A vehicle-mounted in-transit coarse alignment method and system based on polarized light information

Abstract

The application provides a vehicle-mounted in-motion coarse alignment method and system based on polarized light information, which comprises the following steps: acquiring unit sun vectors corresponding to a first time t0 and a second time t1 in a carrier coordinate system; acquiring unit sun vectors corresponding to the first time t0 and the second time t1 in a geographical coordinate system; obtaining an attitude increment matrix from the first time t0 to the second time t1 according to a carrier motion relationship; and calculating an initial attitude matrix of the carrier at the first time t0 according to the unit sun vectors of the carrier coordinate system and the geographical coordinate system at the first time t0 and the second time t1 and the attitude increment matrix, so as to complete the in-motion coarse alignment of the carrier. The application has high precision and stability, can quickly and accurately complete the in-motion coarse alignment of the vehicle, and has strong robustness, so that the in-motion alignment maneuverability and anti-interference ability of the navigation equipment are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle positioning and orientation technology, specifically to a vehicle-mounted coarse alignment method and system based on polarized light information. Background Technology

[0002] Vehicle-mounted inertial navigation system (INS) alignment methods mainly include two types: parking alignment and on-the-go alignment. Compared to parking alignment, on-the-go alignment technology has better application prospects in vehicle-mounted positioning and orientation equipment due to its advantages in speed and mobility. Currently, traditional on-the-go alignment technologies include satellite-assisted alignment and odometer-assisted alignment, each with its own advantages and disadvantages. Satellite-assisted on-the-go alignment can quickly complete the on-the-go coarse alignment process, but it is susceptible to electromagnetic interference attacks that can cause it to fail, resulting in ineffective on-the-go alignment. Odometer-assisted on-the-go alignment has autonomous alignment capabilities, but it has a long alignment time and poor mobility. Therefore, there is an urgent need for a method that can perform coarse alignment on-the-go in vehicles. Summary of the Invention

[0003] In view of the technical problems existing in the background art, the present invention provides a vehicle-mounted coarse alignment method and system based on polarized light information to solve the existing technical problems.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] In a first aspect, the present invention provides a vehicle-mounted coarse alignment method based on polarized light information, the method comprising:

[0006] Obtain the unit solar vector corresponding to the first time t0 and the second time t1 in the carrier coordinate system;

[0007] Obtain the unit solar vector corresponding to the first time t0 and the second time t1 in the geographic coordinate system;

[0008] The attitude increment matrix from the first time t0 to the second time t1 is obtained based on the carrier motion relationship;

[0009] Based on the unit solar vector in the carrier coordinate system and geographic coordinate system at the first time t0 and the second time t1, as well as the attitude increment matrix, the initial attitude matrix of the carrier at the first time t0 is calculated, and the coarse alignment of the carrier during travel is completed.

[0010] In one embodiment, obtaining the unit solar vector corresponding to the first time t0 and the second time t1 in the carrier coordinate system includes:

[0011] Two polarization sensors with different observation directions are installed on the vehicle.

[0012] At the first moment t0, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and The unit solar vector in the carrier coordinate system at the first moment t0 is calculated based on the solar vector being perpendicular to the polarization vector.

[0013] The unit solar vector Represented as:

[0014]

[0015] At the second time t1, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and The unit solar vector in the carrier coordinate system at the second time t1 is calculated based on the fact that the solar vector is perpendicular to the polarization vector.

[0016] The unit solar vector Represented as:

[0017]

[0018] In one embodiment, obtaining the unit solar vector corresponding to the first time t0 and the second time t1 in the geographic coordinate system includes:

[0019] Obtain the vehicle's position and time information at the first moment t0;

[0020] Based on location information, time information, and the astronomical calendar, the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 is obtained. and elevation angle And the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle

[0021] Based on the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 and elevation angle The unit solar vector in the geographic coordinate system at the first time t0 was calculated.

[0022] The unit solar vector Represented as:

[0023]

[0024] Based on the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle The unit solar vector in the geographic coordinate system at the second time t1 was calculated.

