Global autonomous positioning method and device using a tightly combined polarized light compass and solar sensor

Abstract

The present invention relates to the field of bionic polarized light navigation, and proposes a global autonomous positioning method and device that tightly combines a polarized light compass with a solar sensor. The method first processes the raw data output by the solar sensor to calculate the solar direction vector; then, the solar altitude angle information is integrated into the optimization process of the polarized E vector, thereby improving the estimation accuracy of the polarized light compass for the solar azimuth; finally, the solar azimuth and altitude angle information obtained in the previous step, as well as the heading data provided externally, are combined to calculate the longitude and latitude position of the carrier using the navigation triangulation method. The present invention constructs a tightly combined global positioning model of a polarized light compass and a solar sensor, overcomes the error problem of the polarized light compass in estimating the solar altitude angle, significantly improves the estimation accuracy of the solar azimuth angle, realizes the efficient fusion of polarized light information and solar position information, and provides an effective solution for global approximate positioning under satellite signal limited conditions.

Description

Technical Field

[0001] The invention mainly relates to the technical field of bionic polarized light navigation, in particular to a global autonomous positioning method and device which tightly combines a polarized light compass with a sun sensor. Background Art

[0002] Long-flight UAVs have broad application prospects in scientific investigation, maritime patrol, search and rescue, etc. However, when satellite signals are lost, especially when performing missions in areas such as sea crossings and deserts, the existing combined navigation method will degenerate into pure inertial navigation, which will lead to huge risks in the application of UAVs. Therefore, it is urgent to explore a new navigation method to provide a reliable positioning guarantee for long-flight UAVs, which can still provide positioning information for them even in the absence of satellite signals.

[0003] Polarized light global positioning methods inspired by animal navigation behavior provide a possible solution to the above problems. However, the current positioning accuracy of polarized light global positioning methods inspired by animal navigation behavior is low, which limits its practical application.

[0004] After analysis, the main reason for the large error of polarized light global positioning method is that there is a large error in solving the solar altitude angle and azimuth angle. Therefore, it is necessary to further study new methods to improve the accuracy of solving the solar altitude angle and azimuth angle. Summary of the invention

[0005] In view of the technical problems existing in the prior art, the present invention proposes a global autonomous positioning method and device which closely combines a polarized light compass with a sun sensor.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] On the one hand, the present invention provides a global autonomous positioning method by tightly combining a polarized light compass and a sun sensor, comprising:

[0008] Calculate the sun altitude angle based on the output data of the sun sensor;

[0009] Incorporating the solar altitude angle into the optimization process of the polarized E vector, the optimal estimate of the solar azimuth angle vector is solved, and the solar azimuth angle output by the tight combination of the polarized light compass and the sun sensor is obtained;

[0010] The longitude and latitude of the carrier are calculated by using navigation triangulation method based on the solar altitude angle, solar azimuth angle and attitude information.

[0011] In another aspect, the present invention provides a global autonomous positioning device which is a compact combination of a polarized light compass and a sun sensor, comprising:

[0012] The first module is used to calculate the solar altitude angle based on the output data of the solar sensor;

[0013] The second module is used to integrate the solar altitude angle into the optimization process of the polarized E vector, solve the optimal estimate of the solar azimuth angle vector, and obtain the solar azimuth angle output by the tight combination of the polarized light compass and the solar sensor;

[0014] The third module is used to calculate the longitude and latitude of the carrier by combining the solar altitude angle, solar azimuth angle and attitude information using navigation triangulation.

[0015] On the other hand, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the global autonomous positioning method combining a polarized light compass with a solar sensor are implemented.

[0016] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the global autonomous positioning method using a tightly combined polarized light compass and a solar sensor.

[0017] On the other hand, the present invention provides a computer program product, which is stored on a computer-readable storage medium and includes computer instructions, which, when executed by a processor, enable a computer device to implement the steps of the above-mentioned global autonomous positioning method combining a polarized light compass with a solar sensor.

[0018] Compared with the prior art, the technical effects of the present invention are:

[0019] The present invention relates to the field of bionic polarized light navigation, and proposes a global autonomous positioning method and device that closely combines a polarized light compass with a solar sensor to improve the accuracy of polarized light global positioning. First, the raw data output by the solar sensor is processed to calculate the solar direction vector; then, the solar altitude angle information is integrated into the optimization process of the polarized E vector, thereby improving the estimation accuracy of the polarized light compass for the solar azimuth; finally, the solar azimuth and altitude angle information obtained in the previous step, as well as the heading data provided externally, are combined to calculate the longitude and latitude position of the carrier using navigation triangulation.

