An Autonomous Navigation and Positioning Method Based on Polarization/Astronomical Assistance
A technology of autonomous navigation and positioning method, applied in astronomical navigation, navigation, surveying and navigation, etc., can solve the problem of combined positioning without polarization information and astronomical information fusion, and achieve the effect of strong applicability and high precision
Active Publication Date: 2021-09-07
BEIHANG UNIV
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The polarized light positioning method proposed in the paper "Analysis and Implementation of a Polarized Light Self-Positioning Method" and the paper "Design and Construction of Multi-directional Polarized Light Real-time Positioning Prototype" also needs to use the magnetic compass to provide heading information. Combined positioning by fusion of polarization information and astronomical information
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[0040] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with 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 making creative efforts belong to the protection scope of the present invention.
[0041] The invention can be applied to the autonomous navigation and positioning of carriers such as high-altitude drones, airships, and floating air balloons. The carrier is equipped with a combined navigation system composed of bionic polarization sensors, star sensors, gyroscopes, and accelerometers. Such as figure 1 As shown, the specific implementation steps of a polarization / astronomy-assisted autonomous navigation and positioning method of t...
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The invention relates to an autonomous navigation and positioning method based on polarization / astronomical assistance. First, a bionic polarization sensor is used to obtain the polarization information of an observation point, and the sky polarization information is used to solve the sun altitude angle in the carrier coordinate system; secondly, a star sensor is used to obtain The star point coordinates of a star, through the star point coordinates of the star in the star sensor, the altitude angle of the star in the carrier coordinate system is solved; again, the longitude and latitude information provided by the inertial navigation system is obtained by using the geometric relationship of the celestial navigation spherical triangle Calculate the sun altitude angle and the star altitude angle in the carrier coordinate system; finally, use the celestial body information obtained by the sensor observation and the celestial body information calculated by the inertial navigation system to establish the position measurement model of the integrated navigation system, and use the Kalman filter to solve the carrier's position measurement model. Longitude and latitude location information. The method of the invention has simple algorithm, good reliability and full autonomous positioning.
Description
technical field [0001] The invention relates to the field of integrated navigation and positioning, in particular to an autonomous navigation and positioning method based on polarization / astronomical assistance, which can be applied to the position acquisition of aircraft such as high-altitude unmanned aerial vehicles, airships, and aerostats, and improves the navigation system in the absence of satellite navigation signals. Autonomous navigation capability under conditions. Background technique [0002] Celestial navigation is a navigation method that determines the position or attitude of the carrier by observing natural stars. It has the advantages of no error accumulation over time, strong independence, and good concealment. However, when celestial navigation works in the atmosphere, it is limited by weather conditions, and the starlight system's ability to measure stars during the day is greatly weakened. High-resolution observation star map, better resolution and extr...
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IPC IPC(8): G01C21/02
CPCG01C21/02G01C21/025
Inventor 郭雷张青云杨悦婷王善澎
Owner BEIHANG UNIV