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Dynamic orientation method and system based on strapdown polarized light compass

A technology of polarized light and compass, which is applied in the field of estimating the heading angle of the carrier, and can solve the problem of not considering the change of the horizontal attitude angle of the strapdown type of the optical compass.

Active Publication Date: 2019-09-13
NAT UNIV OF DEFENSE TECH
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  • Abstract
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Problems solved by technology

The current research on polarized light navigation is mainly in the case of the sensor placed horizontally, without considering the horizontal attitude angle change caused by the optical compass strapdown installed on the carrier

Method used

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  • Dynamic orientation method and system based on strapdown polarized light compass
  • Dynamic orientation method and system based on strapdown polarized light compass
  • Dynamic orientation method and system based on strapdown polarized light compass

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Embodiment Construction

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0066] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

[0067] In addition, in t...

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Abstract

The invention discloses a dynamic orientation method and system based on a strapdown polarized light compass. The polarized light compass is installed on a carrier in a strapdown mode; the system comprises a camera, a polarizer and a wide-angle lens; an observation image is shot by the camera in a moving process of the carrier; and the observation image is analyzed to obtain a course angle of thecurrent carrier in a navigation coordinate system. The method specifically comprises the following steps: obtaining polarization information of incident light in the observation image; according to the polarization information of the incident light, obtaining a polarization direction of an E vector of the incident light by combining a pitching angle and a rolling angle of the camera; obtaining anoptimal solar meridian direction according to the polarization direction of the E vector of the incident light; obtaining current time and position information, and according to an astronomical almanac, obtaining a solar azimuth angle; and according to the solar azimuth angle and the optimal solar meridian direction, calculating out the course angle of the carrier in the navigation coordinate system. The course angle of the carrier can be estimated accurately, quickly and robustly under the condition that a horizontal attitude angle of the polarized light compass is changed.

Description

technical field [0001] The invention relates to a method for estimating the heading angle of a carrier, in particular to a dynamic orientation method and system based on a strapdown polarized compass. Background technique [0002] Heading information is crucial in the autonomous navigation process. As far as small unmanned platforms are concerned, the inertial navigation system is the most commonly used autonomous navigation method, which has the advantages of strong anti-interference, complete navigation information, and strong real-time performance, but positioning and orientation errors accumulate over time; The push navigation method can only suppress the divergence of the heading to a certain extent; the magnetic compass can provide heading information, but it is susceptible to interference by the environmental magnetic field. In recent years, with the exploration of the mechanism of biological navigation, bionic polarized light navigation based on natural polarization...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 何晓峰韩国良张礼廉范晨胡小平何瑞光屈豪毛军范颖
Owner NAT UNIV OF DEFENSE TECH
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