[0020] The present invention constructs a tightly combined global positioning model of a polarized light compass and a solar sensor, overcomes the error problem of the polarized light compass in estimating the solar altitude angle, significantly improves the estimation accuracy of the solar azimuth angle, and realizes the efficient fusion of polarized light information and solar position information, providing an effective solution for global approximate positioning under satellite signal limited conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0022] Figure 1 is a flow chart of a global autonomous positioning method using a tightly combined polarized light compass and a sun sensor provided by an embodiment;

[0023] Figure 2 Schematic diagram of the sun sensor measuring the sun direction vector, where O is the origin of the coordinate axis where the sun sensor is located, x, y, z represent the x-axis, y-axis, and z-axis of the coordinate system established with O as the origin, S is the sun position, OS 1 is the projection of the sun on the O-XZ plane, OS 2 The sun is projected on the O-YZ plane. The sun sensor measures the angle between the sun direction vector and the sun sensor's line of sight. and ;

[0024] Figure 3 This is a comparison diagram of the tightly combined heading angle output in the simulation example. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In one embodiment of the present invention, referring to Figure 1 , provides a global autonomous positioning method that closely combines a polarized light compass with a sun sensor to improve the accuracy of polarized light global positioning. Specifically, it includes:

[0027] Calculate the sun altitude angle based on the output data of the sun sensor;

[0028] Incorporating the solar altitude angle into the optimization process of the polarized E vector, the optimal estimate of the solar azimuth angle vector is solved, and the solar azimuth angle output by the tight combination of the polarized light compass and the sun sensor is obtained;

[0029] The longitude and latitude of the carrier are calculated by using navigation triangulation method based on the solar altitude angle, solar azimuth angle and attitude information.

[0030] Reference Figure 2 , is a schematic diagram of the sun sensor measuring the sun direction vector, the sun sensor installation surface is the bottom surface of the sun sensor, the sun sensor is perpendicular to the sun sensor installation surface as the Z axis, toward the observation direction of the sun sensor; O is the location of the sun sensor, S is the sun position, OS 1 is the projection of the sun on the O-XZ plane, OS 2 is the projection of the sun on the O-YZ plane.

[0031] The sun sensor measures the angle between the sun direction vector and the sun sensor's line of sight. and , then the sun direction vector measured by the sun sensor is:

[0032]

[0033] The sun altitude angle is defined as , then the solar altitude angle calculated based on the output data of the sun sensor is:

[0034] .

[0035] Incorporating the solar altitude angle into the optimization process of the polarization E vector, the optimal estimate of the solar azimuth vector is obtained, including:

[0036] According to the first-order Rayleigh scattering model, the polarization E vector is perpendicular to the sun direction vector, so ;

[0037] Each superpixel of the polarized light compass can construct a polarization E vector, and these polarization E vectors are unrelated. The estimation of the sun direction vector can be expressed as any two E vectors. and The cross product of :

[0038] .

[0039] Generally, a polarized compass has tens of thousands of measurement points, which can construct a large number of unrelated E vectors, so the least square method can be used to find the optimal estimate of the sun direction vector. Since the solar altitude angle is more sensitive to errors such as noise, the solar altitude angle solved by polarized light has a large error, but the sun sensor can measure the solar altitude angle with high precision.

[0040] The present invention uses the solar altitude angle Introducing the sun direction vector, we have:

[0041] ;

[0042] in Indicates the solar azimuth;

[0043] Let the solar azimuth vector , ,

[0044] in , the solar azimuth vector The best estimate of is: The eigenvector corresponding to the minimum eigenvalue of .

[0045] The solar azimuth angle output by the tight combination of polarized light compass and sun sensor is: .

[0046] The basic principle of polarized light autonomous global positioning is that under certain time conditions, the position of the sun and the position of the carrier correspond one to one.

