and (3) detecting and judging the abnormal condition of the polarization sensor by using a chi-square, constructing a magnetic vector by using the local magnetic declination estimated in real time, and continuously estimating the misalignment angle of the system platform by using the magnetometer. Compared with the existing method, the method has better environmental adaptability, can effectively improve the navigation precision of the integrated navigation system in a complex environment, and can be used for navigation orientation application of carriers such as unmanned aerial vehicles, ground robots, ships and warships and the like.

Description

Bionic combined navigation method based on polarization measurement noise variance adaptive estimation
Technical Field
The invention belongs to the field of bionic integrated navigation, and particularly relates to a bionic integrated navigation method based on polarization measurement noise variance adaptive estimation.
Background
As an autonomous navigation technology, the bionic polarization navigation has the advantages of being passive, free of radiation, free of error accumulation and the like, and gradually becomes a research hotspot in the field of autonomous navigation. Although the atmospheric polarization distribution mode has better robustness, the polarization navigation precision is reduced in the weather of haze, cloud and the like, and the atmospheric polarization distribution mode cannot be normally used even in the weather of cloudy days, rain and snow. The geomagnetic navigation is a common navigation means in the fields of unmanned aerial vehicles and ground robots, has the advantages of low cost, simplicity and convenience in calculation, good concealment and the like, and can help a carrier to quickly determine the course. However, due to the difference between the geographic north and the geomagnetic north, a geomagnetic field model needs to be inquired to compensate the geomagnetic declination when the heading is resolved. In addition, geomagnetic navigation is easily interfered by electromagnetic interference, and the geomagnetic navigation cannot be normally used in an area with abnormal geomagnetic field.
Therefore, the polarized light navigation and the geomagnetic navigation have advantages and disadvantages respectively, the sky polarized distribution field and the earth magnetic field navigation information are combined, advantage complementation can be realized, and the environmental adaptability and reliability of the combined navigation system are improved. At present, the research of combining the polarization information and the geomagnetic information for combined navigation (including but not limited to patents CN201811544340.5, CN201811336222.5, CN201911250895.3, CN202010943395.4, CN202011324705.0, etc., and documents "experimental research of combined navigation system assisted by bionic polarization/geomagnetic" (design and implementation of combined navigation method of bionic polarization/GPS/geomagnetic) "," design of autonomous combined navigation system assisted by bionic polarization/geomagnetic ", etc.) all have certain limitations: firstly, the influence of an external weather environment on the precision of the polarization navigation system is not considered, and the environment adaptability is not provided; secondly, the geomagnetic measurement equation depends on a theoretical earth magnetic field model, and the precision of the integrated navigation system is influenced by the fact that the distribution of the earth magnetic field model is inconsistent with the actual magnetic field distribution in a magnetic abnormal region.
Disclosure of Invention
The invention solves the technical problem of how to carry out stable and reliable course and attitude estimation by utilizing inertia/polarization/geomagnetic information in changeable weather environments and navigation environments with complicated geomagnetic field distribution.
The technical solution of the invention is as follows: a bionic combined navigation method based on polarization measurement noise variance adaptive estimation is characterized by comprising the following steps:
(1) calculating the initial course of the earth magnetism by utilizing the triaxial earth magnetism vector measured by the magnetometer
Figure BDA0003340079560000021
Calculating to obtain the initial course of polarization by using the polarization vector measured by the polarization sensor
Figure BDA0003340079560000022
Obtaining an initial value of the local declination by subtracting the initial polarization course and the initial geomagnetic course
Figure BDA0003340079560000023
(2) Establishing a dynamic model of the integrated navigation system based on an inertial navigation error transfer equation; declination of local magnetic field
Figure BDA0003340079560000024
Establishing a random walk model, adding the random walk model into the state of the integrated navigation system, and setting the initial value of the random walk model as that in the step (1)
Figure BDA0003340079560000025
(3) When the polarization sensor works normally, a polarization measurement model z is establishedpolarLocal declination measurement model zdecEstimating the platform misalignment angle phi and the local declination in the state of the integrated navigation system in real time
Figure BDA0003340079560000026
(4) Establishing a quantitative relation between the external light intensity, the polarization degree and the angle measurement precision of the polarization sensor, and adjusting the covariance matrix R corresponding to the polarization measurement noise in the step (3) in real time according to the external light intensity and the polarization degreepolar；
(5) Determination of polarization sensor anomalies using chi-square detection, with integrated navigationReal-time estimated local declination in system state
Figure BDA0003340079560000027
Constructing a geomagnetic vector m under a current geographic systemnEstablishing a geomagnetic measurement model zmagAnd estimating the platform misalignment angle phi of the combined navigation system in real time.
