CN105157667B - A kind of sun altitude computational methods based on atmosphere polarization information - Google Patents

Abstract

The present invention relates to a kind of sun altitude computational methods based on atmosphere polarization information, first, the atmospheric polarization detection structure that three polarization navigation sensors of design are constituted obtains three observation station polarization degree information d₁, d₂, d₃；Secondly, according to three polarization navigation sensor relative installations, d is set up₁, d₂, d₃With the maximum degree of polarization d in full spatial domain_maxBetween six rank multinomial restriction relations；Using the rank multinomial restriction relation of degree of polarization six of above-mentioned foundation, it is determined that the maximum degree of polarization d in full spatial domain_max；Finally, according to d_maxValue determine sun altitude γ under polarization navigation sensor module coordinate system.The present invention has the advantages that simple in construction, precision is higher, and local sun altitude is calculated using atmosphere polarization information, for the positioning of carrier three-dimensional navigation.

Description

A kind of sun altitude computational methods based on atmosphere polarization information

Technical field

The present invention relates to a kind of sun altitude computational methods based on atmosphere polarization information, available for aircraft polarization group Navigation system modeling is closed, polarization degree information is applied in measurement equation, simplifies polarization and leads combination boat system model, improve system The observability of model, and then improve polarization combination navigation system alignment precision and navigation accuracy.

Background technology

Atmospheric polarization phenomenon is a kind of natural quality of light, and polarised light is widely present in natural environment, atmospheric polarization point Cloth pattern is stablized relatively, wherein containing abundant navigation information.Scientist has found that many biologies can be utilized in nature Polarised light is navigated, and husky ant, the honeybee flown in the air, the lobster at the bottom on ground etc. are all navigated using polarised light Represent, corresponding achievement is published on the magazines such as Nature, Science.

The features such as navigation mode based on polarization information has autonomous, passive, radiationless, good concealment, into 21 century, The country such as America and Europe focuses on research in order to improve combined navigation system performance in the case of no satellite navigation, more and implements new autonomous Navigation mode, polarization navigation system technology is developed rapidly.

At present, the difficult point of polarization navigation system technology is the extraction and application of polarization navigation information, the biology such as ant, honeybee Two dimensional navigation is realized using polarised light, the main directional characteristic being distributed using atmospheric polarization, by perceiving the inclined of sky polarised light Shaking walking direction is from body axle and the meridianal angle of the sun.Navigated for mimic biology using atmospheric polarization characteristic Ability, domestic and foreign scholars have developed bionical polarization navigation sensor according to biology compound eye structure, a certain in the air by measuring day The light intensity in point different polarization direction, calculates the polarization state information of observation station --- polarization direction and degree of polarization.

Presence and ground return phenomenon of the real atmosphere due to large particulate matters such as cloud layer, aerosol, water droplets, cause big Gas polarization mode shows various undesirable states, and this nonideality make it that full spatial domain degree of polarization maximum is not equal to 1, And this nonideality is not obvious for the influence of polarization direction, therefore in existing polarization airmanship mainly Carrier course is determined using polarization direction, have ignored another important information-degree of polarization to atmosphere polarization information makes With this phenomenon causes to atmosphere polarization information using insufficient, limits application of the polarization airmanship on three-dimensional navigation. Atmospheric polarization phenomenon contains the azimuth information of the sun as an important sign of sunshine, and solar azimuth information is available Positioned in the three-dimensional navigation of carrier, the report that sun altitude is determined using atmosphere polarization information is there is no at present.

