A system and method for polarization / inertial integrated navigation

Abstract

The method relates to the fields of polarized light navigation, inertial integrated navigation and moving base alignment technology. The method has the characteristics that a large-angle fisheye camera is used as an auxiliary device to shoot a sky polarized light distribution map in real time, a correlation algorithm matching is performed between the real-time sky polarized light distribution map and a standard sky polarized light distribution map, and the inertial navigation is mutually assisted, so that the matching precision of the method is improved and the anti-adaptability to severe environments is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of polarization navigation, inertial integrated navigation and moving base alignment, and particularly relates to a polarization / inertial integrated navigation system and method. BACKGROUND

[0002] Polarization navigation is a new type of navigation method, which is to observe the distribution image of the sky polarization by imitating the insects and other animals such as sandworms, and to realize the directional and positioning method with certain precision by using the relationship between the sky polarization distribution image and the sun, moon and other celestial bodies.

[0003] At present, the precision of the polarization navigation sensor is better than 0.01°, the fast response time reaches 5ms, and the signal output time in actual application is also not less than 0.1s (including the solving process); but the polarization distribution image of the sky is easily affected by the cloud layer, rain and snow and other bad weather, and the directional precision of the actual polarization navigation device is not ideal. Under good weather conditions, the directional precision of the polarization navigation can reach 0.05°; under cloudy or thick cloud conditions, the directional precision can be reduced to more than 5°; under overcast, heavy fog, heavy haze, rain and snow and other weather conditions, the polarization navigation cannot work normally.

[0004] Inertial navigation is an autonomous navigation system, and is also a necessary navigation device for guided weapons, aerospace and navigation at present, but it also has many weaknesses. One of the weaknesses is that the high-precision inertial navigation needs to complete the subscription of many initial navigation parameters through initial alignment at the initial time; on the ground or on the ship, the subscription is generally completed through initial self-alignment, and the self-alignment time is different from 5min to 24h, and the higher the alignment precision requirement is, the longer the self-alignment time is, and the self-alignment cannot complete the alignment at the south and north poles of high latitude areas; in the air, the inertial navigation must rely on the navigation system of the aircraft to assist the air alignment, and the alignment requirement is also very strict. The second weakness of the inertial navigation is that the divergence speed is relatively fast with time, and even if the drift navigation coordinate system is used, the navigation performance cannot be solved.

[0005] If the inertial navigation is combined with the polarization navigation, the fast response characteristics of the polarization navigation can effectively make up for the problems of long initial alignment time and poor adaptability of the inertial navigation; in the south and north polar regions, the performance of the polarization navigation is more excellent, and can correct the degraded performance of the inertial navigation; and when the directional precision of the polarization navigation is high, the heading angle function of the inertial navigation can be directly replaced.

[0006] Although the polarization / inertial integrated navigation has many advantages, in the existing technical scheme, the weakness that the polarization navigation is easily affected by weather changes cannot be effectively overcome.

[0007] Related patent aspects, Chinese patent CN201310037586.4 relates to the combination of bionic polarized light sensor and other ways to solve certain environmental conditions positioning or auxiliary determination, auxiliary pointing, anti-interference, filtering technology and other issues. Chinese patent CN201310069511.4 relates to a dynamic base initial alignment method for vehicles, ships and aircraft, which provides an auxiliary method in the self-alignment process.

[0008] Disclosed literature aspects, the change of weather for modeling, analysis and other basic scientific research still have a great distance from the actual needs. SUMMARY

[0009] For one or more of the above defects or improvement needs of the prior art, the present application provides a polarization / inertial combined navigation method, characterized in that the method comprises the following steps:

[0010] Step S1: a large wide-angle polarized light fisheye camera acquires real sky polarization distribution image in real time, and transmits it to a polarization image preprocessing computer; a fiber-optic inertial navigation system starts a self-alignment mode, and outputs three-axis angular velocities ω x1 、ω y1 、ω z1 and three-axis accelerations a x1 、a y1 、a z1 , as well as time and position, to the polarization image preprocessing computer, polarization combined navigation computer; a single or multiple polarization navigation sensors transmit the obtained sky polarization signals to the polarization combined navigation computer in real time;

[0011] Step S2: the polarization image preprocessing computer uses three-axis angular velocities and three-axis accelerations to roughly process and calculate attitude angle and possible heading angle range, performs image stabilization on the real sky polarization distribution image, and confirms the attitude and azimuth state in space with the real sky polarization distribution image; retrieves the stored standard sky polarization distribution database, establishes the spatial relationship data between the actual sky polarization distribution and the standard sky polarization distribution through processing, and sends the spatial relationship data and the actual sky polarization distribution to the polarization combined navigation computer;