In the step (1), initial heading of geomagnetism
Figure BDA0003340079560000029
The calculation method comprises the following steps:
Figure BDA0003340079560000028
in the formula, mbAs magnetometer three axis measurements, mhIs a magnetic vector under a horizontal coordinate system,
Figure BDA0003340079560000031
is a vector mhThe x, y axis components of (a), (b),
Figure BDA0003340079560000032
a direction cosine matrix from the carrier system b to the horizontal coordinate system h, including the horizontal attitude θ, γ, specifically:
Figure BDA0003340079560000033
polarization initial course
Figure BDA0003340079560000034
The calculation method comprises the following steps:
Figure BDA0003340079560000035
in the formula (I), the compound is shown in the specification,
Figure BDA0003340079560000036
Figure BDA0003340079560000037
Figure BDA0003340079560000038
wherein
Figure BDA0003340079560000039
Is a three-axis solar vector under the geography system n, is obtained by calculation of an astronomical calendar,
Figure BDA00033400795600000310
as a three-axis polarization vector p under a horizontal coordinate system hhObtained by the following formula:
Figure BDA00033400795600000311
pb＝[cosα sinα 0]T
in the above formula pbThe polarization vector under the carrier system b, alpha is the polarization angle measured by the polarization sensor;
finally, the initial value of the local declination
Figure BDA00033400795600000312
Comprises the following steps:
Figure BDA00033400795600000313
in the step (2), the integrated navigation system state quantity is:
Figure BDA00033400795600000314
wherein phi is the misalignment angle of the three-axis platform, epsilon is the zero offset of the gyroscope,
Figure BDA00033400795600000315
is the local declination angle, wherein the local declination angle
Figure BDA00033400795600000316
The random walk model is established as follows:
Figure BDA00033400795600000317
wherein, wdecIn order to randomly walk the noise at the local declination,
Figure BDA00033400795600000318
the upper points represent the derivation.
In the step (3), the polarization measurement model zpolarComprises the following steps:
Figure BDA0003340079560000041
in the formula (I), the compound is shown in the specification,
Figure BDA0003340079560000042
a direction cosine matrix from the carrier system b to the geographic coordinate system n, HpolarIs a polarization measurement matrix, upsilonpolarNoise covariance matrix R for polarization measurementpolarOperator ()×An antisymmetric matrix that is a vector; p is a radical ofbIs the polarization vector under the carrier system b;
Figure BDA0003340079560000043
for direction cosine matrices containing the angle of misalignment of the mesa
Figure BDA0003340079560000044
Local declination measurement model zdecComprises the following steps:
Figure BDA0003340079560000045
in the formula, are
Figure BDA0003340079560000046
The heading is estimated for the current system optimum, x is the combined navigation system state quantity,
Figure BDA0003340079560000047
real-time resolving the obtained geomagnetic heading for magnetometer HdecIs a local declination measurement matrix, upsilondecA noise matrix is measured for the local declination.
In the step (4), a polarization measurement noise covariance matrix RpolarThe self-adaptive adjustment is carried out according to the external light intensity and the polarization degree, and the self-adaptive adjustment is as follows:
firstly, setting a noise matrix R for measuring original light intensity of a polarization sensorIoutComprises the following steps:
RIout＝I×σi 2
wherein I is an identity matrix, σi 2Noise variance of a light intensity detector in a polarization sensor;
polarization state solving covariance matrix
Figure BDA0003340079560000048
Comprises the following steps:
Figure BDA0003340079560000049
in the formula, HpThe polarization sensor internal reference matrix can be obtained by calibrating the sensor.
Polarization angle covariance matrix RαComprises the following steps:
Figure BDA00033400795600000410
in the formula, xp,2,xp,3Second and third elements for the calculated polarization state;
polarization vector covariance matrix RpComprises the following steps:
Figure BDA0003340079560000051
in the formula, alpha is a polarization angle measured by a polarization sensor;
finally, the polarization measurement noise covariance matrix RpolarComprises the following steps:
Figure BDA0003340079560000052
in the step (5), a geomagnetism vector m under a geographic system is constructed according to the local declination estimated in real timenComprises the following steps:
Figure BDA0003340079560000053
geomagnetism measurement model zmagComprises the following steps:
Figure BDA0003340079560000054
in the formula, HmagIs a geomagnetic measurement matrix, upsilonmagA noise matrix is measured geomagnetically.
