Navigation and orientation method, apparatus and device based on polarization differential reference and medium

Abstract

The application discloses a polarization differential reference-based navigation orientation method and device, equipment and a medium, which are applied to a polarization differential reference station and a user station, and the user station is located within the effective radius of the reference station. The polarization angle non-perpendicular error of each pixel point observation area is taken as a state vector to be estimated, a state equation of a polarization angle non-perpendicular error time domain interference observer is established; a polarization vector is constructed based on a polarization angle measurement value; a measurement equation and a system model of the interference observer are established; a corresponding relationship between the polarization angle non-perpendicular error to be compensated and a sensor observation vector is established; the polarization angle non-perpendicular error value is determined according to the corresponding relationship and a real-time sensor observation vector obtained through a user station navigation system; the polarization angle is compensated, and polarization heading calculation is carried out by using the compensated polarization angle, so that real-time heading information of a carrier is obtained. According to the embodiment of the application, the navigation precision and environmental adaptability of the user end combined navigation system can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of navigation, and particularly relates to a navigation and orientation method and device based on a polarization differential reference, and a medium. BACKGROUND

[0002] When sunlight enters the atmosphere, the light is scattered by particles in the atmosphere, resulting in the polarization phenomenon of sky light in the atmosphere. In an ideal case where the sky is clear and clean, according to Rayleigh scattering theory, the atmospheric polarization pattern has a stable distribution rule, which is that the polarization vector of each point in the sky is perpendicular to the sun position vector. Using this rule, combined with the astronomical almanac and the time, position, orientation and other information of the carrier, the polarization navigation system can perform navigation calculation through the polarization information of a certain region in the sky measured, to realize fully autonomous polarization navigation. As an autonomous navigation technology that does not accumulate errors and does not depend on satellite signals, polarization navigation has a wide application prospect.

[0003] However, in actual cases, the atmospheric environment will be affected by various factors such as clouds, haze and the like. Natural light will not only undergo Rayleigh scattering, but also complex scattering effects such as Mie scattering, resulting in the destruction of the perpendicular relationship between the polarization vector and the sun position vector, and the existence of non-perpendicular errors in the polarization angle observation values of each point in the sky. The size and state of the non-perpendicular errors of different sky regions are also different, which greatly affects the accuracy and stability of the polarization navigation system.

[0004] In general, the atmospheric polarization pattern is affected by various environmental factors, and there is a non-perpendicular error in the polarization angle. This error has strong randomness and a complex formation mechanism, and it is difficult to model and predict. At present, there are deficiencies in the related technologies in the field of polarization navigation. SUMMARY

[0005] Embodiments of the present application provide a navigation and orientation method, device, equipment and medium based on a polarization differential reference, to at least solve the problem of polarization angle non-perpendicular errors caused by environmental interference in related technologies.

[0006] In a first aspect, embodiments of the present application provide a navigation and orientation method based on a polarization differential reference, 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.

[0007] The method comprises:

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

[0009] A polarization vector is constructed based on the polarization angle measurement value of the reference station.

[0010] a measurement equation of the polarization angle non-orthogonal error time domain disturbance observer is established according to the polarization vector and a first sun vector in a carrier coordinate system of the polarization differential reference station;

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

[0012] a corresponding relationship between the polarization angle non-orthogonal error to be compensated and a sensor observation vector is established by using the system model of the disturbance observer;

[0013] a polarization angle non-orthogonal error value is determined according to 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 polarization angle non-orthogonal error value, and a polarization heading solution is performed by using the polarization angle after the non-orthogonal error is compensated, so as to obtain 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, and the user station is located within an effective radius of the polarization differential reference station.

[0016] The device comprises:

[0017] a first establishing module, configured to take polarization angle non-orthogonal errors of respective pixel point observation regions of the polarization differential reference station as state vectors to be estimated, and establish a state equation of a polarization angle non-orthogonal error time domain disturbance observer;

[0018] a constructing module, configured to construct a polarization vector based on a polarization angle measurement value of the reference station;

[0019] a second establishing module, configured to establish a measurement equation of the polarization angle non-orthogonal error time domain disturbance observer according to the polarization vector and a first sun vector in a carrier coordinate system of the polarization differential reference station;

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

[0021] a third establishing module, configured to establish a corresponding relationship between the polarization angle non-orthogonal error to be compensated and a sensor observation vector by using the system model of the disturbance observer;

[0022] a determining module, configured to determine a polarization angle non-orthogonal error value according to the corresponding relationship and a real-time sensor observation vector obtained through a user station navigation system;

[0023] A solving module is configured to compensate the polarization angle according to the non-perpendicular error value of the polarization angle, and to perform polarization heading solving by using the compensated non-perpendicular error value of the polarization angle to obtain real-time heading information of the carrier.

