CN104374388B - Flight attitude determining method based on polarized light sensor - Google Patents
Flight attitude determining method based on polarized light sensor Download PDFInfo
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- CN104374388B CN104374388B CN201410628075.4A CN201410628075A CN104374388B CN 104374388 B CN104374388 B CN 104374388B CN 201410628075 A CN201410628075 A CN 201410628075A CN 104374388 B CN104374388 B CN 104374388B
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- 239000013598 vector Substances 0.000 claims description 34
- 230000001133 acceleration Effects 0.000 claims description 21
- 230000010287 polarization Effects 0.000 claims description 19
- 239000011159 matrix material Substances 0.000 claims description 13
- 238000005286 illumination Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 9
- 238000003556 assay Methods 0.000 claims description 6
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses a flight attitude determining method based on a polarized light sensor. According to the invention, adopted equipment comprises a three-axis gyroscope, a three-axis accelerometer, the polarized light sensor, a GPS and a flight control computer. A complementary filter algorithm is used to fuse sensor data; pitch angle and rolling angle errors of the angular speed of the gyroscope are revised through measured data of the accelerometer; and an course angle error of the angular speed of the gyroscope is revised through measured data of the polarized light sensor, so that the attitude measurement precision of an aircraft is improved. Compared with a traditional flight attitude reference system, the flight attitude determining method has the advantages that the flight attitude determining method is not interfered by electromagnetism, the measurement precision of static and dynamic environments is high and the like.
Description
Technical field
The invention belongs to aircraft attitude measurement and estimation technique field, are related to a kind of navigation attitude based on polarized light sensor
Assay method.
Background technology
Attitude heading reference system (AHRS) can provide course angle, roll angle and pitching angle information for aircraft.It typically by
Multiple axial sensor compositions, mainly have two kinds of combinations at present：One kind is by three-axis gyroscope, three axis accelerometer and three axle magnetic strength
Meter composition, another kind are made up of three-axis gyroscope, three axis accelerometer and GPS.But the measurement of both the above method is present
Respective shortcoming：The gaussmeter of the first combination is easily affected by surrounding magnetic field and other air environments, so as to lead
Cause course error increase；The GPS of second method can not provide course angle in static state, easily lose star, will equally lead when high motor-driven
Cause the increase of course error.In order to make up disadvantage mentioned above, present invention adds polarized light sensor, proposes based on polarization light sensing
The navigation attitude assay method of device.
The content of the invention
It is contemplated that the measurement data for correcting gyroscope is gone at the polarized light azimuth measured using polarized light sensor, carry
The accuracy of lofty stance strap-down matrix, reaches the purpose for improving attitude measurement accuracy.
The present invention is adopted the following technical scheme that：
A kind of navigation attitude assay method based on polarized light sensor, the equipment of employing include that three-axis gyroscope, three axles accelerate
Degree meter, polarized light sensor, GPS and flight control computer.Three-axis gyroscope measures aircraft tri-axis angular rate, three axis accelerometer
The 3-axis acceleration of measurement aircraft.Polarized light sensor measurement polarized light azimuth.GPS provides local time, aircraft institute
In position, velocity information.Flight control computer needs the data that the various sensors of real-time processing are passed back, also sends out the result for processing
Give the control unit of aircraft, to realize mechanism controls to aircraft, while also take on transmit data to earth station and
Receive the task of ground control instruction, it is therefore necessary to consider that the real-time and data anastomosing algorithm of information processing simplify degree.
By the angle of pitch of the Data correction gyroscope angular speed of accelerometer measures, rolling angle error, polarized light sensor measurement number
According to the course angle error of amendment gyroscope angular speed, the attitude measurement accuracy of aircraft is improved.
