Night polarization heading calculation method based on probability density function estimation

Abstract

The invention relates to a night polarization heading calculation method based on probability density function estimation. Firstly, a polarization sensor installed in a carrier coordinate system b system is used for measuring a sky polarization mode in the current state, polarization angle information is calculated, and a polarization angle error image is obtained by combining the predicted moon orientation and the initial position of a 0-degree polaroid; the method then further includes estimating the polarization angle error data by using a probability density function, solving an estimatedvalue traversal value set of the degree of freedom v in the current state, and then estimating a current corresponding predicted moon orientation optimal value according to a defined target function;traversing the value set, designing an objective function pair for estimation, and finally obtaining a global optimal value; and calculating course angle information of the carrier under the navigation coordinate system n system according to the relationship between the carrier coordinate system b system and the navigation coordinate system n system in combination with the astronomical calendar.

Description

technical field [0001] The invention relates to a calculation method of polarization heading at night based on probability density function estimation, which can be used for obtaining heading information of a ground robot in a low-light environment at night and GPS interference, and improves the survivability of a carrier. Background technique [0002] Polarized light navigation is an autonomous navigation method developed from bionics that has emerged in recent years. It can still maintain reliable navigation performance in the presence of electromagnetic interference and GPS signals may fail. As a reliable Auxiliary navigation system has important bionic and engineering significance. However, the existing applications of polarized light navigation mainly focus on extracting navigation information in the polarization mode during the day, while at night there are problems such as dark ambient light, urban stray light interference, and changes in the polarization mode caused ...

AI Technical Summary

Problems solved by technology

The existing methods of using sky polarization information for orientation are only for daytime environments, such as the authorized patent CN201510324153.6 "A Carrier Heading Angle Calculation Method Based on Polarization Compass", the paper "Bionic Polarized Light Orientation Algorithm and Error Analysis", the paper " The autonomous navigation method based on the orientation aided by the characteristics of atmospheric polarized light can only be used in the daytime environment through the atmospheric polarization mode generated by the sun combined with the solar almanac, and cannot use the atmospheric polarization mode generated by the moonlight to determine the course in the night environment

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