A Night-time Polarized Heading Calculation Method Based on Probability Density Function Estimation

Abstract

The invention relates to a method for calculating nighttime polarization heading based on probability density function estimation. First, use the polarization sensor installed in the carrier coordinate system b to measure the polarization mode of the sky in the current state, calculate the polarization angle information, and combine the predicted moon azimuth and the initial position of the 0° polarizer to obtain the polarization angle error image; use the probability density function to analyze the polarization angle error Estimate the data, solve the estimated value of the degree of freedom v in the current state, traverse the value set, and then estimate the current corresponding optimal value of the predicted moon position according to the defined objective function; traverse the value set, design the objective function to estimate, and finally The obtained global optimal value; according to the relationship between the carrier coordinate system b and the navigation coordinate system n, combined with the astronomical almanac, the course angle information of the carrier in the navigation coordinate system n is calculated.

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

Images