The method is comprised the following steps that：
(1) output data of three axis accelerometer, polarized light sensor and GPS is gathered, the initial rolling of aircraft is determined
Angle φ, pitching angle theta and course angle ψ, set up the initial attitude matrix that navigation coordinate is tied to body axis systemAnd body axis system
To the attitude matrix of polarized light sensor coordinate system
(2) according to the affiliated time zone of aircraft, local sun altitude h is estimated by astronomical ephemeris computational methodss, azimuth As,
Then it is calculated projection of the solar direction vector under navigational coordinate system
(3) according to polarized light sensor coordinate system, relation and Rayleigh scattering principle between body axis system, navigational coordinate system
Obtain the observation of the incident illumination maximum polarization direction vector under polarized light sensor coordinate system：
(4) gather the polarization azimuth ψ of polarized light sensor outputpl, under polarized light sensor coordinate system, calculate incident
The measured value of the maximum polarization direction vector of light：
(5) course error correcting vector, the observation of incident illumination maximum polarization direction vector and the deviation of measured value are calculated
As course angle error, its value is the multiplication cross of two vectors：
(6) 3-axis acceleration data g are gatheredb, remove the centripetal acceleration in acceleration measuring value, obtain gravity acceleration
Degree vector reference value.
Its medium velocity V is obtained by GPS,It is calculated through formula by V.
(7) calculate pitching, roll error correcting vector, i.e. acceleration of gravity observation (The 3rd row) with it is actual
Measurement reference value grThe difference of unit vector, its value are the multiplication cross of two vectors：
(8) complementary filter is carried out, gyroscope is corrected by feedback control and is measured angular speed, so as to improve course angle, pitching
Angle, the precision of roll angle.
ω=ωb+kψPeψ+kψIdtΣeψ+kφθPeφθ+kφθIdtΣeφθ (6)
Different filter factors are adopted according to the response time of accelerometer and polarized light sensor to which, wherein, kψP、
kφθPSize determine the cut-off frequency of complementary filter, kψI、kφθISize determine eliminate static deviation time.
(9) updated by Quaternion Method, obtain new attitude matrixAnd attitude angle.
(10) repeat (1) to (9) process, system of realizing exports the navigation attitude information of aircraft in real time.
The invention has the beneficial effects as follows：
1st, combine compared to three-axis gyroscope, three axis accelerometer and three axis magnetometer, the present invention is not by surrounding ground
The electromagnetic interference of magnetic and airborne equipment；Compared to three-axis gyroscope, three axis accelerometer and GPS combinations, the present invention is not flown
The impact of device kinestate.
2nd, the present invention resolves attitude of flight vehicle using complementary filter algorithm, compared to extended Kalman filter, is not required to
The Accuracy Error model of polarized light sensor is wanted, and amount of calculation is little, can realize exporting high-precision attitude long-term and stably
Data, are especially suitable for miniature flight control system.
Description of the drawings
Fig. 1 is the main coordinate system figure of the present invention.
Fig. 2 is the navigation attitude assay method workflow diagram of the present invention.
Fig. 3 is the theory diagram of the present invention.
Specific embodiment
The specific embodiment of the present invention is further elaborated with concrete technical scheme below in conjunction with the accompanying drawings.
As shown in figure 1, coordinate system according to the present invention has：The horizontal system of coordinates, navigational coordinate system, body axis system, polarization
Optical sensor coordinate system.Wherein navigational coordinate system chooses northeast day coordinate system, while in order to reduce the conversion between coordinate system, choosing
Take the horizontal system of coordinates to overlap with navigational coordinate system, be northeast day coordinate system, polarized light sensor coordinate system and body axis system weight
Close.If the Y-axis of polarized light sensor coordinate system is its body axle, then the polarization azimuth ψ that polarized light sensor is measuredplFor incident illumination
Maximum polarization direction vector polarized light sensor coordinate system OXY planes projection and Y-axis angle.
In the attitude heading reference system of the present invention, three-axis gyroscope can measure the three axis angular rates arrow of unmanned plane body
Amount, can calculate the angle of pitch of unmanned plane, roll angle, course angle information according to its metrical information, short time measurement high precision,
But long-time certainty of measurement can be subject to temperature drift；3-axis acceleration sensor can measure three axles of unmanned plane body
Acceleration, can calculate the angle of pitch, the rolling angle information of unmanned plane, long-time certainty of measurement according to its metrical information
Height, but short time measurement precision can be affected by body vibration；Polarized light sensor can measure the polarization of incident light direction
Azimuth, no accumulation of error, long-time certainty of measurement are high, but short time measurement precision is not so good as gyroscope.By more than, analysis can
Know, gyroscope has measurement identical amount with accelerometer, polarized light, and complementary on frequency domain characteristic, so adopting complementary filter
Ripple device algorithm resolves the attitude of aircraft.