[0024] In a third aspect, an electronic device is provided, which comprises a processor and a memory storing computer program instructions; the processor implements the steps of the navigation and orientation method based on polarization difference reference according to any one of the embodiments of the first aspect when executing the computer program instructions.

[0025] In a fourth aspect, a computer readable storage medium is provided, which stores computer program instructions; the computer program instructions are executed by a processor to implement the steps of the navigation and orientation method based on polarization difference reference according to any one of the embodiments of the first aspect.

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

[0027] The navigation and orientation method based on polarization difference reference, the device, the equipment and the medium provided by the embodiments of the present application establish a time-domain interference observer for the non-perpendicular error of the polarization angle in each region of the sky based on the non-perpendicular error distribution and the variation law by means of the polarization difference reference station, and estimate it in real time; at the user end, the corresponding relationship between the non-perpendicular error and the observation vector of the polarization sensor is considered, the non-perpendicular error to be compensated is determined based on the real-time observation vector, and it is compensated in real time in the heading solving, so that the differential polarization angle non-perpendicular error estimation and compensation are realized, and the navigation precision and the environmental adaptability of the combined navigation system at the user end are improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0029] Figure 1 is a flowchart of a navigation and orientation method based on polarization difference reference provided by the embodiments of the present application;

[0030] Figure 2 is a structural diagram of a navigation and orientation device based on polarization difference reference provided by the embodiments of the present application;

[0031] Figure 3Fig. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0032] Reference signs:

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

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

[0035] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0036] It should be noted that in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0037] When sunlight enters the atmosphere, the light is scattered by particles in the atmosphere, resulting in the polarization phenomenon of sky light in the atmosphere. In the ideal case of a clear and clean sky, according to the Rayleigh scattering theory, the atmospheric polarization pattern has a stable distribution rule, which is that the polarization vector of each point in the sky is perpendicular to the sun position vector. Using this rule, combined with the astronomical almanac and the time, position, orientation and other information of the carrier, the polarization navigation system can perform navigation solution through the measured polarization information of a certain area in the sky, and realize fully autonomous polarization navigation. As an autonomous navigation technology that does not accumulate errors and does not depend on satellite signals, polarization navigation has a wide application prospect.

[0038] However, in actual atmospheric environment, the natural light will not only be Rayleigh scattered, but also be scattered by other complex effects such as Mie scattering, which destroys the vertical relationship between the polarization vector and the solar position vector, and the polarization angle observation values at different points in the sky have non-vertical errors, and the size and state of the non-vertical errors of different sky areas are different, which greatly affects the accuracy and stability of the polarization navigation system.

[0039] At present, in the field of polarization navigation, in order to reduce the interference of various atmospheric environmental factors on the polarization navigation system, some researches have been carried out from different angles at home and abroad. For example, Chinese patent CN110631567A “Inversion and correction method of atmospheric refraction error of differential sky polarization compass” uses a polarization differential reference station to invert and correct the atmospheric refraction error, but does not consider the non-vertical error of the polarization angle caused by the atmospheric environmental factors. Chinese patent CN113834484A “Inertial navigation / polarization combined navigation method based on non-Rayleigh scattering model error” adds a non-Rayleigh scattering model error in the model of the polarization / inertial combined navigation system, but does not consider that the non-Rayleigh scattering error constants are different in different sky areas. The observation direction of the sensor changes during the movement of the carrier, which affects the estimation and tracking of the non-Rayleigh scattering error.

[0040] In summary, the atmospheric polarization pattern is affected by various environmental factors, and there is a non-vertical error of the polarization angle that does not conform to the Rayleigh scattering model. This error has strong randomness and complex formation mechanism, and it is difficult to model and predict. In different sky areas, the atmospheric polarization pattern is affected by the environment to different degrees, and the non-vertical error is also different. This brings difficulties to the real-time estimation and compensation of the non-vertical error of the polarization angle, and limits the improvement of the polarization navigation directional accuracy. Therefore, the related technologies in the field of polarization navigation are insufficient.

