CN106767752A - A kind of Combinated navigation method based on polarization information - Google Patents

A kind of Combinated navigation method based on polarization information Download PDF

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CN106767752A
CN106767752A CN201611062735.2A CN201611062735A CN106767752A CN 106767752 A CN106767752 A CN 106767752A CN 201611062735 A CN201611062735 A CN 201611062735A CN 106767752 A CN106767752 A CN 106767752A
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polarization
coordinate system
information
represent
measurement model
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CN106767752B (en
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郭雷
牛奔
杨健
王纲
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Beihang University
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
    • G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to a kind of Combinated navigation method based on polarization information, first, position of sun information is obtained according to the position of carrier and moment inquiry astronomical yearbook；Secondly, polarization information is obtained using polarization sensor measurement, bearer rate information is measured using light flow sensor；Again, based on polarization and light stream, filtering measurement model is set up；Finally, navigation error information is estimated using Kalman filter；The method establishes the linear measurement model based on single polarization sensor, and model is simple, and filtering amount of calculation is small, high precision, it is adaptable to the independent navigation of carrier longer term.

Description

A kind of Combinated navigation method based on polarization information
Technical field
The present invention relates to a kind of Combinated navigation method based on polarization information, a set of micro electro mechanical inertia group is included using equipment Conjunction, polarization sensor, a light flow sensor, multi-sensor information fusion is carried out using Kalman filter, be can be used for The independent navigation of the movable bodies such as unmanned plane, ground robot or vehicle.
Background technology
Requirement more and more higher of the modern high performance carrier to navigation system performance, and single navigation system cannot meet this It is a little to require.For example, inertial navigation possesses independence, advantage that is disguised and can obtaining the complete movable information of carrier, but navigation is missed , with time integral, for the combination of inexpensive micro electro mechanical inertia, this defect is more obvious for difference；GPS have positioning precision it is high, positioning The advantages of error bounded and long-term navigation good stability, but gps signal is a kind of radio signal, there is easily disturbed and signal The shortcomings of easily being blocked by building.Therefore integrated navigation has turned into the Main way of Navigation System Development.
Polarotactic navigation is the navigation side that the utilization sky polarised light grown up based on bionic principle obtains navigation information Method.Polarotactic navigation has the advantages that error is not difficult by interference from human factor with time integral, interior in a big way.Based on light The visual odometry of stream calculation only requires that there is texture information abundant enough in the visual field, does not rely on specific terrestrial reference etc. as positioning Reference, there is unique advantage in terms of navigation.Integrated navigation based on inertia, polarization, light stream can for a long time keep appearance The convergence of state, velocity error, and then slow down the diverging of site error.
The integrated navigation technology of existing utilization polarization information, generally uses multiple polarization sensor observation solar vectors and enters Row filtering, and when using single polarization sensor, it is generally used for direct measurement course information, it is adaptable to two dimensional surface is moved.
The content of the invention
The present invention relates to a kind of Combinated navigation method based on polarization information, establish and spread with light based on polarization sensor The linear measurement model of sensor, information fusion mode uses Kalman filtering.
Coordinate system of the invention is selected：Geographic coordinate system (n systems) uses northeast day coordinate system, i.e., with the barycenter O of carrier It is origin, geographical east orientation is X-axis, geographical north orientation is Y-axis, and day constitutes right-handed coordinate system O-XYZ to being Z axis；Carrier coordinate system (b System) it is the coordinate system being connected on carrier, its origin is the barycenter B of carrier, and the transverse axis of carrier is X-axis, is Y-axis before Y, Vertical pivot is upwards Z axis, constitutes right-handed coordinate system B-XYZ.
Technical solution of the invention is a kind of integrated navigation based on polarization information, realizes that step is as follows：
(1) solar vector is obtained in geographical coordinate with temporal information inquiry astronomical yearbook according to the current carrier positions for calculating System is the azimuth under n systemsAnd elevation angleObtain unit solar vector s under geographic coordinate systemn；
(2) polarization information is measured using polarization sensor, using light flow sensor measuring speed information；
(3) based on polarization measurement model and light stream measurement model, filtering measurement model is set up；
(4) Kalman Filter Estimation navigation error information is utilized.
In the step (1), the elevation angle of solar vectorWith azimuthDetermined by position and temporal information, can led to Cross inquiry astronomical yearbook to obtain, so as to obtain unit solar vector s under geographic coordinate system i.e. n systemsnFor：
