CN103913167B - Utilize the method that nature light polarization pattern determines endoatmosphere aircraft space attitude - Google Patents

Abstract

Utilize the method that nature light polarization pattern determines endoatmosphere aircraft space attitude.The present invention relates to airmanship, a kind of three-dimensional attitude determination method utilizing atmospheric polarization light.The method is to use following steps to realize: (1) utilizes spherical sensor array online real time collecting atmospheric polarization type；(2) using the atmospheric polarization type that gathered as the initial data of three-dimensional posture fixing model, data analysis is utilized to obtain sun meridian and body axle clamp angle and sun subpoint position coordinates under body coordinate system；(3) meridian and body axle clamp angle is utilized to determine yaw 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 used to carry out three-dimensional posture fixing, provide a kind of well technological means, there is entirely autonomous characteristic, by the detection in real time atmospheric polarization type being distributed, it is possible to calculating the 3 d pose of self, simple possible does not has cumulative errors, during polarization information is present in endoatmospheric visible ray simultaneously, it is difficult to by artificial large area interference and destroys.

Description

Utilize the method that nature light polarization pattern determines endoatmosphere aircraft space attitude

Technical field

The present invention relates to the autonomous measuring method of aircraft space attitude, specifically one utilizes air The polarization mode of natural light determines the spatial attitude information of endoatmosphere motion carrier (aircraft) Method.

Background technology

At present, the bionic navigation research that imitation insect utilization atmospheric polarization type is carried out is considered as The new direction of a kind of great prospect, can be that the minute vehicle of primary study at present provides navigation new Method.Atmospheric polarization type is to be formed with air molecule ion scattering after sunlight enters atmosphere A kind of form with Stable distritation, be the natural quality of the earth, the direction wherein contained Information can be insecticide provide course information, have pure independently, be not easily susceptible to the feature of external disturbance.

Research shows, in compound eye, the ommatidium to polarization sensitive concentrates on into fan-shaped distribution limit, back Edge district, can detect that the polarization mode of sky bulk zone towards the ommatidium in sky all directions. The polarization information perception sun meridian in this region detected by insect utilization and insect bodies axle Angle determine course.To flying insect, it is achieved three-dimensional navigation course to be solved problem, Also to solve aloft pose problem.Bionical Behaviors survey shows, utilizes atmospheric polarization It is feasible that formula information carries out the method for three-dimensional navigation.Crawling insect utilizes polarized light and speedometer Location, and flying insect utilizes polarized light and light stream perception to position.

The regularity of distribution of atmospheric polarization type: the light that solar radiation goes out through atmospheric scattering, The light arriving earth surface has become the superposition of natural light and line polarized light, defines to have and stablizes The polarization state of distribution.Owing to the polarization state of Stable distritation is the radiation spectrum for whole sunlight, Its distribution has electromagnetism/artificial disturbance, the round-the-clock feature of being susceptible to, and distribution is along whole The surface of the earth, its atmospheric polarization state characteristic vector information has pole with the relative position between the sun Strong regularity, can be reliable information carrier in polarized light detection provides a global range. Finding 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, and one is sun meridian and inverse sun meridian Line SM-ASM, the degree of polarization of atmospheric polarization type is symmetrical about SM-ASM, and E-vows Measure about SM-ASM against symmetrical；Another is with solar angle away from the maximum for 90 ° partially Shake line, and atmospheric polarization type is symmetrical, in the position at polarized line place, partially about maximum polarized line Degree of shaking is maximum, and distance line of symmetry is the most remote, and degree of polarization is the least.

Currently for endoatmospheric motion carrier, the most unmanned autonomous mobile platform such as without Man-machine, robots etc., in its navigation procedure, the measurement of 3 d pose is the most crucial.Traditional There is the defect of accumulated error in inertial navigation, and GPS needs a large amount of satellite supports, is vulnerable to outside Electromagnetic Interference.

Summary of the invention

The present invention is to solve above-mentioned the asking of the existing air navigation aid existence for space motion body Topic, it is provided that a kind of utilize nature light polarization pattern to determine endoatmosphere aircraft three-dimensional attitude Method.