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

[0042] The navigation and orientation method based on the polarization differential reference provided by the embodiment of the present application will be described in detail in combination with the specific embodiments and their application scenarios.

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

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

[0045] Figure 1 A flowchart of a navigation orientation method based on a polarization difference reference station is shown. As shown in the figure, the navigation orientation method based on the polarization difference reference station can specifically include the following steps: S101 to S107. Figure 1

[0046] S101, the non-orthogonal error of the polarization angle corresponding to each pixel point observation area of the polarization difference reference station is taken as a state vector to be estimated, and a state equation of a polarization angle non-orthogonal error time domain disturbance observer is established.

[0047] In the embodiments, the non-orthogonal error δΦ of the polarization angle caused by the interference factors is considered, and the environmental interference factors of different sky regions are different, so a time domain non-orthogonal error disturbance observer is established based on the compound interference filtering theory to estimate the non-orthogonal error of each pixel point corresponding sky region respectively.

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

[0049] S102, constructing a polarization vector based on the reference station polarization angle measurement value.

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

[0051]

[0052] ​As an optional embodiment, before S103, the method further comprises: calculating the azimuth angle and the elevation angle of the sun in the navigation coordinate system at the current time according to the longitude and the latitude of the polarization difference reference station through an astronomical ephemeris relationship; calculating the second sun vector in the navigation coordinate system according to the azimuth angle and the elevation angle; and obtaining the first sun vector in the carrier coordinate system of the polarization difference reference station according to the second sun vector and an attitude conversion matrix, the attitude conversion matrix being a conversion matrix corresponding to the navigation coordinate system to the carrier coordinate system of the polarization difference reference station.

[0053] In a specific implementation, based on the local time t, the longitude L and the latitude λ of the reference station known, the azimuth angle and the elevation angle of the sun in the n coordinate system at the current time are calculated according to an astronomical ephemeris. n That is:

[0054]

[0055] Wherein, G represents the astronomical ephemeris relationship.

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

[0057]

[0058] Wherein, is the attitude conversion matrix from the n coordinate system to the b coordinate system.

[0059] S103, the measurement equation of the polarization angle non-vertical error time domain disturbance observer is established according to the polarization vector and the first sun vector in the carrier coordinate system of the polarization difference reference station.

[0060] In the embodiment, the dot product of the polarization vector and the first sun vector is calculated; and the dot product is taken as the measurement to establish the measurement equation of the polarization angle non-vertical error time domain disturbance observer.

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

[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 the interference observer based on the state equation and the measurement equation.

[0066] Specifically, the system model for the interference observer is as follows:

[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 interference observer using an unscented Kalman filter method.

[0070] In some optional embodiments, the coordinates of the polarization difference reference station can be calculated according to the following formula (6): (x i ,y i The pixel point and polarization angle non-perpendicular 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] Where, [x3, y3, z3] T It is a three-dimensional vector; R xy This represents the distance of a pixel in the coordinate system inside the polarization difference reference station; O b The coordinates are (x i ,y i The pixel point and polarization angle non-perpendicular error δΦ i The corresponding first observation vector in the carrier coordinate system of the polarization difference reference station; O n The coordinates are (x i ,y i The pixel point and polarization angle non-perpendicular error δΦ i The corresponding second observation vector in the navigation coordinate system; This represents the attitude transformation matrix from the navigation coordinate system to the carrier coordinate system of the polarization difference reference station; a, b, c, d, e, and f are all internal parameters after the polarization difference reference station has been calibrated.

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

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

[0077] S106, determining the non-orthogonal error value of the polarization angle according to the corresponding relationship and the real-time sensor observation vector obtained by the user station navigation system.

[0078] In specific implementation, the user terminal inertial / polarization combined navigation system calculates the sensor observation vector in the n system based on the attitude conversion matrix from the b' system to the n system the attitude conversion matrix from the m system to the b' system the sensor observation vector in the n system is calculated as follows: Wherein, the b' system is the user terminal polarization navigation system carrier coordinate system, and the m system is the user terminal polarization navigation system sensor coordinate system.

[0079] In specific implementation, the corresponding relationship between the non-orthogonal error estimation value and the observation vector established based on the above steps is used to calculate the non-orthogonal error δΦ = f (O n ) corresponding to the observation direction of the current user terminal polarization navigation system, that is, the non-orthogonal error of the polarization angle to be compensated is determined in real time. Therefore, the non-orthogonal error estimation value can be used to solve the directional result after compensating the non-orthogonal error, that is, the following S107 is executed.

