Navigation orientation method, device and equipment based on polarization difference reference and medium

Abstract

The invention discloses a navigation orientation method, device and equipment based on a polarization difference reference and a medium, which are applied to a polarization difference reference station and a user station, and the user station is located in an effective radius of the reference station. Taking the polarization angle non-vertical error of each pixel point observation area as a state vector to be estimated, and establishing a state equation of a polarization angle non-vertical error time domain interference observer; constructing a polarization vector based on the polarization angle measurement value; establishing a measurement equation and a system model of the interference observer; establishing a corresponding relation between the polarization angle non-vertical error to be compensated and a sensor observation vector; determining a non-vertical error value of the polarization angle according to the corresponding relation and a real-time sensor observation vector obtained through a user station navigation system; and compensating the polarization angle, and carrying out polarization course calculation by using the polarization angle after compensating the non-vertical error to obtain real-time course information of the carrier. According to the embodiment of the invention, the navigation precision and environmental adaptability of the user-side integrated navigation system can be improved.

Description

Technical Field

[0001] The present application belongs to the field of navigation technology, and in particular relates to a navigation orientation method, device, equipment and medium based on a polarization differential reference. Background Art

[0002] When sunlight enters the atmosphere, it is scattered by particles within it, resulting in the polarization of skylight within the atmosphere. Under ideal conditions of a clear, bright sky, according to Rayleigh scattering theory, the atmospheric polarization pattern exhibits a stable distribution pattern, manifested by the polarization vector at each point in the sky being perpendicular to the sun's position vector. Leveraging this pattern, combined with the astronomical almanac and the carrier's time, position, and orientation, the polarization navigation system uses the measured polarization information of a specific area in the sky to perform navigation calculations, enabling fully autonomous polarization navigation. As an autonomous navigation technology that does not accumulate errors and does not rely on satellite signals, polarization navigation has broad application prospects.

[0003] However, in reality, the atmospheric environment is affected by various factors such as clouds and haze. Natural light not only undergoes Rayleigh scattering, but also complex scattering effects such as Mie scattering, which destroys the vertical relationship between the polarization vector and the sun's position vector. The polarization angle observation values of each point in the sky have non-vertical errors, and the size and state of the non-vertical errors in different sky regions are also different, which has a great impact on the accuracy and stability of the polarization navigation system.

[0004] In general, atmospheric polarization patterns are affected by various environmental factors, resulting in non-perpendicular errors in the polarization angle. This error is highly random, with complex mechanisms, making it difficult to model and predict. Current technologies in the field of polarization navigation are insufficient. Summary of the Invention

[0005] The embodiments of the present application provide a navigation and orientation method, apparatus, device and medium based on a polarization differential reference, which are used to at least solve the problem of non-vertical error of polarization angle caused by environmental interference in the related art.

[0006] In a first aspect, an embodiment of the present application provides a navigation and orientation method based on a polarization differential reference, which is applied to a polarization differential reference station and a user station, wherein the user station is located within an effective radius of the polarization differential reference station;

[0007] The method comprises:

[0008] The polarization angle non-perpendicular error corresponding to each pixel observation area of the polarization differential reference station is used as the state vector to be estimated, and the state equation of the polarization angle non-perpendicular error time domain interference observer is established.

[0009] Construct polarization vector based on polarization angle measurement value of reference station;

[0010] Establishing a measurement equation of a polarization angle non-vertical error time-domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station;

[0011] Constructing a system model of a disturbance observer according to the state equation and the measurement equation;

[0012] Using the system model of the interference observer, a corresponding relationship between the non-vertical error of the polarization angle to be compensated and the sensor observation vector is established;

[0013] Determining a polarization angle non-vertical error value based on the corresponding relationship and a real-time sensor observation vector obtained through a user station navigation system;

[0014] The polarization angle is compensated according to the non-vertical error value of the polarization angle, and the polarization heading is calculated using the polarization angle after the non-vertical error is compensated, so as to obtain the real-time heading information of the carrier.