The present invention adopts the following technical scheme that realization:

A kind of method utilizing nature light polarization pattern to determine endoatmosphere aircraft space attitude, Comprise the steps:

(1), three-dimensional coordinate system is built, with the barycenter of aircraft for initial point O_b, X_bAxle (longitudinal axis) It is positioned at the aircraft plane of symmetry, is parallel to fuselage axis, forward for just (i.e. to point to heading For just)；Y_bAxle (transverse axis) is perpendicular to the aircraft plane of symmetry, is just to the right；Z_bAxle (vertical pivot) It is positioned at aircraft symmetrical plane, is just downwards；

Set up reference frame, initial point O_aIt rest on the ground certain point, X_aAxle points to direct north, Y_aAxle points to direction, due east, Z_aAxle is vertical downwards；With X_aO_aY_aPlane is reference level surface；

Bionic compound eyes spherical sensor array is arranged at the barycenter of aircraft, i.e. initial point O_b。

(2), yaw angle ψ is determined

The determination of aircraft three-dimensional attitude is unrelated with the centroid position of aircraft, by initial point O_bAnd O_a After coincidence, utilize the sunlight in bionic compound eyes spherical sensor array Real-time Collection all directions E-Vector Message and polarization degree information, and determine the ommatidium battle array of E-vector horizontal direction being detected Row and the geometric position on sphere thereof, the ommatidium array of the E-vector of these horizontal directions exists Projection in reference level surface, the i.e. sun meridian projection CD in reference level surface；With Time bionic compound eyes spherical sensor array measurement determine CD and X_bThe longitudinal axis is in reference level surface Projection X_b' angle

Now, solar calendar Theoretical Calculation CD and X in reference level surface is drawn_aThe angle of axle

Yaw angle ψ is determined by formula (1):

(3), position of sun is determined

Under reference frame, position of sun S_a=(x_a y_a z_a)^T, solar calendar theory determine；

Under body coordinate system, position of sun S_b=(x_b y_b z_b)^T, bionic compound eyes sphere sense Device array detection to polarization information determine, i.e. find and meet the point of following three condition: a) light Strong maximum；B) degree of polarization is zero；C) E-direction vector level.

(4), the angle of pitch is determinedWith roll angle γ

The angle of pitchDetermined by formula (2):

Roll angle γ is determined by formula (3):

$\mathrm{\γ}=\arcsin \frac{z_a}{\sqrt{u^2+{\left(z_c\right)}^2}}-\arcsin \frac{z_c}{\sqrt{u^2+{\left(z_c\right)}^2}}\mathrm{...}\left(3\right)$

Wherein intermediate variable u is determined by formula (4):

Parameter x_c、y_cAnd z_cDetermined by formula (5):

$\left(\begin{array}{c}{x}_c\\ y_c\\ z_c\end{array}\right)=R_Z\left(\mathrm{\ψ}\right)\left(\begin{array}{c}{x}_b\\ y_b\\ z_b\end{array}\right)=\left(\begin{array}{c}{x}_{b}cos\mathrm{\ψ}+y_{b}sin\mathrm{\ψ}\\ y_b\cos \mathrm{\ψ}-x_{b}sin\mathrm{\ψ}\\ z_b\end{array}\right)\mathrm{...}\left(5\right)$

I.e. calculate yaw angle ψ, the angle of pitchWith roll angle γ, complete aircraft in the three of space Dimension attitude determines.

Said method utilizes the directional information that atmospheric polarization type is contained, for the flight of aircraft Attitude provides reference, and its operation principle is: utilize bionic compound eyes sensor array Real-time Collection each E-Vector Message on individual direction, determine the E-vector in detection level direction ommatidium array and Its geometric position on sphere；Then according to detecting that the sun meridianal ommatidium array is in ginseng Examine the projection on horizontal plane and X_bThe longitudinal axis (being parallel to the body axle of aircraft) is in reference level surface The angle of projection, and then determine yaw angle；Finally utilize formula (2), (3), (4), (5) Calculate the angle of pitch and roll angle respectively.

The present invention is reasonable in design, utilizes sun meridian and X_bThe longitudinal axis determines that yaw angle, utilization fly Inclined with under level of the present mode that polarized light detection array detection entrained by row device arrives Pattern of shaking is mated, and calculates the angle of pitch and roll angle.Atmospheric polarization type is used to carry out three Dimension determines appearance, it is provided that a kind of well technological means, has entirely autonomous characteristic, by real time Detection to atmospheric polarization type distribution, it is possible to calculate the 3 d pose of self, simply may be used OK, there is no cumulative errors, during polarization information is present in endoatmospheric visible ray, be difficult to simultaneously By artificial large area interference and destruction.