Compared with the prior art, the invention has the advantages that:
(1) the influence of the external weather environment change on the precision of the polarization sensor is considered, the polarization measurement noise self-adaption is realized, and the polarization measurement noise self-adaption method has stronger environment adaptability.
(2) A local magnetic declination estimation model is established, the local magnetic declination can be estimated in real time by means of a polarization sensor, dependence of the existing geomagnetic navigation on a geomagnetic field model is eliminated, a real local magnetic vector can be constructed in real time, and the geomagnetic navigation precision is improved.
Drawings
FIG. 1 is a flow chart of a bionic integrated navigation method based on polarization measurement noise variance adaptive estimation according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings and examples.
As shown in fig. 1, a bionic integrated navigation method based on polarization measurement noise variance adaptive estimation is characterized by comprising the following steps:
(1) calculating the initial course of the earth magnetism by utilizing the triaxial earth magnetism vector measured by the magnetometer
Figure BDA0003340079560000061
Calculating to obtain the initial course of polarization by using the polarization vector measured by the polarization sensor
Figure BDA0003340079560000062
Obtaining an initial value of the local declination by subtracting the initial polarization course and the initial geomagnetic course
Figure BDA0003340079560000063
(2) Establishing a dynamic model of the integrated navigation system based on an inertial navigation error transfer equation; declination of local magnetic field
Figure BDA0003340079560000064
Establishing a random walk model, adding the random walk model into the state of the integrated navigation system, and setting the initial value of the random walk model as that in the step (1)
Figure BDA0003340079560000065
(3) When the polarization sensor works normally, a polarization measurement model z is establishedpolarLocal declination measurement model zdecEstimating the platform misalignment angle phi and the local declination in the state of the integrated navigation system in real time
Figure BDA0003340079560000066
(4) Establishing a quantitative relation between the external light intensity, the polarization degree and the angle measurement precision of the polarization sensor, and adjusting the covariance matrix R corresponding to the polarization measurement noise in the step (3) in real time according to the external light intensity and the polarization degreepolar；
(5) Determination of polarization sensor anomalies using chi-square detectionBy means of real-time estimated local declination in the state of the integrated navigation system
Figure BDA0003340079560000067
Constructing a geomagnetic vector m under a current geographic systemnEstablishing a geomagnetic measurement model zmagAnd estimating the platform misalignment angle phi of the combined navigation system in real time.
In the step (1), initial heading of geomagnetism
Figure BDA0003340079560000068
The calculation method comprises the following steps:
Figure BDA0003340079560000069
in the formula, mbAs magnetometer three axis measurements, mhIs a magnetic vector under a horizontal coordinate system,
Figure BDA0003340079560000071
is a vector mhThe x, y axis components of (a), (b),
Figure BDA0003340079560000072
a direction cosine matrix from the carrier system b to the horizontal coordinate system h, including the horizontal attitude θ, γ, specifically:
Figure BDA0003340079560000073
polarization initial course
Figure BDA0003340079560000074
The calculation method comprises the following steps:
Figure BDA0003340079560000075
in the formula (I), the compound is shown in the specification,
Figure BDA0003340079560000076
Figure BDA0003340079560000077
Figure BDA0003340079560000078
wherein
Figure BDA0003340079560000079
Is a three-axis solar vector under the geography system n, is obtained by calculation of an astronomical calendar,
Figure BDA00033400795600000710
as a three-axis polarization vector p under a horizontal coordinate system hhObtained by the following formula:
Figure BDA00033400795600000711
pb＝[cosα sinα 0]T
in the above formula pbThe polarization vector under the carrier system b, alpha is the polarization angle measured by the polarization sensor;
finally, the initial value of the local declination
Figure BDA00033400795600000712
Comprises the following steps:
Figure BDA00033400795600000713
in the step (2), the integrated navigation system state quantity is:
Figure BDA00033400795600000714
wherein phi is the misalignment angle of the three-axis platform, epsilon is the zero offset of the gyroscope,
Figure BDA00033400795600000715
is the local declination angle, wherein the local declination angle
Figure BDA00033400795600000716
The random walk model is established as follows:
Figure BDA00033400795600000717
wherein, wdecIn order to randomly walk the noise at the local declination,
Figure BDA00033400795600000718
the upper points represent the derivation.