In the step (2), polarization sensor and the respective module coordinate system of light flow sensor are b with carrier coordinate system System overlaps, and polarization sensor measurement obtains polarization azimuthPolarization vector p under carrier coordinate systembFor：
Light flow sensor measurement obtains carrier in carrier coordinate system X-axis, the velocity information v of Y-axisx、vy, under carrier coordinate system Velocity vbFor：
vb=[vx vy 0]T；
In the step (3), filtering measurement model is specifically set up as follows：
Polarization measurement model is established as：According to Rayleigh scattering model, solar vector can be obtained perpendicular to polarization vector：
Wherein,Represent carrier coordinate system to the pose transformation matrix of geographic coordinate system；
Due to there is attitude misalignment angle error φ, the actual pose transformation matrix that calculates isSo as to：
According to above formula, polarization measurement model is：
Wherein, zpolRepresent observed quantity, νpolRepresent and measure noise,
Light stream measurement model is established as：The speed that micro electro mechanical inertia combination strapdown resolving is obtained is measured with luminous flux The difference of speed is as measurement, measurement equation：
Wherein, zofRepresent observed quantity, matrix Represent that inertia strapdown resolves the geography for obtaining Speed under coordinate system, δ v represent velocity error, νofRepresent and measure noise；
To sum up, it is with the filtering measurement model of light stream based on polarization：
zk=Hkxk+νk,
Wherein, Navigation error information is represented, δ p represent site error, νkRepresent and measure noise；
In the step (4), k moment navigation error information xkIt is estimated as：
xk=xk,k-1+K(zk-Hkxk,k-1),
Wherein, xk,k-1Kalman prediction value is represented, K represents Kalman filtering gain.
The advantage of the invention is that：Establish the linear measurement model based on single polarization sensor, reduce hardware and Computation complexity, with reference to the velocity measurement information of light flow sensor, is capable of achieving the estimation to carrier three-dimensional motion control information；Partially Shake with light stream error in measurement not with accumulated time, both can keep navigation system precision long-time stable at auxiliary.
Brief description of the drawings
Fig. 1 is calculation flow chart of the invention.
Specific embodiment
Illustrate specific embodiment of the invention below in conjunction with the accompanying drawings, the present invention relates to coordinate system mainly there is carrier to sit Mark system (b) and geographic coordinate system (n), polarization sensor are fixed on carrier coordinate system with light flow sensor, and polarization sensor is seen Observation short side is to light flow sensor observation ground direction；
Fig. 1 illustrates calculation flow chart of the invention, and of the invention to implement step as follows：
1st, the position for being calculated according to current time and temporal information inquiry astronomical yearbook determine the elevation angle of solar vector With azimuthWherein sun altitudeRepresent the sun with the line of carrier and the angle of local level, azimuth The line of the sun and carrier is represented in the projection of local level and the angle of geographical east orientation, northwards for just, so as to obtain geography Coordinate system is unit solar vector s under n systemsnFor：
2nd, polarization sensor is that b systems overlap with carrier coordinate system with the respective module coordinate system of light flow sensor, polarization Sensor measurement direction is positive carrier coordinate system Z axis, and zero-bit direction is positive carrier coordinate system X-axis, polarization sensor measurement Obtain polarization azimuthPolarization vector p under carrier coordinate systembFor：
Light flow sensor measurement obtains carrier in carrier coordinate system X-axis, the velocity information v of Y-axisx、vy, under carrier coordinate system Velocity vbFor：
vb=[vx vy 0]T；
3rd, the filtering measurement model based on polarization with light stream is set up, it is specific to set up as follows：
Polarization measurement model is established as：According to Rayleigh scattering model, solar vector can be obtained perpendicular to polarization vector：
Wherein,Represent carrier coordinate system to the pose transformation matrix of geographic coordinate system；
Due to there is attitude misalignment angle error φ, the actual pose transformation matrix that calculates isSo as to：
According to above formula, polarization measurement model is：
Wherein, zpolRepresent observed quantity, νpolRepresent and measure noise,
Light stream measurement model is established as：The speed that micro electro mechanical inertia combination strapdown resolving is obtained is measured with luminous flux The difference of speed is as measurement, measurement equation：
Wherein, zofRepresent observed quantity, matrix Represent that inertia strapdown resolves the geography for obtaining Speed under coordinate system, δ v represent velocity error, νofRepresent and measure noise；
To sum up, it is with the filtering measurement model of light stream based on polarization：
zk=Hkxk+νk,
Wherein, Navigation error information is represented, δ p represent site error, νkRepresent and measure noise；
4th, k moment navigation error information xkIt is estimated as：
xk=xk,k-1+K(zk-Hkxk,k-1),
Wherein, xk,k-1Kalman prediction value is represented, K represents Kalman filtering gain；
Above-mentioned steps repeat recursion to be carried out, until navigation terminates.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (3)

