CN115164871A - Two-step autonomous positioning method based on polarized light field time difference - Google Patents
Two-step autonomous positioning method based on polarized light field time difference Download PDFInfo
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Abstract
The invention relates to a two-step autonomous positioning method based on polarized light field time difference. Comprises the following steps: firstly, a polarized light sensor is used for collecting a polarized light field for multiple times in a time period, a magnetic compass is combined to obtain a carrier magnetic deflection angle set, and a sun position measurement value set under a geomagnetic coordinate system is solved; traversing global longitude and latitude by using a solar calendar and a global geomagnetic model to obtain a sun position calculation value set of each longitude and latitude point under a geomagnetic coordinate system, and constructing a one-step positioning fitting database; defining a distance scale, so as to establish a one-step positioning loss function based on the sun position to solve the longitude and latitude, and completing one-step positioning; traversing the area near the one-step positioning result, and constructing a two-step positioning fitting database based on the variation of the calculated value of the sun position at all times; and establishing a two-step positioning loss function according to the variation of the sun position at all the moments to solve the longitude and latitude, completing two-step positioning and realizing autonomous positioning.
Description
Technical Field
The invention belongs to the field of autonomous navigation positioning, and particularly relates to a two-step autonomous positioning method based on polarized light field time difference.
Background
The polarized light field is an optical phenomenon with a certain distribution rule formed by sunlight under the action of atmospheric Rayleigh scattering, and contains information of the position of the sun, so that the position of the sun can be inverted by utilizing the polarized light field, and autonomous positioning is realized. The polarization positioning is a passive autonomous and error accumulation-free positioning mode, and compared with the traditional positioning modes such as satellite and radio, the polarization positioning has the advantages of being free from electromagnetic interference and the like.
Chinese patent CN201310037586.4 "positioning system based on polarized light bionic navigation and positioning method thereof" proposes a positioning method based on a multi-direction polarized light navigation sensor, which utilizes polarization information at one moment and an included angle between a carrier and magnetic north; chinese patent CN201911250897.2, "an autonomous positioning method based on north polarization pole and polarized sun vector", proposes a method for realizing positioning jointly by combining with polarized sun vector through extracting characteristic point information in atmospheric polarized light field change for a period of time; the invention of Chinese patent CN201810583734.5 "a polarization navigation real-time positioning method based on polarization degree information of whole sky field" and invention of Chinese patent CN201811328952.0 "a polarization navigation global autonomous positioning method based on maximum polarization degree observation" respectively propose the positioning method of polarization degree information in sky, but the above-mentioned patents realize the positioning by inversion of astronomical triangles, astronomical triangles are a simplification to solar calendars, neglect a plurality of influence factors such as aberration, nutation, etc., and also bring errors to the positioning. The article "bioinpiped polarization vision enables understeer water geopolarization" uses solar calendar to represent the mapping relationship between the sun and the longitude and latitude relationship, and can improve the model accuracy to a certain extent.
However, the two methods only utilize the sun position acquired by the polarized light field at one moment, on one hand, the constraint of the sun position at one moment on positioning is weak, and on the other hand, because the non-rayleigh scattering effect in the atmosphere often causes a constant error in the calculation of the sun position based on polarization, which will bring a serious influence on the positioning accuracy. Therefore, how to eliminate the influence of the constant error in the solar measurement on the positioning accuracy plays an important role in the application of polarization positioning.