[0015] In a second aspect, an embodiment of the present application provides a navigation and orientation device based on a polarization differential reference, which is applied to a polarization differential reference station and a user station, wherein the user station is located within an effective radius of the polarization differential reference station;

[0016] The device comprises:

[0017] The first establishment module is used to use the polarization angle non-perpendicular error corresponding to each pixel observation area of the polarization differential reference station as a state vector to be estimated, and establish a state equation of the polarization angle non-perpendicular error time domain interference observer;

[0018] A construction module, used for constructing a polarization vector based on a polarization angle measurement value of a reference station;

[0019] A second establishing module is used to establish a measurement equation of a polarization angle non-vertical error time domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station;

[0020] A construction module, configured to construct a system model of a disturbance observer according to the state equation and the measurement equation;

[0021] A third establishing module is used to establish a corresponding relationship between the polarization angle non-vertical error to be compensated and the sensor observation vector by using the system model of the interference observer;

[0022] A determination module, configured to determine a polarization angle non-vertical error value based on the corresponding relationship and a real-time sensor observation vector obtained through a user station navigation system;

[0023] The solution module is used to compensate the polarization angle according to the non-vertical error value of the polarization angle, and use the polarization angle after compensating the non-vertical error to solve the polarization heading to obtain real-time heading information of the carrier.

[0024] In a third aspect, an embodiment of the present application provides an electronic device comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the steps of the navigation and orientation method based on polarization differential reference as described in any embodiment of the first aspect are implemented.

[0025] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the steps of the navigation and orientation method based on polarization differential reference as described in any embodiment of the first aspect are implemented.

[0026] In a fifth aspect, an embodiment of the present application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the steps of the navigation and orientation method based on polarization differential reference provided in the first aspect of the embodiment of the present application.

[0027] The polarization differential reference-based navigation and orientation method, apparatus, device, and medium of the embodiments of the present application, with the help of a polarization differential reference station, establish a time-domain interference observer for the non-vertical error of the polarization angle in each region of the sky based on the distribution and variation law of the non-vertical error, and perform real-time estimation thereof; at the user end, considering the correspondence between the non-vertical error and the observation vector of the polarization sensor, the non-vertical error to be compensated is determined based on the real-time observation vector, and is compensated in real time during the heading solution, thereby realizing differential polarization angle non-vertical error estimation and compensation, thereby improving the navigation accuracy and environmental adaptability of the user-end combined navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 This is a flow chart of a navigation and orientation method based on polarization differential reference provided by an embodiment of the present application;

[0030] Figure 2 1 is a schematic structural diagram of a navigation and orientation device based on a polarization differential reference provided in an embodiment of the present application;

[0031] Figure 3This is a structural diagram of an electronic device provided in an embodiment of the present application.

[0032] Reference numerals:

[0033] A navigation and orientation device 200 based on polarization difference reference comprises a first establishing module 201, a construction module 202, a second establishing module 203, a construction module 204, a third establishing module 205, a determination module 206, and a solution module 207.

[0034] Electronic device 300 , processor 301 , memory 302 , communication interface 303 , bus 310 . DETAILED DESCRIPTION

[0035] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0036] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0037] When sunlight enters the atmosphere, it is scattered by particles within it, resulting in the polarization of skylight within the atmosphere. Under ideal conditions of a clear, bright sky, according to Rayleigh scattering theory, the atmospheric polarization pattern exhibits a stable distribution pattern, manifested by the polarization vector at each point in the sky being perpendicular to the sun's position vector. Leveraging this pattern, combined with the astronomical almanac and the carrier's time, position, and orientation, the polarization navigation system uses the measured polarization information of a specific area in the sky to perform navigation calculations, enabling fully autonomous polarization navigation. As an autonomous navigation technology that does not accumulate errors and does not rely on satellite signals, polarization navigation has broad application prospects.

[0038] However, in reality, the atmospheric environment is affected by various factors such as clouds and haze. Natural light not only undergoes Rayleigh scattering, but also complex scattering effects such as Mie scattering, which destroys the vertical relationship between the polarization vector and the sun's position vector. The polarization angle observation values of each point in the sky have non-vertical errors, and the size and state of the non-vertical errors in different sky regions are also different, which has a great impact on the accuracy and stability of the polarization navigation system.

[0039] At present, in the field of polarization navigation, in order to reduce the interference caused by various atmospheric environmental factors to the polarization navigation system, some research has been carried out from different angles at home and abroad. For example, Chinese patent CN110631567A "A method for inverting and correcting atmospheric refraction errors of a differential sky polarization compass" uses a polarization differential reference station to invert and correct atmospheric refraction errors, but does not consider the non-vertical error of polarization angle caused by atmospheric environmental factors. Chinese patent CN113834484A "A method for inertial navigation / polarization combined navigation based on non-Rayleigh scattering model error" adds the modeling of non-Rayleigh scattering model errors to the polarization / inertial combined navigation system model, but does not consider the different non-Rayleigh scattering error constants in different sky regions. The sensor observation direction changes continuously during the movement of the carrier, which will affect the estimation and tracking of the non-Rayleigh scattering error.