1. a kind of Combinated navigation method based on polarization information, it is characterised in that realize that step is as follows：
(1) astronomical yearbook is inquired about according to the current carrier positions for calculating and temporal information and obtains solar vector in geographic coordinate system i.e. Azimuth under n systemsAnd elevation angleObtain unit solar vector s under geographic coordinate systemn；
(2) polarization information is measured using polarization sensor, using light flow sensor measuring speed information；Wherein polarization sensor with The respective module coordinate system of light flow sensor is that b systems overlap with carrier coordinate system, and polarization sensor measurement obtains polaried orientation AnglePolarization vector p under carrier coordinate systembFor：
Light flow sensor measurement obtains carrier in carrier coordinate system X-axis, the velocity information v of Y-axisx、vy, speed under carrier coordinate system Vector vbIt is vb=[vx vy 0]T；
(3) based on polarization measurement model and light stream measurement model, filtering measurement model is set up；
(4) Kalman Filter Estimation navigation error information, wherein k moment navigation error information x are utilizedkIt is estimated as：
xk=xk,k-1+K(zk-Hkxk,k-1)
Wherein, xk,k-1Kalman prediction value is represented, K represents Kalman filtering gain.
2. the Combinated navigation method based on polarization information according to claim 1, it is characterised in that：In the step (1), The elevation angle of solar vectorWith azimuthDetermined by position and temporal information, can be obtained by inquiring about astronomical yearbook, from And obtain unit solar vector s under geographic coordinate system i.e. n systemsnFor：
s n = cos H s n cos A s n cos H s n sin A s n sin H s n T .
3. the Combinated navigation method based on polarization information according to claim 1, it is characterised in that：In the step (3) The establishment step for filtering measurement model is as follows：
First, polarization measurement model is set up：According to Rayleigh scattering model, solar vector can be obtained perpendicular to polarization vector：
( s n ) T C b n p b = 0 ,
Wherein,Represent carrier coordinate system to the pose transformation matrix of geographic coordinate system；
Due to there is attitude misalignment angle error φ, the actual pose transformation matrix that calculates isSo as to：
( s n ) T C ~ b n p b = ( s n ) T ( I - φ × ) C b n p b = ( s n ) T C b n ( p b × ) ( C b n ) T φ ,
According to above formula, polarization measurement model is：
z p o l = ( s n ) T C ~ b n p b = H p o l φ + ν p o l ,
Wherein, zpolRepresent observed quantity, νpolRepresent and measure noise,pb× represent polarization arrow Amount pbAntisymmetric matrix；
Secondly, light stream measurement model is set up：The speed that micro electro mechanical inertia combination strapdown resolving is obtained is measured with luminous flux The difference of speed is as measurement, measurement equation：
z o f = H o f ( v i n s n - C ~ b n v b ) = H o f δ v + ν o f ,
Wherein, zofRepresent observed quantity, matrix Represent that inertia strapdown resolves the geographic coordinate system for obtaining Under speed, δ v represent velocity error, νofRepresent and measure noise；
The polarization measurement model of summary and light stream measurement model, can be with the filtering measurement model of light stream based on polarization：
zk=Hkxk+νk,
Wherein,Table Show navigation error information, δ p represent site error, νkRepresent and measure noise.
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CN107478858A (en) * 2017-07-24 2017-12-15 大连理工大学 Movement velocity detection sensor device and detection method based on Stokes vector light stream
CN108225336A (en) * 2018-01-24 2018-06-29 北京航空航天大学 A kind of polarization independent combined navigation method based on confidence level
CN108375381A (en) * 2018-02-08 2018-08-07 北方工业大学 Bionic polarization sensor multi-source error calibration method based on extended Kalman filtering
CN109471433A (en) * 2018-11-09 2019-03-15 北京航空航天大学 A kind of course and attitude reference system based on polarization compass
CN109506660A (en) * 2019-01-08 2019-03-22 大连理工大学 A kind of posture optimization calculation method for bionic navigation
CN110887473A (en) * 2019-12-09 2020-03-17 北京航空航天大学 Bionic polarization autonomous combined navigation method based on polarization degree weighting
CN110887472A (en) * 2019-12-09 2020-03-17 北京航空航天大学 Polarization-geomagnetic information deep fusion fully-autonomous attitude calculation method
CN110887476A (en) * 2019-12-09 2020-03-17 北京航空航天大学 Autonomous course and attitude determination method based on polarization-astronomical included angle information observation
CN111024077A (en) * 2019-12-30 2020-04-17 北京航空航天大学 All-optical bionic autonomous navigation system in complex environment
CN111220150A (en) * 2019-12-09 2020-06-02 北京航空航天大学 Sun vector calculation method based on underwater polarization distribution mode
CN111595329A (en) * 2020-05-29 2020-08-28 北京航空航天大学 Autonomous positioning method based on observation moonlight atmospheric polarization mode
CN113739795A (en) * 2021-06-03 2021-12-03 东北电力大学 Underwater synchronous positioning and mapping method based on polarized light/inertia/vision combined navigation
CN113819907A (en) * 2021-11-22 2021-12-21 北京航空航天大学 Inertia/polarization navigation method based on polarization and sun dual-vector switching
CN113834481A (en) * 2021-11-26 2021-12-24 北京航空航天大学 Night polarization angle error correction method based on starlight vector information
CN116182855A (en) * 2023-04-28 2023-05-30 北京航空航天大学 Combined navigation method of compound eye-simulated polarized vision unmanned aerial vehicle under weak light and strong environment