[0012] Step S3: the polarization light combination navigation computer receives the sky polarization light signal, and performs image stabilization on the sky polarization light signal with three axial angular velocities and three axial accelerations; then performs matching calculation with the actual sky polarization light distribution map, and performs correction with the spatial relationship data between the actual sky polarization light distribution map and the standard sky polarization light distribution map to obtain a sky polarization light heading angle in a high dynamic and complex weather condition;

[0013] Step S4: the polarization light combination navigation computer reversely transmits the obtained sky polarization light heading angle to the optical fiber inertial navigation system to assist the optical fiber inertial navigation system in completing the self-alignment process quickly.

[0014] Step S5: the optical fiber inertial navigation system enters a navigation mode, and synchronously outputs data of a navigation attitude angle, a heading angle, a speed, a position, a timing time, three axial angular velocities and three axial accelerations to the polarization light image preprocessing computer and the polarization light combination navigation computer.

[0015] Step S6: the polarization light image preprocessing computer performs more optimal image stabilization on the output image of the large-angle polarization light fisheye camera with the three axial angular velocities and the three axial accelerations, the attitude angle, the heading angle, the speed, the position, the timing time, retrieves a standard sky polarization light distribution map database, establishes precise spatial relationship data between the actual sky polarization light distribution map and the standard sky polarization light distribution map through more precise processing, and sends the more precise spatial relationship data and the actual sky polarization light distribution map to the polarization light combination navigation computer.

[0016] Step S7: the polarization light combination navigation computer receives signals of the single or multiple polarization light sensors, performs image stabilization on the signals of the polarization light sensors with the three axial angular velocities and the three axial accelerations, the attitude angle, the heading angle, the speed, the position and the timing time transmitted by the optical fiber inertial navigation system, then performs more precise matching calculation with the actual sky polarization light distribution map, and performs precise data correction with the spatial relationship between the actual sky polarization light distribution map and the standard sky polarization light distribution map to obtain a more optimal and more precise sky polarization light heading angle.

[0017] Step S8: the polarization light combination navigation computer outputs a combination navigation result.

[0018] Preferably, before the step S1, there is a step of inputting a local geographical position of a timing time to the optical fiber inertial navigation system from outside, wherein the timing time has an accuracy of not higher than 1 μs, and the geographical position includes a longitude, a latitude and an altitude.

[0019] Preferably, the actual sky polarization distribution is marked with time.

[0020] Preferably, when the single or multiple polarization navigation sensors are multiple, in steps S3 and S7, in addition to obtaining the sky polarization heading angle, the sky polarization attitude angle is also obtained.

[0021] The present application also provides a polarization / inertial combined navigation system, which comprises a large-angle polarization fisheye camera, an image preprocessing computer, an optical fiber inertial navigation system, a polarization combined navigation computer, a single or multiple polarization navigation sensors, and a database.

[0022] The database is used to store standard sky polarization distribution maps.

[0023] The large-angle polarization fisheye camera is used to obtain real sky polarization distribution maps and transmit them to the polarization image preprocessing computer in real time.

[0024] The optical fiber inertial navigation system outputs three-axis angular velocities and three-axis accelerations, as well as timing time and position, to the polarization image preprocessing computer and the polarization combined navigation computer in self-alignment mode.

[0025] In navigation mode, the polarization image preprocessing computer and the polarization combined navigation computer are synchronously outputted with navigation attitude angle, heading angle, velocity, position, timing time, three-axis angular velocities and three-axis accelerations.

[0026] The single or multiple polarization navigation sensors transmit the obtained sky polarization signals to the polarization combined navigation computer in real time.

[0027] The polarization image preprocessing computer uses three-axis angular velocities and three-axis accelerations to roughly process and calculate attitude angle and possible heading angle range, performs image stabilization on the real sky polarization distribution image, or

[0028] The polarization image preprocessing computer uses three-axis angular velocities and three-axis accelerations, attitude angle, heading angle, velocity, position, timing time, to perform better image stabilization on the output image of the large-angle polarization fisheye camera, and then performs attitude and azimuth state confirmation with the real sky polarization distribution image in space; the standard sky polarization distribution database stored in the database is retrieved, the spatial relationship data between the actual sky polarization distribution and the standard sky polarization distribution is established through processing, and the spatial relationship data and the actual sky polarization distribution are sent to the polarization combined navigation computer.