[0040] In summary, the atmospheric polarization pattern is affected by various environmental factors, resulting in non-perpendicular polarization angle errors that do not conform to the Rayleigh scattering model. This error is highly random, with a complex formation mechanism, making it difficult to model and predict. Furthermore, the degree to which the atmospheric polarization pattern is affected by the environment varies across different sky regions, leading to varying degrees of non-perpendicular errors. This makes real-time estimation and compensation of non-perpendicular polarization angle errors difficult, limiting improvements in polarization navigation and heading accuracy. Consequently, current technologies in the field of polarization navigation are insufficient.

[0041] In order to solve the problems of related technologies, the embodiments of the present application provide a navigation and orientation method, apparatus, device and medium based on polarization differential reference.

[0042] The following describes in detail the polarization differential reference navigation and orientation method provided by the embodiment of the present application through specific embodiments and application scenarios in conjunction with the accompanying drawings.

[0043] It should be noted that the navigation and orientation method based on polarization differential reference is applied to the polarization differential reference station and the user station, and the user station is located within the effective radius of the polarization differential reference station, that is, in the embodiment of the present application, the polarization differential reference station and the user station are under the same local sky.

[0044] It should be noted that in the embodiment of the present application, the polarization differential reference station is set at a fixed location, that is, the longitude L, latitude λ of the polarization differential reference station and the attitude conversion matrix corresponding to the navigation coordinate system (n system) to the carrier coordinate system (b system) of the polarization differential reference station All are known.

[0045] Figure 1 FIG. 1 is a flow chart showing a navigation and orientation method based on polarization difference reference according to an embodiment of the present application. Figure 1 As shown, the navigation and orientation method based on polarization difference reference may specifically include the following steps: S101 to S107.

[0046] S101 , taking the polarization angle non-perpendicular errors corresponding to the observation areas of each pixel point of the polarization differential reference station as state vectors to be estimated, and establishing a state equation of a polarization angle non-perpendicular error time-domain interference observer.

[0047] In this embodiment, the non-vertical error δΦ of the polarization angle caused by interference factors is taken into account, and the environmental interference factors in different sky areas are different. Therefore, based on the composite interference filtering theory, a time-domain non-vertical error interference observer is established to estimate the non-vertical error of each pixel point corresponding to the sky area separately.

[0048] Specifically, the polarization angle value actually measured by the polarization sensor consists of two parts: the ideal polarization angle value and the non-perpendicular error: Where n is the number of pixels at the polarization differential reference station. It should be noted that the non-vertical error of the polarization angle obeys the first-order Markov process, that is: δΦ k =δΦ k-1 +w. Then, the state variable of the non-vertical error observer is X=[δΦ1δΦ2...δΦ n ], which is composed of the non-vertical errors corresponding to the observation area of each pixel point. Thus, the system state equation X can be established k+1 =X k +W, where W is the process noise.

[0049] S102: Construct a polarization vector based on the polarization angle measurement value of the reference station.

[0050] It should be understood that the polarization angle measurement value of the reference station includes the ideal polarization angle value and the polarization angle non-vertical error, and the polarization angle non-vertical error obeys a first-order Markov process. Therefore, based on the polarization angle measurement value of the reference station and considering the influence of the polarization angle non-vertical error, the polarization vector is constructed as

[0051]

[0052] As an optional embodiment, before S103, the method also includes: calculating the azimuth and altitude of the sun in the navigation coordinate system at the current moment according to the longitude and latitude of the polarization differential reference station through the astronomical calendar relationship; calculating the second solar vector in the navigation coordinate system according to the azimuth and altitude; obtaining the first solar vector in the carrier coordinate system of the polarization differential reference station according to the second solar vector and the attitude conversion matrix, and the attitude conversion matrix is the conversion matrix corresponding to the navigation coordinate system to the carrier coordinate system of the polarization differential reference station.

