An Online Filtering and Smoothing Method for Sky Polarized Integrated Navigation
A technology that combines navigation and polarized light. It is used in navigation, mapping and navigation, and navigation through speed/acceleration measurement. It can solve problems such as generating sawtooth waves, achieve high accuracy, improve overall accuracy, and ensure the effect of real-time filtering.
Active Publication Date: 2020-12-22
BEIHANG UNIV
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Problems solved by technology
[0005] The technical problem of the present invention is: to overcome the shortcomings of the existing integrated navigation method that produces sawtooth waves during error correction, to provide an online filtering and smoothing method for integrated navigation of sky polarized light, and to jointly complete the navigation solution through dual processors. Calculate
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[0046] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0047] Such as figure 1 Shown, the concrete realization steps of the present invention are as follows:
[0048] (1) The navigation processor 1 collects the angular velocity of the three-axis gyroscope After removing the harmful angular velocity, we get The pose is updated according to the equivalent rotation vector method. Processor 1 collects the triaxial accelerometer as the specific force f b , after removing the harmful acceleration, the velocity v is obtained by an integral SINS , the second integral to get the position p SINS . Finally, processor 1 sends the calculation results of attitude, speed, position, etc. to navigation processor 2;
[0049] (2) Establish a filtering model according to the integrated navigation error equation, and the system equation is:
[0050]
[0051] Its 15-dimensional system state quantity is:
[0052] ...
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The invention relates to an online filtering and smoothing method for an integrated navigation by sky polarized light. The method comprises the steps: firstly, one navigation processor acquires inertial navigation data for strapdown calculating and then sends a strapdown calculating result to another processor; the other navigation processor performs filtering and smoothing by using historical data of strapdown calculating received in last time quantum and corrected data of an external satellite navigation module, a polarization sensor and the like, performs optimal estimation on quantity of state in the integrated navigation and then sends a result to the first navigation processor; finally, the first navigation processor completes navigation error correction. Repeating is carried out insuch a manner until navigation ends up. According to the method, the degree of observation of an integrated navigation system is increased by dint of the sky polarized light; in addition, the strapdown calculating result is subjected to filtering and smoothing by using historical navigation data, the online aftertreatment of the integrated navigation is achieved, a sawtooth wave phenomenon generated during state feedback is reduced, and the overall accuracy of the integrated navigation system is improved while the real time of filtering is guaranteed.
Description
technical field [0001] The invention relates to the field of sky polarized light integrated navigation for unmanned aerial vehicles, in particular to an online filtering and smoothing method for sky polarized light integrated navigation. Background technique [0002] After hundreds of millions of years of evolution, organisms have a superb navigation ability. In 1985, scientist Wehner discovered that sand ants can use polarized light in the sky to navigate. In addition, scientific research shows that insects such as monarch butterflies and dung beetles in nature also use polarized navigation as their main or auxiliary navigation method. Inspired by insects using polarized light to navigate, polarized light navigation has gradually developed into a new type of navigation in recent years. The polarized light distribution pattern in the atmosphere is stable, so it has the advantages of no error accumulation over time, less interference from human factors in a large range, and ...
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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/165G01C25/005
Inventor 张霄王善澎郭雷
Owner BEIHANG UNIV