With reference to Fig. 2 and Fig. 3, the concrete steps of the method are the following is：
1st, three axis accelerometer, polarized light sensor and GPS output datas are gathered, determines the initial roll angle of aircraft
φ, pitching angle theta and course angle ψ.Set up the initial attitude matrix that navigation coordinate is tied to body axis systemArrive with body axis system
The attitude matrix of polarized light sensor coordinate system
Resting state is generally before aircraft takeoff, acceleration measuring value is believed that only acceleration of gravity, does not deposit
In acceleration of motion, equivalent to acceleration of gravity three axle of aircraft body projection, as gravity is begun with yaw plane all the time
It is vertical eventually, so course angle can not be obtained, initial pitch angle, the roll angle for obtaining aircraft can be resolved：
According to Rayleigh scattering principle, the maximum Polarization Vector of incident illumination is vertical with sun meridian, can resolve and obtain
The initial heading angle of aircraft：
Wherein, AsFor solar azimuth, according to the position of aircraft of GPS outputs and local time by astronomical ephemeris calculating side
Method estimation is obtained.Azimuth is spent with the positive north as Fixed Initial Point in the direction of the clock using the orientation in geodesic survey, azimuth
Amount, span are 0 °～360 °, this to define with the orientation values in the astronomical surveing defined in general polarized light document
Difference.
Navigation coordinate is tied to the initial attitude matrix of body axis systemFor：
Attitude matrix of the body axis system to polarized light sensor coordinate systemFor：
2nd, gps data is gathered, the position of aircraft and local time exported according to GPS is estimated by astronomical ephemeris computational methods
Obtain sun altitude hsWith solar azimuth As, then it is calculated projection of the solar direction vector under navigational coordinate system
3. according to polarized light sensor coordinate system, relation and Rayleigh scattering principle between body axis system, navigational coordinate system
Obtain the observation of the incident illumination maximum polarization direction vector under polarized light sensor coordinate system.
Under polarized light sensor coordinate system, according to Rayleigh scattering principle, the maximum polarization direction vector of incident illumination is vertical
In the plane that observed direction vector is located with solar direction vector, it is represented by：
4th, gather the polarization azimuth ψ of polarized light sensor outputpl, under polarized light sensor coordinate system, calculate incident
The measured value of the maximum polarization direction vector of light：
5th, course angle error correction vector, the observation of incident illumination maximum polarization direction vector and the deviation of measured value are calculated
As course error, its value are approximately the multiplication cross of two vectors：
(6) 3-axis acceleration data g are gatheredb, remove the centripetal acceleration in acceleration measuring value, obtain gravity acceleration
Degree vector reference value.
Its medium velocity V is obtained by GPS,It is calculated through formula by V.
7th, calculate the angle of pitch, roll angle error correction vector, acceleration of gravity observation (The 3rd row) with it is actual
The reference value of measurement is pitching, roll error, and its value is approximately the multiplication cross of two vectors：
8th, complementary filter is carried out, gyroscope is corrected by feedback control and is measured angular speed, so as to improve course angle, pitching
Angle, the precision of roll angle.
ω=ωb+kψPeψ+kψIdtΣeψ+kφθPeφθ+kφθIdtΣeφθ (16)
Different filter factors are adopted according to the response time of accelerometer and polarized light sensor to which, wherein, kψP、
kφθPSize determine the cut-off frequency of complementary filter, kψI、kφθISize determine eliminate static deviation time.
9th, updated by Quaternion Method, obtain new attitude matrixAnd attitude angle.
Bring revised angular speed ω into quaternion differential equations, resolved using Fourth order Runge-Kutta and obtain new four
First number (q0q1q2q3)。
By new quaternary number q0q1q2Substitute into formula 9 and update attitude matrix
ByCalculate the attitude angle of aircraft：
10th, to step 9 process, repeat step 1 realizes that system exports the attitude information of aircraft in real time.