Disclosure of Invention
In order to solve the technical problem, the invention provides a two-step autonomous positioning method based on polarized light field time difference. The position of the sun resolved by the polarized light field is collected for multiple times in a time period, and latitude and longitude information is inverted under the heading reference provided by the magnetic compass, so that the first-step coarse positioning is realized. And then, near the coarse positioning result, the variation of the sun position at a time interval is used as constraint to eliminate constant errors and realize the second step of fine positioning. The method simultaneously enhances the constraint of the sun on the positioning by the time difference effect of the sun position and the sun at a plurality of moments, eliminates the influence of constant error in the measurement of the sun position, and improves the positioning precision.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a two-step self-positioning method based on polarized light field time difference comprises the following implementation steps:
step (1), a polarized light sensor is used for collecting polarized light fields for n times in a time period T, and a solar position measurement value set S under a carrier coordinate system is obtained by using the polarized light fields collected each time b And then the magnetic compass is used for obtaining a magnetic yaw angle set and converting the magnetic yaw angle set into a solar position measurement value set under a geomagnetic coordinate system
The carrier coordinate system is represented as a b system, and the geomagnetic coordinate system is represented as an m system;
step (2), a one-step positioning fitting database is constructed and comprises a characteristic space and an attribute space, wherein the attribute space is used for determining each longitude and latitude grid point (L) in the global longitude and latitude set A with a certain grid density A ,λ A ) The feature space is traversed by each longitude and latitude lattice point (L) using the solar calendar xi and the global geomagnetic model M A ,λ A ) Obtained sun position calculation value set under geomagnetic coordinate systemS m (L A ,λ A )；
Step (3), defining t i Time solar measurement value
And sun calculation value
Scale the distance between and thereby establish a one-step localization loss function
Calculating loss function of each moment in the T time period according to the one-step positioning fitting database
Latitude and longitude values (L) in the attribute space corresponding to the minimum i ,λ i ) And then the longitude and latitude calculated at n moments are calculated to obtain an average value (L) Ⅰ ,λ Ⅰ ) Completing one-step positioning, wherein i =1,2, \8230, n represents the polarized light field acquisition sequence number in the time period T, and T i The sampling time of the ith polarized light field in the time period T is;
step (4), constructing a two-step positioning fitting database, wherein the feature space is represented by (L) Ⅰ ,λ Ⅰ ) As the center, a local longitude and latitude set B is set with a certain grid density, and each longitude and latitude grid point (L) is traversed B ,λ B ) Set of values of variation of calculated values of sun positions at two times of (1) above m Attribute space of Δ S m The longitude and latitude corresponding to each element in the list;
step (5), establishing a two-step positioning loss function by utilizing the distance scale defined in the step (3) and all the sun position variation in the T time period
Calculating according to the two-step positioning fitting database constructed in the step (4)
Genus corresponding to the smallestThe warp and weft values in the sexual space are obtained to obtain a two-step positioning result (L) Ⅱ ,λ Ⅱ ) And completing the autonomous positioning.
Further, the step (1) comprises the following specific steps:
the polarized light field is collected for n times by utilizing the polarization sensor in a time period T, and a solar position measurement value set under a carrier coordinate system can be solved through the polarized light field
By using
Representing the measured value of the sun position in a carrier coordinate system calculated by the polarized light field collected at the ith time within the time period T, i =1,2,3, \ 8230, and n, wherein the collection time is represented as T i The carrier coordinate system is represented by a system b; the measurement and calculation of the sun position at each moment are represented by two parameters of a sun azimuth angle and a sun zenith angle, and a sun position measurement and calculation value set based on all polarized light fields in a time period T is represented as a sun azimuth angle measurement and calculation value set
And a value set for measuring and calculating the zenith angle of the sun
Establishing a geomagnetic coordinate system, expressing as an m system, wherein the z axis of the geomagnetic coordinate system is superposed with a navigation system, and the x axis is magnetic north; m is lower than t i The time solar azimuth measurement value is expressed as:
wherein,