[0080] S107, compensating the polarization angle according to the non-orthogonal error value of the polarization angle, and performing polarization heading solution by using the polarization angle after compensating the non-orthogonal error to obtain real-time heading information of the carrier.

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

[0082]

[0083] Wherein, is the polarization angle measured by the user terminal polarization navigation system.

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

[0085]

[0086] Wherein, The conversion matrix of the carrier coordinate system to the navigation coordinate system can be represented by three-axis attitude angles of the carrier.

[0087]

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

[0089] Therefore, the embodiment of the application establishes a system model of the polarization angle non-vertical error observer of the observed sky area, and applies the unscented Kalman filtering method to complete error estimation, which is used for heading solution correction of the user end polarization navigation system; the polarization differential reference station is used to realize real-time estimation of the non-vertical error of the polarization angle in the whole sky area, and the non-vertical error is compensated according to the direction of the carrier observation vector, so that the directional accuracy of the polarization navigation system in the non-Rayleigh scattering weather can be improved.

[0090] In another embodiment, the embodiment of the application provides another navigation and orientation method based on the polarization differential reference. Mainly includes the following steps: setting the polarization differential reference station and the user station, and establishing a polarization angle non-vertical error time domain interference observer, taking the polarization angle non-vertical error of each pixel observation area as the state vector to be estimated, and establishing the 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; taking the dot product as the measurement to establish the 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 filtering method to estimate the non-vertical error; establishing the corresponding relationship between the non-vertical error to be compensated and the sensor observation vector, the user end navigation system calculating the real-time sensor observation vector, and determining the polarization angle non-vertical error to be compensated based on the corresponding relationship, and using the polarization angle after compensation of the non-vertical error to solve the directional solution. According to the embodiment of the application, the polarization angle non-vertical error with strong randomness can be estimated and compensated, and the accuracy of the polarization directional solution is improved.

[0091] In the embodiment of the application, the influence of the non-vertical error caused by environmental interference factors on the polarization navigation system is considered, the non-vertical error interference observer of the whole sky area is established by means of the polarization differential reference station, and the unscented Kalman filtering method is used for real-time estimation; considering that the atmospheric polarization pattern is affected by environmental factors to different degrees in different sky areas, the corresponding relationship between the polarization angle non-vertical error and the observation vector is established for the first time. The user end polarization navigation system solves the sensor observation vector in real time, determines the polarization angle non-vertical error estimation value corresponding to the current sensor observation vector, and solves the heading after compensation of the non-vertical error, so that the error compensation accuracy and the environmental adaptability are improved.

[0092] It is to be understood that the foregoing description is directed to embodiments of the application. Various embodiments fall within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve desirable results. In certain implementations, multitasking and parallel processing can be advantageous.

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

[0094] As shown in Figure 2 The navigation and orientation device 200 based on polarization difference reference can include:

[0095] A first establishing module 201 is configured to take the non-perpendicular error of the polarization angle corresponding to each pixel point observation area of the polarization difference reference station as a state vector to be estimated, and establish a state equation of a polarization angle non-perpendicular error time domain disturbance observer;

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

[0097] A second establishing module 203 is configured to establish a measurement equation of the polarization angle non-perpendicular error time domain disturbance observer according to the polarization vector and a first sun vector in the carrier coordinate system of the polarization difference reference station;

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

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

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

[0101] A solving module 207 is configured to compensate the polarization angle according to the value of the polarization angle non-perpendicular error, and perform polarization heading solution by using the polarization angle after compensation of the non-perpendicular error, to obtain real-time heading information of the carrier.

[0102] Optionally, the polarization angle measurement value of the reference station includes the ideal value of the polarization angle and the non-perpendicular error of the polarization angle, wherein the non-perpendicular error of the polarization angle follows a first-order Markov process.

[0103] In some embodiments, the second establishment module 203 is specifically used to: calculate the dot product of the polarization vector and the first solar vector; and establish the measurement equation of the 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 a polarization difference reference further includes a first calculation module ( Figure 2 (Not shown in the image), used for: calculating the azimuth and elevation angles of the sun in the navigation coordinate system at the current moment based on the longitude and latitude of the polarization difference reference station through astronomical calendar relationships; calculating the second solar vector in the navigation coordinate system based on the azimuth and elevation angles; and obtaining the first solar vector in the carrier coordinate system of the polarization difference reference station based on the second solar vector and the attitude transformation matrix, wherein the attitude transformation matrix is ​​the transformation matrix corresponding to the carrier coordinate system of the polarization difference reference station from the navigation coordinate system.