[0025] The unit solar vector Represented as:

[0026]

[0027] In one embodiment, obtaining the attitude increment matrix from the first time t0 to the second time t1 based on the carrier motion relationship includes:

[0028] Assume the initial attitude matrix of the vehicle at the first time t0 is as follows: The attitude transformation matrix of the vehicle at the second time t1 is obtained based on the carrier coordinate system.

[0029] Based on the initial attitude matrix and attitude transformation matrix Determine the attitude increment matrix

[0030] The attitude increment matrix Represented as:

[0031]

[0032] In one embodiment, the specific method for calculating the initial attitude matrix is ​​as follows:

[0033] Construct the first relationship model of the solar vector in the geographic coordinate system and the carrier system at the first time t0;

[0034] The first relational model is represented as:

[0035]

[0036] Construct a second relationship model of the solar vector in the geographic coordinate system and the carrier system at the second time t1;

[0037] The second relational model is represented as follows:

[0038]

[0039] The initial attitude matrix of the carrier at the first time t0 is calculated based on the first relational model, the second relational model, and the attitude increment matrix.

[0040] The initial attitude matrix Represented as:

[0041]

[0042] In the formula,

[0043] Secondly, the present invention provides a vehicle-mounted coarse alignment system based on polarized light information, the system comprising:

[0044] Carrier coordinate system solar vector acquisition module: used to acquire the unit solar vector corresponding to the first time t0 and the second time t1 in the carrier coordinate system;

[0045] Geographic coordinate system solar vector acquisition module: used to obtain the unit solar vector corresponding to the first time t0 and the second time t1 in the geographic coordinate system;

[0046] Incremental matrix acquisition module: used to obtain the attitude increment matrix from the first time t0 to the second time t1 based on the carrier motion relationship;

[0047] Coarse alignment module: used to calculate the initial attitude matrix of the carrier at the first time t0 based on the unit solar vector in the carrier coordinate system and geographic coordinate system at the first time t0 and the second time t1, as well as the attitude increment matrix, and to complete the coarse alignment of the carrier during travel.

[0048] In one embodiment, the solar vector acquisition module of the carrier system is specifically used for:

[0049] Two polarization sensors with different observation directions are installed on the vehicle.

[0050] At the first moment t0, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and The unit solar vector in the carrier coordinate system at the first moment t0 is calculated based on the solar vector being perpendicular to the polarization vector.

[0051] The unit solar vector Represented as:

[0052]

[0053] At the second time t1, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and The unit solar vector in the carrier coordinate system at the second time t1 is calculated based on the fact that the solar vector is perpendicular to the polarization vector.

[0054] The unit solar vector Represented as:

[0055]

[0056] In one embodiment, the geographic system solar vector acquisition module is specifically used for:

[0057] Obtain the vehicle's position and time information at the first moment t0;

[0058] Based on location information, time information, and the astronomical calendar, the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 is obtained. and elevation angle And the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle

[0059] Based on the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 and elevation angle The unit solar vector in the geographic coordinate system at the first time t0 was calculated.

[0060] The unit solar vector Represented as:

[0061]

[0062] Based on the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle The unit solar vector in the geographic coordinate system at the second time t1 was calculated.

[0063] The unit solar vector Represented as:

[0064]

[0065] In one embodiment, the incremental matrix acquisition module is specifically used for:

[0066] Assume the initial attitude matrix of the vehicle at the first time t0 is as follows: The attitude transformation matrix of the vehicle at the second time t1 is obtained based on the carrier coordinate system.

[0067] Based on the initial attitude matrix and attitude transformation matrix Determine the attitude increment matrix

[0068] The attitude increment matrix Represented as:

[0069]

[0070] In one embodiment, the specific method for calculating the initial attitude matrix in the coarse alignment module is as follows:

[0071] Construct the first relationship model of the solar vector in the geographic coordinate system and the carrier system at the first time t0;

[0072] The first relational model is represented as:

[0073]

[0074] Construct a second relationship model of the solar vector in the geographic coordinate system and the carrier system at the second time t1;

[0075] The second relational model is represented as follows:

[0076]

[0077] The initial attitude matrix of the carrier at the first time t0 is calculated based on the first relational model, the second relational model, and the attitude increment matrix.