[0053] In specific implementation, based on the local time t, longitude L, and latitude λ known at the reference station, and according to the astronomical almanac, the azimuth of the sun at the current moment in the n system is calculated. and altitude angle Thus we get the solar vector s in the n system n .Right now:

[0054]

[0055] Among them, G represents the astronomical calendar relationship.

[0056] Furthermore, the solar vector s in the b system can be calculated according to the following formula (2): b :

[0057]

[0058] in, is the attitude transformation matrix from the n system to the b system.

[0059] S103 : establishing a measurement equation of a polarization angle non-perpendicular error time-domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station.

[0060] In this embodiment, the dot product of the polarization vector and the first solar vector is calculated; and the dot product is used as a measurement to establish a measurement equation for a polarization angle non-perpendicular error time-domain interference observer.

[0061] In specific implementation, the polarization vector is calculated and measured With the sun vector s b The product between The dot product is used as the measurement to establish the measurement equation Z = h(X) + V, where h(X) is the measurement function and V is the measurement noise. Then, the polarization vector The corresponding measurements are:

[0062]

[0063] Then, the system measurement equation is:

[0064] Z=[h1(δΦ1) h2(δΦ2)... h n (δΦ n )]+V=h(X)+V. (4)

[0065] S104: Construct a system model of a disturbance observer according to the state equation and the measurement equation.

[0066] Specifically, the system model of the disturbance observer is:

[0067]

[0068] Where h(X) is the measurement function and V is the measurement noise.

[0069] Furthermore, in some optional embodiments, the method further includes: iteratively updating the system state of the system model of the disturbance observer using an unscented Kalman filtering method.

[0070] In some optional embodiments, the coordinates of the polarization differential reference station can be calculated according to the following formula (6): i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding second observation vector O in the navigation coordinate system n :

[0071] x3=x i -a

[0072] y3=y i -b

[0073]

[0074] Among them, [x3,y3,z3] T is a three-dimensional vector; R xy Represents the distance of the pixel point in the internal coordinate system of the polarization differential reference station; b The coordinates are (x i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding first observation vector in the carrier coordinate system of the polarization differential reference station; n The coordinates are (x i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding second observation vector in the navigation coordinate system; It represents the attitude transformation matrix from the navigation coordinate system to the carrier coordinate system of the polarization differential reference station. a, b, c, d, e, and f are the internal parameters of the polarization differential reference station after calibration.

[0075] S105 , using the system model of the interference observer, establishing a corresponding relationship between the non-perpendicular error of the polarization angle to be compensated and the sensor observation vector.

[0076] That is, the corresponding relationship between the non-vertical error estimate and the polarization sensor observation vector is established: δΦ i =f(O n ).

[0077] S106 : Determine a polarization angle non-vertical error value according to the corresponding relationship and a real-time sensor observation vector obtained by the user station navigation system.

[0078] In specific implementation, the user-side inertial / polarization integrated navigation system is based on the attitude conversion matrix from b' to n Attitude transformation matrix from m system to b' system Calculate the sensor observation vector under the n system: Among them, b' is the carrier coordinate system of the user-side polarization navigation system, and m is the sensor coordinate system of the user-side polarization navigation system.

[0079] In specific implementation, based on the corresponding relationship between the non-vertical error estimation value and the observation vector established in the above steps, the non-vertical error δΦ corresponding to the observation direction of the current user-side polarization navigation system is calculated. n ), that is, the non-vertical error of the polarization angle to be compensated is determined in real time. Thus, the non-vertical error estimation value can be used to calculate the orientation result after compensating for the non-vertical error, that is, perform the following S107.

[0080] S107 , compensating the polarization angle according to the non-vertical error value of the polarization angle, and performing polarization heading calculation using the polarization angle after the non-vertical error is compensated, to obtain real-time heading information of the carrier.

[0081] In specific implementation, first calculate the corrected polarization vector p m :

[0082]

[0083] in, The polarization angle measured by the user-side polarization navigation system.

[0084] Then, the horizontal attitude angle of the carrier is obtained using inertial navigation, including the pitch angle θ and the roll angle γ. Based on the perpendicular relationship between the sun vector and the polarization vector, the following relationship holds:

[0085]

[0086] in, is the transformation matrix from the carrier coordinate system to the navigation coordinate system, which can be expressed by the three-axis attitude angle of the carrier:

[0087]

[0088] In this case, since θ and γ are known through inertial navigation, the heading angle ψ is the only unknown quantity in the vertical relationship equation. Solving the equation can obtain the polarization heading solution ψ after correcting the non-vertical error, which is used to represent the current heading of the carrier for navigation.

