CN103822629B - Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system - Google Patents
Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system Download PDFInfo
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- CN103822629B CN103822629B CN201410088363.5A CN201410088363A CN103822629B CN 103822629 B CN103822629 B CN 103822629B CN 201410088363 A CN201410088363 A CN 201410088363A CN 103822629 B CN103822629 B CN 103822629B
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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
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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
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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Abstract
The invention discloses a positioning system based on a multi-directional polarized light navigation sensor. The positioning system comprises a fixed frame and an upper computer, wherein polarized light angle sensors for measuring the maximum polarization direction of incident light are installed on any two planes respectively, a level sensor and a direction sensor are installed on a datum plane of the fixed frame, and an astronomical calendar query module and a geomagnetic information query module are arranged in the upper computer. According to the system, a polarized light navigation technology and astronomical knowledge are combined, measured values of the level sensor, the polarized light angle sensor and the direction sensor on the fixed frame are obtained, geomagnetic declination data information is queried through the geomagnetic information query module in the upper computer, sun declination delta values at certain moments and true sun time differences on certain days are queried through the astronomical calendar query module, and the longitude and the latitude of a carrier are obtained through calculation by using an algorithm disclosed in the invention according to the data information.
Description
Technical field
The present invention relates to alignment system and its localization method, more particularly, to determining based on multi-direction polarotactic navigation sensor
Position system and its localization method.
Background technology
Current location technology mainly includes satellite navigation, inertial navigation, celestial navigation and radionavigation etc..Satellite and
Radionavigation, due to being artificial signal, is easily interfered.Inertial navigation error accumulates in time, is difficult to carry out accurately determining
Position.The installation cost of celestial navigation is high, and calculating process is complicated.The patent No. disclosed in prior art：（CN 103115623A）,
It is impossible to realize real-time positioning, this technical scheme needs measurement not in the same time to location technology with polarotactic navigation technology as core
Polarized light angular transducer maximum polarization direction, could resolve longitude and latitude, be implied by a requirement simultaneously, survey twice in front and back
Loading gage body position can not change.This technology can not provide positional information in real time, and when time interval is too short, the position being given is believed
The reliability of breath and accuracy can be remarkably decreased.Direction sensor be electronic compass using when need combining geographic location to obtain
Obtain magnetic declination data message, just can provide real north, and the patent No. disclosed in prior art：（CN103115623A）No
In view of this problem.
Content of the invention
The problem being existed according to prior art, the invention discloses a kind of determining based on multi-direction polarotactic navigation sensor
Position system, including the fixing bracket body being made up of at least two planes, is separately installed with any two plane of fixing bracket body
The polarized light angular transducer of measurement incident illumination maximum polarization direction, this is put down to be provided with measurement on a datum level of fixing bracket body
The direction sensor of the face whether horizon sensor of level and measurement earth magnetism north orientation, this system also includes receiving the described angle of polarization
Spend the data message of sensor, horizon sensor and direction sensor transmission, data message carried out process output longitude and latitude letter
The host computer of breath, described host computer（Inside it is provided with astronomical ephemeris enquiry module and Geomagnetism Information enquiry module.
A kind of localization method of the alignment system based on multi-direction polarotactic navigation sensor：Comprise the following steps：
S1：According to the measured value of horizon sensor, adjust the horizontal adjustment seat of the datum level of fixing bracket body, by this datum level
Adjust to level；
S2：Measure the angle α in its own direction and earth magnetism north orientation using direction sensorMagnetic northIt is assumed that geomagnetic declination is
αMagnetic declination, then angle α=the α of direction sensor and geographical north orientationMagnetic north+αMagnetic declination, select two surveys from polarized light angular transducer
The maximum polarization direction θ of the incident illumination in amount T (universal time) moment1And θ2；
S3：Inquire about the solar declination δ in T moment by the astronomical ephemeris enquiry module in host computer；
S4：Host computer receives described direction sensor and the data message of polarized light angular transducer transmission, according to
I.e. arbitrarily maximum polarization direction vector is each perpendicular to solar direction vector to its aerial polarized light regularity of distribution and fixing bracket body is each
The spatial relationship of individual plane calculates pseudo- solar azimuth As' and sun altitude hs；
S5：Being gained knowledge by astronomy has：
sinhs=sin φ sin δ+cos φ cos δ cost (b)
Check in the time difference true solar time t on date that the observation station T moment is located by astronomical ephemeris enquiry module0, according to astronomy
Knowledge has t=η+15 (T+t0) -180, wherein：T is the solar hour angle in the T moment for the observation station, and φ is the latitude of observation station, and η is to see
The longitude of measuring point, AsFor true sun azimuth, hsFor sun altitude；Magnetic declination α is inquired about by Geomagnetism Information enquiry moduleMagnetic declination
Numerical value；
True sun azimuth As=αCoordinate system-αMagnetic north-αMagnetic declination+As', wherein αCoordinate systemValue by the coordinate system set up when calculating it
Between relation determine, be known quantity；
True sun azimuth and solar hour angle are substituted into equation respectively（a）With（b）, then have：
Wherein longitude δ and latitude η is the unknown quantity needing to solve, using the method for traversal, by all longitude and latitude
The combination of value and the corresponding α being obtained by inquiryMagnetic declinationNumerical value substitutes into equation group（c）With（d）, so that equation group is set up
Longitude δ and latitude η combination is exactly our required end products, that is, realize this determining based on multi-direction polarotactic navigation sensor
The position position fixing process to position for the system.
