CN103115623B - Based on the localization method of the positioning system of polarized light bionic navigation - Google Patents

Abstract

The present invention relates to a kind of localization method of the positioning system based on polarized light bionic navigation, this system comprises electronic compass, bionical polarized light angular transducer, horizon sensor, astronomical ephemeris enquiry module and computing machine, and described computing machine is connected alternately with electronic compass, bionical polarized light angular transducer, astronomical ephemeris enquiry module respectively.Celestial navigation and polarotactic navigation combine by the present invention, by calculating the longitude and latitude of observation station, realization utilizes spontaneous phenomenon to position, without using the artificial system such as satellite, radio base station, this system architecture is simple, and require lower to calculated performance, production cost is lower, positioning process step is few, consuming time short and measuring accuracy is higher, there is very high practicality.

Description

Based on the localization method of the positioning system of polarized light bionic navigation

Technical field

The present invention relates to a kind of positioning system and method, particularly relate to a kind of localization method of the positioning system based on polarized light bionic navigation.

Background technology

At present, navigate the angular transducer that fixes the position, and 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 measures the instantaneous precision of direction of motion, but Long-Time Service has larger accumulated error, and other navigation sensors must be utilized to calibrate inertia gyroscope; The astronomical sextant principle device of getting up early is simple, also has higher measuring accuracy, but many, the consuming time length of location survey calculation procedure, thus in practicality, be subject to more restriction.Sensor based on the astroorientation of Star Sensor has very high measuring accuracy, but system architecture is complicated, and calculated performance requires high, and production cost is also very high.Polarized light bionic navigation be the polarization characteristic of biological utilisation sunshine to determine a kind of self-aid navigation mode of reference direction, be one of natural navigate mode of nature.This navigate mode can avoid the some shortcomings of existing navigate mode, can be combined into the autonomous navigator fix means of a kind of height not relying on satellite with earth-magnetic navigation, path integral.But bionical polarotactic navigation can only be used for orientation, location can not be used for.

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 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, without using the artificial system such as satellite, radio base station, this system architecture is simple, require lower to calculated performance, production cost is lower, positioning process step is few, consuming time short and measuring accuracy is higher, there is very high practicality.

The technical solution adopted in the present invention:

A kind of positioning system based on polarized light bionic navigation, comprise electronic compass, bionical polarized light angular transducer, horizon sensor, astronomical ephemeris enquiry module and computing machine, described computing machine is connected alternately with electronic compass, bionical polarized light angular transducer, astronomical ephemeris enquiry module respectively.

Horizon sensor is electron type level instrument, is connected with computing machine by RS-232 adapter.

Based on the localization method of 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 angular transducer to level by horizon sensor, record T with bionical polarized light angular transducer ₁moment and T ₂moment carrier and the meridianal angle of the sun, i.e. polarization azimuth β ₁and β ₂;

(3) T is checked in by astronomical ephemeris enquiry module ₁moment and T ₂the solar declination δ in moment ₁and δ ₂;

(4) by α ₀, β ₁and β ₂substitute into formula A _s=3 pi/2s-(β-α ₀+ pi/2), calculate T ₁moment and T ₂the solar azimuth A of moment observation station _s1and A _s2;

(5) by A _s1, A _s2, δ ₁, δ ₂, t ₂=t ₁+ (T ₂-T ₁) π/12=t ₁+ Δ substitutes into system of equations:

$\left\{\begin{array}{c}\sin h_s=\sin \mathrm{\φ}\sin \mathrm{\δ}+\cos \mathrm{\φ}\cos \mathrm{\δ}\cos t\\ \cos A_s=\frac{\sin h_s\sin \mathrm{\φ}-\sin \mathrm{\δ}}{\cos h_s\cos \mathrm{\φ}}\end{array}\right.$

Wherein, h _sfor 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 T of observation station ₁the solar hour angle t in moment ₁;

(6) according to T ₁time period residing for moment selects corresponding formula, calculates the true solar time t of observation station _very:

(7) observation station T is checked in by astronomical ephemeris enquiry module ₁the equal time difference t on place date in 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 observation station is exported.

T in step (2) ₁moment and T ₂moment all adopts universal time standards.

Beneficial effect of the present invention:

Localization method based on polarized light bionic navigation provided by the invention 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, and without using the artificial system such as satellite, radio base station, this system architecture is simple, require lower to calculated performance, production cost is lower, and positioning process step is few, consuming time short and measuring accuracy is higher, has very high practicality.

