Autonomous Heading and Attitude Determination Method Based on Polarization-Astronomical Angle Information Observation

Abstract

The invention relates to an autonomous heading and attitude determination method based on polarization-astronomical angle information observation. First, use the polarization sensor installed in the carrier coordinate system b to measure the polarization vector p under the current attitude b , according to the polarization vector measured by the polarization sensor in different directions, calculate the moon vector L in the carrier coordinate system b b , using the attitude transformation matrix output by the system to convert L b Transform into the navigation coordinate system n system, and obtain the moon vector L under the geographic coordinate system n system measured by the system n ;Use the star sensor installed in the carrier coordinate system b to measure the star vector A in the carrier coordinate system b , according to the star map matching, combined with the astronomical almanac, the starlight vector in the inertial coordinate system i can be obtained, combined with the time and position information, and then the starlight vector A in the n system can be obtained n ; Set the star vector A under the carrier coordinate system b b and moon vector L b The included angle α of α is used as the measurement, and the relationship between the included angle α and the platform error angle φ is established, and the attitude measurement equation is obtained.

Description

Technical field [0001] The present invention relates to an autonomous navigation and attitude determination method based on polarization-astronomical angle information observation, and can be used to improve the survival capacity of the carrier in the GPS interference environment of the ground robot. Background technique [0002] The navigation system is used to boot the carrier to the place, and the completion of the task has a decisive role. The existing navigation methods include inertia, visual, astronomy, GPS, geomagnetic and other combinations, and make full use of different navigation system advantages. Night ambient light is dark, and the Navigation method based on the visible optical band is not used, and the GPS is easily interfered and discovered for the consideration of self-concealedness and anti-interference performance. For complex navigation environments, a single navigation system has been difficult to meet the needs of the vector to the navigation system, and th...

AI Technical Summary

Problems solved by technology

Celestial navigation is a navigation method that uses starlight information as measurement information. As the instrument with the highest attitude measurement accuracy, star sensors have always been favored by various units, but their accuracy is limited by inertial navigation systems.

[0004] The existing integrated navigation methods mostly use satellite navigation systems, such as the papers "INS / GNSS / CNS Integrated Navigation System Based on Vector Information Distribution" and "INS / CNS / GPS Integrated Navigation System Simulation Research". System constraints, in an environment with electronic interference, will easily lead to a sharp decrease in the accuracy of the integrated navigation system

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