When measuring maximum polarization direction using polarized light angular transducer, incident illumination incides from upper or oblique direction partially
On the photosurface of angular of shaking sensor.
Described geomagnetic declination is αMagnetic declinationCombine one-to-one corresponding with longitude and latitude.
Due to employing technique scheme, the positioning system based on multi-direction polarotactic navigation sensor that the present invention provides
System and its localization method, in conjunction with polarotactic navigation technology and astronomic knowledge by the direction sensor on fixing bracket body, polarized light
Angular transducer and the measured value of horizon sensor, inquire about geomagnetic declination by the Geomagnetism Information enquiry module in host computer
Data message, inquires about the solar declination δ numerical value in certain moment and the true sun time difference t on certain date by astronomical ephemeris enquiry module0, root
According to the above-mentioned data message detecting using algorithm disclosed by the invention by being calculated the longitude and latitude of carrier.This system structure
Simply, there is very high precision, and very strong capacity of resisting disturbance.
Brief description
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments described in application, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of alignment system in the present invention；
Fig. 2 is the flow chart of the localization method of alignment system in the present invention；
Fig. 3 is the schematic diagram of embodiment in the present invention；
Fig. 4 is the schematic diagram of embodiment in the present invention；
Fig. 5 is the schematic diagram of embodiment in the present invention；
Fig. 6 is the schematic diagram of embodiment in the present invention.
In figure：1st, fixing bracket body；2nd, horizon sensor；3rd, polarized light angular transducer；4th, direction sensor；5th, upper meter
Calculation machine；6th, astronomical ephemeris enquiry module；7th, Geomagnetism Information enquiry module.
Specific embodiment
For making technical scheme and advantage clearer, with reference to the accompanying drawing in the embodiment of the present invention, to this
Technical scheme in inventive embodiments carries out clearly complete description：
Alignment system based on multi-direction polarotactic navigation sensor as shown in Figure 1, including a fixing bracket body 1, should
Fixing bracket body 1 is at least made up of two planes, and this two planes cannot be parallel, can become into arbitrarily angled intersecting.?
The polarized light angular transducer 3 of measurement incident illumination maximum polarization direction is separately installed with any two plane of fixing bracket body 1,
Because this fixing bracket body 1 at least has two arbitrarily angled intersecting planes of one-tenth, the polarization installed therefore on this fixing bracket body 1
The quantity of angular sensor 3 at least 2.One datum level is chosen on fixing bracket body 1, this datum level can be above-mentioned two
Other planes in any one or fixing bracket body 1 in plane.Datum level is installed and measures this plane whether water
Flat horizon sensor 2 and the direction sensor 4 of measurement earth magnetism north orientation.This system also includes host computer 5, described polarized light
Angular transducer 3 is by the maximum polarization direction information transmission sometime measuring to host computer 5.Horizon sensor 2
For detecting datum level whether level, the data message detecting is sent to host computer 5.Direction sensor 4 is used for examining
Survey the angle in its own direction and earth magnetism north orientation, the same host computer 5 by the angular values detecting transmission.This is upper
It is provided with astronomical ephemeris enquiry module 6 and Geomagnetism Information enquiry module 7 in computer 5.
As shown in Fig. 2 the flow chart of the localization method of alignment system based on multi-direction polarotactic navigation sensor.Specifically
Step is as follows：
S1：According to the measured value of horizon sensor 2, adjust the horizontal adjustment seat of the datum level of fixing bracket body 1, by this benchmark
Face adjusts to level；Horizontal adjustment seat is on the datum level of fixing bracket body 1 for datum level is adjusted to the device of level.