[0029] The polarized light combination navigation computer receives the sky polarized light signal, carries out image stabilization processing on the sky polarized light signal with three axial angular velocities and three axial acceleration information, or with three axial angular velocities and three axial accelerations, attitude angles, heading angles, velocities, positions, timing; then carries out matching calculation with the actual sky polarized light distribution map, and corrects with the spatial relationship data between the actual sky polarized light distribution map and the standard sky polarized light distribution map to obtain the sky polarized light heading angle under high dynamic and complex weather conditions; and reversely transmits the obtained sky polarized light heading angle to the optical fiber inertial navigation system to assist it to complete the self-alignment process quickly.

[0030] Overall, compared with the prior art, the above technical solutions conceived by the present application have the beneficial effects including:

[0031] (1) The device of the present application has shorter alignment time, stronger environmental adaptability and higher initial parameter accuracy of the alignment result after power-on in the alignment phase;

[0032] (2) Under the same weather and climate conditions, the output parameter accuracy of the polarized light navigation is higher; compared with the conventional method, the polarized light navigation parameter is increased with the spatial relationship data accurate correction link between the actual sky polarized light distribution map and the standard sky polarized light distribution map before output, which is an important guarantee for improving the accuracy of the polarized light navigation;

[0033] (3) The medium-high precision optical fiber inertial navigation system is used as a public reference system, which can ensure high precision of the attitude and heading for a long time even in the pure inertial navigation state, and is helpful to stabilize the polarized light heading angle and improve the environmental adaptability of the whole device during the combination navigation;

[0034] (4) In the case of being equipped with multiple polarized light navigation sensors, if the spatial angles between the polarized light navigation sensors and between the polarized light navigation sensor and the inertial navigation are known, the polarized light navigation can also output the attitude angle, or in the case that individual polarized light navigation sensors cannot work effectively, the heading angle of the polarized light navigation can still be normally output.

[0035] (5) The present application relates to a polarized light / inertial combination navigation system which can resist the influence of severe weather. The system has the characteristics that when the cloud layer covers 80% of the sky, as long as about 20% of the sky polarized light distribution map has distinguishability and recoverability, the polarized light navigation can effectively output, and the anti-interference ability is greatly enhanced; when used above the low-altitude dense cloud layer, higher navigation precision can be ensured or the thin cloud at medium and high altitudes has no influence on the polarized light navigation. Although the present application cannot make the polarized light navigation realize all-weather navigation capability, it can greatly reduce the influence of various severe weather, and make the polarized light navigation have more practical application value. Attached Figure Description

[0036] Figure 1 This is a system configuration block diagram of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0038] The essence of polarized light navigation is that, based on local time and geographical location, the polarization distribution pattern of light scattered across the sky by celestial bodies such as the sun and moon is accurately known. A polarized light navigation sensor detects the polarization distribution characteristics within a certain range (which may not be in image form) and, through matching and other calculations, can determine its own geographical location, northward angle, etc., thus achieving positioning and orientation. The accuracy of polarized light navigation is limited by two factors: the accuracy of the polarized light navigation sensor and the matching accuracy of the actual polarization distribution pattern.

[0039] like Figure 1 As shown, the hardware upon which this invention is based consists of a polarized light navigation sensor (single or multiple), a wide-angle polarized light fisheye camera, a medium-to-high precision fiber optic inertial navigation system, a polarized light image preprocessing computer, and a polarized light integrated navigation computer.

[0040] The hardware involved in this invention and its installation requirements are as follows:

[0041] The sky area that the polarized light navigation sensor can be sensitive to must be covered by the field of view of a wide-angle polarized light fisheye camera.

[0042] In the case of multiple polarization navigation sensors, the measurement accuracy of the included angle between each polarization navigation sensor is not less than 0.01°;

[0043] The measurement accuracy of the angle between the polarization navigation sensor and the medium-to-high precision fiber optic inertial navigation system is no less than 0.001°;

[0044] As an example, a medium-to-high precision fiber optic inertial navigation system generally needs to have a time synchronization guarantee function with a time synchronization accuracy of not less than 1ms; this time synchronization guarantee function can also be guaranteed by other hardware; if necessary, an external GPS receiver or other device can also be connected to complete the time synchronization.

[0045] The field of view of a wide-angle polarized fisheye camera should be unobstructed, with a viewing angle of no less than 120°, and the optimal viewing angle is between 120° and 150°.

