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Combined navigation posture measurement method based on polarized light and geomagnetism

A technology that combines navigation and measurement methods, applied in directions such as ground navigation, and can solve problems such as large impact and unreliability

Active Publication Date: 2019-03-15
DALIAN UNIV OF TECH
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Problems solved by technology

The method of using the natural geomagnetic field for navigation has the characteristics of passive autonomy, strong anti-interference ability, and no long-term error accumulation. However, common magnetic field measurement tools are greatly affected by the magnetic field in the surrounding environment, and the geomagnetic field is almost perpendicular to the ground, so this method is not reliable in many cases

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  • Combined navigation posture measurement method based on polarized light and geomagnetism
  • Combined navigation posture measurement method based on polarized light and geomagnetism
  • Combined navigation posture measurement method based on polarized light and geomagnetism

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Embodiment Construction

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0023] Such as Figure 1-Figure 4 As shown, the attitude measurement method for navigation based on the combination of polarized light and geomagnetism provided in this embodiment uses the polarized light sensor I, the polarized light sensor II, the magnetometer and the positioning system arranged on the carrier, and also uses the queryable ...

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Abstract

The invention discloses a combined navigation posture measurement method based on polarized light and geomagnetism. The method comprises the following steps: S1, establishing a carrier coordinate system ObXbYbZb; S2, measuring a sun direction vector as shown in description of the sun under the carrier coordinate system; S3, measuring the magnetic field strength vector as shown in description of the magnetic field under the carrier coordinate system; S4, querying the sun direction vector as shown in description of the sun under the horizontal coordinate system of the carrier location and the magnetic field strength vector as shown in description of the carrier under the horizontal coordinate system of the carrier location; S5, respectively establishing a vector equation as shown in description by utilizing the posture conversion matrix between the carrier coordinate system and the horizontal coordinate system; and S6, solving the equation in the step S5 to obtain attitude angles alpha,beta and gamma. The invention provides a method for combining the geomagnetism measurement with the polarized light measurement technology, the complete attitude information can be provided, and the method has the feature of not accumulating and diverging along the time.

Description

technical field [0001] The invention relates to an attitude measurement method, in particular to a navigation attitude measurement method based on the combination of polarized light and geomagnetism. Background technique [0002] At present, natural basic physical fields such as polarized light and geomagnetism all carry orientation information. The method of using the natural geomagnetic field for navigation has the characteristics of passive autonomy, strong anti-interference ability, and no long-term error accumulation. However, common magnetic field measurement tools are greatly affected by the magnetic field in the surrounding environment, and the geomagnetic field is almost perpendicular to the ground, so this method is not reliable in many cases. The method of using the orientation information carried by the natural polarization characteristics of the atmosphere for navigation has the concealment, anti-interference and stability that non-autonomous navigation methods...

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Application Information

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IPC IPC(8): G01C21/08
CPCG01C21/08
Inventor 褚金奎郭晓庆王寅龙张然关乐李金山
Owner DALIAN UNIV OF TECH
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