Accompanying drawing explanation

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, arrange the positioning system comprising electronic compass 2, bionical polarized light angular transducer 3, horizon sensor 5, astronomical ephemeris enquiry module 4, horizon sensor 5 and computing machine 1, computing machine 1 is connected with electronic compass 2, bionical polarized light angular transducer 3, astronomical ephemeris enquiry module 4 respectively.Horizon sensor 5 is electron type level instrument, is arranged on bionical polarized light angular transducer 3, is connected by RS-232 adapter with computing machine 1.

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 ₀; Bionical polarized light angular transducer 3 to level is adjusted, with bionical polarized light angular transducer 3 at T by horizon sensor 5 ₁moment and T ₂moment obtains carrier and the meridianal angle of the sun, i.e. polarization azimuth β ₁and β ₂; The T of observation station is obtained by astronomical ephemeris enquiry module 4 ₁moment and T ₂the solar declination δ in moment ₁and δ ₂; Pass through A _s=3 pi/2s-(β-α ₀+ pi/2) calculate T ₁moment and T ₂the solar azimuth A of moment observation station _s1and A _s2; By A _s1, A _s2, δ ₁, δ ₂and t ₂=t ₁+ (T ₂-T ₁) × π/12=t ₁+ Δ substitutes into system of equations:

$\left\{\begin{array}{c}\sin h_s=\sin \mathrm{\φ}\sin \mathrm{\δ}+\cos \mathrm{\φ}\cos \mathrm{\δ}\cos t\\ \cos A_s=\frac{\sin h_s\sin \mathrm{\φ}-\sin \mathrm{\δ}}{\cos h_s\cos \mathrm{\φ}}\end{array}\right.$

Wherein, h _sfor 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 T of observation station ₁the solar hour angle t in moment ₁; According to T ₁the place period in moment, select corresponding formulae discovery obtain observation station true solar time t _very:

Observation station T is obtained by inquiry astronomical ephemeris enquiry module 4 ₁the equal time difference t on place date in moment ₀, by t _flat=t _very-t ₀obtain the mean solar time t of observation station _flat; By η=(t _flat-T ₁) × 15 ° obtain the longitude η of observation station.The longitude and latitude of observation station is exported by computing machine 1.

Claims (2)

1. the localization method based on the positioning system of polarized light bionic navigation, positioning system comprises electronic compass, bionical polarized light angular transducer, horizon sensor, astronomical ephemeris enquiry module and computing machine, and described computing machine is connected alternately with electronic compass, bionical polarized light angular transducer, astronomical ephemeris enquiry module respectively; Described horizon sensor is electron type level instrument, is connected with computing machine by RS-232 adapter; It is characterized in that: the localization method realizing described positioning system comprises 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 angular transducer to level by horizon sensor, record T with bionical polarized light angular transducer ₁moment and T ₂moment carrier and the meridianal angle of the sun, i.e. polarization azimuth β ₁and β ₂;

(3) T is checked in by astronomical ephemeris enquiry module ₁moment and T ₂the solar declination δ in moment ₁and δ ₂;

(4) by α ₀, β ₁and β ₂substitute into formula A _s=3 pi/2s-(β-α ₀+ pi/2), calculate T ₁moment and T ₂the solar azimuth A of moment observation station _s1and A _s2;

(5) by A _s1, A _s2, δ ₁, δ ₂, t ₂=t ₁+ (T ₂-T ₁) π/12=t ₁+ Δ substitutes into system of equations:

$\left\{\begin{array}{c}{\sinh }_s=\sin \mathrm{\φ}\sin \mathrm{\δ}+\cos \mathrm{\φ}\cos \mathrm{\δ}\cos t\\ {\cos A}_s=\frac{{\sinh }_s\sin \mathrm{\φ}-\sin \mathrm{\δ}}{{\cosh }_s\cos \mathrm{\φ}}\end{array}\right.$

Wherein, h _sfor 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 T of observation station ₁the solar hour angle t in moment ₁;

(6) according to T ₁time period residing for moment selects corresponding formula, calculates the true solar time t of observation station _very:

(7) observation station T is checked in by astronomical ephemeris enquiry module ₁the equal time difference t on place date in 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 observation station is exported.

2. localization method according to claim 1, is characterized in that: the T in step (2) ₁moment and T ₂moment all adopts universal time standards.