CN103115623A - Positioning system and method based on bionic polarized light navigation - Google Patents
Positioning system and method based on bionic polarized light navigation Download PDFInfo
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- CN103115623A CN103115623A CN2013100375864A CN201310037586A CN103115623A CN 103115623 A CN103115623 A CN 103115623A CN 2013100375864 A CN2013100375864 A CN 2013100375864A CN 201310037586 A CN201310037586 A CN 201310037586A CN 103115623 A CN103115623 A CN 103115623A
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- 230000010287 polarization Effects 0.000 claims description 4
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Abstract
The invention relates to a positioning system and method based on bionic polarized light navigation. The positioning system comprises an electronic compass, a bionic polarized light angle sensor, a horizontal sensor, an astronomical calendar query module and a computer, wherein the computer is respectively and mutually connected with the electronic compass, the bionic polarized light angle sensor and the astronomical calendar query module. The positioning system and method disclosed by the invention combine astronomical navigation with the polarized light navigation, obtain the longitude and latitude of an observing point through calculation and realize positioning by natural phenomena without man-made systems, such as a secondary planet and a radio base station; and the positioning system disclosed by the invention has the advantages of simple structure, low requirement on calculated performance, low production cost, less positioning process step, short time, high measurement accuracy and very high practicability.
Description
Technical field
The present invention relates to a kind of positioning system and method, relate in particular to a kind of positioning system based on the polarized light bionic navigation and localization method thereof.
Background technology
At present, the angular transducer that fixes the position that navigates mainly comprises ground magnetic compass, inertial gyroscope and astronomical sextant.Ground magnetic compass theory structure is simple but precision is lower; It is high that inertial gyroscope is measured the instantaneous precision of direction of motion, but long-term the use has larger accumulated error, must utilize other navigation sensors that inertia gyroscope is calibrated; The astronomical sextant principle device of getting up early is simple, and higher measuring accuracy is also arranged, but the location survey calculation procedure is many, length consuming time, thereby is subject to more restriction in practicality.Sensor based on the astroorientation of Star Sensor has very high measuring accuracy, but system architecture is complicated, and calculated performance requires highly, and production cost is also very high.The polarized light bionic navigation is a kind of self-aid navigation mode that the polarization characteristic of biological utilisation sunshine is determined reference direction, is one of natural navigate mode of nature.This navigate mode can be avoided the some shortcomings of existing navigate mode, can be combined into the autonomous navigator fix means of a kind of height that does not rely on satellite with earth-magnetic navigation, path integral.But bionical polarotactic navigation can only be used for directed, can not be used for the location.
Summary of the invention
For solving problems of the prior art, the object of the present invention is to provide a kind of localization method based on the polarized light bionic navigation and positioning system, celestial navigation and polarotactic navigation are combined, by calculating the longitude and latitude of observation station, realization utilizes spontaneous phenomenon to position, need not to utilize the artificial system such as satellite, radio base station, this system architecture is simple, require lower to calculated performance, production cost is lower, the position fixing process step is few, consuming time short and measuring accuracy is higher, have very high practicality.
The technical solution adopted in the present invention:
A kind of positioning system based on the polarized light bionic navigation, comprise electronic compass, bionical polarized light angle sensor, horizon sensor, astronomical ephemeris enquiry module and computing machine, described computing machine is connected alternately with electronic compass, bionical polarized light angle sensor, astronomical ephemeris enquiry module respectively.
Horizon sensor is the electron type level instrument, is connected with computing machine by the RS-232 adapter.
The invention also discloses the localization method based on the polarized light bionic navigation, comprise the following steps:
(1) with electronic compass record carrier and geographic north to angle, i.e. carrier heading α
0
(2) adjust bionical polarized light angle sensor to level by horizon sensor, record T with bionical polarized light angle sensor
1The moment and T
2Moment carrier and the meridianal angle of the sun, i.e. polarization azimuth β
1And β
2
(3) check in T by the astronomical ephemeris enquiry module
1The moment and T
2Solar declination δ constantly
1And δ
2
(4) with α
0, β
1And β
2Substitution formula A
s=3 pi/2s-(β-α
0+ pi/2), calculate T
1The moment and T
2The solar azimuth A of moment observation station
S1And A
S2
(5) with A
s1, A
s2, δ
1, δ
2, t
2=t
1+ (T
2-T
1) π/12=t
1+ Δ substitution system of equations:
Wherein, h
sBe the sun altitude of observation station, t is the solar hour angle of observation station, and φ is the latitude of observation station.Calculate latitude φ and the T of observation station
1Solar hour angle t constantly
1
(6) according to T
1Time period constantly of living in is selected corresponding formula, calculates the true solar time t of observation station
Very:
(7) check in observation station T by the astronomical ephemeris enquiry module
1The equal time difference t on place date in the moment
0, by t
Flat=t
Very-t
0Obtain the mean solar time t of observation station
Flat
(8) by η=(t
Flat-T
1) * 15 ° calculate the longitude η of observation station;
(9) longitude and latitude of output observation station.
T in step (2)
1The moment and T
2Constantly all adopt universal time standards.