[0046] The middle-high precision fiber-optic inertial navigation system is a common reference system of the whole integrated navigation system, and has a self-alignment capability, that is, the gyro precision is not less than 0.15° / h, and the table precision is not less than 200 μg;

[0047] The polarized light image preprocessing computer can be built by various single-chip microcomputers such as DSP, ARM and FPGA, and the built computer requires a large enough FLASH chip memory for storing the quasi-sky polarized light distribution map database and related data processing algorithm software programs; the built computer has not less than 3 data communication ports for receiving the actual sky polarized light distribution map photographed by the large-angle polarized light fisheye camera, outputting the parameters of the middle-high precision fiber-optic inertial navigation system, and outputting the processed related parameters to the polarized light integrated navigation computer; in addition, the internal clock of the polarized light image preprocessing computer can be used as a redundant backup of the time service function in the device; in order to solve the problem of large calculation and storage data, the computer can adopt a multi-core parallel structure form;

[0048] The built form of the polarized light integrated navigation computer is similar to that of the polarized light image preprocessing computer; the difference lies in that at least 4 or more data communication ports are required for data communication with the middle-high precision fiber-optic inertial navigation system, the polarized light image preprocessing computer and the polarized light navigation sensor, and for external output; if a plurality of polarized light navigation sensors are installed, the corresponding data communication ports also need to be increased; the internal clock of the computer can also be used as a redundant backup of the time service function in the device;

[0049] In terms of real-time, the data synchronization error between the polarized light image preprocessing computer, the middle-high precision fiber-optic inertial navigation system and the polarized light navigation sensor is not more than 1 ms; and the data synchronization error between the large-angle polarized light fisheye camera and the polarized light image preprocessing computer is not more than 10 ms;

[0050] The anti-interference polarized light integrated navigation method flow of the application is implemented as follows:

[0051] Step 1: power on the device, input the initial parameters such as UTC time or other standard time (the precision is not less than 1 μs), local geographical position (longitude, latitude, altitude) and the like through external input; or use the stored data of the last time to replace the initial parameter input this time;

[0052] Step 2: the large-angle polarized light fisheye camera real-time sensitively transmits the actual sky polarized light distribution image to the polarized light image preprocessing computer at a speed of not less than 10 groups / s; the middle-high precision fiber-optic inertial navigation system starts the self-alignment mode, and outputs the angular velocities ω x1 、ω y1 、ω z1and three axial accelerations a x1 , a y1 , a z1 and time, position, etc. are transmitted to the polarized light image preprocessing computer and the polarized light integrated navigation computer; the polarized light navigation sensor transmits the sensed sky polarized light signals to the polarized light integrated navigation computer at a speed of not less than 100 groups per second;

[0053] Step 3: The polarized light image preprocessing computer uses the angular velocity and acceleration information to roughly calculate the attitude angle and the possible heading angle range, performs image stabilization processing on the output image of the large-angle polarized light fisheye camera, and then performs spatial attitude and azimuth state confirmation with the real sky polarized light distribution image; the stored standard sky polarized light distribution image database is called, and the spatial relationship data between the actual sky polarized light distribution image and the standard sky polarized light distribution image are established through processing; and the spatial relationship data and the actual sky polarized light distribution image (with time mark) are sent to the polarized light integrated navigation computer;

[0054] Step 4: The polarized light integrated navigation computer receives the signals of a single or multiple polarized light sensors, performs image stabilization processing on the signals of the polarized light sensors with the angular velocity and acceleration information transmitted by the medium-high precision optical fiber inertial navigation system; then performs matching calculation with the actual sky polarized light distribution image (with time mark), and corrects the sky polarized light heading angle (including attitude angle under the condition of multiple polarized light sensors) in high dynamic and complex weather conditions by using the spatial relationship data between the actual sky polarized light distribution image and the standard sky polarized light distribution image;

[0055] Step 5: The polarized light integrated navigation computer reversely transmits the obtained sky polarized light heading angle to the medium-high precision optical fiber inertial navigation system to assist it in self-alignment, so as to quickly complete the self-alignment process;

[0056] Step 6: The medium-high precision optical fiber inertial navigation system enters the navigation state, and synchronously outputs the navigation attitude angle, heading angle, speed, position (local geography), time, three axial angular velocities, etc. to the polarized light image preprocessing computer and the polarized light integrated navigation computer; the data output rate is not less than 50 groups per second;