The content of the invention

The technology of the present invention solves problem：Existing polarization information is overcome to utilize this insufficient defect, it is inclined using air Information of shaking asks for sun altitude, for the positioning of carrier three-dimensional navigation.The present invention proposes a kind of three polarization navigation sensors group Detection structure is closed, rationally the detection direction of three polarization navigation sensors of design, set up observation station degree of polarization maximum with whole day domain Degree of polarization d_maxBetween six rank multinomial restriction relations, realize the maximum degree of polarization d in whole day domain_maxResolving, and then realize module There is provided the effective way that one uses polarization degree information carrier navigation for sun altitude γ solution under coordinate system.Should Method is simple in construction, is easily achieved on algorithm, and altitude of the sun under polarization module coordinate system is introduced in polarization combination navigation model Angle γ can greatly simplify the complexity of polarization combination navigation model, improve the observability of integrated navigation system, Jin Erti High integrated navigation system alignment precision and navigation accuracy.

The present invention technical solution be：A kind of sun altitude computational methods based on atmosphere polarization information, in fact Existing step is as follows：

(1) the maximum degree of polarization d in design whole day domain first_maxStructure is detected, the detection structure is by three polarization navigation sensors Constitute, the degree of polarization of three observation stations aerial to day and polarization direction information carry out feature extraction in real time, wherein three polarizations Navigation sensor is installed in the same plane, and main polarization navigation sensor is arranged on module coordinate system z-axis direction, two auxiliary Polarization navigation sensor is arranged on main polarization navigation sensor both sides, and two auxiliary polarization navigation sensor main shafts are led with main polarization Angle between boat sensor main shaft is η；

(2) the maximum degree of polarization d in whole day domain designed according to (1)_maxStructure is detected, the inclined of aerial three observation stations in day is obtained Degree of shaking measured value, sets up the degree of polarization and the maximum degree of polarization d in whole day domain of three observation stations_maxBetween six rank multinomials constraint close System, determines the maximum degree of polarization d in whole day domain_max；

(3) the maximum degree of polarization d in whole day domain obtained according to (2)_maxValue, atmospheric polarization is based under determining module coordinate system The sun altitude γ of information.

The step (1) designs the maximum degree of polarization d in whole day domain first_maxStructure is detected, the detection structure is led by three polarizations The sensor that navigates is constituted, and the degree of polarization of three observation stations aerial to day and polarization direction information carry out feature extraction in real time, wherein Three polarization navigation sensors are installed in the same plane, and main polarization navigation sensor is arranged on module coordinate system z-axis direction, Two auxiliary polarization navigation sensors be arranged on main polarization navigation sensor both sides, two auxiliary polarization navigation sensor main shafts with Angle between main polarization navigation sensor main shaft is η, is implemented as follows：

Design the maximum degree of polarization d in whole day domain_maxStructure is detected, the detection structure is made up of three polarization navigation sensors, its In three polarization navigation sensors install in the same plane, main polarization navigation sensor A₁Mounting plane and observed direction structure Into coordinate system for module coordinate system Mxyz, M be the origin of coordinates, plane where xy axles is main polarization navigation sensor A₁Install flat Face, z-axis positive direction is main polarization navigation sensor A₁Observed direction, other two auxiliary polarization navigation sensor A₂, A₃Symmetrically Installed in main polarization navigation sensor A₁Both sides, two auxiliary polarization navigation sensor main shafts and main polarization navigation sensor main shaft Angle in mounting plane is η, η ∈ (0,90 °)；

Using origin of coordinates M as centre of sphere structure unit celestial sphere, the observation station of three polarization navigation sensors is on unit celestial sphere Projection be respectively Q₁, Q₂, Q₃, MQ₁, MQ₂, MQ₃Three polarization navigation sensor A are represented respectively₁, A₂, A₃The unit of observed direction Vector, according to the maximum degree of polarization d in whole day domain_maxDetect that structure understands that the observed direction of three polarization navigation sensors is coplanar, then MQ₁, MQ₂, MQ₃With z-axis in the same plane, and MQ₂, MQ₃It is located at MQ respectively₁Both sides, with MQ₁Angle be η, η ∈ (0, 90°)；

Pass through the maximum degree of polarization d in the whole day domain of design_maxStructure is detected, A is obtained in real time₁, A₂, A₃Three polarization navigation sensings The degree of polarization measured value of device, uses d respectively₁, d₂, d₃Represent；