is t i A magnetic yaw angle acquired by the moment magnetic compass; the value of the solar zenith angle under the m series is expressed as
When the polarized light sensor is horizontally placed, t i The measured value of the zenith angle of the sun at time m
To obtain t i Sun position calculation value at time m
Therefore, the measured value set of the sun position under the m series is obtained as follows:
further, the step (2) comprises the following specific steps:
setting the grid density of global longitude and latitude as delta L 1 And δ λ 1 Each longitude and latitude grid point in the global longitude and latitude set A needing to be traversed is as follows:
(L A ,λ A )＝(pδL 1 ,qδλ 1 -90)
wherein,
round () means rounding the parenthetical element. Ensure the longitude L range to be 0 degree and 360 degrees]The latitude lambda range is [ -90 DEG, 90 DEG ]](ii) a Solar calendar denoted by xi, then t i Each longitude and latitude grid point (L) in the time global longitude and latitude set A A ,λ A ) The calculated value of the position of the sun under the navigation coordinate system
Can be expressed as:
wherein n represents a navigation coordinate system;
the global geomagnetic model is expressed by M, then t i Each longitude and latitude grid point (L) in the global longitude and latitude set A at the moment A ,λ A ) The declination angle is:
then, t i Each longitude and latitude grid point (L) in the time global longitude and latitude set A A ,λ A ) M is the calculated value of the sun position:
wherein Λ represents a calculation function of the lower sun position based on the solar almanac xi and the world geomagnetism model M. Thus, a one-step positioning fitting database is established, and comprises a characteristic space and an attribute space. Wherein the feature space is each longitude and latitude grid point (L) in the global longitude and latitude set A A ,λ A ) T within the upper time period T 1 ,t 2 ,...,t n The set of sun position calculation values at all times m is expressed as:
value set S is calculated for sun position by attribute space in one-step positioning fitting database m (L A ,λ A ) Longitude and latitude (L) corresponding to each element in the A ,λ A )。
Further, the specific steps of the step (3) are as follows:
definition of t i The distance scale between the sun calculated value and the sun calculated value under the time m is as follows:
the distance scale of the distance scale between the sun calculated value and the sun calculated value at the same moment is taken as a one-step positioning loss function and is expressed as:
find t i One step positioning of the loss function value of a time instant
Latitude and longitude at minimum (L) i ,λ i )：
Averaging the longitude and latitude when the n moments in the time period T are positioned at the minimum value of the loss function value in one step to obtain a one-step positioning result (L) Ⅰ ,λ Ⅰ )：
Further, the step (4) comprises the following specific steps:
with (L) Ⅰ ,λ Ⅰ ) Using Delta L and Delta lambda as the side length of two-step positioning region, using Delta L as the center 2 ,δλ 2 Setting a local longitude and latitude set B for the grid density, and setting each longitude and latitude grid point (L) in the local longitude and latitude set B to be traversed B ,λ B ) Expressed by the above parameters:
t i time and t i+τ The variation of the calculated value of the sun position under the time geomagnetic coordinate system is as follows:
wherein τ is not less than 1 and t i+τ ≤t n (ii) a Therefore, a set of values of the variation of the calculated value of the sun position in the time period T is obtained:
thus completing the construction of the feature space in the two-step fitting database; value set Delta S is calculated for sun position by attribute space in two-step positioning fitting database m (L B ,λ B ) Longitude and latitude (L) corresponding to each element in the B ,λ B )。
Further, the step (5) comprises the following specific steps:
t i and t i+τ The solar position measurement value variation based on the polarized light field at two moments is as follows:
n-tau measured and calculated value variable quantities of the sun position can be obtained in the time period T, and a two-step positioning loss function is established by using the variable quantities:
the longitude and latitude when the minimum value is obtained is (L) Ⅱ ,λ Ⅱ )：
(L Ⅱ ,λ Ⅱ )＝arg min J Ⅱ (L,λ)
And finishing the two-step positioning.
Has the beneficial effects that:
compared with the prior art, the invention has the following advantages: in the existing polarization positioning method, the problem of constant error existing in the sun position measurement based on polarization is not considered, so that the positioning precision is low. The invention provides a two-step autonomous positioning method based on time difference of a polarized light field, which designs a two-step positioning method based on rough positioning of a single-time polarized light field and a magnetic compass and precise positioning based on variation of the position of the sun at a certain time interval, eliminates the influence of a constant error in measurement of the position of the sun on positioning through the time difference of the sun, and can improve the positioning accuracy.