[0057] Step 7: The polarized light image preprocessing computer uses the angular velocity, attitude angle, heading angle, speed, position (local geography), time, etc. to perform more optimal image stabilization processing on the output image of the large-angle polarized light fisheye camera; the stored standard sky polarized light distribution image database is called, and the precise spatial relationship data between the actual sky polarized light distribution image and the standard sky polarized light distribution image are established through more precise processing; and the more precise spatial relationship data and the actual sky polarized light distribution image (with time mark) are sent to the polarized light integrated navigation computer;

[0058] Step 7: The polarized light image preprocessing computer uses the angular velocity, attitude angle, heading angle, speed, position (local geography), time, etc. to perform more optimal image stabilization processing on the output image of the large-angle polarized light fisheye camera; the stored standard sky polarized light distribution image database is called, and the precise spatial relationship data between the actual sky polarized light distribution image and the standard sky polarized light distribution image are established through more precise processing; and the more precise spatial relationship data and the actual sky polarized light distribution image (with time mark) are sent to the polarized light integrated navigation computer;

[0059] The polarized light distribution map (with time mark) is sent to the polarized light combination navigation computer;

[0060] The eighth step: the polarized light combination navigation computer receives the signals of the single or multiple polarized light sensors, and the speed, attitude angle, heading angle, velocity, position (local geography), timing time and the like transmitted by the medium-high precision optical fiber inertial navigation system

[0061] The signals of the polarized light sensors are subjected to image stabilization processing, and then subjected to more accurate matching calculation with the actual sky polarized light distribution map (with time mark), and the spatial relationship between the actual sky polarized light distribution map and the standard sky polarized light distribution map is used to complete precise data correction, so as to obtain more optimal and more accurate sky polarized light heading angle (including attitude

[0062] angle under the condition of multiple polarized light sensors);

[0063] 5The ninth step: the polarized light combination navigation computer outputs the combination navigation result.

[0064] After the medium-high precision optical fiber inertial navigation system is powered on, the initial attitude angle, heading angle, velocity and the like can be obtained only through alignment (including self-alignment or transfer alignment); during the alignment phase, the polarized light combination navigation computer can still normally output the accurate sky polarized light heading angle, and the accurate sky polarized light heading angle can assist the alignment process, so that the alignment time is greatly shortened, the alignment adaptability is stronger, and the heading accuracy of the alignment output is higher;

[0065]

[0066] After the entire system is switched to the navigation state, the accurate sky polarized light heading angle can be used as an important auxiliary parameter for combination navigation at all times; after the spatial relationship data between the actual sky polarized light distribution map and the standard sky polarized light distribution map is accurately corrected, the positioning accuracy can also be further improved in the case of requiring positioning capability.

[0067] It is easily understood by those skilled in the art that the above description is only the preferred embodiment of the present application, and is not used to limit the

[0068] application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

[0069] application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.​

Claims

1. A method for polarized light / inertial integrated navigation, characterized in that: The method includes the following steps: Step S1: The wide-angle polarized fisheye camera acquires a real-time image of the sky's polarized light distribution and transmits it to the polarized light image preprocessing computer in real time; the fiber optic inertial navigation system activates its self-alignment mode and outputs angular velocities ω along three axes. x1 ω y1 ω z1 and acceleration a in three axes x1 a y1 a z1 The timing and location are transmitted to the polarized light image preprocessing computer and the polarized light integrated navigation computer; one or more polarized light navigation sensors transmit the obtained sky polarized light signals to the polarized light integrated navigation computer in real time. Step S2: The polarized light image preprocessing computer roughly calculates the attitude angle and possible heading angle range using angular velocity and acceleration information along three axes. It then performs image stabilization processing on the actual sky polarized light distribution image and confirms its spatial attitude and orientation with the actual sky polarized light distribution image. The computer retrieves the stored standard sky polarized light distribution map database, processes it to establish spatial relationship data between the actual sky polarized light distribution map and the standard sky polarized light distribution map, and sends the spatial relationship data and the actual sky polarized light distribution map to the polarized light integrated navigation computer. Step S3: The polarized light integrated navigation computer receives the sky polarized light signal and performs image stabilization processing on the sky polarized light signal using angular velocity and acceleration information in three axes; then it performs matching calculation with the actual sky polarized light distribution map, and then uses the spatial relationship data between the actual sky polarized light distribution map and the standard sky polarized light distribution map to correct and obtain the sky polarized light heading angle under high dynamic and complex weather conditions; Step S4: The polarized light integrated navigation computer transmits the obtained sky polarized light heading angle in reverse to the fiber optic inertial navigation system to assist it in self-alignment and quickly complete the self-alignment process. Step S5: The fiber optic inertial navigation system switches to navigation mode and outputs navigation attitude angle, heading angle, velocity, position, timing, angular velocity in three axes and acceleration in three axes to the polarized light image preprocessing computer and the polarized light integrated navigation computer in real time. Step S6: The polarized light image preprocessing computer uses angular velocity and acceleration along three axes, attitude angle, heading angle, velocity, position, and timing to perform better image stabilization processing on the output image of the wide-angle polarized light fisheye camera; it retrieves the stored standard sky polarized light distribution map database, performs more precise processing, and establishes accurate spatial relationship data between the actual sky polarized light distribution map and the standard sky polarized light distribution map; and sends the more accurate spatial relationship data and the actual sky polarized light distribution map to the polarized light integrated navigation computer. Step S7: The polarization light integrated navigation computer receives signals from the single or multiple polarization light sensors and performs image stabilization processing on the polarization light sensor signals using the angular velocities and accelerations of the three axes, attitude angle, heading angle, velocity, position, and timing transmitted from the fiber optic inertial navigation system. Then, it performs more accurate matching calculations with the actual sky polarization light distribution map, and uses the spatial relationship between the actual sky polarization light distribution map and the standard sky polarization light distribution map to complete precise data correction, thereby obtaining a better and more accurate sky polarization light heading angle. Step S8: The polarized light integrated navigation computer outputs the integrated navigation results.