Accompanying drawing explanation

Fig. 1 is the schematic diagram with yaw angle.

Detailed description of the invention

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

A kind of method utilizing nature light polarization pattern to determine endoatmosphere aircraft space attitude, Comprise the steps:

(1), three-dimensional coordinate system is built, with the barycenter of aircraft for initial point O_b, X_bAxle (longitudinal axis) It is positioned at the aircraft plane of symmetry, is parallel to fuselage axis, be just forward；Y_bAxle (transverse axis) hangs down Straight in the aircraft plane of symmetry, just it is to the right；Z_bAxle (vertical pivot) is positioned at aircraft symmetrical plane, Just it is downwards；

Set up reference frame, initial point O_aIt rest on the ground certain point, X_aAxle points to direct north, Y_aAxle points to direction, due east, Z_aAxle is vertical downwards；With X_aO_aY_aPlane is reference level surface；

Bionic compound eyes spherical sensor array is arranged at the barycenter of aircraft, i.e. initial point O_b。

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

(2), yaw angle ψ is determined

The determination of aircraft three-dimensional attitude is unrelated with the centroid position of aircraft, by initial point O_bAnd O_a After coincidence, utilize the sunlight in bionic compound eyes spherical sensor array Real-time Collection all directions E-Vector Message and polarization degree information, and determine the ommatidium battle array of E-vector horizontal direction being detected Row and the geometric position on sphere thereof, then the ommatidium of the E-vector of horizontal direction detected Array projection in reference level surface, i.e. sun meridian projection in reference level surface CD；Bionic compound eyes spherical sensor array measurement simultaneously determines CD and X_bThe longitudinal axis is with reference to water Projection X in plane_b' angleAs shown in Figure 1.

Now, those skilled in the art are drawn CD in reference level surface by solar calendar Theoretical Calculation With X_aThe angle of axleAs shown in Figure 1.

Principle is as follows: according to existing achievement in research, and atmospheric polarization type has stable symmetry Property, owing in bionic compound eyes spherical sensor array, ommatidium towards sky different directions is examined simultaneously Survey from the polarization information in the direction and intensity signal, in order to determine sky polarization mode and to fly Relation between row attitude.First, as it is shown in figure 1, in bionic compound eyes spherical sensor array Sphere on those ommatidiums of all angle of polarization χ=90 ° detected position shape on sphere Becoming a curve, this curve is corresponding with sun meridian in hemisphere on high, sun meridian Sun subpoint S (test point and the line of position of sun and the intersection point of sky hemisphere) must be passed through With zenith point Z (Z_aAxle and the intersection point of sky hemisphere), sun meridian is about zenith point Z pair Claim；Then, sun subpoint S and zenith point Z position on spherical array, root are measured Theoretical according to Rayleigh scattering, sun subpoint S direction has the most several feature: (1) degree of polarization P=0；(2) E-direction vector level；(3) light intensity is maximum.And Z is in sun meridian center Point.With the direct north in reference level surface for coordinate basis direction, any time anywhere The folder of sun meridian ASM-SM projection CD in reference level surface and direct north Angle isThose skilled in the art can be drawn in reference level surface by solar calendar Theoretical Calculation CD and X_aThe angle of axleOwing to the E-direction vector of any point on sun meridian has Such feature, it may be assumed that along sun meridian E-direction vector level.Therefore, measuring Time, it is only necessary to pay close attention to all those ommatidium positions angle of polarization χ=90 ° being detected, they Projection in reference level surface is consistent with the projection in reference level surface of the sun meridian, measures Obtain this projection line and X_bLongitudinal axis projection X in reference level surface_bAngle between ' is i.e. For

So, yaw angle ψ is determined by formula (1):

(3), position of sun is determined

Under reference frame, position of sun S_a=(x_a y_a z_a)^T, solar calendar theory determine；

Under body coordinate system, position of sun S_b=(x_b y_b z_b)^T, bionic compound eyes sphere sense Device array detection to polarization information determine, i.e. find and meet the point of following three condition: a) light Strong maximum；B) degree of polarization is zero；C) E-direction vector level.