In the step (3), the polarization measurement model zpolarComprises the following steps:
Figure BDA0003340079560000081
in the formula
Figure BDA0003340079560000082
A direction cosine matrix from the carrier system b to the geographic coordinate system n, HpolarIs a polarization measurement matrix, upsilonpolarNoise covariance matrix R for polarization measurementpolarOperator ()×An antisymmetric matrix that is a vector; p is a radical ofbIs the polarization vector under the carrier system b;
Figure BDA0003340079560000083
for direction cosine matrices containing the angle of misalignment of the mesa
Figure BDA0003340079560000084
Local declination measurement model zdecComprises the following steps:
Figure BDA0003340079560000085
in the formula are
Figure BDA0003340079560000086
The heading is estimated for the current system optimum, x is the combined navigation system state quantity,
Figure BDA0003340079560000087
real-time resolving the obtained geomagnetic heading for magnetometer HdecIs a local declination measurement matrix, upsilondecA noise matrix is measured for the local declination.
In the step (4), a polarization measurement noise covariance matrix RpolarThe self-adaptive adjustment is carried out according to the external light intensity and the polarization degree, and the self-adaptive adjustment is as follows:
firstly, setting a noise matrix R for measuring original light intensity of a polarization sensorIoutComprises the following steps:
RIout＝I×σi 2
wherein I is an identity matrix, σi 2Noise variance of a light intensity detector in a polarization sensor;
polarization state solving covariance matrix RxpComprises the following steps:
Figure BDA0003340079560000088
in the formula, HpThe polarization sensor internal reference matrix can be obtained by calibrating the sensor.
Polarization angle covariance matrix RαComprises the following steps:
Figure BDA0003340079560000089
in the formula, xp,2,xp,3Second and third elements for the calculated polarization state;
polarization vector covariance matrix RpComprises the following steps:
Figure BDA0003340079560000091
in the formula, alpha is a polarization angle measured by a polarization sensor;
finally, the polarization measurement noise covariance matrix RpolarComprises the following steps:
Figure BDA0003340079560000092
in the step (5), a geomagnetism vector m under a geographic system is constructed according to the local declination estimated in real timenComprises the following steps:
Figure BDA0003340079560000093
geomagnetism measurement model zmagComprises the following steps:
Figure BDA0003340079560000094
in the formula, HmagIs a geomagnetic measurement matrix, upsilonmagA noise matrix is measured geomagnetically.

Claims (6)

1. A bionic combined navigation method based on polarization measurement noise variance adaptive estimation is characterized by comprising the following steps:
(1) calculating the initial course of the earth magnetism by utilizing the triaxial earth magnetism vector measured by the magnetometer
Figure FDA0003340079550000011
Calculating to obtain the initial course of polarization by using the polarization vector measured by the polarization sensor
Figure FDA0003340079550000012
Obtaining an initial value of the local declination by subtracting the initial polarization course and the initial geomagnetic course
Figure FDA0003340079550000013
(2) Based on inertial navigation error transfer equationsEstablishing a dynamic model of the integrated navigation system; declination of local magnetic field
Figure FDA0003340079550000014
Establishing a random walk model, adding the random walk model into the state of the integrated navigation system, and setting the initial value of the random walk model as that in the step (1)
Figure FDA0003340079550000015
(3) When the polarization sensor works normally, a polarization measurement model z is establishedpolarLocal declination measurement model zdecEstimating the platform misalignment angle phi and the local declination in the state of the integrated navigation system in real time
Figure FDA0003340079550000016
(4) Establishing a quantitative relation between the external light intensity, the polarization degree and the angle measurement precision of the polarization sensor, and adjusting the covariance matrix R corresponding to the polarization measurement noise in the step (3) in real time according to the external light intensity and the polarization degreepolar；
(5) Determining polarization sensor anomalies using chi-square detection with real-time estimated local declination in integrated navigation system states
Figure FDA0003340079550000017
Constructing a geomagnetic vector m under a current geographic systemnEstablishing a geomagnetic measurement model zmagAnd estimating the platform misalignment angle phi of the combined navigation system in real time.