Beneficial effect of the present invention:
Localization method and positioning system based on the polarized light bionic navigation provided by the invention, celestial navigation and polarotactic navigation are combined, by calculating the longitude and latitude of observation station, realization utilizes spontaneous phenomenon to position, and need not to utilize the artificial system such as satellite, radio base station, and this system architecture is simple, require lower to calculated performance, production cost is lower, and the position fixing process step is few, consuming time short and measuring accuracy is higher, has very high practicality.
Description of drawings
Fig. 1 is positioning flow figure of the present invention;
Fig. 2 is positioning system structure schematic diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As depicted in figs. 1 and 2, setting comprises the positioning system of electronic compass 2, bionical polarized light angle sensor 3, horizon sensor 5, astronomical ephemeris enquiry module 4, horizon sensor 5 and computing machine 1, and computing machine 1 is connected with electronic compass 2, bionical polarized light angle sensor 3, astronomical ephemeris enquiry module 4 respectively.Horizon sensor 5 is the electron type level instrument, is arranged on bionical polarized light angle sensor 3, is connected with computing machine 1 by the RS-232 adapter.
Localization method of the present invention is as follows:
With electronic compass 2 record carrier and geographic north to angle, i.e. the course angle α of carrier
0Adjust bionical polarized light angle sensors 3 to level by horizon sensor 5, with bionical polarized light angle sensor 3 at T
1The moment and T
2Constantly obtain carrier and the meridianal angle of the sun, i.e. polarization azimuth β
1And β
2Obtain the T of observation station by astronomical ephemeris enquiry module 4
1The moment and T
2Solar declination δ constantly
1And δ
2Pass through A
s=3 pi/2s-(β-α
0+ pi/2) calculate T
1The moment and T
2The solar azimuth A of moment observation station
S1And A
S2With A
s1, A
s2, δ
1, δ
2And t
2=t
1+ (T
2-T
1) * π/12=t
1+ Δ substitution system of equations:
Wherein, h
sBe the sun altitude of observation station, t is the solar hour angle of observation station, and φ is the latitude of observation station.Try to achieve latitude φ and the T of observation station
1Solar hour angle t constantly
1According to T
1Place period constantly, select corresponding formula calculate observation station true solar time t
Very:
Obtain observation station T by inquiry astronomical ephemeris enquiry module 4
1The equal time difference t on place date in the moment
0, by t
Flat=t
Very-t
0Obtain the mean solar time t of observation station
FlatBy η=(t
Flat-T
1) * 15 ° obtain the longitude η of observation station.Longitude and latitude by computing machine 1 output observation station.
Claims (4)
1. positioning system based on the polarized light bionic navigation, it is characterized in that: comprise electronic compass, bionical polarized light angle sensor, horizon sensor, astronomical ephemeris enquiry module and computing machine, described computing machine is connected alternately with electronic compass, bionical polarized light angle sensor, astronomical ephemeris enquiry module respectively.
2. positioning system according to claim 1, it is characterized in that: described horizon sensor is the electron type level instrument, is connected with computing machine by the RS-232 adapter.
3. realize the localization method of claim 1 or 2 described system, it is characterized in that: comprise the following steps:
(1) with electronic compass record carrier and geographic north to angle, i.e. carrier heading α
0
(2) adjust bionical polarized light angle sensor to level by horizon sensor, record T with bionical polarized light angle sensor
1The moment and T
2Moment carrier and the meridianal angle of the sun, i.e. polarization azimuth β
1And β
2
(3) check in T by the astronomical ephemeris enquiry module
1The moment and T
2Solar declination δ constantly
1And δ
2
(4) with α
0, β
1And β
2Substitution formula A
s=3 pi/2s-(β-α
0+ pi/2), calculate T
1The moment and T
2The solar azimuth A of moment observation station
S1And A
S2
(5) with A
s1, A
s2, δ
1, δ
2, t
2=t
1+ (T
2-T
1) π/12=t
1+ Δ substitution system of equations:
Wherein, h
sBe the sun altitude of observation station, t is the solar hour angle of observation station, and φ is the latitude of observation station, calculates latitude φ and the T of observation station
1Solar hour angle t constantly
1
(6) according to T
1Time period constantly of living in is selected corresponding formula, calculates the true solar time t of observation station
Very:
(7) check in observation station T by the astronomical ephemeris enquiry module
1The equal time difference t on place date in the moment
0, by t
Flat=t
Very-t
0Obtain the mean solar time t of observation station
Flat
(8) by η=(t
Flat-T
1) * 15 ° calculate the longitude η of observation station;
(9) longitude and latitude of output observation station.
4. localization method according to claim 3, is characterized in that: the T in step (2)
1The moment and T
2Constantly all adopt universal time standards.
