A combined positioning method based on night moonlight polarization-starlight information fusion

Abstract

The invention relates to a combined positioning method based on moonlight polarization-starlight information fusion at night. First, a polarization sensor is used to obtain polarization vector information, a star sensor is used to obtain starlight vector information, and the clip between the moon vector and the starlight vector is calculated according to the two. secondly, through the geometric position relationship of the celestial body, establish the relationship between the angle obtained in the previous step and the vector pointing from the observer position O to the moon point M, and obtain the optimal solution of the vector; For the optimal solution, calculate the coordinates of the intersection point between the earth and the line according to the equation of the earth ellipsoid and the straight line equation with the optimal solution as the direction and the bright point of the moon; finally, calculate the longitude and latitude of the observer's location according to the intersection coordinates. The invention solves the problem of autonomous positioning of an unmanned system in the atmosphere by combining the nighttime sky polarization information and starlight information.

Description

technical field [0001] The invention belongs to the field of autonomous positioning of unmanned systems, in particular to a combined positioning method based on moonlight polarization-starlight information fusion at night. Background technique [0002] The nighttime environment has the characteristics of low visibility and poor visibility. It is of great significance to have the ability to navigate at night for the unmanned system to complete the task. For the unfamiliar navigation environment at night, a single navigation method has its own limitations. Therefore, a combination of various means is often used for navigation in practical applications. The combined mode of inertial, astronomical and satellite is the most commonly used navigation method at present. However, there is an accumulation of errors in inertial navigation, and satellite navigation is easy to fail in urban construction areas or in electromagnetic interference environments. Astronomical navigation is a...

AI Technical Summary

Problems solved by technology

[0004] Existing combined positioning methods, such as the paper "A Full Information Navigation Filtering Algorithm Based on INS / GPS / CNS" utilizes GPS information, and the system's anti-interference ability is relatively low Weak, poor autonomy; while the combined positioning method based on polarization and starlight information, such as the authorized Chinese invention patent "An autonomous navigation and positioning method based on polarization / astronomical assistance (ZL201911250913.8)" utilizes the attitude provided by the inertial navigation system platform, the positioning result will be limited by the inertial navigation accuracy

Images