[0105] In some embodiments, the navigation and orientation device 200 based on a polarization difference reference further includes a second calculation module ( Figure 2 (not shown in the image), used to: calculate the coordinates of the polarization difference reference station according to the following formula (x i ,y i The pixel point and polarization angle non-perpendicular 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] Where, [x3, y3, z3] T It is a three-dimensional vector; R xy This represents the distance of a pixel in the coordinate system inside the polarization difference reference station; O b The coordinates are (x i ,y i The pixel point and polarization angle non-perpendicular error δΦ i The corresponding first observation vector in the carrier coordinate system of the polarization difference reference station; O n The coordinates are (x i ,y i The pixel point and polarization angle non-perpendicular error δΦ ia second observation vector in the navigation coordinate system corresponding to the first observation vector; represents a pose conversion matrix corresponding to the carrier coordinate system of the polarization difference reference station from the navigation coordinate system; a, b, c, d, e, and f are all internal parameters of the polarization difference reference station after calibration.

[0110] In some embodiments, the navigation orientation device 200 based on the polarization difference reference further comprises an updating module (not shown in the figure) for iteratively updating the system state of the system model of the interference observer by using the unscented Kalman filtering method. Figure 2

[0111] It should be noted that, for the convenience of description, the above device is described in various modules based on functions. Of course, in the implementation of the present application, the functions of each module can be implemented in the same or more software and / or hardware.

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

[0113] Based on the same technical concept, corresponding to any of the above method embodiments, the present application further provides an electronic device.

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

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

[0116] Specifically, the above processor 301 can include a central processing unit (CPU), or a specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the present embodiment.

[0117] The memory 302 can include a mass storage for data or instructions. By way of example and not limitation, the memory 302 can 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 can include removable or non-removable (or fixed) media. Where appropriate, the memory 302 can be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 302 is a non-volatile solid-state memory. ​

[0118] In particular embodiments, the memory can include read-only memory (ROM), random-access memory (RAM), magnetic disk storage mediums devices, optical storage mediums devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to perform operations described with reference to the methods according to an aspect of the present application.

[0119] The processor 301 implements the above-mentioned any one of the polarization-difference reference based navigation orientation methods in the embodiments by reading and executing the computer program instructions stored in the memory 302.

[0120] In some examples, the electronic device 300 can further include a communication interface 303 and a bus 310. Wherein, as shown, the processor 301, the memory 302, the communication interface 303 are connected through the bus 310 and complete the communication between each other. Figure 3

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

[0122] The bus 310 includes hardware, software or both to couple components of the online data traffic billing device to each other. By way of example, and not limitation, the bus 310 can include an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front-side bus (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards board (VLB) bus, or another suitable bus or a combination of two or more of these. Where suitable, the bus 310 can include one or more buses. Although specific buses are described and illustrated in the embodiments of the present application, the present application contemplates any suitable bus or interconnect.

[0123] For example, the electronic device 300 can be a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted electronic device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. ​

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

[0125] Based on the same technical concept, 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 to cause the computer and / or the processors to perform the polarization-difference-based navigation and orientation method. Corresponding to the execution subject of each step in each embodiment of the polarization-difference-based navigation and orientation method, the processor performing the corresponding step can belong to the corresponding execution subject.

[0126] It should be noted that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted. In the above-mentioned embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and 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 structural block diagrams can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, etc. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of the machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

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

[0129] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0130] The above describes only specific implementation manners of the present application. For the convenience and brevity of description, the specific working processes of the above-described system, module and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited in this way. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A navigation and orientation method based on polarization difference reference, characterized in that, It is applied to polarization difference reference stations and user stations, wherein the user station is located within the effective radius of the polarization difference reference station; The method includes: The polarization angle non-perpendicular error corresponding to the observation area of ​​each pixel point of the polarization difference 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 a polarization vector based on the polarization angle measurement values ​​from the reference station; Based on the polarization vector and the first solar vector in the carrier coordinate system of the polarization difference reference station, the measurement equation of the polarization angle non-perpendicular error time-domain interference observer is established. Based on the state equation and the measurement equation, construct a system model for the interference observer; Using the system model of the interference observer, the correspondence between the polarization angle non-perpendicular error to be compensated and the sensor observation vector is established; Based on the aforementioned correspondence and the real-time sensor observation vectors obtained through the user station navigation system, the non-perpendicular error value of the polarization angle is determined; The polarization angle is compensated based on the non-perpendicular error value of the polarization angle, and the polarization heading is calculated using the polarization angle after compensation for the non-perpendicular error to obtain the real-time heading information of the carrier.