Drawings
FIG. 1 is a flow chart of a two-step autonomous positioning method based on polarized light field time difference according to the present invention;
FIG. 2 is a schematic diagram of the calculation of the included angle between two unit vectors according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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 based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
According to an embodiment of the present invention, as shown in fig. 1, a two-step autonomous positioning method based on polarized light field time difference of the present invention includes:
step 1, collecting polarized light fields for n times in a time period T by using a polarized light sensor, and obtaining a solar position measurement value set S under a carrier coordinate system by using the polarized light fields collected each time b And then the magnetic compass is used for converting the magnetic compass into a solar position measurement value set under a geomagnetic coordinate system
The carrier coordinate system is represented as a b system, and the geomagnetic coordinate system is represented as an m system. The specific requirements are as follows:
the polarized light field is collected for n times by utilizing the polarization sensor in a time period T, and a solar position measurement value set under a carrier coordinate system can be solved through the polarized light field
By using
Representing the measured value of the sun position in a carrier coordinate system calculated by the polarized light field collected at the ith time within the time period T, i =1,2,3, \ 8230, and n, wherein the collection time is represented as T i The carrier coordinate system is represented by a b system; the solar position measurement and calculation at each moment is represented by two parameters of a solar azimuth angle and a solar zenith angle, and a solar position measurement and calculation value set based on all polarized light fields in a time period T is represented as a solar azimuth angle measurement and calculation value set
And a value set for measuring and calculating the zenith angle of the sun
The magnetic compass obtains the north heading angle of the carrier relative to the earth magnetism, which is called magnetic yaw angle H. However, the geomagnetic north and the geographic north have a declination that varies with time and longitude and latitude, and therefore the declination cannot be used as the heading directly. Thus, a geomagnetic coordinate system is established, denoted as m-system, with z-axis coinciding with the navigation system and x-axis being magnetic north. m is lower than t i The measured value of the solar azimuth at the moment is as follows:
wherein,
is t i And the magnetic yaw angle acquired by the moment magnetic compass. The measured value of the solar zenith angle under the m system is expressed as
When the polarized light sensor is horizontally placed, t i The measured value of the zenith angle of the sun at time m
To obtain t i Sun position at time mMeasured and calculated value
Thus, the measured value set of the sun position under the m series is obtained as follows:
step 2, constructing a one-step positioning fitting database which comprises a characteristic space and an attribute space, wherein the attribute space is used for determining each longitude and latitude grid point (L) in the global longitude and latitude set A by a certain grid density A ,λ A ) The feature space is traversed by each longitude and latitude lattice point (L) using the solar calendar xi and the global geomagnetic model M A ,λ A ) The obtained sun position calculation value set S under the geomagnetic coordinate system m (L A ,λ A ). The specific requirements are as follows:
setting the traversal densities of global longitude L and latitude lambda as delta L respectively 1 =1 ° and δ λ 1 =0.5 °, each longitude and latitude grid point in the global longitude and latitude set a is:
(L A ,λ A )＝(pδL 1 ,qδλ 1 -90)
wherein,
round () means rounding the parenthetical element; the global longitude L range is ensured to be [0 degrees, 360 degrees ], and the global latitude lambda range is [ -90 degrees, 90 degrees ];
substituting specific numerical values to obtain:
xi denotes solar calendar, t i Each longitude and latitude grid point (L) in the time global longitude and latitude set A A ,λ A ) The calculated value of the position of the sun under the navigation coordinate system
Can be expressed as:
wherein n represents a navigation coordinate system;
the global geomagnetic model is expressed by M, then t i Each longitude and latitude grid point (L) in the global longitude and latitude set A A ,λ A ) The declination angle is:
d ti (L A ,λ A )＝M(L A ,λ A ,t i )
then, t i Each longitude and latitude grid point (L) in the global longitude and latitude set A at the moment A ,λ A ) The calculated value of the sun position under the m series of (1) is:
wherein Λ represents a calculation function of the lower sun position based on the solar almanac xi and the world geomagnetism model M. Thus, a one-step positioning fitting database is established, and the database comprises a characteristic space and an attribute space. Wherein the feature space is each longitude and latitude grid point (L) in the global longitude and latitude set A A ,λ A ) T within the upper time period T 1 ,t 2 ,...,t n The set of sun position calculation values at all times m is expressed as:
calculating a value set S for the sun position in an attribute space in a one-step positioning fitting database m (L A ,λ A ) The longitude and latitude (L) corresponding to each element in the A ,λ A )。
Step 3, defining t i Time solar measurement value
And sun calculation value
Scale the distance between and thereby establish a one-step localization loss function
Calculating loss function of each moment in the T time period according to the one-step positioning fitting database
Latitude and longitude values (L) in the attribute space corresponding to the minimum i ,λ i ) And then the longitude and latitude calculated at n moments are calculated to obtain an average value (L) Ⅰ ,λ Ⅰ ) Completing one-step positioning, wherein i =1,2, \8230, n represents the polarized light field acquisition sequence number in the time period T, and T i The time is the collection time of the ith polarized light field in the time period T. The specific requirements are as follows:
the distance scale is defined in terms of the angle between two unit vectors. As shown in FIG. 2, if the azimuth angle and zenith angle of unit vectors a and b in the three-dimensional rectangular coordinate system are respectively represented as α a ,ζ a And alpha b ,ζ b . The angle between the two vectors then has the following relationship:
cos<a,b>＝cosζ a cosζ b +sinζ a sinζ b cos(α a -α b )
then, the included angle between unit vectors a and b is:
<a,b>＝arccos(cosζ a cosζ b +sinζ a sinζ b cos(α a -α b ))
the position of the sun is expressed by a unit vector, so as to define t i The distance scale between the sun calculated value and the sun calculated value under the time m is as follows:
the distance scale of the distance scale between the sun calculated value and the sun calculated value at the same moment is taken as a one-step positioning loss function and is expressed as:
find t i One step positioning of the loss function value of a time instant
Latitude and longitude at minimum (L) i ,λ i )：
Averaging the longitude and latitude when the n moments in the time period T are positioned at the minimum value of the loss function value in one step to obtain a one-step positioning result (L) Ⅰ ,λ Ⅰ )：
Step 4, constructing a two-step positioning fitting database, wherein the characteristic space is represented by (L) Ⅰ ,λ Ⅰ ) As the center, a local longitude and latitude set B is set with a certain grid density, and each longitude and latitude grid point (L) is traversed B ,λ B ) Set of values of variation of calculated values of sun positions at two times of (1) above m Attribute space of Δ S m The longitude and latitude corresponding to each element in the list. The specific requirements are as follows:
(L) obtained in step 3 based on the accuracy of the sun measurement Ⅰ ,λ Ⅰ ) Setting two-step positioning area side length delta L and delta lambda for the center, setting longitude and latitude as 5 degrees in the embodiment, and setting longitude and latitude grid density delta L 2 ,δλ 2 Respectively at 0.2 degree and 0.1 degree, constructing a local longitude and latitude set B, and traversing each longitude and latitude grid point (L) in the local longitude and latitude set B B ,λ B ) Calculated by the following formula:
substituting specific numerical values to obtain:
t i time and t i+τ The variation of the calculated value of the sun position under the time geomagnetic coordinate system is as follows:
wherein τ is not less than 1 and t i+τ ≤t n (ii) a The calculated value of the sun zenith angle under the same position navigation coordinate system at the same time is equal to the calculated value of the sun zenith angle under the geomagnetic system, namely
Because the declination angle of the same longitude and latitude points does not change in a short time, namely d ti+τ (L,λ)＝d ti (L, λ), therefore the above formula can be written as:
therefore, a set of values of the variation of the calculated value of the sun position in the time period T is obtained:
thus completing the construction of the feature space in the two-step fitting database; value set Delta S is calculated for sun position by attribute space in two-step positioning fitting database m (L B ,λ B ) Longitude and latitude (L) corresponding to each element in the B ,λ B )。
Step 5, defining by using step 3The distance scale of (2) is used for establishing a two-step positioning loss function according to all the sun position variation in the T time period
Calculating according to the two-step positioning fitting database constructed in the step 4
The longitude and latitude values in the attribute space corresponding to the minimum time are obtained to obtain a two-step positioning result (L) Ⅱ ,λ Ⅱ ) And completing the autonomous positioning. The specific requirements are as follows:
t i and t i+τ The solar position measurement value variation based on the polarized light field at two moments is as follows:
n-tau measured and calculated value variable quantities of the sun position can be obtained in the time period T, and a two-step positioning loss function is established by using the variable quantities:
the longitude and latitude when the minimum value is obtained is (L) Ⅱ ,λ Ⅱ )：
(L Ⅱ ,λ Ⅱ )＝arg min J Ⅱ (L,λ)
And finishing the two-step positioning.