[0078] The initial attitude matrix Represented as:

[0079]

[0080] In the formula,

[0081] Thirdly, the present invention provides an electronic device, comprising:

[0082] Processor, memory, and interfaces for communication with the gateway;

[0083] The memory is used to store programs and data, and the processor calls the programs stored in the memory to execute a vehicle-mounted coarse alignment method based on polarized light information provided in any of the first aspects.

[0084] Fourthly, the present invention provides a computer-readable storage medium comprising a program, which, when executed by a processor, performs a vehicle-mounted coarse alignment method based on polarized light information provided in any of the first aspects.

[0085] As described above, this invention utilizes a polarized light sensor to acquire solar vector information in the carrier coordinate system at first and second moments, and uses azimuth and elevation angles to acquire solar vector information in the geographic coordinate system at the first and second moments. It then determines the vehicle's attitude increment matrix from the first moment to the second moment, and calculates the initial attitude matrix of the carrier using the attitude increment matrix and solar vector information, thus completing the coarse alignment of the vehicle while in motion. Polarized light information is passive, resistant to electromagnetic interference, and has no cumulative error when acquiring solar vector information. By fully considering solar vector information at different moments when acquiring the initial attitude matrix and integrating the attitude transformation relationships between solar vector information at different moments, this invention achieves high accuracy and stability, enabling it to quickly and accurately complete the coarse alignment process while the vehicle is in motion, and exhibits strong robustness. This improves the mobility and anti-interference capability of navigation equipment during in-motion alignment. It can be applied to fields such as vehicle navigation and autonomous driving, and has significant application value. Attached Figure Description

[0086] Figure 1 The diagram shown is a flowchart of the vehicle-mounted coarse alignment method based on polarized light information according to the present invention.

[0087] Figure 2 The diagram shows the installation structure of the polarization light sensor of the present invention and the vehicle.

[0088] Figure 3 The diagram shows the connection structure of the in-vehicle coarse alignment system based on polarized light information according to the present invention.

[0089] Figure 4 The diagram shown is a structural schematic of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0090] To make the objectives, technical solutions, and advantages of this invention clearer and more understandable, the invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0091] To address the shortcomings of existing technologies, this invention provides a specific implementation of a vehicle-mounted coarse alignment method based on polarized light information, such as... Figure 1 As shown, the method specifically includes:

[0092] S110: Obtain the unit solar vector corresponding to the first time t0 and the second time t1 in the carrier coordinate system.

[0093] This step is mainly to obtain the unit solar vector corresponding to the first time t0 and the second time t1 of the vehicle in the carrier coordinate system.

[0094] More specifically, see Figure 2 Two polarization sensors with different observation directions are arranged according to... Figure 2 The installation is shown on the vehicle. The observation pitch angle of each polarization sensor is Δθ. During installation, it is necessary to ensure that there are no external objects obstructing the field of view of each polarization sensor to facilitate subsequent measurements. The installation error between the carrier coordinate system and the polarization sensor is also determined to facilitate subsequent correction or compensation.

[0095] It should also be noted that the second time t1 is the next time after the first time t0, the time interval between the first time t0 and the second time t1 is ΔT, and the first time t0 is the initial time.

[0096] At the first moment t0, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and (That is, the unit polarization vector measured by a polarization sensor is) The unit polarization vector measured by another polarization sensor is The unit solar vector in the carrier coordinate system at the first moment t0 is calculated based on the fact that the solar vector is perpendicular to the polarization vector (according to the Rayleigh scattering model).