2. The method according to claim 1, characterized in that, The step of establishing the measurement equation for the time-domain interference observer of the polarization angle non-perpendicular error based on the polarization vector and the first solar vector in the carrier coordinate system of the polarization difference reference station includes: Calculate the dot product of the polarization vector and the first solar vector; The measurement equation for the polarization angle non-perpendicular error time-domain interference observer is established using the dot product as a measurement.

3. The method according to claim 1, characterized in that, Before establishing the measurement equations for the polarization angle non-perpendicular error time-domain interference observer based on the polarization vector and the first solar vector in the carrier coordinate system of the polarization difference reference station, the method further includes: Based on the longitude and latitude of the polarization difference reference station, the azimuth and elevation angles of the sun in the navigation coordinate system at the current moment are calculated using astronomical calendar relationships. Calculate the second solar vector in the navigation coordinate system based on the azimuth and elevation angles; Based on the second solar vector and the attitude transformation matrix, the first solar vector in the carrier coordinate system of the polarization difference reference station is obtained. The attitude transformation matrix is ​​the transformation matrix corresponding to the carrier coordinate system of the polarization difference reference station from the navigation coordinate system.

4. The method according to claim 1, characterized in that, The method further includes: The coordinates of the polarization difference reference station are calculated using the following formula: (x i ,y i The pixel point and polarization angle non-perpendicular error δΦ i The corresponding second observation vector O in the navigation coordinate system n : x3=x i -a y3=y i -b Where, [x3, y3, z3] T It is a three-dimensional vector; R xy This represents the distance of a pixel in the coordinate system inside the polarization difference reference station; O b The coordinates are (x i ,y i The pixel point and polarization angle non-perpendicular error δΦ i The corresponding first observation vector in the carrier coordinate system of the polarization difference reference station; O n The coordinates are (x i ,y i The pixel point and polarization angle non-perpendicular error δΦ i The corresponding second observation vector in the navigation coordinate system; This represents the attitude transformation matrix from the navigation coordinate system to the carrier coordinate system of the polarization difference reference station; a, b, c, d, e, and f are all internal parameters after the polarization difference reference station has been calibrated.

5. The method according to claim 1, characterized in that, The polarization angle measurement value of the reference station includes the ideal value of the polarization angle and the non-perpendicular error of the polarization angle, and the non-perpendicular error of the polarization angle follows a first-order Markov process.

6. The method according to claim 1, characterized in that, The method further includes: The system state of the system model of the interference observer is iteratively updated using the unscented Kalman filter method.

7. A navigation and orientation device based on a polarization difference reference, characterized in that, It is applied to polarization difference reference stations and user stations, wherein the user station is located within the effective radius of the polarization difference reference station; The device includes: The first module is used to establish the state equation of the polarization angle non-perpendicular error time domain interference observer by taking the polarization angle non-perpendicular error corresponding to the observation area of ​​each pixel point of the polarization difference reference station as the state vector to be estimated. A construction module is used to construct a polarization vector based on the polarization angle measurement values ​​of the reference station; The second establishment module is used to establish the measurement equation of the polarization angle non-perpendicular error time domain interference observer based on the polarization vector and the first solar vector in the carrier coordinate system of the polarization difference reference station. A construction module is used to construct a system model of the interference observer based on the state equation and the measurement equation; The third module is used to establish the correspondence between the non-perpendicular polarization angle error to be compensated and the sensor observation vector using the system model of the interference observer; The determination module is used to determine the non-perpendicular error value of the polarization angle based on the correspondence and the real-time sensor observation vector obtained through the user station navigation system; The calculation module is used to compensate for the polarization angle based on the non-perpendicular error value of the polarization angle, and to calculate the polarization heading using the polarization angle after compensation for the non-perpendicular error, so as to obtain the 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 invokes the computer program instructions, it implements the navigation and orientation method based on polarization difference reference as described in any one of claims 1-6.

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

10. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the navigation and orientation method based on polarization difference reference as described in any one of claims 1-6.

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