S2：Measure the angle α in its own direction and earth magnetism north orientation using direction sensor 4Magnetic northIt is assumed that geomagnetic declination is
αMagnetic declination, then angle α=the α of direction sensor 4 and geographical north orientationMagnetic north+αMagnetic declination, select two from polarized light angular transducer 3
The maximum polarization direction θ of the incident illumination in measurement T (universal time) moment1And θ2；
S3：Inquire about the solar declination δ in T moment by the astronomical ephemeris enquiry module 6 in host computer 5；
S4：Host computer 5 receives described direction sensor 4 and the data message of polarized light angular transducer 3 transmission, root
It is each perpendicular to solar direction vector and fixing bracket body 1 according to the sky aerial polarized light regularity of distribution i.e. arbitrarily maximum polarization direction vector
The spatial relationship of each plane calculates pseudo- solar azimuth As' and sun altitude hs；The space transformational relation of each plane is strictly according to the facts
Apply a methods described；
S5：Being gained knowledge by astronomy has：
sinhs=sin φ sin δ+cos φ cos δ cost (b)
Check in the time difference true solar time t on date that the observation station T moment is located by astronomical ephemeris enquiry module 60, according to astronomy
Knowledge has t=η+15 (T+t0) -180, wherein：T is the solar hour angle in the T moment for the observation station, and φ is the latitude of observation station, and η is to see
The longitude of measuring point, AsFor true sun azimuth（Under the horizontal system of coordinates, real north is 0, increases clockwise eastwards）, hsFor the sun
Elevation angle；Magnetic declination α is inquired about by Geomagnetism Information enquiry module 7Magnetic declinationNumerical value；
True sun azimuth As=αCoordinate system-αMagnetic north-αMagnetic declination+As', wherein αCoordinate systemValue by the coordinate system set up when calculating it
Between relation determine, be known quantity；
True sun azimuth and solar hour angle are substituted into equation respectively（a）With（b）, then have：
Wherein longitude δ and latitude η is the unknown quantity needing to solve, using the method for traversal, by all longitude and latitude
The combination of value and the corresponding α being obtained by inquiryMagnetic declinationNumerical value substitutes into equation group（c）With（d）, so that equation group is set up
Longitude δ and latitude η combination is exactly our required end products, that is, realize this determining based on multi-direction polarotactic navigation sensor
The position position fixing process to position for the system.
Further, when measuring maximum polarization direction using polarized light angular transducer 3, incident illumination is from upper or oblique upper
To on the photosurface inciding polarized light angular transducer 3.
Further, described geomagnetic declination is αMagnetic declinationCombine one-to-one corresponding with longitude and latitude.Although it is also relevant with height above sea level,
But impact minimum, the present invention ignores this impact in position fixing process, by height above sea level for 0m at be defined.
Embodiment：
It is illustrated in figure 3 the schematic diagram of the embodiment of the present invention：This fixing bracket body 1 is arranged to 3 plane compositions, i.e. A, B, C
Three faces, the angle between A face and B face is arranged to 60 °, and the angle between A face and C face is arranged to 60 °, between B face and C face
Angle be arranged to 60 °, 3 intersecting lenses between A face, B face and C face are parallel to each other, by direction sensor 4 and horizon sensor
2 are arranged on the A face of fixing bracket body 1, all install polarized light angular transducer 3 on B face and C face, direction sensor 4, partially
Angular of shaking sensor 3 and horizon sensor 2 enter row data communication, by the number collecting by data wire and host computer 5
It is believed that breath is sent in host computer 5.Astronomical ephemeris enquiry module 6 and Geomagnetism Information enquiry module 7 are arranged on host computer 5
Interior.Wherein：Direction sensor 4 adopts flat electronic compass, and horizon sensor 2 is twin shaft electronic horizon sensor, the angle of polarization
Degree sensor 3 is used for measuring the maximum polarization direction of incident illumination.