Claims (1)
1. a kind of navigation attitude assay method based on polarized light sensor, it is characterised in that following steps,
(1) gather the output data of three axis accelerometer, polarized light sensor and GPS, determine aircraft initial roll angle φ,
Pitching angle theta and course angle ψ, set up the initial attitude matrix that navigation coordinate is tied to body axis systemWith body axis system to partially
The attitude matrix of optical sensor coordinate system of shaking
(2) according to the affiliated time zone of aircraft, local sun altitude h is estimated by astronomical ephemeris computational methodss, azimuth As, then
Projection of the solar direction vector under navigational coordinate system is calculated according to following formula (1)
(3) according to polarized light sensor coordinate system in following formula (2), between body axis system, navigational coordinate system, relation and Rayleigh dissipate
Penetrate the observation of the incident illumination maximum polarization direction vector that principle is obtained under polarized light sensor coordinate system：
Wherein A1=[0-10], A2=[100]；
(4) gather the polarization azimuth ψ of polarized light sensor outputpl, under polarized light sensor coordinate system, calculate incident illumination
The measured value of maximum polarization direction vector：
(5) course error correcting vector is calculated, the observation of incident illumination maximum polarization direction vector is with the deviation of measured value
Course angle error, its value are the multiplication cross of two vectors：
(6) 3-axis acceleration data g are gatheredbWith three-axis gyroscope data ωb, remove in acceleration measuring value to cadion-acceleration
Degree, obtains acceleration of gravity vector reference value；
Its medium velocity V is obtained by GPS,It is calculated through formula by V；
(7) pitching, the observation of roll error correcting vector, i.e. acceleration of gravity and actual measurement reference value g are calculatedrUnit Vector
The difference of amount, its value are the multiplication cross of two vectors：
Wherein C13=-sin θ, C23=sin φ cos θ, C23=cos φ cos θ；
(8) complementary filter is carried out, gyroscope is corrected by feedback control and is measured angular speed, so as to improve course angle, the angle of pitch, rolling
The precision of corner；
ω=ωb+kψPeψ+kψIdt∑eψ+kφθPeφθ+kφθIdt∑eφθ (6)
(9) updated by Quaternion Method, obtain new attitude matrixAnd attitude angle；
(10) repeat (1) to (9) process, system of realizing exports the navigation attitude information of aircraft in real time.
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| CN106441372B (en) * | 2016-11-24 | 2019-09-17 | 北京航空航天大学 | A kind of quiet pedestal coarse alignment method based on polarization with gravitation information |
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| CN109470237B (en) * | 2018-12-17 | 2020-07-14 | 大连理工大学 | Navigation attitude measurement method based on combination of polarized light and geomagnetism |
| CN109506660B (en) * | 2019-01-08 | 2022-03-29 | 大连理工大学 | Attitude optimization resolving method for bionic navigation |
| CN110017837B (en) * | 2019-04-26 | 2022-11-25 | 沈阳航空航天大学 | Attitude anti-magnetic interference combined navigation method |
| CN110887472B (en) * | 2019-12-09 | 2021-10-22 | 北京航空航天大学 | Polarization-geomagnetic information deep fusion fully-autonomous attitude calculation method |
| CN111483615B (en) * | 2020-04-17 | 2021-06-29 | 中国科学院微小卫星创新研究院 | Method for realizing pointing posture of quantum satellite to ground optical station |
| CN111649745B (en) * | 2020-05-18 | 2022-04-05 | 北京三快在线科技有限公司 | Attitude estimation method and apparatus for electronic device, and storage medium |
| 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 |
| CN112629538B (en) * | 2020-12-11 | 2023-02-14 | 哈尔滨工程大学 | Ship horizontal attitude measurement method based on fusion complementary filtering and Kalman filtering |
| CN114485641B (en) * | 2022-01-24 | 2024-03-26 | 武汉梦芯科技有限公司 | Attitude calculation method and device based on inertial navigation device navigation azimuth fusion |
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