Although the illustrative embodiments of the present invention have been described in order to facilitate those skilled in the art to understand the invention, it is to be understood that the invention is not limited in scope to the specific embodiments, but rather, it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and it is intended that all matter contained in the invention and created by the inventive concept be protected.
Claims (6)
1. A two-step self-positioning method based on polarized light field time difference is characterized by comprising the following steps:
step (1), a polarized light sensor is used for collecting polarized light fields for n times in a time period T, and a solar position measurement value set S under a carrier coordinate system is obtained by using the polarized light fields collected each time b And then the magnetic compass is used for converting the magnetic compass into a solar position measurement value set under a geomagnetic coordinate system
The carrier coordinate system is represented as a b system, and the geomagnetic coordinate system is represented as an m system;
step (2), a one-step positioning fitting database is constructed and comprises a feature space and an attribute space, wherein the attribute space is used for determining each longitude and latitude grid point (L) in the global longitude and latitude set A with a certain grid density A ,λ A ) The feature space is traversed through each longitude and latitude lattice point (L) using the solar calendar xi and the global geomagnetic model M A ,λ A ) The obtained sun position calculation value set S under the geomagnetic coordinate system m (L A ,λ A )；
Step (3), defining t i Time solar measurement value
And sun calculation value
Scale the distance between them and thereby establish a one-step localization loss function
Calculating loss function of each moment in the T time period according to the one-step positioning fitting database
Latitude and longitude values (L) in the attribute space corresponding to the minimum i ,λ i ) And then the longitude and latitude of n moments are resolvedValue of degree average (L) Ⅰ ,λ Ⅰ ) Completing one-step positioning, wherein i =1,2, \8230, n represents the polarized light field acquisition sequence number in the time period T, and T i The collection time of the ith polarized light field in the time period T is the collection time of the ith polarized light field;
step (4) constructing a two-step positioning fitting database, wherein the characteristic space is represented by (L) Ⅰ ,λ Ⅰ ) As the center, a local longitude and latitude set B is set with a certain grid density, and each longitude and latitude grid point (L) is traversed B ,λ B ) The change quantity set Delta S of the sun position calculation values at the two moments m Attribute space of as m The longitude and latitude corresponding to each element in the list;
step (5) establishing a two-step positioning loss function by using the distance scale defined in the step (3) and all the sun position variation in the T time period
Calculating according to the two-step positioning fitting database constructed in the step (4)
The longitude and latitude values in the attribute space corresponding to the minimum time are obtained to obtain a two-step positioning result (L) Ⅱ ,λ Ⅱ ) And completing the autonomous positioning.
2. The two-step autonomous localization method based on polarized light field temporal differentiation according to claim 1, characterized in that: the specific steps of the step (1) are as follows:
the polarized light field is collected for n times by utilizing the polarization sensor in a time period T, and a solar position measurement value set under a carrier coordinate system can be solved through the polarized light field
By using
Representing the sun position measurements in a carrier coordinate system calculated from the ith collected polarized light field over a time period TI =1,2,3, \ 8230, n, the acquisition instant denoted t i The carrier coordinate system is represented by a system b; the solar position measurement and calculation at each moment is represented by two parameters of a solar azimuth angle and a solar zenith angle, and a solar position measurement and calculation value set based on all polarized light fields in a time period T is represented as a solar azimuth angle measurement and calculation value set
And a value set for measuring and calculating the zenith angle of the sun
Establishing a geomagnetic coordinate system, expressing as an m system, wherein the z axis of the geomagnetic coordinate system is superposed with a navigation system, and the x axis is magnetic north; m is lower than t i The measured value of the solar azimuth at the moment is as follows:
wherein,
is t i A magnetic yaw angle acquired by the moment magnetic compass; the value of the solar zenith angle under the m series is expressed as