The maximum degree of polarization d in whole day domain that the step (2) is designed according to (1)_maxStructure is detected, aerial three sights in day are obtained The degree of polarization measured value of measuring point, sets up the degree of polarization and the maximum degree of polarization d in whole day domain of three observation stations_maxBetween six ranks it is multinomial Formula restriction relation, determines the maximum degree of polarization d in whole day domain_max, it is implemented as follows：

Following relation is had based on the theoretical observation station degree of polarization of Rayleigh scattering and polarization view angle：

Wherein, d_nObservation station degree of polarization is surveyed by n-th of polarization navigation sensor, For three observations The maximum of point degree of polarization, θ_nFor n-th of polarization navigation sensor observed direction and solar vector MS angle, S exists for the sun Projection on unit celestial sphere, solar vector MS is the solar direction unit vector under module coordinate system, θ_n∈ [0, π], n ∈ 1, 2,3 }；

Three polarization navigation sensor A₁, A₂, A₃Observed direction MQ₁, MQ₂, MQ₃Angle with solar vector MS is respectively θ₁,θ₂,θ₃, it is theoretical according to Rayleigh scattering, then have：

Wherein, θ₁For main polarization navigation sensor A₁Observed direction MQ₁With MS angle, θ₂For auxiliary polarization navigation sensing Device A₂Observed direction MQ₂With MS angle, θ₃For auxiliary polarization navigation sensor A₃Observed direction MQ₃With MS angle；

The maximum degree of polarization d in whole day domain designed according to step (1)_maxDetect structure, main polarization navigation sensor A₁Observation side To MQ₁Overlapped with module coordinate system z-axis, therefore there is following equation to set up：

θ₁+ γ=pi/2

Wherein, it is sun altitude under module coordinate system with γ；

In spherical triangle △ Q₂Q₁S and △ Q₃Q₁It can be obtained using the spherical triangle cosine law in S：

cosθ₂=cos θ₁cosη+sinθ₁sinηcos∠SQ₁Q₂

cosθ₃=cos θ₁cosη+sinθ₁sinηcos∠SQ₁Q₃

The maximum degree of polarization d in whole day domain designed according to step (1)_maxDetect structure, MQ₁, MQ₂, MQ₃In the same plane, Then ∠ SQ₁Q₂+∠SQ₁Q₃=π, θ₁,θ₂,θ₃Between relation be represented by：

cosθ₂+cosθ₃=2cos η cos θ₁

A=2cos η are made, according to the maximum degree of polarization d in whole day domain_maxDetect in structure between three polarization navigation sensors Relative installation, and three observation station degree of polarizations and polarization observation angular dependence, set up the degree of polarizations of three observation stations with it is complete Its domain maximum degree of polarization d_maxBetween six rank multinomial restriction relations, in real number intervalInterior equation existence and unique solution；

α₆d_max ⁶+α₅d_max ⁵+α₄d_max ⁴+α₃d_max ³+α₂d_max ²+α₁d_max+α₀=0

Wherein：

The maximum degree of polarization d in whole day domain that basis (2) in the step (3) is obtained_maxValue, under determining module coordinate system Sun altitude γ based on atmosphere polarization information, is implemented as follows：

The maximum degree of polarization d in whole day domain obtained according to step (2)_max, obtain main polarization navigation sensor A₁Polarize view angle θ₁For：

Wherein, ± represent θ₁Be likely less than pi/2 may also be more than pi/2 ,+or-selection can be sensed by extraneous additional intensity Device is judged.

