Fast calculation method of 3D attitude information based on dual polarized light vector
A technology of three-dimensional attitude and polarized light, which is applied in the direction of attitude control, measuring devices, navigation calculation tools, etc., can solve the problems of weak autonomy, poor anti-interference, and limited calculation accuracy, so as to improve real-time performance and avoid vulnerable External interference, improving the effect of large calculation
Active Publication Date: 2020-09-11
DALIAN UNIV OF TECH
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[0005] The present invention aims at the disadvantages of poor anti-interference and weak autonomy of the above traditional navigation devices and the problems of limited solution accuracy and error transfer existing in the existing three-dimensional attitude algorithm based on polarized light information
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[0039] The specific implementation process of the present invention will be further elaborated below in conjunction with the accompanying drawings and technical solutions of the description.
[0040] Such as figure 1 As shown, the device in the present invention includes a navigation computer, a combined polarized light sensor measurement unit, an astronomical almanac query module and a GPS module. The navigation computer calculates the solar altitude and solar azimuth at the current moment by receiving the solar declination and solar hour angle information transmitted by the astronomical almanac query module and the real-time latitude and longitude information transmitted by the GPS module, so as to determine the sun vector in the navigation coordinate system. down projection. According to the vertical relationship between the dual polarized light E-vector and the sun direction vector, the projection of the sun vector in the UAV coordinate system is determined, and the three...
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The invention belongs to the technical field of resolving three-dimensional attitude information of an unmanned aerial vehicle and provides a quick three-dimensional attitude information resolving method based on dual polarized light vectors. According to the quick three-dimensional attitude information resolving method, an output characteristic of a polarized light sensor is analyzed, a Rayleighscattering theory is combined, and local time and location information are further combined to calculate out the solar feature point spatial position under a navigation coordination system based on that an output dual polarized light E-vectors are utilized and measured to determine the solar spatial position under a vehicle body coordination system; thus, the purpose of directly resolving a three-dimensional attitude angle in the current moment is achieved, the error transfer phenomenon in an existing resolving method is avoided, and real timeliness and quickness requirements in an unmanned aerial vehicle attitude resolving process are guaranteed. The quick navigation vehicle body three-dimensional attitude resolving method disclosed by the invention can be applied to three-dimensional heading and attitude measurement of polarized light.
Description
technical field [0001] The invention utilizes the Rayleigh scattering theory and the measurement output characteristics of the polarized light sensor, and realizes the bionic, modularized and functionalized navigation system on the basis of building a combined polarized light sensor attitude measurement platform. By using this bionic optical sensor, we can gradually get rid of the dependence on the traditional attitude reference system and realize the purpose of completely autonomous attitude determination. It is mainly used in the field of bionic navigation for UAVs. Background technique [0002] UAV is a kind of unmanned aircraft that uses radio transmission device for remote control or uses its own loaded program system to realize control. Different from manned aircraft, it is not only light in size and low in cost, but also has lower requirements on combat conditions and stronger survivability in actual harsh battlefield environments. With the development of related tec...
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IPC IPC(8): G01C21/20G05D1/08
CPCG01C21/005G01C21/20G05D1/0808
Inventor 金仁成谢林达孙加亮褚金奎蔚彦昭
Owner DALIAN UNIV OF TECH