A Polarization Navigation Real-time Positioning Method Based on All-Sky Polarization Degree Information
A real-time positioning and polarization navigation technology, applied in astronomical navigation, ground navigation and other directions
Active Publication Date: 2021-06-15
BEIHANG UNIV
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The Chinese patent 201410088363.5 that has been applied for, "Positioning system and positioning method based on multi-directional polarized light navigation sensor", uses two polarization sensor structures to measure the polarization vector information of the sky, and uses the polarization vector cross product method to obtain the sun vector. This method only uses the polarization angle information of the observation point, and does not use the polarization degree information
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[0034] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0035] Such as figure 1 As shown, the specific implementation steps of a polarization navigation real-time positioning method based on the polarization degree information of the whole sky in the present invention are as follows:
[0036] 1. The imitation compound eye polarization sensor in the sensor coordinate system is distributed on the longitude circle and latitude circle on the surface of the hemisphere in an array of polarization sensors, and the overall viewing angle can reach 180° (such as figure 2 shown). The observation point corresponding to each polarization sensor can be expressed as P mn , the corresponding degree of polarization information is d mn , where m is expressed as the mth latitude circle downward from the apex of the hemisphere, and n is expressed as the nth observation point clockwise from the y-axis. The observat...
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The invention relates to a polarization navigation real-time positioning method based on all-sky polarization degree information. Aiming at the problem of polarization navigation and positioning, firstly, use the compound eye polarization sensor to obtain the polarization degree information of each observation point in the whole sky, select the best three observation points in the polarization degree information measured by the compound eye polarization sensor, and combine the three The degree of polarization of the observation point is used as the input information for the calculation, combined with the spatial geometric relationship of the three selected observation points, the unit sun vector information under the carrier system is obtained; secondly, the three-dimensional attitude information of the carrier at the current moment is obtained by the attitude sensor, and the Take the attitude conversion matrix; thirdly, convert the unit sun vector under the carrier system to the unit sun vector under the geographic system through the attitude conversion matrix; finally, calculate the position information of the carrier through the astronomical almanac query module to realize the polarization navigation and positioning function. The method has good real-time performance and high precision, can complete three-dimensional space positioning, and has strong environmental adaptability.
Description
technical field [0001] The invention relates to the field of navigation and positioning of moving bodies, in particular to a polarization navigation real-time positioning method based on all-sky polarization degree information, which can be used for autonomous navigation and positioning of aviation aircraft, marine ships or ground mobile vehicles. Background technique [0002] Navigation is a key technology for measuring and estimating physical quantities such as carrier position, velocity and attitude. The main task of navigation and positioning is to obtain the position information of the carrier. High stability and high reliability navigation and positioning technology is the core technology for spacecraft, aircraft, ground robots, etc. to achieve tasks such as earth observation, remote sensing, surveying and mapping, reconnaissance and military strikes. At present, satellite navigation is a commonly used navigation and positioning method. However, satellite navigation i...
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IPC IPC(8): G01C21/02G01C21/04
CPCG01C21/02G01C21/04
Inventor 郭雷张青云胡鹏伟杨健王善澎杨悦婷
Owner BEIHANG UNIV