Carrier three-dimensional attitude determination method based on night polarized light field double-vector characteristics

By analyzing the polarization distribution mode of the night moonlight, using an image polarization sensor to obtain the moon vector and neutral point vector, construct an orthogonal coordinate system, and solve the three-dimensional attitude angle information, solving the problem that the existing night polarization attitude algorithm depends on external sensors, and achieving high-precision three-dimensional attitude estimation.

CN119642826AActive Publication Date: 2025-03-18BEIHANG UNIV
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Patent Information

Application Number
CN202411905513.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-23
Publication Date
2025-03-18
Estimated Expiration
2044-12-23

AI Technical Summary

Technical Problem

The existing night polarization pose algorithm requires known horizontal attitude information. It relies on external sensors, has limited application range and is prone to introduce errors. The existing methods have failed to effectively consider factors such as low illumination intensity and poor visibility in the night scene.

Method used

A carrier three-dimensional pose fixing method based on the two-vector characteristics of the night polarization light field is proposed. By analyzing the polarization distribution mode of the night moonlight, using an image polarization sensor to obtain the moon vector and neutral point vector, construct an orthogonal coordinate system, and solve the three-dimensional pose angle information to realize three-dimensional pose estimation that does not rely on external horizontal reference information.

Benefits of technology

Without introducing other sensor errors, a carrier three-dimensional attitude estimation using only polarization navigation information is realized, which improves the autonomy and accuracy of polarization navigation at night and has stronger adaptability.

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Abstract

The invention relates to a carrier three-dimensional attitude determination method based on night polarized light field double-vector characteristics, which comprises the following steps: acquiring night sky polarized light field information, and acquiring an image plane coordinate system neutral point coordinate and a moon coordinate based on polarization distribution mode neutral surface characteristics; based on an imaging model, inversely solving a polarization neutral point vector and a moon vector under a carrier coordinate system, and further calculating a carrier system neutral surface normal vector; obtaining a moon vector under the navigation system according to the time information and the geographic position information, and calculating to obtain a normal vector vector of a neutral surface of the navigation system by using a zenith direction vector; constructing an orthogonal coordinate system by using the corresponding moon vector and the normal vector in the carrier system and the navigation system respectively; and calculating an attitude conversion matrix based on the two orthogonal coordinate systems so as to obtain a conversion relation between the carrier system and the navigation system and obtain a three-dimensional attitude angle. According to the invention, autonomous attitude determination based on the sky polarized light field under the condition of no external input is realized, an external error source is removed, and autonomy is improved.
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