CN103697893B - Utilize the three-dimensional attitude determination method of atmospheric polarization light - Google Patents

Abstract

The present invention relates to airmanship, be specially a kind of three-dimensional attitude determination method utilizing atmospheric polarization light.The method adopts following steps to realize: (1) utilizes spherical sensor array online real time collecting atmospheric polarization type; (2) using the raw data of gathered atmospheric polarization type as three-dimensional posture fixing model, data analysis is utilized to obtain relative position on array of sun subpoint and zenith point and angular distance; (3) meridian and body axle clamp angle is utilized to determine crab angle; (4) attitude algorithm formula is utilized to ask the angle of pitch and roll angle.The present invention is reasonable in design, atmospheric polarization type is adopted to carry out three-dimensional posture fixing, provide a kind of well technological means, there is complete autonomous nature, by the real-time detection to atmospheric polarization type distribution, just can calculate the 3 d pose of self, simple possible does not have cumulative errors, polarization information is present in endoatmospheric visible ray simultaneously, is difficult to by the interference of artificial large area and destroys.

Description

Utilize the three-dimensional attitude determination method of atmospheric polarization light

Technical field

The present invention relates to the autonomous measuring method of bionic three-dimensional attitude, specifically a kind of a kind of method utilizing the polarization mode of air natural light to extract the 3 d pose information of endoatmosphere motion carrier.

Background technology

At present, the bionic navigation research utilizing atmospheric polarization type to carry out is considered to a kind of new direction having prospect, is prevalent in natural most of invertabrate and part vertebrate, particularly has the insect of compound eye structural.Atmospheric polarization type is a kind of form with Stable distritation formed with atmospheric molecule ion scattering after sunshine enters atmospheric envelope, it is the natural quality of the earth, wherein contained directional information can be insect and provides course information, has independently pure, is not vulnerable to the feature of external disturbance.

Research shows, concentrates on into fan-shaped distribution back edge district, the polarization mode of sky bulk zone can be detected towards the ommatidium in sky all directions in compound eye to the ommatidium of polarization sensitive.The polarization information perception sun meridian in this region detected by insect utilization and the angle of body axle determine course.To flying insect, realize three-dimensional navigation and not only will solve course problem, also will solve aloft pose problem.Bionical Behaviors survey shows, the method utilizing atmospheric polarization type information to carry out three-dimensional navigation is feasible.Crawling insect utilizes polarized light and odometer location, and flying insect utilizes polarized light and light stream perception to locate.

The regularity of distribution of atmospheric polarization type: the light that solar radiation goes out is through atmospheric scattering, and the light arriving earth surface has become the superposition of natural light and linearly polarized light, defines the polarization state with Stable distritation.Polarization state due to Stable distritation is the radiation spectrum for whole sunshine, its distribution has not easily by electromagnetism/artificial interference, round-the-clock feature, and distribution is along the surface of the whole earth, relative position between its atmospheric polarization state eigenvector information and sun has extremely strong regularity, can be polarized light detection and provides reliable information carrier in a global range.Find through research, there is a kind of metastable polarization mode in the air under any observation position, it shows as the line of symmetry of two Stable distritation, article one, be sun meridian and inverse sun meridian SM-ASM, the degree of polarization of atmospheric polarization type is symmetrical about SM-ASM, E-vector about SM-ASM against symmetrical; Another is that atmospheric polarization type is symmetrical about maximum polarized line, and in the position at polarized line place, degree of polarization is maximum with solar angle apart from the maximum polarized line being 90 °, and distance line of symmetry is far away, and degree of polarization is less.

At present, for endoatmospheric motion carrier, especially unmanned autonomous mobile platform is as unmanned plane, robot etc., and in its navigation procedure, the measurement of 3 d pose is very crucial.There is the defect of accumulated error in traditional inertial navigation, and GPS needs a large amount of satellite support, is vulnerable to external electromagnetic wave interference.

Summary of the invention

The problems referred to above that the present invention exists to solve the existing air navigation aid for space motion body, provide a kind of three-dimensional attitude determination method utilizing atmospheric polarization light.