[0097] Unit solar vector Represented as:

[0098]

[0099] At the second time t1, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and (That is, the unit polarization vector measured by a polarization sensor is) The unit polarization vector measured by another polarization sensor is The unit solar vector in the carrier coordinate system at the second time t1 is calculated based on the fact that the solar vector is perpendicular to the polarization vector (according to the Rayleigh scattering model).

[0100] Unit solar vector Represented as:

[0101]

[0102] In this step, the solar vector information in the carrier coordinate system is obtained based on the polarization information of the polarization sensor. Polarization information has the characteristics of being passive, resistant to electromagnetic interference, and without cumulative error. Therefore, its application to coarse alignment during vehicle movement has good anti-interference ability, high accuracy, and stability.

[0103] S120: Obtain the unit solar vector corresponding to the first time t0 and the second time t1 in the geographic coordinate system.

[0104] This step is mainly to obtain the unit solar vector corresponding to the first time t0 and the second time t1 of the vehicle in the geographic coordinate system.

[0105] More specifically, the specific acquisition process is as follows:

[0106] Obtain the vehicle's location and time information at the first moment t0. The location information includes, but is not limited to, longitude, latitude, and altitude information, and the time information includes, but is not limited to, year, month, day, hour, minute, and second.

[0107] Based on location information, time information, and the astronomical calendar, the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 is obtained. and elevation angle And the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle

[0108] Based on the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 and elevation angle The unit solar vector in the geographic coordinate system at the first time t0 was calculated.

[0109] Unit solar vector Represented as:

[0110]

[0111] Based on the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle The unit solar vector in the geographic coordinate system at the second time t1 was calculated.

[0112] Unit solar vector Represented as:

[0113]

[0114] S130: Obtain the attitude increment matrix from the first time t0 to the second time t1 based on the carrier motion relationship;

[0115] This step is to clearly understand the changes in the vehicle's posture during movement and obtain the attitude increment matrix from the first time t0 to the second time t1.

[0116] More specifically, the method for obtaining it is as follows: assuming the initial attitude matrix of the vehicle at the first time t0 is... The attitude transformation matrix of the vehicle at the second time t1 is obtained based on the carrier coordinate system. Attitude transformation matrix Derived from IMU data in the carrier coordinate system;

[0117] Based on the initial attitude matrix and attitude transformation matrix Determine the attitude increment matrix

[0118] Attitude Increment Matrix Represented as:

[0119]

[0120] In the formula, T represents the transpose of the matrix.

[0121] S140: Based on the unit solar vector in the carrier coordinate system and geographic coordinate system at the first time t0 and the second time t1, and the attitude increment matrix, calculate the initial attitude matrix of the carrier at the first time t0, and complete the coarse alignment of the carrier during travel.

[0122] This step is to obtain the initial carrier matrix of the vehicle and complete the coarse alignment of the carrier during movement based on the initial attitude matrix.

[0123] More specifically, the method for calculating the initial attitude matrix is ​​as follows:

[0124] Construct the first relationship model of the solar vector in the geographic coordinate system and the carrier system at the first time t0;

[0125] The first relational model is represented as:

[0126]

[0127] Construct a second relationship model of the solar vector in the geographic coordinate system and the carrier system at the second time t1;

[0128] The second relational model is represented as follows:

[0129]

[0130] The initial attitude matrix of the carrier at the first time t0 is calculated based on the first relational model, the second relational model, and the attitude increment matrix.

[0131] Initial attitude matrix Represented as:

[0132]

[0133] In the formula,

[0134] In this step, the solar vector information at different times is fully considered, and the attitude transformation relationship between the solar vector information at different times is integrated to finally obtain the initial attitude matrix. This makes the invention have high accuracy and stability, and can quickly and accurately complete the coarse alignment process in vehicle movement. It also has strong robustness, which achieves the purpose of improving the mobility and anti-interference ability of navigation equipment in-movement alignment. It can be applied to vehicle navigation, autonomous driving and other fields, and has important application value.