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CN107478858A (en) * 2017-07-24 2017-12-15 大连理工大学 Movement velocity detection sensor device and detection method based on Stokes vector light stream
CN108225336A (en) * 2018-01-24 2018-06-29 北京航空航天大学 A kind of polarization independent combined navigation method based on confidence level
CN108225336B (en) * 2018-01-24 2021-06-25 北京航空航天大学 Polarization autonomous combined navigation method based on confidence
CN108375381A (en) * 2018-02-08 2018-08-07 北方工业大学 Bionic polarization sensor multi-source error calibration method based on extended Kalman filtering
CN108375381B (en) * 2018-02-08 2021-12-21 北方工业大学 Bionic polarization sensor multi-source error calibration method based on extended Kalman filtering
CN109471433A (en) * 2018-11-09 2019-03-15 北京航空航天大学 A kind of course and attitude reference system based on polarization compass
CN109506660A (en) * 2019-01-08 2019-03-22 大连理工大学 A kind of posture optimization calculation method for bionic navigation
CN110887476B (en) * 2019-12-09 2021-08-13 北京航空航天大学 Autonomous course and attitude determination method based on polarization-astronomical included angle information observation
CN111220150A (en) * 2019-12-09 2020-06-02 北京航空航天大学 Sun vector calculation method based on underwater polarization distribution mode
CN110887476A (en) * 2019-12-09 2020-03-17 北京航空航天大学 Autonomous course and attitude determination method based on polarization-astronomical included angle information observation
CN110887472A (en) * 2019-12-09 2020-03-17 北京航空航天大学 Polarization-geomagnetic information deep fusion fully-autonomous attitude calculation method
CN110887473B (en) * 2019-12-09 2021-12-10 北京航空航天大学 Bionic polarization autonomous combined navigation method based on polarization degree weighting
CN111220150B (en) * 2019-12-09 2021-09-14 北京航空航天大学 Sun vector calculation method based on underwater polarization distribution mode
CN110887472B (en) * 2019-12-09 2021-10-22 北京航空航天大学 Polarization-geomagnetic information deep fusion fully-autonomous attitude calculation method
CN110887473A (en) * 2019-12-09 2020-03-17 北京航空航天大学 Bionic polarization autonomous combined navigation method based on polarization degree weighting
CN111024077A (en) * 2019-12-30 2020-04-17 北京航空航天大学 All-optical bionic autonomous navigation system in complex environment
CN111595329A (en) * 2020-05-29 2020-08-28 北京航空航天大学 Autonomous positioning method based on observation moonlight atmospheric polarization mode
CN113739795A (en) * 2021-06-03 2021-12-03 东北电力大学 Underwater synchronous positioning and mapping method based on polarized light/inertia/vision combined navigation
CN113739795B (en) * 2021-06-03 2023-10-20 东北电力大学 Underwater synchronous positioning and mapping method based on polarized light/inertia/vision integrated navigation
CN113819907A (en) * 2021-11-22 2021-12-21 北京航空航天大学 Inertia/polarization navigation method based on polarization and sun dual-vector switching
CN113834481A (en) * 2021-11-26 2021-12-24 北京航空航天大学 Night polarization angle error correction method based on starlight vector information
CN116182855A (en) * 2023-04-28 2023-05-30 北京航空航天大学 Combined navigation method of compound eye-simulated polarized vision unmanned aerial vehicle under weak light and strong environment

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