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|---|---|---|---|
| CN201310037586.4A CN103115623B (en) | 2013-01-31 | 2013-01-31 | Based on the localization method of the positioning system of polarized light bionic navigation |
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| CN201310037586.4A CN103115623B (en) | 2013-01-31 | 2013-01-31 | Based on the localization method of the positioning system of polarized light bionic navigation |
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| CN103115623B CN103115623B (en) | 2015-08-26 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103363986A (en) * | 2013-07-19 | 2013-10-23 | 合肥工业大学 | Polarization navigation information detection sensor with independent channels |
| CN103377561A (en) * | 2013-07-30 | 2013-10-30 | 甘永伦 | System, method and device for vehicle positioning |
| CN103575274A (en) * | 2013-11-20 | 2014-02-12 | 中国人民解放军海军大连舰艇学院 | High-performance star-map matching autonomous navigation positioning system |
| CN103776444A (en) * | 2014-01-29 | 2014-05-07 | 北京大学 | Cloud computing control method for bionic polarization navigation accuracy influences by sky mode pattern |
| CN103822629A (en) * | 2014-03-11 | 2014-05-28 | 大连理工大学 | Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system |
| CN104613956A (en) * | 2015-01-28 | 2015-05-13 | 南昌大学 | Atmospheric polarization neutral point-based navigation orientation method |
| CN104880191A (en) * | 2015-06-02 | 2015-09-02 | 北京航空航天大学 | Polarization aided navigation method based on solar vectors |
| CN104880192A (en) * | 2015-06-12 | 2015-09-02 | 北京航空航天大学 | Carrier course angle calculation method based on polarization compass |
| CN111307139A (en) * | 2019-12-09 | 2020-06-19 | 北京航空航天大学 | Course and attitude determination method based on polarization/astronomical information fusion |
| CN112097777A (en) * | 2020-09-09 | 2020-12-18 | 北京空间飞行器总体设计部 | Satellite attitude determination method based on bionic polarization angle measurement sensor and magnetometer |
| CN112379399A (en) * | 2020-10-27 | 2021-02-19 | 衡阳市智谷科技发展有限公司 | Polarized light navigation positioning method based on multi-configuration fisheye camera |
| CN117308927A (en) * | 2023-11-30 | 2023-12-29 | 北京航空航天大学 | Autonomous positioning method based on solar position change rate |
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-
2013
- 2013-01-31 CN CN201310037586.4A patent/CN103115623B/en not_active Expired - Fee Related
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103363986A (en) * | 2013-07-19 | 2013-10-23 | 合肥工业大学 | Polarization navigation information detection sensor with independent channels |
| CN103363986B (en) * | 2013-07-19 | 2015-08-19 | 合肥工业大学 | Autonomous channel polarization navigation information detection sensor |
| CN103377561A (en) * | 2013-07-30 | 2013-10-30 | 甘永伦 | System, method and device for vehicle positioning |
| CN103377561B (en) * | 2013-07-30 | 2015-06-17 | 甘永伦 | System, method and device for vehicle positioning |
| CN103575274B (en) * | 2013-11-20 | 2016-06-01 | 中国人民解放军海军大连舰艇学院 | High-performance star pattern matching Camera calibration system |
| CN103575274A (en) * | 2013-11-20 | 2014-02-12 | 中国人民解放军海军大连舰艇学院 | High-performance star-map matching autonomous navigation positioning system |
| CN103776444A (en) * | 2014-01-29 | 2014-05-07 | 北京大学 | Cloud computing control method for bionic polarization navigation accuracy influences by sky mode pattern |
| CN103776444B (en) * | 2014-01-29 | 2016-08-24 | 北京大学 | The cloud computing control method that bionical polarization navigation accuracy is affected by sky ideograph |
| CN103822629B (en) * | 2014-03-11 | 2017-02-22 | 大连理工大学 | Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system |
| CN103822629A (en) * | 2014-03-11 | 2014-05-28 | 大连理工大学 | Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system |
| CN104613956A (en) * | 2015-01-28 | 2015-05-13 | 南昌大学 | Atmospheric polarization neutral point-based navigation orientation method |
| CN104880191A (en) * | 2015-06-02 | 2015-09-02 | 北京航空航天大学 | Polarization aided navigation method based on solar vectors |
| CN104880192A (en) * | 2015-06-12 | 2015-09-02 | 北京航空航天大学 | Carrier course angle calculation method based on polarization compass |
| CN111307139A (en) * | 2019-12-09 | 2020-06-19 | 北京航空航天大学 | Course and attitude determination method based on polarization/astronomical information fusion |
| CN112097777A (en) * | 2020-09-09 | 2020-12-18 | 北京空间飞行器总体设计部 | Satellite attitude determination method based on bionic polarization angle measurement sensor and magnetometer |
| CN112379399A (en) * | 2020-10-27 | 2021-02-19 | 衡阳市智谷科技发展有限公司 | Polarized light navigation positioning method based on multi-configuration fisheye camera |
| CN112379399B (en) * | 2020-10-27 | 2023-12-26 | 衡阳市智谷科技发展有限公司 | Polarized light navigation positioning method based on multi-configuration fisheye camera |
| CN117308927A (en) * | 2023-11-30 | 2023-12-29 | 北京航空航天大学 | Autonomous positioning method based on solar position change rate |
| CN117308927B (en) * | 2023-11-30 | 2024-01-30 | 北京航空航天大学 | Autonomous positioning method based on solar position change rate |
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