[0135] Based on the same inventive concept, this application also provides a vehicle-mounted coarse alignment system based on polarized light information, which can be used to implement the vehicle-mounted coarse alignment method based on polarized light information described in the above embodiments, as described in the following embodiments. Since the principle of solving the problem in a vehicle-mounted coarse alignment system based on polarized light information is similar to that of a vehicle-mounted coarse alignment method based on polarized light information, the implementation of the system can refer to the method implementation, and repeated details will not be repeated. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0136] This invention provides a vehicle-mounted coarse alignment system based on polarized light information, such as... Figure 3 As shown. In Figure 3 In this system, the following components are included:

[0137] Carrier system solar vector acquisition module 210: used to acquire the unit solar vector corresponding to the first time t0 and the second time t1 in the carrier coordinate system;

[0138] Geographic coordinate system solar vector acquisition module 220: used to acquire the unit solar vector corresponding to the first time t0 and the second time t1 in the geographic coordinate system;

[0139] Incremental matrix acquisition module 230: used to obtain the attitude increment matrix from the first time t0 to the second time t1 according to the carrier motion relationship;

[0140] Coarse alignment module 240: It is used to calculate the initial attitude matrix of the carrier at the first time t0 based on the unit solar vector in the carrier coordinate system and geographic coordinate system at the first time t0 and the second time t1, as well as the attitude increment matrix, and to complete the coarse alignment of the carrier during its journey.

[0141] In one embodiment of the present invention, the solar vector acquisition module 210 of the carrier system is specifically used for:

[0142] Two polarization sensors with different observation directions are installed on the vehicle.

[0143] At the first moment t0, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and The unit solar vector in the carrier coordinate system at the first moment t0 is calculated based on the solar vector being perpendicular to the polarization vector.

[0144] Unit solar vector Represented as:

[0145]

[0146] At the second time t1, the unit polarization vector of the aerial observation point in the carrier coordinate system is measured by two polarization sensors. and The unit solar vector in the carrier coordinate system at the second time t1 is calculated based on the fact that the solar vector is perpendicular to the polarization vector.

[0147] Unit solar vector Represented as:

[0148]

[0149] In one embodiment of the present invention, the geographic system solar vector acquisition module 220 is specifically used for:

[0150] Obtain the vehicle's position and time information at the first moment t0;

[0151] Based on location information, time information, and the astronomical calendar, the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 is obtained. and elevation angle And the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle

[0152] Based on the azimuth angle of the solar vector in the geographic coordinate system at the first moment t0 and elevation angle The unit solar vector in the geographic coordinate system at the first time t0 was calculated.

[0153] Unit solar vector Represented as:

[0154]

[0155] Based on the azimuth angle of the solar vector in the geographic coordinate system at the second time t1 and elevation angle The unit solar vector in the geographic coordinate system at the second time t1 was calculated.

[0156] Unit solar vector Represented as:

[0157]

[0158] In one embodiment of the present invention, the incremental matrix acquisition module 230 is specifically used for:

[0159] Assume the initial attitude matrix of the vehicle at the first time t0 is as follows: The attitude transformation matrix of the vehicle at the second time t1 is obtained based on the carrier coordinate system.

[0160] Based on the initial attitude matrix and attitude transformation matrix Determine the attitude increment matrix

[0161] Attitude Increment Matrix Represented as:

[0162]

[0163] In one embodiment of the present invention, the specific method for calculating the initial attitude matrix in the coarse alignment module 240 is as follows:

[0164] Construct the first relationship model of the solar vector in the geographic coordinate system and the carrier system at the first time t0;

[0165] The first relational model is represented as:

[0166]

[0167] Construct a second relationship model of the solar vector in the geographic coordinate system and the carrier system at the second time t1;

[0168] The second relational model is represented as follows:

[0169]

[0170] The initial attitude matrix of the carrier at the first time t0 is calculated based on the first relational model, the second relational model, and the attitude increment matrix.

