Heading angle estimating method based on atmosphere polarizing angle mode under complicated environments

Abstract

The invention belongs to the field of bionic polarizing light navigation, and discloses a heading angle estimating method based on an atmosphere polarizing angle mode under complicated environments. The heading angle estimating method comprises the following steps of firstly, utilizing an image type polarizing light sensor to measure the polarizing angle mode of atmosphere; then, according to astronomical almanac, calculating a zenith angle and an azimuth angle of the sun; then, according to a one-order Rayleigh scattering model, establishing an expression formula of sun meridian direction corresponding to the polarizing angle and the zenith angle of the sun under a carrier system, and estimating the optimum sun meridian direction based on a voting mechanism; finally, according to the azimuth angle of the sun and the optimum sun meridian direction, solving the heading angle of a carrier. The heading angle estimating method has the advantages that under the condition of not increasing a hardware structure, the polarizing angle mode and the zenith angle and azimuth angle of the sun are fully utilized; under the shielding conditions of cloud layers, buildings and tree leaves on sky, the problem of estimating of the heading angle of the carrier is effectively solved by the voting mechanism; the principle is simple, the estimating accuracy is high, and the robustness is good.

Description

Technical field: [0001] The invention relates to a method for estimating a course angle of a carrier, in particular to a method for estimating a course angle based on an atmospheric polarization angle mode in a complex environment, and belongs to the field of bionic polarized light navigation. Background technique: [0002] Modern navigation technologies such as satellite navigation and inertial navigation have occupied a dominant position in human social and military activities, but satellite navigation signals are susceptible to electromagnetic interference, and it is difficult to cover jungles, underwater and indoor environments. Inertial navigation systems It is the most commonly used autonomous navigation method, which has the advantages of strong anti-interference, complete navigation information, and strong real-time performance, but its high cost and positioning error accumulate over time. These shortcomings restrict the application range of satellite navigation and i...

AI Technical Summary

Problems solved by technology

Domestic scholars (Gao Jun et al., Bionic Polarized Light Navigation Method, Science Press, 2014) proposed a heading angle acquisition method based on the symmetry detection of the atmospheric polarization mode. This method can effectively estimate the carrier heading when the partial sky is blocked. However, it cannot effectively solve the estimation problem under the condition of large-scale sky being occluded.

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