Polarization/inertia installation error support-free self-calibration method

An installation error and self-calibration technology, applied in the field of bionic integrated navigation, can solve problems such as limited use scenarios, and achieve the effect of simple calibration process, simple calculation method, and improved accuracy

Pending Publication Date: 2022-02-08
HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

Although the existing patent "A Multi-directional Calibration Method for Imitation Compound Eye Polarization Sensor CN201911251994.3" provides a calibratio

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  • Polarization/inertia installation error support-free self-calibration method
  • Polarization/inertia installation error support-free self-calibration method
  • Polarization/inertia installation error support-free self-calibration method

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Embodiment Construction

[0030] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples.

[0031] Such as figure 1 As shown, the present invention designs a polarization / inertial installation error self-calibration method without support.

[0032] The specific implementation steps are as follows:

[0033] (1) Point the polarization sensor to the sky area with a scattering angle of 90±30 degrees, and the swaying polarization / inertial system collects the polarization distribution information of different scattering directions in the sky area, and saves the original measurement data of the inertial measurement unit at the same time;

[0034] (2) Using pure inertial integration, the polarization vector in the coordinate system of the polarization sensor at all times Converted to the initial time-carrying system, according to the vertical relationship between the sun vector and the polarization vect...

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Abstract

The invention discloses a polarization/inertia installation error support-free self-calibration method which is suitable for an integrated navigation system in which a polarization sensor and an inertia measurement unit are fixedly connected together. The method comprises the following steps that: a polarization sensor points to a sky area with a scattering angle of 90 +/-30 degrees, and the integrated navigation system is swung and shaken, measurement data of the polarization sensor and an inertial measurement unit are stored; polarization vectors under a polarization sensor coordinate system at all moments are converted to a carrier system at the initial moment through pure inertia integration, and the initial value of a solar altitude angle and the initial value of a solar azimuth angle under the carrier system at the initial moment are calculated; and a nonlinear least square optimization objective function is established according to the vertical relationship between a sun vector and a polarization vector in a Rayleigh scattering model,and a polarization/inertia installation error is solved by using a nonlinear optimization algorithm. Compared with an existing method, the method can carry out polarization/inertial installation matrix error without depending on any external reference datum, and has the advantages of simplicity and convenience in calculation, convenience in implementation and the like.

Description

technical field [0001] The invention belongs to the field of bionic integrated navigation, and in particular relates to a self-calibration method without support for polarization / inertia installation errors. Background technique [0002] The earth's atmosphere has a stable polarized light distribution field, and many organisms in nature have compound eye structures that can perceive polarized light in the sky, so as to realize migration, foraging, homing and other behaviors. In recent years, researchers and engineers have applied bionic polarization navigation technology to the field of navigation, which has greatly improved the autonomy and anti-electromagnetic interference capabilities of integrated navigation systems. At present, most of the existing polarization navigation sensors only focus on the calibration of internal parameters such as internal installation errors and light intensity gain coefficients. However, in integrated navigation applications, the installation...

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01C25/00
CPCG01C21/165G01C21/20G01C25/00
Inventor 乔建忠王善澎黄盼盼郭雷杨健
Owner HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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