[0171] Initial attitude matrix Represented as:

[0172]

[0173] In the formula,

[0174] This application also provides a specific implementation of an electronic device capable of implementing all the steps in the methods described above. See [link to implementation details]. Figure 4 The electronic device 300 specifically includes the following:

[0175] Processor 310, memory 320, communication unit 330 and bus 340;

[0176] The processor 310, memory 320, and communication unit 330 communicate with each other via bus 340; the communication unit 330 is used to realize information transmission between server-side devices and terminal devices and other related devices.

[0177] The processor 310 is used to call the computer program in the memory 320. When the processor executes the computer program, it implements all the steps in the vehicle-mounted coarse alignment method based on polarized light information in the above embodiments.

[0178] Those skilled in the art will understand that memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). The memory stores programs, which are then executed by the processor upon receiving execution instructions. Furthermore, the software programs and modules within the memory may include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., memory management, storage device control, power management), and can communicate with various hardware or software components to provide an operating environment for other software components.

[0179] A processor can be an integrated circuit chip with signal processing capabilities. The aforementioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0180] This application also provides a computer-readable storage medium including a program, which, when executed by a processor, performs a vehicle-mounted coarse alignment method based on polarization information provided in any of the foregoing method embodiments.

[0181] Those skilled in the art will understand that all or part of the steps in the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks, and this application does not limit the specific type of media.

[0182] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Contents not described in detail in this specification are common knowledge to those skilled in the art. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle-mounted coarse alignment method based on polarized light information, characterized in that, The method includes: Get the first moment Second moment The unit solar vector corresponding to the carrier coordinate system; Get the first moment Second moment The corresponding unit solar vector in the geographic coordinate system; The first moment is obtained based on the carrier's motion relationship. By the second moment The attitude increment matrix; According to the first moment Second moment The unit solar vector and attitude increment matrix in the carrier coordinate system and geographic coordinate system are used to calculate the carrier at the first moment. The initial attitude matrix is ​​used to complete the coarse alignment of the carrier during its movement; The first moment is obtained based on the carrier motion relationship. By the second moment The attitude increment matrix includes: Assuming the vehicle is in the first moment The initial attitude matrix is Based on the carrier coordinate system, the vehicle is obtained at the second moment. attitude transformation matrix ; Based on the initial attitude matrix and attitude transformation matrix Determine the attitude increment matrix ; The attitude increment matrix Represented as: ； The specific method for calculating the initial attitude matrix is ​​as follows: Building the first moment At that time, the first relationship model of the solar vector in the geographic coordinate system and the carrier system; The first relational model is represented as: ； Building the second moment At that time, the second relationship model of the solar vector in the geographic coordinate system and the carrier system; The second relational model is represented as follows: ； The initial attitude matrix of the carrier at the first time t0 is calculated based on the first relational model, the second relational model, and the attitude increment matrix. ; The initial attitude matrix Represented as: ； In the formula, .