According to the main polarization navigation sensor A of step (1)₁Mounting means and step (2) sun altitude γ with scattering Angle θ₁Between relation, obtaining sun altitude γ under module coordinate system is：

γ=pi/2-θ₁

The present invention principle be：Certain symmetry is had based on the theoretical atmospheric polarization distribution pattern of Rayleigh scattering, it is complete empty Domain polarization direction is fixed, polarization navigation sensing with the distribution character that degree of polarization is distributed at a time a certain geographical position Device can realize the polarization information measurement of the aerial certain point in day, but because atmospheric polarization degree distribution character is nonideality, certain Some polarization degree informations can not be sufficiently used in polarization navigation system.The present invention can not make full use of and polarize for polarization information In navigation system, propose that one kind asks for sun altitude method using atmosphere polarization information, polarization information is utilized and reaches maximum Change.First, a kind of three sensors Polarization Detection structure is constructed, rationally the installation direction of three polarization navigation sensors of design； Then, based on Rayleigh scattering theory and the spherical triangle cosine law, three observation station polarization degree informations and whole day domain are constructed Contact between maximum degree of polarization；Finally, sun height under polarization module coordinate system is obtained by solving nonlinear multivariable equation group Spend angle γ.

Present invention advantage compared with prior art is：

(1) present invention devises the maximum degree of polarization d in three sensor whole day domains_maxStructure is detected, by reasonably designing three The installation direction of polarization navigation sensor, sets up the degree of polarization and the maximum degree of polarization d in whole day domain of three observation stations_maxBetween six Rank multinomial restriction relation, reduction solves the maximum degree of polarization d in whole day domain_maxDifficulty, pass through full spatial domain polarization imaging with traditional Method seeks d_maxStructure compared, cost, algorithm complex reduction, while adding system redundancy.Polarized according to whole day domain maximum Spend d_maxValue, ask for sun altitude, for carrier three-dimensional navigation position.

Brief description of the drawings

Fig. 1 is design flow diagram of the invention；

Fig. 2 is to detect structural representation the present invention relates to three polarization navigation sensors；

Fig. 3 is sun altitude γ and polarization view angle θ schematic diagrames under polarization module coordinate system of the present invention.

Embodiment

As shown in figure 1, the present invention to implement step as follows：

1st, the maximum degree of polarization d in design whole day domain_maxDetect structure, in real time the degree of polarization of three observation stations aerial to day and partially Shaking directional information carries out feature extraction：

The maximum degree of polarization d in design whole day domain first_maxStructure is detected, as shown in Fig. 2 the detection structure is led by three polarizations The sensor that navigates is constituted, wherein three polarization navigation sensors are installed in the same plane, main polarization navigation sensor A₁Installation The coordinate system that plane and observed direction are constituted is the origin of coordinates for module coordinate system Mxyz, M, polarizes and leads based on the plane of xy axles place Boat sensors A₁Mounting plane, z-axis positive direction is main polarization navigation sensor A₁Observed direction, it is other two auxiliary polarizations lead Boat sensors A₂, A₃It is symmetrically mounted on main polarization navigation sensor A₁Both sides, two auxiliary polarization navigation sensor main shafts and master are inclined Angle of the navigation sensor main shaft in mounting plane that shake is η, η ∈ (0,90 °)；

Using origin of coordinates M as centre of sphere structure unit celestial sphere, the observation station of three polarization navigation sensors is on unit celestial sphere Projection be respectively Q₁, Q₂, Q₃, MQ₁, MQ₂, MQ₃Three polarization navigation sensor A are represented respectively₁, A₂, A₃The unit of observed direction Vector, according to the maximum degree of polarization d in whole day domain_maxDetect that structure understands that three polarization navigation sensors are coplanar, then MQ₁, MQ₂, MQ₃ With z-axis in the same plane, and MQ₂, MQ₃It is located at MQ respectively₁Both sides, with MQ₁Angle be η, η ∈ (0,90 °)；

Pass through the maximum degree of polarization d in the whole day domain of design_maxStructure is detected, A is obtained in real time₁, A₂, A₃Three polarization navigation sensings The degree of polarization measured value of device, uses d respectively₁, d₂, d₃Represent；

2nd, the degree of polarization and the maximum degree of polarization d in whole day domain of three observation stations are set up_maxBetween six rank multinomials constraint close System：