Set up coordinate system XYZ (left-handed system) in A face, perpendicular to A towards upper, X-direction is perpendicular to A face and B for Z axis positive direction
The intersecting lens in face, X-axis positive direction and Y1Projecting direction in coordinate system XYZ for the axle positive direction is identical, X-axis positive direction and Y2Axle is just
Projecting direction in coordinate system XYZ for the direction is contrary, and Y-axis positive direction is determined by left-handed system；Set up coordinate system X on B face1Y1Z1
（Left-handed system）, Z1Axle positive direction perpendicular to B face with respect to A towards upper or obliquely, Y1Axle positive direction in B face, perpendicular to A
The intersecting lens in face and B face and face down with respect to A or obliquely, X1Positive direction, in B face, is determined by left-handed system；On C face
Set up coordinate system X2Y2Z2, Z2Axle positive direction perpendicular to C face with respect to A towards upper or obliquely, Y2Axle positive direction in C face,
Intersecting lens perpendicular to A face and C face and face down with respect to A or obliquely, X2Positive direction, in C face, is determined by left-handed system.
If Fig. 4 is from Z2The schematic diagram that axle positive direction is looked to C face, Fig. 5 is the signal from Z axis positive direction to A face as viewed from
Figure, Fig. 6 is from Z1The schematic diagram that axle positive direction is looked to B face；0 ° of direction of direction sensor 4 is consistent with Y-axis negative direction；Polarization
0 ° of direction of angular sensor 3 respectively with Y1And Y2The positive direction of axle is consistent.
Then the localization method of this system is in the following way：According to the measured value of horizon sensor 2, adjust fixing bracket body 1
The horizontal adjustment seat of bottom, the A face of fixing bracket body 1 is adjusted to level, measurement obtains itself direction of direction sensor 4 and earth magnetism
The angle α of north orientationMagnetic north, with the polarized light angular transducer 3 measurement T moment on B face and C face（Moment adopts universal time standards, that is,
UTC）Incident illumination maximum polarization direction θ1And θ2, check in the solar declination δ in T moment by astronomical ephemeris module 6, by earth magnetism
Information inquiry module 7 inquires about geomagnetic declination αMagnetic declination；According to the sky aerial polarized light regularity of distribution and each plane of mounting and fixing support
Spatial relationship calculates pseudo- solar azimuth As' and sun altitude hS；By coordinate transform, by coordinate system X1Y1Z1In vector
Transform in coordinate system XYZ, specifically adopt with the following method：First with X1Axle is axle rotation alpha1(from X1Axle positive direction is looked inverse to initial point
Hour hands are just), then with Z1Axle rotates γ for axle1(from Z1It is just counterclockwise that axle positive direction is looked to initial point), by coordinate transform,
By coordinate system X2Y2Z2In vector in coordinate system XYZ, first with X2Axle is axle rotation alpha2(from X2Axle positive direction is seen to initial point
Go just to be counterclockwise), then with Z2Axle rotates γ for axle2(from Z2It is just counterclockwise that axle positive direction is looked to initial point)；Rigorous coordinate
Conversion also needs to translation transformation, but translation transformation does not affect the result of calculation in this example, so omitting；Polarized in the air according to sky
Light distribution rule, calculates the solar vector S under XYZ coordinate system, has following formula：
Then have
As=αCoordinate system-αMagnetic north-αMagnetic declination+A′s
Wherein k can be 1 or -1, can be determined with horizontal relation of plane by the sun, α1=-60 °, γ1=-90 °, α2
=-60 °, γ2=90 °, understand A by various abovesExpression formula and hsNumerical value；In literary composition, true sun azimuth is in the horizontal system of coordinates
Lower real north is 0, increases clockwise eastwards, αCoordinate systemValue by between the coordinate system set up when calculating relation determine, easily
Know αCoordinate system=90.
Being gained knowledge by astronomy has：
sinhs=sin φ sin δ+cos φ cos δ cost (b)
By astronomical ephemeris enquiry module（6）Check in the time difference true solar time t on date that the observation station T moment is located0, according to astronomy
Gain knowledge and have t=η+15 (T+t0) -180, wherein：T is the solar hour angle in the T moment for the observation station, and φ is the latitude of observation station, and η is
The longitude of observation station, AsFor true sun azimuth, hsFor sun altitude；Magnetic declination is inquired about by Geomagnetism Information enquiry module 7
αMagnetic declinationNumerical value；
True sun azimuth and solar hour angle are substituted into equation respectively（a）With（b）, then have：
Wherein longitude δ and latitude η is the unknown quantity needing to solve, using the method for traversal, by all longitude and latitude
The combination of value and the corresponding α being obtained by inquiryMagnetic declinationNumerical value substitutes into equation group（c）With（d）, so that equation group is set up
Longitude δ and latitude η combination is exactly our required end products, that is, realize this determining based on multi-direction polarotactic navigation sensor
The position position fixing process to position for the system.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, all should be included within the scope of the present invention.