[0047] Combined with the solar altitude angle, solar azimuth angle and attitude information, the navigation triangulation method is used to calculate the longitude and latitude of the carrier, including:

[0048] Combine the solar altitude angle, solar azimuth angle and attitude information provided by external sensors (such as geomagnetic and micro-inertial sensors) to construct the rotation matrix from the carrier system to the navigation coordinate system. , transform the sun direction vector into the navigation coordinate system;

[0049] According to the navigation triangle method in celestial navigation, the relationship model between the solar azimuth angle, solar altitude angle and the longitude and latitude of the carrier is established;

[0050] By solving the relationship model between the solar azimuth angle, solar altitude angle and the longitude and latitude of the carrier, the precise longitude and latitude of the carrier can be obtained, realizing global autonomous positioning of polarized light.

[0051] The basic principle of polarized light autonomous global positioning is that under certain time conditions, the position of the sun and the position of the carrier correspond one to one.

[0052] Specifically, the sun direction vector is converted into the navigation coordinate system to obtain the sun direction vector in the navigation coordinate system: ,in Represents the rotation matrix from the carrier system to the navigation coordinate system, represents the solar altitude angle, Represents the solar azimuth.

[0053] According to the navigation triangle method in celestial navigation, the relationship model between the solar azimuth angle, solar altitude angle and the longitude and latitude of the carrier is as follows:

[0054] ;

[0055] in is the solar declination, which can be calculated from the current time. is the carrier latitude, is the solar hour angle, which is related to the time and the local longitude.

[0056] The Gauss-Newton iteration method is used to solve the relationship model between the solar azimuth angle, solar altitude angle and the longitude and latitude of the carrier. The number of iterations and initial values ​​are set according to the actual situation to obtain the precise longitude and latitude of the carrier and realize global autonomous positioning of polarized light.

[0057] In order to verify the effectiveness of the present invention, a simulation example is provided. Figure 3 This is a comparison diagram of the tight combination heading angle output in the simulation example. The simulation model built based on the simulation example and the added noise are used to compare the heading angle output of the tight combination of the sun sensor / polarized light compass ( Figure 3 After tight combination), and the original polarization angle output by the polarized light compass ( Figure 3 Before the middle and tight combination), from Figure 3 It can be seen from the figure that the combination of the solar sensor and the polarized light compass can improve the accuracy of the heading angle and further improve the accuracy of polarization positioning. The present invention can effectively improve the output accuracy of the solar azimuth angle.

[0058] In another embodiment, a global autonomous positioning device is provided which is a compact combination of a polarized light compass and a sun sensor, comprising:

[0059] The first module is used to calculate the solar altitude angle based on the output data of the solar sensor;

[0060] The second module is used to integrate the solar altitude angle into the optimization process of the polarized E vector, solve the optimal estimate of the solar azimuth angle vector, and obtain the solar azimuth angle output by the tight combination of the polarized light compass and the solar sensor;

[0061] The third module is used to calculate the longitude and latitude of the carrier by combining the solar altitude angle, solar azimuth angle and attitude information using navigation triangulation.

[0062] The implementation methods of the above modules and the construction of the model can adopt the methods described in any of the above embodiments, which will not be repeated here.

[0063] The present invention constructs a tightly combined global positioning model of a polarized light compass and a solar sensor, overcomes the error problem of the polarized light compass in estimating the solar altitude angle, significantly improves the estimation accuracy of the solar azimuth angle, and realizes the efficient fusion of polarized light information and solar position information, providing an effective solution for global approximate positioning under satellite signal limited conditions.

[0064] On the other hand, the present invention provides a computer device, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the global autonomous positioning method of tightly combining a polarized light compass and a solar sensor provided in any of the above embodiments when executing the computer program. The computer device may be a server. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store sample data. The network interface of the computer device is used to communicate with an external terminal via a network connection.

[0065] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the global autonomous positioning method of combining a polarized light compass with a solar sensor provided in any of the above embodiments.

[0066] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0067] Matters not covered by the present invention are known technologies.