[0089] Therefore, the embodiment of the present application establishes a system model of a non-vertical error observer for observing the polarization angle of the sky area, and applies the unscented Kalman filtering method to complete error estimation, which is used for heading solution and correction of the user-end polarization navigation system; with the help of a polarization differential reference station, real-time estimation of the non-vertical error of the polarization angle of the entire sky area is achieved, and the non-vertical error is compensated according to the direction of the carrier observation vector, thereby improving the orientation accuracy of the polarization navigation system in non-Rayleigh scattering weather.

[0090] In another embodiment, the embodiment of the present application provides another navigation and orientation method based on polarization differential reference. It mainly includes the following steps: setting a polarization differential reference station and a user station, and establishing a polarization angle non-vertical error time domain interference observer, using the polarization angle non-vertical error corresponding to the observation area of each pixel point as the state vector to be estimated, and establishing an observer state equation; constructing a polarization vector based on the polarization angle measurement value of the reference station, and calculating the dot product of the polarization vector and the sun vector; using the dot product as a measurement to establish a measurement equation, modeling the relationship between the measurement and the polarization angle non-vertical error, completing the establishment of the non-vertical error interference observer system model, and applying the unscented Kalman filter method to estimate the non-vertical error; establishing a corresponding relationship between the non-vertical error to be compensated and the sensor observation vector, the user-end navigation system calculates the real-time sensor observation vector, and determines the polarization angle non-vertical error to be compensated based on the corresponding relationship, and uses the polarization angle after compensating the non-vertical error to perform orientation solution. According to the embodiment of the present application, the polarization angle non-vertical error with strong randomness can be estimated and compensated, thereby improving the accuracy of the polarization orientation solution.

[0091] In the embodiments of the present application, considering the impact of non-vertical errors caused by environmental interference factors on the polarization navigation system, a full-sky non-vertical error interference observer is established with the help of a polarization differential reference station, and an unscented Kalman filter method is used to estimate it in real time. Taking into account the varying degrees to which atmospheric polarization patterns are affected by environmental factors in different sky regions, a corresponding relationship between polarization angle non-vertical error and observation vector is established for the first time. The user-side polarization navigation system calculates its own sensor observation vector in real time, determines the estimated polarization angle non-vertical error corresponding to the current sensor observation vector, and calculates the heading after compensating for the non-vertical error, thereby improving error compensation accuracy and environmental adaptability.

[0092] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0093] Based on the same technical concept, corresponding to any of the above-mentioned embodiments and methods, the present application further provides a navigation and orientation device 200 based on a polarization differential reference. Furthermore, the navigation and orientation device 200 based on a polarization differential reference is applied to a polarization differential reference station and a user station, wherein the user station is located within the effective radius of the polarization differential reference station.

[0094] like Figure 2 As shown, the navigation and orientation device 200 based on polarization difference reference may include:

[0095] The first establishing module 201 is used to establish a state equation of a polarization angle non-perpendicular error time-domain interference observer by taking the polarization angle non-perpendicular error corresponding to each pixel observation area of the polarization differential reference station as a state vector to be estimated;

[0096] A construction module 202 is configured to construct a polarization vector based on a polarization angle measurement value of a reference station;

[0097] The second establishing module 203 is configured to establish a measurement equation of a polarization angle non-vertical error time domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station;

[0098] A construction module 204 is configured to construct a system model of a disturbance observer according to the state equation and the measurement equation;

[0099] The third establishing module 205 is used to establish a corresponding relationship between the polarization angle non-perpendicular error to be compensated and the sensor observation vector using the system model of the interference observer;

[0100] A determination module 206 is configured to determine a polarization angle non-vertical error value based on the corresponding relationship and a real-time sensor observation vector obtained by a user station navigation system;

[0101] The calculation module 207 is used to compensate the polarization angle according to the polarization angle non-vertical error value, and perform polarization heading calculation using the polarization angle after the non-vertical error is compensated to obtain real-time heading information of the carrier.

[0102] Optionally, the reference station polarization angle measurement value includes an ideal polarization angle value and a polarization angle non-vertical error, and the polarization angle non-vertical error obeys a first-order Markov process.