The present invention adopts following technical scheme to realize:

Utilize a three-dimensional attitude determination method for atmospheric polarization light, comprise the steps:

(1), build three-dimensional coordinate system, with the center of gravity of carrier for initial point O ', the body axle of carrier is X ' axle, and pointing to carrier top is Z ' axle, and Y ' axle meets right hand rectangular coordinate system regulation; Namely X ' O ' Y ' plane is the flight dip plane of carrier;

Set up with reference to rectangular coordinate system, with ground detection point for initial point O, pointing to direction, due east is X-axis, and be Z axis vertically upward, sensing direct north is Y-axis; Take XOY plane as reference level surface;

Bionic compound eyes spherical sensor array is arranged on the center of gravity O ' place of carrier.

(2), the sunshine E-Vector Message utilized in bionic compound eyes sensor array Real-time Collection all directions, and determine the ommatidium array of E-vector horizontal direction being detected and the geometric position on sphere thereof;

Then, after being overlapped by initial point O ' and O, the projection of ommatidium array in reference level surface of E-vector horizontal direction being detected is determined, i.e. the projection CD of sun meridian in reference level surface; The intersection of certain moment X ' O ' Y ' plane and XOY plane is AB;

Angle σ between projection CD and AB then in reference level surface is determined by formula (1)

$sin\mathrm{\σ}=\frac{sin\mathrm{\α}-{\mathrm{cos\βsin\θ}}_s}{{\mathrm{sin\βcos\θ}}_s}...\left(1\right)$

Wherein, α is the angle between sun subpoint S and dip plane normal; β is the angle between dip plane normal and Z axis; α and β all can be obtained by the measurement of bionic compound eyes spherical sensor array; θ _sfor sun polar angle, can be drawn by solar calendar theory calculate.

Now, the angle of projection CD in reference level surface and Y-axis is drawn by solar calendar theory calculate body axle O ' X ' in the horizontal plane be projected as OU ', drawn the angle of CD and OU ' by the measurement of bionic compound eyes spherical sensor array

ρ is the angle of Y-axis and AB in reference level surface, is determined by formula (2)

I.e. known α, β, θ _s, σ, ρ,

(3), crab angle Ψ is determined

Crab angle Ψ is the angle of Y-axis and OU ' in reference level surface, is determined by formula (3):

(4) pitching angle theta and roll angle φ, is determined

The angle ω of X ' axle and X-axis, is determined by formula (4):

cosω＝cos ²ρcosβ+sin ²ρ……………………………(4)

Pitching angle theta is determined by formula (5):

cosω＝cosψcosθ…………………………………………(5)

The angle δ of Y ' axle and Y-axis, is determined by formula (6):

cosδ＝sin ²ρcosβ+cos ²ρ……………………………(6)

Roll angle φ is determined by formula (7):

cosδ＝cosψcosφ-sinψsinθsinφ…………………………(7)

Namely calculate crab angle ψ, pitching angle theta and roll angle φ, complete carrier and determine in the attitude in space.

The directional information that said method utilizes atmospheric polarization type to contain, for aircraft (carrier) flight attitude provides reference, its principle of work is: utilize the E-Vector Message in bionic compound eyes sensor array Real-time Collection all directions, determines the ommatidium array of the E-vector in detection level direction and the geometric position on sphere thereof; Then according to detecting that crab angle is determined in the projection of angle in reference level surface of the projection of the meridianal ommatidium array of the sun in reference level surface and aircraft body axle; Finally according to detecting the angle of meridian center (zenith) with sphere centre, utilizing formula (5), (7) calculate the angle of pitch and roll angle respectively.

The present invention is reasonable in design, utilize the polarized light detection array detection entrained by aircraft to present mode mate with the polarization mode under horizontality, calculate the angle of pitch and roll angle; Sun meridian and body axle clamp angle is utilized to determine crab angle.Atmospheric polarization type is adopted to carry out three-dimensional posture fixing, provide a kind of well technological means, there is complete autonomous nature, by the real-time detection to atmospheric polarization type distribution, just can calculate the 3 d pose of self, simple possible does not have cumulative errors, and polarization information is present in endoatmospheric visible ray simultaneously, is difficult to by the interference of artificial large area and destroys.

Accompanying drawing explanation

Fig. 1 is the schematic diagram with α, β, γ, σ angle.

Fig. 2 is the schematic diagram with crab angle.

Fig. 3 is the schematic diagram with ω and δ angle

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.