[0068] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

[0070] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A global autonomous positioning method combining a polarized light compass and a sun sensor, characterized in that: include: Calculate the sun altitude angle based on the output data of the sun sensor; Incorporating the solar altitude angle into the optimization process of the polarized E vector, the optimal estimate of the solar azimuth angle vector is solved, and the solar azimuth angle output by the tight combination of the polarized light compass and the sun sensor is obtained, including: According to the first-order Rayleigh scattering model, the polarization E vector is perpendicular to the sun direction vector, so ; Each superpixel of the polarized light compass can construct a polarization E vector, and these polarization E vectors are unrelated. The estimation of the sun direction vector can be expressed as any two E vectors. and The cross product of : The sun altitude angle Introducing the sun direction vector, we have: in Indicates the solar azimuth; Let the solar azimuth vector , ,in , the solar azimuth vector The best estimate of is: The eigenvector corresponding to the minimum eigenvalue of , the solar azimuth output by the tight combination of the polarized light compass and the sun sensor is: ; The longitude and latitude of the carrier are calculated by using navigation triangulation method based on the solar altitude angle, solar azimuth angle and attitude information.

2. The global autonomous positioning method of the polarized light compass and the sun sensor tightly combined according to claim 1 is characterized in that: The solar sensor installation surface is the bottom surface of the solar sensor, and the vertical direction to the solar sensor installation surface is defined as the Z axis of the solar sensor, which is toward the observation direction of the solar sensor; The sun sensor measures the angle between the sun direction vector and the sun sensor's line of sight. and , then the sun direction vector measured by the sun sensor is: The sun altitude angle is defined as , then the solar altitude angle calculated based on the output data of the solar sensor is: 。 3. The global autonomous positioning method of the tight combination of polarized light compass and sun sensor according to claim 1 or 2, characterized in that: The longitude and latitude of the carrier are calculated by using the navigation triangulation method in combination with the solar altitude angle, solar azimuth angle and attitude information, including: constructing a rotation matrix from the carrier system to the navigation coordinate system in combination with the solar altitude angle, solar azimuth angle and attitude information provided by external sensors, and converting the solar direction vector into the navigation coordinate system; establishing a relationship model between the solar azimuth angle, solar altitude angle and the longitude and latitude of the carrier based on the navigation triangulation method in celestial navigation; solving the relationship model between the solar azimuth angle, solar altitude angle and the longitude and latitude of the carrier to obtain the precise longitude and latitude of the carrier, and realizing global autonomous positioning of polarized light.

4. The global autonomous positioning method of the polarized light compass and the sun sensor tightly combined according to claim 3 is characterized in that: Convert the sun direction vector to the navigation coordinate system to obtain the sun direction vector in the navigation coordinate system ,in Represents the rotation matrix from the carrier system to the navigation coordinate system, represents the solar altitude angle, Represents the solar azimuth.

5. The global autonomous positioning method of the polarized light compass and the sun sensor tightly combined according to claim 4 is characterized in that: The relationship model between the solar azimuth angle, solar altitude angle and carrier longitude and latitude is as follows: in is the solar declination, is the carrier latitude, is the solar hour angle, which is related to the time and the local longitude.

6. The global autonomous positioning method of the tightly combined polarized light compass and sun sensor according to claim 5 is characterized in that: The Gauss-Newton iteration method is used to solve the relationship model between the solar azimuth angle, solar altitude angle and the longitude and latitude of the carrier. By setting the number of iterations and the initial value, the precise longitude and latitude of the carrier can be obtained to achieve global autonomous positioning of polarized light.

7. A global autonomous positioning device tightly combined with a polarized light compass and a sun sensor, characterized in that: include: The first module is used to calculate the solar altitude angle based on the output data of the solar sensor; The second module is used to integrate the solar altitude angle into the optimization process of the polarization E vector, solve the optimal estimate of the solar azimuth angle vector, and obtain the solar azimuth angle output by the tight combination of the polarized light compass and the sun sensor, including: According to the first-order Rayleigh scattering model, the polarization E vector is perpendicular to the sun direction vector, so ; Each superpixel of the polarized light compass can construct a polarization E vector, and these polarization E vectors are unrelated. The estimation of the sun direction vector can be expressed as any two E vectors. and The cross product of : The sun altitude angle Introducing the sun direction vector, we have: in Indicates the solar azimuth; Let the solar azimuth vector , ,in , the solar azimuth vector The best estimate of is: The eigenvector corresponding to the minimum eigenvalue of , the solar azimuth output by the tight combination of the polarized light compass and the sun sensor is: ; The third module is used to calculate the longitude and latitude of the carrier by combining the solar altitude angle, solar azimuth angle and attitude information using navigation triangulation.

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