2. The method according to claim 1, characterized in that: Before step S1, the system further includes a step of inputting the local geographic location of the time synchronization to the fiber optic inertial navigation system from an external source, wherein the accuracy of the time synchronization is no higher than 1 μs, and the geographic location includes longitude, latitude, and altitude.

3. The method according to claim 1, characterized in that: The actual sky polarization distribution map is time-stamped.

4. The method according to claim 1, characterized in that: When there are multiple polarized light navigation sensors, in steps S3 and S7, in addition to obtaining the heading angle of the sky polarized light, the attitude angle of the sky polarized light is also obtained.

5. A system for implementing polarized light / inertial integrated navigation according to any one of claims 1-4, characterized in that: The system includes: a wide-angle polarized fisheye camera, an image preprocessing computer, a fiber optic inertial navigation system, a polarized light integrated navigation computer, one or more polarized light navigation sensors, and a database. The database is used to store standard sky polarization distribution maps; The wide-angle polarized fisheye camera is used to acquire a real sky polarized light distribution map and transmit it to the polarized light image preprocessing computer in real time. In self-alignment mode, the fiber optic inertial navigation system outputs angular velocities and accelerations along three axes, as well as timing and position data in real time to the polarized light image preprocessing computer and the polarized light integrated navigation computer. In navigation mode, it synchronously outputs navigation attitude angles, heading angles, speeds, positions, timing data, and angular velocities and accelerations along three axes to the polarized light image preprocessing computer and the polarized light integrated navigation computer in real time. The single or multiple polarization navigation sensors will transmit the obtained sky polarization light signals to the polarization navigation computer in real time. The polarized light image preprocessing computer uses angular velocity and acceleration information along three axes to roughly calculate the attitude angle and possible heading angle range, and performs image stabilization processing on the real sky polarized light distribution image. Alternatively, it uses angular velocity and acceleration along three axes, attitude angle, heading angle, velocity, position, and timing information to perform more optimized image stabilization processing on the output image of the wide-angle polarized light fisheye camera. Then, it confirms the spatial attitude and orientation with the real sky polarized light distribution image. It retrieves the stored standard sky polarized light distribution map database from the database, processes it to establish spatial relationship data between the actual sky polarized light distribution map and the standard sky polarized light distribution map, and sends the spatial relationship data and the actual sky polarized light distribution map to the polarized light integrated navigation computer. The polarized light integrated navigation computer receives the sky polarized light signal and performs image stabilization processing on the sky polarized light signal using angular velocity and acceleration information along three axes, or using angular velocity and acceleration along three axes, attitude angle, heading angle, velocity, position, and timing. It then performs matching calculations with the actual sky polarized light distribution map, and uses the spatial relationship data between the actual sky polarized light distribution map and the standard sky polarized light distribution map for correction to obtain the sky polarized light heading angle under highly dynamic and complex weather conditions. Finally, it transmits the obtained sky polarized light heading angle in reverse to the fiber optic inertial navigation system to assist it in self-alignment, rapidly completing the self-alignment process.

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