Bionic polarization sensor multi-source error calibration method based on adaptive EKF (Extended Kalman Filter)

A calibration method and sensor technology, applied to instruments, measuring devices, navigation calculation tools, etc., can solve the problems of polarization sensors containing error interference, etc.

Active Publication Date: 2019-04-02
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a bionic polarization sensor multi-source error calibration method based on adaptive EKF for the polarization sensor in the polarization navigation system contains error interference. The calibration process is realized by means of adaptive EKF filtering, which solves the problem of polarization The problem of low accuracy of real-time calibration of sensor multi-source errors improves the accuracy and anti-interference ability of polarized light navigation; it has the advantages of strong robustness, strong anti-interference ability, and easy engineering implementation.

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  • Bionic polarization sensor multi-source error calibration method based on adaptive EKF (Extended Kalman Filter)
  • Bionic polarization sensor multi-source error calibration method based on adaptive EKF (Extended Kalman Filter)
  • Bionic polarization sensor multi-source error calibration method based on adaptive EKF (Extended Kalman Filter)

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[0070] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0071] Such as figure 1 Shown, the specific implementation steps of the method of the present invention are as follows:

[0072] 1. Based on the installation error, scale factor, degree of polarization coefficient, polarization azimuth and degree of polarization, establish a system state model for the state quantity of the polarization navigation system;

[0073] According to the signal processing method of opposite channels of the polarization sensor, it is assumed that the installation error of the polarizer of the bionic sensor in the first channel is α′ 1 =0, select m state quantities as calibration parameters (the value of m is related to the number of selected channels, m is at least 4), m state quantities include: the installation error angle of the polarizer of each channel of the bionic sensor, the ratio of each channel of the bionic sensor ...

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Abstract

The invention relates to a bionic polarization sensor multi-source error calibration method based on an adaptive EKF (Extended Kalman Filter). The method comprises the following steps that: (1) on thebasis of installation errors, scaling factors, polarization degree coefficients, polarization azimuthal angles and polarization degrees, establishing a system state model for a polarization navigation system quantity of state; (2) taking a light intensity measurement value which contains a multisource error as an output to establish a system measurement model; (3) designing an adaptive extended Kalman filter to estimate the installation errors, the scaling factors and the polarization azimuthal angles; and (4) according to the estimation values of the installation errors and the scaling factors, compensating a polarization sensor measurement value which contains the multisource error. The method disclosed by the invention has the advantages of being high in robustness and antijamming capability and being easy in engineering implementation.

Description

technical field [0001] The invention relates to a bionic polarization sensor multi-source error calibration method based on adaptive EKF, which can be used for the bionic polarization sensor to obtain information such as polarization azimuth and polarization degree under the condition of multi-source error interference, and improve the anti-interference ability of the polarization sensor. Background technique [0002] Navigation is a technical means to guide a moving body or carrier from a starting point to a destination along a set path. With the continuous development of modern navigation technology, it has already developed from an experience skill to a specialized one. science. In recent years, navigation technology has been developing in the direction of low cost, intelligence, and anti-interference. At the same time, with the increasingly complex and diverse working environment of navigation equipment, the requirements for the accuracy and performance of the navigatio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/20
CPCG01C21/20G01C25/00
Inventor 杜涛李雄王月海刘万泉王华锋杨扬
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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