[0103] In some embodiments, the second establishing module 203 is specifically configured to: calculate the dot product of the polarization vector and the first sun vector; and establish a measurement equation of a polarization angle non-perpendicular error time-domain interference observer using the dot product as a measurement.

[0104] In some embodiments, the navigation and orientation device 200 based on polarization difference reference further includes a first calculation module ( Figure 2 ), is used to: calculate the azimuth and altitude of the sun in the navigation coordinate system at the current moment according to the longitude and latitude of the polarization differential reference station through the astronomical almanac relationship; calculate the second solar vector in the navigation coordinate system according to the azimuth and altitude; obtain the first solar vector in the carrier coordinate system of the polarization differential reference station according to the second solar vector and the attitude conversion matrix, and the attitude conversion matrix is the conversion matrix corresponding to the navigation coordinate system to the carrier coordinate system of the polarization differential reference station.

[0105] In some embodiments, the navigation and orientation device 200 based on polarization difference reference further includes a second calculation module ( Figure 2 (not shown), used to calculate the coordinates of the polarization differential reference station according to the following formula: (x i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding second observation vector O in the navigation coordinate system n :

[0106] x3=x i -a

[0107] y3=y i -b

[0108]

[0109] Among them, [x3,y3,z3] T is a three-dimensional vector; R xy Represents the distance of the pixel point in the internal coordinate system of the polarization differential reference station; b The coordinates are (x i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding first observation vector in the carrier coordinate system of the polarization differential reference station; n The coordinates are (x i ,y i ) pixel point, polarization angle non-vertical error δΦ iThe corresponding second observation vector in the navigation coordinate system; It represents the attitude transformation matrix from the navigation coordinate system to the carrier coordinate system of the polarization differential reference station. a, b, c, d, e, and f are the internal parameters of the polarization differential reference station after calibration.

[0110] In some embodiments, the navigation and orientation device 200 based on polarization differential reference further includes an update module ( Figure 2 ), used to iteratively update the system state of the system model of the disturbance observer using an unscented Kalman filtering method.

[0111] It should be noted that, for the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0112] The device of the above embodiment is used to implement the corresponding navigation and orientation method based on polarization difference reference in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0113] Based on the same technical concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides an electronic device.

[0114] Figure 3 A more specific hardware structure diagram of an electronic device provided by this embodiment is shown.

[0115] The electronic device 300 may include a processor 301 and a memory 302 storing computer program instructions.

[0116] Specifically, the processor 301 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0117] The memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 302 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 302 may include removable or non-removable (or fixed) media. Where appropriate, the memory 302 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 302 is a non-volatile solid-state memory.

[0118] In certain embodiments, the memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present application.

[0119] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any one of the polarization differential reference based navigation and orientation methods in the above embodiments.

[0120] In some examples, the electronic device 300 may further include a communication interface 303 and a bus 310. Figure 3 As shown, the processor 301 , the memory 302 , and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0121] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0122] Bus 310 includes hardware, software or both, and the components of online data flow metering equipment are coupled to each other. For example, but not limitation, bus 310 may include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 310 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0123] Illustratively, the electronic device 300 may be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA).

[0124] Based on the same technical concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a non-transitory computer-readable storage medium. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the above-mentioned navigation and orientation methods based on polarization differential reference is implemented. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as portable disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, etc.

[0125] Based on the same technical concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a computer program product comprising computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer so that the computer and / or the processor execute the navigation and orientation method based on the polarization differential reference. Corresponding to the execution subject corresponding to each step in each embodiment of the navigation and orientation method based on the polarization differential reference, the processor that executes the corresponding step can belong to the corresponding execution subject.

[0126] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0127] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0128] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0129] Aspects of the present application have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed via the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. This processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or the flowchart and the combination of the boxes in the block diagram and / or the flowchart can also be implemented by the dedicated hardware that performs the specified function or action, or can be implemented by the combination of dedicated hardware and computer instructions.