2. The biomimetic integrated navigation method based on polarization measurement noise variance adaptive estimation of claim 1, wherein: in the step (1), initial heading of geomagnetism
Figure FDA0003340079550000018
The calculation method comprises the following steps:
Figure FDA0003340079550000019
in the formula, mbAs magnetometer three axis measurements, mhIs a magnetic vector under a horizontal coordinate system,
Figure FDA00033400795500000110
is a vector mhThe x, y axis components of (a), (b),
Figure FDA00033400795500000111
a direction cosine matrix from the carrier system b to the horizontal coordinate system h, including the horizontal attitude θ, γ, specifically:
Figure FDA0003340079550000021
polarization initial course
Figure FDA0003340079550000022
The calculation method comprises the following steps:
Figure FDA0003340079550000023
in the formula (I), the compound is shown in the specification,
Figure FDA0003340079550000024
wherein
Figure FDA0003340079550000025
Is a three-axis solar vector under the geography system n, is obtained by calculation of an astronomical calendar,
Figure FDA0003340079550000026
as a three-axis polarization vector p under a horizontal coordinate system hhObtained by the following formula:
Figure FDA0003340079550000027
pb＝[cosα sinα 0]T
in the above formula pbThe polarization vector under the carrier system b, alpha is the polarization angle measured by the polarization sensor;
finally, the initial value of the local declination
Figure FDA0003340079550000028
Comprises the following steps:
Figure FDA0003340079550000029
3. the biomimetic integrated navigation method based on polarization measurement noise variance adaptive estimation of claim 1, wherein: in the step (2), the integrated navigation system state quantity is:
Figure FDA00033400795500000210
wherein phi is the misalignment angle of the three-axis platform, epsilon is the zero offset of the gyroscope,
Figure FDA00033400795500000211
is the local declination angle, wherein the local declination angle
Figure FDA00033400795500000212
The random walk model is established as follows:
Figure FDA00033400795500000213
wherein, wdecIn order to randomly walk the noise at the local declination,
Figure FDA00033400795500000214
the upper points represent the derivation.
4. The biomimetic integrated navigation method based on polarization measurement noise variance adaptive estimation of claim 1, wherein: in the step (3), the polarization measurement model zpolarComprises the following steps:
Figure FDA00033400795500000215
in the formula (I), the compound is shown in the specification,
Figure FDA0003340079550000031
a direction cosine matrix from the carrier system b to the geographic coordinate system n, HpolarIs a polarization measurement matrix, upsilonpolarNoise covariance matrix R for polarization measurementpolarOperator ()×An antisymmetric matrix that is a vector; p is a radical ofbIs the polarization vector under the carrier system b;
Figure FDA0003340079550000032
for direction cosine matrices containing the angle of misalignment of the mesa
Figure FDA0003340079550000033
Local declination measurement model zdecComprises the following steps:
Figure FDA0003340079550000034
in the formula, are
Figure FDA0003340079550000035
The heading is estimated for the current system optimum, x is the combined navigation system state quantity,
Figure FDA0003340079550000036
real-time resolving the obtained geomagnetic heading for magnetometer HdecIs a local declination measurement matrix, upsilondecA noise matrix is measured for the local declination.
5. The biomimetic integrated navigation method based on polarization measurement noise variance adaptive estimation of claim 1, wherein: in the step (4), a polarization measurement noise covariance matrix RpolarThe self-adaptive adjustment is carried out according to the external light intensity and the polarization degree, and the self-adaptive adjustment is as follows:
firstly, setting a noise matrix R for measuring original light intensity of a polarization sensorIoutComprises the following steps:
RIout＝I×σi 2
wherein I is an identity matrix, σi 2Noise variance of a light intensity detector in a polarization sensor;
polarization state solving covariance matrix
Figure FDA0003340079550000037
Comprises the following steps:
Figure FDA0003340079550000038
in the formula, HpThe polarization sensor internal reference matrix can be obtained by calibrating the sensor;
polarization angle covariance matrix RαComprises the following steps:
Figure FDA0003340079550000039
in the formula, xp,2,xp,3Second and third elements for the calculated polarization state;
polarization vector covariance matrix RpComprises the following steps:
Figure FDA0003340079550000041
in the formula, alpha is a polarization angle measured by a polarization sensor;
finally, the polarization measurement noise covariance matrix RpolarComprises the following steps:
Figure FDA0003340079550000042
6. the biomimetic integrated navigation method based on polarization measurement noise variance adaptive estimation of claim 1, wherein: in the step (5), a geomagnetism vector m under a geographic system is constructed according to the local declination estimated in real timenComprises the following steps:
Figure FDA0003340079550000043
geomagnetism measurement model zmagComprises the following steps:
Figure FDA0003340079550000044
in the formula, HmagIs a geomagnetic measurement matrix, upsilonmagA noise matrix is measured geomagnetically.
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