When the polarized light sensor is horizontally placed, t i The measured value of the solar zenith angle at time m
To obtain t i Sun position calculation value at time m
Thus, the measured value set of the sun position under the m series is obtained as follows:
3. the two-step autonomous localization method based on polarized light field temporal differentiation according to claim 2, characterized in that: the specific steps of the step (2) are as follows:
setting the grid density of the global longitude and latitude as delta L respectively 1 And δ λ 1 Each longitude and latitude grid point in the global longitude and latitude set A needing to be traversed is as follows:
(L A ,λ A )＝(pδL 1 ,qδλ 1 -90)
wherein,
round () means rounding the parenthetical element; ensure the longitude L range to be 0 degree and 360 degrees]The latitude lambda range is [ -90 DEG, 90 DEG ]](ii) a Xi denotes solar calendar, t i Each longitude and latitude grid point (L) in the time global longitude and latitude set A A ,λ A ) Navigation coordinate system of (2) calculating the position of the sun
Expressed as:
wherein n represents a navigation coordinate system;
the global geomagnetic model is expressed by M, then t i Each longitude and latitude grid point (L) in the global longitude and latitude set A A ,λ A ) The magnetic declination of (A) is as follows:
then, t i Time global longitude and latitudeEach longitude and latitude grid point (L) in the degree set A A ,λ A ) M is the calculated value of the sun position:
wherein Λ represents a calculation function of the lower sun position based on the solar almanac xi and the world geomagnetic model M; thereby establishing a one-step positioning fitting database which comprises a characteristic space and an attribute space; wherein the feature space is each longitude and latitude grid point (L) in the global longitude and latitude set A A ,λ A ) T within the upper time period T 1 ,t 2 ,...,t n The set of sun position calculation values at all times m is expressed as:
value set S is calculated for sun position by attribute space in one-step positioning fitting database m (L A ,λ A ) Longitude and latitude (L) corresponding to each element in the A ,λ A )。
4. The two-step autonomous localization method based on polarized light field temporal differentiation according to claim 3, characterized in that: the specific steps of the step (3) are as follows:
definition of t i The distance scale between the sun calculated value and the sun calculated value under the time m is as follows:
the distance scale of the distance scale between the sun calculated value and the sun calculated value at the same moment is taken as a one-step positioning loss function and is expressed as follows:
find t i One step positioning of the loss function value of a time instant
Latitude and longitude at minimum (L) i ,λ i )：
Calculating the mean value of the longitude and latitude when the n moments locate the minimum value of the loss function value in one step in the time period T to obtain a one-step location result (L) Ⅰ ,λ Ⅰ )：
5. The two-step autonomous localization method based on polarized light field temporal difference according to claim 4, characterized in that: the specific steps of the step (4) are as follows:
with (L) Ⅰ ,λ Ⅰ ) Using Delta L and Delta lambda as the side length of two-step positioning region, using Delta L as the center 2 ,δλ 2 Setting a local longitude and latitude set B for the grid density, and setting each longitude and latitude grid point (L) in the local longitude and latitude set B to be traversed B ,λ B ) Expressed by the above parameters:
t i time and t i+τ The variation of the calculated value of the sun position under the time geomagnetic coordinate system is as follows:
wherein,tau is not less than 1 and t i+τ ≤t n (ii) a Thus, a set of values of the calculated value of the sun position in the time period T is obtained:
thus completing the construction of the feature space in the two-step fitting database; value set Delta S is calculated for sun position by attribute space in two-step positioning fitting database m (L B ,λ B ) Longitude and latitude (L) corresponding to each element in the B ,λ B )。
6. The two-step autonomous localization method based on polarized light field temporal differentiation according to claim 5, characterized in that: the specific steps of the step (5) are as follows:
t i and t i+τ The solar position measurement value variable quantity based on the polarized light field at two moments is as follows:
n-tau measured and calculated value variable quantities of the sun position can be obtained in the time period T, and a two-step positioning loss function is established by using the variable quantities:
the longitude and latitude when the minimum value is obtained is (L) Ⅱ ,λ Ⅱ )：
(L Ⅱ ,λ Ⅱ )＝argminJ Ⅱ (L,λ)
And finishing the two-step positioning.
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