(4), the angle of pitch is determinedWith roll angle γ

The angle of pitchDetermined by formula (2):

Roll angle γ is determined by formula (3):

$\mathrm{\γ}=\arcsin \frac{z_a}{\sqrt{u^2+{\left(z_c\right)}^2}}-\arcsin \frac{z_c}{\sqrt{u^2+{\left(z_c\right)}^2}}\mathrm{...}\left(3\right)$

Wherein intermediate variable u is determined by formula (4):

Parameter x_c、y_cAnd z_cDetermined by formula (5):

$\left(\begin{array}{c}{x}_c\\ y_c\\ z_c\end{array}\right)=R_Z\left(\mathrm{\ψ}\right)\left(\begin{array}{c}{x}_b\\ y_b\\ z_b\end{array}\right)=\left(\begin{array}{c}{x}_{b}cos\mathrm{\ψ}+y_{b}sin\mathrm{\ψ}\\ y_b\cos \mathrm{\ψ}-x_{b}sin\mathrm{\ψ}\\ z_b\end{array}\right)\mathrm{...}\left(5\right)$

I.e. calculate yaw angle ψ, the angle of pitchWith roll angle γ, complete aircraft in the three of space Dimension attitude determines.

Claims (1)

1. utilize the method that nature light polarization pattern determines endoatmosphere aircraft space attitude, It is characterized in that: comprise the steps:

(1), three-dimensional coordinate system is built, with the barycenter of aircraft for initial point O_b, X_bAxle is positioned at flight In the device plane of symmetry, it is parallel to fuselage axis, is just forward；Y_bAxle is perpendicular to the aircraft plane of symmetry, Just it is to the right；Z_bAxle is positioned at aircraft symmetrical plane, is just downwards；

Set up reference frame, initial point O_aIt rest on the ground certain point, X_aAxle points to direct north, Y_aAxle points to direction, due east, Z_aAxle is vertical downwards；With X_aO_aY_aPlane is reference level surface；

Bionic compound eyes spherical sensor array is arranged at the barycenter of aircraft, i.e. initial point O_b；

(2), yaw angle ψ is determined

By initial point O_bAnd O_aAfter coincidence, utilize bionic compound eyes spherical sensor array Real-time Collection each Sunlight E-Vector Message on individual direction and polarization degree information, and determine and level side detected To the ommatidium array of E-vector and geometric position on sphere, then level detected The projection in reference level surface of the ommatidium array of the E-vector in direction, i.e. sun meridian exists Projection CD in reference level surface；Bionic compound eyes spherical sensor array measurement simultaneously determines CD With X_bLongitudinal axis projection X in reference level surface_b' angle

Now, solar calendar Theoretical Calculation CD and X in reference level surface is drawn_aThe angle of axle

Yaw angle ψ is determined by formula (1):

(3), position of sun is determined

Under reference frame, position of sun S_a=(x_a y_a z_a)^T, solar calendar theory determine；

Under body coordinate system, position of sun S_b=(x_b y_b z_b)^T, bionic compound eyes sphere sense Device array detection to polarization information determine, i.e. find and meet the point of following three condition: a) light Strong maximum；B) degree of polarization is zero；C) E-direction vector level；

(4), the angle of pitch is determinedWith roll angle γ

The angle of pitchDetermined by formula (2):

$\mathrm{\θ}=arcsin\frac{x_a}{\sqrt{{\left(y_c\right)}^2+{\left(x_c\right)}^2}}-arcsin\frac{y_c}{\sqrt{{\left(y_c\right)}^2+{\left(x_c\right)}^2}}...\left(2\right)$

Roll angle γ is determined by formula (3):

$\mathrm{\γ}=arcsin\frac{z_a}{\sqrt{u^2+{\left(z_c\right)}^2}}-arcsin\frac{z_c}{\sqrt{u^2+{\left(z_c\right)}^2}}...\left(3\right)$

Wherein intermediate variable u is determined by formula (4):

$u=x_c\sin \mathrm{\θ}-y_c\cos \mathrm{\θ}...\left(4\right)$

Parameter x_c、y_cAnd z_cDetermined by formula (5):

$\left(\begin{array}{c}{x}_c\\ y_c\\ z_c\end{array}\right)=R_Z\left(\mathrm{\ψ}\right)\left(\begin{array}{c}{x}_b\\ y_b\\ z_b\end{array}\right)=\left(\begin{array}{c}{x}_{b}cos\mathrm{\ψ}+y_{b}sin\mathrm{\ψ}\\ y_{b}cos\mathrm{\ψ}-x_{b}sin\mathrm{\ψ}\\ z_b\end{array}\right)...\left(5\right)$

I.e. calculate yaw angle ψ, the angle of pitchWith roll angle γ, complete the aircraft three-dimensional appearance in space State determines.