Utilize a three-dimensional attitude determination method for atmospheric polarization light, comprise the steps:

(1), build three-dimensional coordinate system, with the center of gravity of carrier for initial point O ', the body axle of carrier is X ' axle, and pointing to carrier top is Z ' axle, and Y ' axle meets right hand rectangular coordinate system regulation; Namely X ' O ' Y ' plane is the flight dip plane of carrier;

Set up with reference to rectangular coordinate system, with ground detection point for initial point O, pointing to direction, due east is X-axis, and be Z axis vertically upward, pointing to geographical direct north is Y-axis; Take XOY plane as reference level surface;

Bionic compound eyes spherical sensor array is arranged on the center of gravity O ' place of carrier.

Described bionic compound eyes spherical sensor array, those skilled in the art can based on husky ant living model independent design or customize the existing matured product of domestic and international scientific research institution voluntarily.

(2), the sunshine E-Vector Message utilized in bionic compound eyes sensor array Real-time Collection all directions, and determine the ommatidium array of E-vector horizontal direction being detected and the geometric position on sphere thereof;

The position of the determination of carrier 3 d pose and the center of gravity O ' of carrier has nothing to do, overlap for convenience of by initial point O ' and initial point O, determine the projection of ommatidium array in reference level surface of E-vector horizontal direction being detected, i.e. the projection CD of sun meridian in reference level surface; The intersection of certain moment X ' O ' Y ' plane and XOY plane is AB;

Angle σ between projection CD and AB then in reference level surface is determined by formula (1)

$sin\mathrm{\σ}=\frac{sin\mathrm{\α}-{\mathrm{cos\βsin\θ}}_s}{{\mathrm{sin\βcos\θ}}_s}...\left(1\right)$

Wherein, as shown in Figure 1, α is the angle between sun subpoint S and dip plane normal; β is the angle between dip plane normal and Z axis; α and β all can be obtained by the measurement of bionic compound eyes spherical sensor array; θ _sfor sun polar angle, those skilled in the art draw to there is not technical difficulty according to solar calendar theory calculate.

Now, those skilled in the art draw the angle of projection CD in reference level surface and Y-axis according to solar calendar theory calculate body axle O ' X ' is projected as OU ' in reference level surface, measures by bionic compound eyes spherical sensor array (namely simple eye according to sensor array geometry is arranged) angle drawing CD and OU '

ρ is the angle of Y-axis and two sides intersection AB on surface level, is determined by formula (2)

I.e. known α, β, θ _s, σ, ρ,

Principle is as follows: according to existing achievement in research, atmospheric polarization type has stable symmetry, due to bionic compound eyes spherical sensor array detecting from the party's polarization information upwards and intensity signal, in order to determine the relation between sky polarization mode and flight attitude towards the ommatidium of sky different directions simultaneously.First, as shown in Figure 1, on the sphere of bionic compound eyes spherical sensor array, the position of those ommatidiums on sphere of all polarization angle χ=90 detected ° forms a curve, this curve is corresponding with sun meridian in hemisphere on high, sun meridian must pass through sun subpoint S (line of check point and position of sun and the intersection point of sky hemisphere) and zenith point M (intersection point of Y-axis and sky hemisphere), and sun meridian is symmetrical about zenith point M; Then, measure the position of sun subpoint S and zenith point M on spherical array, theoretical according to Rayleigh scattering, sun subpoint S direction there is several like this feature: (1) degree of polarization P=0; (2) E-direction vector level; (3) light intensity is maximum.And M is in sun meridian central point.M, N (intersection point of dip plane normal and sky hemisphere) and the position of S on spherical array can be determined like this; Finally, according to these 3 geometric positions on spherical array, naturally just can determine angle α and β, and γ can be shown by theory calculate.As shown in Figure 2, with the direct north in reference level surface for coordinate basis direction, any time anywhere sun meridian ASM-SM and the angle of direct north be those skilled in the art can be calculated by the parameter such as geographic coordinate information and time reference because the E-direction vector of any point on sun meridian has like this, that is: along sun meridian E-direction vector level.Therefore, when measuring, only need to pay close attention to all those ommatidium positions polarization angle χ=90 ° being detected, their projections in reference level surface are consistent with the projection of sun meridian in reference level surface, measure the angle obtained on this projection line and dip plane between the projection OU ' of O ' X ' axle in reference level surface and are like this, to be measured by bionic compound eyes spherical sensor array and theory calculate directly can obtain seven basic angular distances: α, β, θ _s, σ, ρ,