[0130] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A navigation and orientation method based on polarization differential reference, characterized in that: Applicable to a polarization differential reference station and a user station, wherein the user station is located within the effective radius of the polarization differential reference station; The method comprises: The polarization angle non-perpendicular error corresponding to each pixel observation area of the polarization differential reference station is used as the state vector to be estimated, and the state equation of the polarization angle non-perpendicular error time domain interference observer is established. Construct polarization vector based on polarization angle measurement value of reference station; Establishing a measurement equation of a polarization angle non-vertical error time-domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station; Constructing a system model of a disturbance observer according to the state equation and the measurement equation; Using the system model of the interference observer, a corresponding relationship between the non-vertical error of the polarization angle to be compensated and the sensor observation vector is established; Determining a polarization angle non-vertical error value based on the corresponding relationship and a real-time sensor observation vector obtained through a user station navigation system; The polarization angle is compensated according to the non-vertical error value of the polarization angle, and the polarization heading is calculated using the polarization angle after the non-vertical error is compensated, so as to obtain the real-time heading information of the carrier.

2. The method according to claim 1, characterized in that The method of establishing a measurement equation of a polarization angle non-vertical error time domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station includes: calculating a dot product of the polarization vector and the first sun vector; The dot product is used as a measurement to establish a measurement equation of a polarization angle non-perpendicular error time-domain interference observer.

3. The method according to claim 1, characterized in that Before establishing a measurement equation of a polarization angle non-vertical error time-domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station, the method further includes: According to the longitude and latitude of the polarization differential reference station, the azimuth and altitude of the sun in the navigation coordinate system at the current moment are calculated through the astronomical almanac relationship; Calculating a second sun vector in a navigation coordinate system according to the azimuth and altitude angles; The first sun vector in the carrier coordinate system of the polarization differential reference station is obtained according to the second sun vector and the attitude conversion matrix, which is a conversion matrix corresponding to the carrier coordinate system from the navigation coordinate system to the polarization differential reference station.

4. The method according to claim 1, wherein The method further comprises: The coordinates of the polarization differential reference station are calculated according to the following formula: (x i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding second observation vector O in the navigation coordinate system n : x3=x i -a y3=y i -b Among them, [x3,y3,z3] T is a three-dimensional vector; R xy Represents the distance of the pixel point in the internal coordinate system of the polarization differential reference station; b The coordinates are (x i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding first observation vector in the carrier coordinate system of the polarization differential reference station; n The coordinates are (x i ,y i ) pixel point, polarization angle non-vertical error δΦ i The corresponding second observation vector in the navigation coordinate system; It represents the attitude transformation matrix from the navigation coordinate system to the carrier coordinate system of the polarization differential reference station. a, b, c, d, e, and f are the internal parameters of the polarization differential reference station after calibration.

5. The method according to claim 1, wherein The reference station polarization angle measurement value includes an ideal polarization angle value and a polarization angle non-vertical error, and the polarization angle non-vertical error obeys a first-order Markov process.

6. The method according to claim 1, wherein The method further comprises: The unscented Kalman filter method is used to iteratively update the system state of the system model of the disturbance observer.

7. A navigation and orientation device based on polarization differential reference, characterized in that: Applicable to a polarization differential reference station and a user station, wherein the user station is located within the effective radius of the polarization differential reference station; The device comprises: The first establishment module is used to use the polarization angle non-perpendicular error corresponding to each pixel observation area of the polarization differential reference station as a state vector to be estimated, and establish a state equation of the polarization angle non-perpendicular error time domain interference observer; A construction module, used for constructing a polarization vector based on a polarization angle measurement value of a reference station; A second establishing module is used to establish a measurement equation of a polarization angle non-vertical error time domain interference observer based on the polarization vector and the first sun vector in the carrier coordinate system of the polarization differential reference station; A construction module, configured to construct a system model of a disturbance observer according to the state equation and the measurement equation; A third establishing module is used to establish a corresponding relationship between the polarization angle non-vertical error to be compensated and the sensor observation vector by using the system model of the interference observer; A determination module, configured to determine a polarization angle non-vertical error value based on the corresponding relationship and a real-time sensor observation vector obtained through a user station navigation system; The solution module is used to compensate the polarization angle according to the non-vertical error value of the polarization angle, and use the polarization angle after compensating the non-vertical error to solve the polarization heading to obtain real-time heading information of the carrier.

8. An electronic device, characterized in that: The device includes: a processor and a memory storing computer program instructions; when the processor calls the computer program instructions, it implements the navigation and orientation method based on polarization differential reference as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which, when called by a processor, implement the navigation and orientation method based on polarization differential reference according to any one of claims 1 to 6.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to execute the navigation and orientation method based on polarization differential reference as described in any one of claims 1 to 6.

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