2. The vehicle-mounted coarse alignment method based on polarized light information as described in claim 1, characterized in that, The acquisition of the first moment Second moment The unit solar vector corresponding to the carrier coordinate system includes: Two polarization sensors with different observation directions are mounted on the vehicle. At the first moment The unit polarization vector of the aerial observation point in the carrier coordinate system is measured using two polarization sensors. and The first moment was calculated based on the fact that the solar vector is perpendicular to the polarization vector. Unit solar vector in the carrier coordinate system ; The unit solar vector Represented as: ； Second moment The unit polarization vector of the aerial observation point in the carrier coordinate system is measured using two polarization sensors. and The second moment was calculated based on the fact that the solar vector is perpendicular to the polarization vector. Unit solar vector in the carrier coordinate system ; The unit solar vector Represented as: 。 3. The vehicle-mounted coarse alignment method based on polarized light information as described in claim 1, characterized in that, The acquisition of the first moment Second moment The corresponding unit solar vector in a geographic coordinate system includes: Obtain the vehicle in the first moment Location and time information; The solar vector at the first moment is obtained based on location information, time information, and astronomical calendar. Azimuth in geographic coordinate system and elevation angle And the solar vector at the second moment Azimuth in geographic coordinate system and elevation angle ; According to the solar vector at the first moment Azimuth in geographic coordinate system and elevation angle The first moment was calculated. Unit solar vector in geographic coordinate system ; The unit solar vector Represented as: ； According to the solar vector at the second moment Azimuth in geographic coordinate system and elevation angle The second time step was calculated. Unit solar vector in geographic coordinate system ; The unit solar vector Represented as: 。 4. A vehicle-mounted coarse alignment system based on polarized light information, characterized in that, The system includes: Carrier System Solar Vector Acquisition Module: Used to acquire the first moment Second moment The unit solar vector corresponding to the carrier coordinate system; Geographic System Solar Vector Acquisition Module: Used to acquire the first moment. Second moment The corresponding unit solar vector in the geographic coordinate system; Incremental matrix acquisition module: used to obtain the first moment based on the carrier's motion relationship. By the second moment The attitude increment matrix; Coarse alignment module: used to align based on the first moment Second moment The unit solar vector and attitude increment matrix in the carrier coordinate system and geographic coordinate system are used to calculate the carrier at the first moment. The initial attitude matrix is ​​used to complete the coarse alignment of the carrier during its movement; The incremental matrix acquisition module is specifically used for: Assuming the vehicle is in the first moment The initial attitude matrix is Based on the carrier coordinate system, the vehicle is obtained at the second moment. attitude transformation matrix ; Based on the initial attitude matrix and attitude transformation matrix Determine the attitude increment matrix ; The attitude increment matrix Represented as: ； The specific method for calculating the initial attitude matrix in the coarse alignment module is as follows: Building the first moment At that time, the first relationship model of the solar vector in the geographic coordinate system and the carrier system; The first relational model is represented as: ； Building the second moment At that time, the second relationship model of the solar vector in the geographic coordinate system and the carrier system; The second relational model is represented as follows: ； The initial attitude matrix of the carrier at the first time t0 is calculated based on the first relational model, the second relational model, and the attitude increment matrix. ; The initial attitude matrix Represented as: ； In the formula, .

5. The vehicle-mounted coarse alignment system based on polarized light information as described in claim 4, characterized in that, The solar vector acquisition module of the carrier system is specifically used for: Two polarization sensors with different observation directions are mounted on the vehicle. At the first moment The unit polarization vector of the aerial observation point in the carrier coordinate system is measured using two polarization sensors. and The first moment was calculated based on the fact that the solar vector is perpendicular to the polarization vector. Unit solar vector in the carrier coordinate system ; The unit solar vector Represented as: ； Second moment The unit polarization vector of the aerial observation point in the carrier coordinate system is measured using two polarization sensors. and The second moment was calculated based on the fact that the solar vector is perpendicular to the polarization vector. Unit solar vector in the carrier coordinate system ; The unit solar vector Represented as: 。 6. The in-vehicle coarse alignment system based on polarized light information as described in claim 4, characterized in that, The geographic system solar vector acquisition module is specifically used for: Obtain the vehicle in the first moment Location and time information; The solar vector at the first moment is obtained based on location information, time information, and astronomical calendar. Azimuth in geographic coordinate system and elevation angle And the solar vector at the second moment Azimuth in geographic coordinate system and elevation angle ; According to the solar vector at the first moment Azimuth in geographic coordinate system and elevation angle The first moment was calculated. Unit solar vector in geographic coordinate system ; The unit solar vector Represented as: ； According to the solar vector at the second moment Azimuth in geographic coordinate system and elevation angle The second time step was calculated. Unit solar vector in geographic coordinate system ; The unit solar vector Represented as: 。 7. An electronic device, characterized in that, include: Processor, memory, and interfaces for communication with the gateway; The memory is used to store programs and data, and the processor calls the programs stored in the memory to execute the vehicle-mounted coarse alignment method based on polarized light information as described in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program that, when executed by a processor, performs a vehicle-mounted coarse alignment method based on polarized light information as described in any one of claims 1 to 3.

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