(3), crab angle is determined

Crab angle ψ is the angle of Z axis and OU ' in reference level surface, is determined by formula (3):

(4) angle of pitch and roll angle, is determined

After determining crab angle, the angle of pitch and the roll angle of carrier are determined in the polarization mode change that can detect by spherical array further.Suppose the state of flight of a certain place carrier of a certain moment, as shown in Figure 3.Now, aircraft dip plane can be regarded as rotate ψ angle by reference surface surface level after be obtain after axle flip angle β again with AB.

The angle ω of X ' axle and X-axis, is determined by formula (4):

cosω＝cos ²ρcosβ+sin ²ρ……………………………(4)

Pitching angle theta is determined by formula (5):

cosω＝cosψcosθ…………………………………………(5)

The angle δ of Y ' axle and Y-axis, is determined by formula (6):

cosδ＝sin ²ρcosβ+cos ²ρ……………………………(6)

Roll angle φ is determined by formula (7):

cosδ＝cosψcosφ-sinψsinθsinφ…………………………(7)

Namely calculate crab angle ψ, pitching angle theta and roll angle φ, complete carrier and determine in the attitude in space.

Claims (1)

1. utilize a three-dimensional attitude determination method for atmospheric polarization light, it is characterized in that: comprise the steps:

(1), build three-dimensional coordinate system, with the center of gravity of carrier for initial point O ', the body axle of carrier is X ' axle, and pointing to carrier top is Z ' axle, and Y ' axle meets right hand rectangular coordinate system regulation; Namely X ' O ' Y ' plane is the flight dip plane of carrier;

Set up with reference to rectangular coordinate system, with ground detection point for initial point O, pointing to direction, due east is X-axis, and be Z axis vertically upward, sensing direct north is Y-axis; Take XOY plane as reference level surface;

Bionic compound eyes spherical sensor array is arranged on the center of gravity O ' place of carrier;

(2), the sunshine E-Vector Message utilized in bionic compound eyes spherical sensor array Real-time Collection all directions, and determine the ommatidium array of E-vector horizontal direction being detected and the geometric position on sphere thereof;

Then, after being overlapped by initial point O ' and O, the projection of ommatidium array in reference level surface of E-vector horizontal direction being detected is determined, i.e. the projection CD of sun meridian in reference level surface; The intersection of certain moment X ' O ' Y ' plane and XOY plane is AB;

Angle σ between projection CD and AB then in reference level surface is determined by formula (1)

$sin\mathrm{\σ}=\frac{sin\mathrm{\α}-{\mathrm{cos\βsin\θ}}_s}{{\mathrm{sin\βcos\θ}}_s}...\left(1\right)$

Wherein, α is the angle between sun subpoint S and dip plane normal; β is the angle between dip plane normal and Z axis; α and β all can be obtained by the measurement of bionic compound eyes spherical sensor array; θ _sfor sun polar angle, drawn by solar calendar theory calculate;

Now, the angle of projection CD in reference level surface and Y-axis is drawn by solar calendar theory calculate body axle O ' X ' in the horizontal plane be projected as OU ', drawn the angle of CD and OU ' by the measurement of bionic compound eyes spherical sensor array

ρ is the angle of Y-axis and two sides intersection AB on surface level, is determined by formula (2)

(3), crab angle Ψ is determined

Crab angle Ψ is the angle of Z axis and OU ' in reference level surface, is determined by formula (3):

(4) pitching angle theta and roll angle φ, is determined

The angle ω of X ' axle and X-axis, is determined by formula (4):

cosω＝cos ²ρcosβ+sin ²ρ…………………………….(4)

Pitching angle theta is determined by formula (5):

cosω＝cosψcosθ………………………………….…….(5)

The angle δ of Y ' axle and Y-axis, is determined by formula (6):

cosδ＝sin ²ρcosβ+cos ²ρ……………………………(6)

Roll angle φ is determined by formula (7):

cosδ＝cosψcosφ-sinψsinθsinφ……………..…………(7)

Namely calculate crab angle ψ, pitching angle theta and roll angle φ, complete carrier and determine in the attitude in space.