Claims (3)
1. a kind of alignment system based on multi-direction polarotactic navigation sensor it is characterised in that：Including by least two planes
The fixing bracket body (1) constituting, is separately installed with measurement incident illumination maximum polarization side in any two plane of fixing bracket body (1)
To polarized light angular transducer (3), a datum level of fixing bracket body (1) is provided with and measures this datum level whether level
Horizon sensor (2) and the direction sensor (4) of measurement earth magnetism north orientation, this system also includes receiving described polarized light angle sensor
Data message that device (3), horizon sensor (2) and direction sensor (4) transmit, data message is carried out process output longitude and latitude
The host computer (5) of information, is provided with astronomical ephemeris enquiry module (6) and Geomagnetism Information inquiry in described host computer (5)
Module (7)；This alignment system comprises the following steps when being positioned；
S1：According to the measured value of horizon sensor (2), adjust the horizontal adjustment seat of the datum level of fixing bracket body (1), by this benchmark
Face adjusts to level；
S2：Measure the angle α in its own direction and earth magnetism north orientation using direction sensor (4)Magnetic northIt is assumed that geomagnetic declination is αMagnetic declination,
Then angle α=the α of direction sensor (4) and geographical north orientationMagnetic north+αMagnetic declination, from polarized light angular transducer (3), select two
The maximum polarization direction θ of the incident illumination in measurement universal time T moment1And θ2；
S3：Inquire about the solar declination δ in T moment by the astronomical ephemeris enquiry module (6) in host computer (5)；
S4：Host computer (5) receives the data message that described direction sensor (4) and polarized light angular transducer (3) transmit,
Solar direction vector and fixed mount are each perpendicular to according to the sky aerial polarized light regularity of distribution i.e. arbitrarily maximum polarization direction vector
The spatial relationship of body (1) each plane calculates pseudo- solar azimuth As' and sun altitude hs；
S5：Being gained knowledge by astronomy has：
sinhs=sin φ sin δ+cos φ cos δ cost (b)
Check in the time difference true solar time t on date that the observation station T moment is located by astronomical ephemeris enquiry module (6)0, according to astronomical Xue Zhi
Knowing has t=η+15 (T+t0) -180, wherein：T is the solar hour angle in the T moment for the observation station, and φ is the latitude of observation station, and η is to see
The longitude of measuring point, AsFor true sun azimuth, under the horizontal system of coordinates, real north is 0, increases clockwise eastwards, hsFor the sun
Elevation angle；Geomagnetic declination α is inquired about by Geomagnetism Information enquiry module (7)Magnetic declinationNumerical value；
True sun azimuth As=αCoordinate system-αMagnetic north-αMagnetic declination+As', wherein αCoordinate systemValue by the coordinate system set up when calculating between
Relation determines, is known quantity；
True sun azimuth and solar hour angle are substituted into equation (a) and (b) respectively, then has：
Wherein longitude η and latitude φ is the unknown quantity needing to solve, using the method for traversal, by all longitude and latitude value
Combination and the corresponding α being obtained by inquiryMagnetic declinationNumerical value substitutes into equation group (c) and (d), makes the longitude η that equation group is set up
It is exactly required end product with latitude φ combination, that is, realize this alignment system pair based on multi-direction polarotactic navigation sensor
The position fixing process of position.
2. the alignment system based on multi-direction polarotactic navigation sensor according to claim 1：It is further characterized in that：Adopt
When measuring maximum polarization direction with polarized light angular transducer (3), incident illumination incides the angle of polarization from upper or oblique direction
On the photosurface of degree sensor (3).
3. the alignment system based on multi-direction polarotactic navigation sensor according to claim 1：It is further characterized in that：Institute
State geomagnetic declination αMagnetic declinationCombine one-to-one corresponding with longitude and latitude.
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| CN114076594B (en) * | 2020-08-21 | 2023-12-15 | 大连理工大学 | Distributed polarized light global positioning measurement system |
| CN113819907B (en) * | 2021-11-22 | 2022-02-11 | 北京航空航天大学 | Inertia/polarization navigation method based on polarization and sun dual-vector switching |
| CN114460530A (en) * | 2022-02-14 | 2022-05-10 | 京信通信技术(广州)有限公司 | Antenna direction finding device and method |
| CN115164872B (en) * | 2022-06-20 | 2024-04-12 | 北京航空航天大学 | Autonomous positioning method based on time sequence polarized light field |
| CN116182872B (en) * | 2023-04-27 | 2023-07-21 | 北京航空航天大学 | Polarization positioning method based on spatial distributed public error suppression |
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