Following relation is had with polarization view angle (angle of scattering) based on the theoretical observation station degree of polarization of Rayleigh scattering：

Wherein, d_nObservation station degree of polarization is surveyed by n-th of polarization navigation sensor, For three observations The maximum of point degree of polarization, θ_nFor n-th of polarization navigation sensor observed direction and solar vector MS angle, S exists for the sun Projection on unit celestial sphere, solar vector MS is the solar direction unit vector under module coordinate system, θ_n∈ [0, π], n ∈ 1, 2,3 }；

Three polarization navigation sensor A₁, A₂, A₃Observed direction MQ₁, MQ₂, MQ₃Angle with solar vector MS is respectively θ₁,θ₂,θ₃, it is theoretical according to Rayleigh scattering, then have：

Wherein, θ₁For main polarization navigation sensor A₁Observed direction MQ₁With MS angle, θ₂For auxiliary polarization navigation sensing Device A₂Observed direction MQ₂With MS angle, θ₃For auxiliary polarization navigation sensor A₃Observed direction MQ₃With MS angle；

The maximum degree of polarization d in whole day domain designed according to step (1)_maxDetect structure, main polarization navigation sensor A₁Observation side To MQ₁Overlapped with module coordinate system z-axis, therefore there is following equation to set up：

θ₁+ γ=pi/2

Wherein, it is sun altitude under module coordinate system with γ；

In spherical triangle △ Q₂Q₁S and △ Q₃Q₁It can be obtained using the spherical triangle cosine law in S：

cosθ₂=cos θ₁cosη+sinθ₁sinηcos∠SQ₁Q₂

cosθ₃=cos θ₁cosη+sinθ₁sinηcos∠SQ₁Q₃

The maximum degree of polarization d in whole day domain designed according to step (1)_maxDetect structure, MQ₁, MQ₂, MQ₃In the same plane, Then ∠ SQ₁Q₂+∠SQ₁Q₃=π, θ₁,θ₂,θ₃Between relation be represented by：

cosθ₂+cosθ₃=2cos η cos θ₁

A=2cos η are made, according to the maximum degree of polarization d in whole day domain_maxDetect in structure between three polarization navigation sensors Relative installation, and three observation station degree of polarizations and polarization observation angular dependence, set up the degree of polarizations of three observation stations with it is complete Its domain maximum degree of polarization d_maxBetween six rank multinomial restriction relations, in real number intervalInterior equation existence and unique solution；

α₆d_max ⁶+α₅d_max ⁵+α₄d_max ⁴+α₃d_max ³+α₂d_max ²+α₁d_max+α₀=0

Wherein：

α₆=4a²-a⁴

α₅=2a⁴d₁+(4a²-2a⁴)d₂+(4a²-2a⁴)d₃

α₄=4a⁴d₁d₂+4a⁴d₁d₃+(8-4a⁴)d₂d₃-(a⁴+4a²)d₁ ²-(a⁴+4)d₂ ²-(a⁴+4)d₃ ²

α₃=(8a⁴+16)d₁d₂d₃-(8-2a⁴)d₁d₂ ²-(2a⁴+4a²)d₁ ²d₂-(8-2a⁴)d₁d₃ ²

-(2a⁴+4a²)d₁ ²d₃-(2a⁴+4a²)d₂d₃ ²-(2a⁴+4a²)d₂ ²d₃

α₂=(8-4a⁴)d₁ ²d₂d₃+4a⁴d₁d₂ ²d₃+4a⁴d₁d₂d₃ ²

-(4+a⁴)d₁ ²d₂ ²-(4+a⁴)d₁ ²d₃ ²-(a⁴+4a²)d₂ ²d₃ ²

α₁=2a⁴d₁ ²d₂ ²d₃+(4a²-2a⁴)d₁ ²d₂d₃ ³+(4a²-2a⁴)d₁d₂ ²d₃ ²

α₀=(4a²-a⁴)d₁ ²d₂ ²d₃ ²

3rd, the sun altitude γ based on atmosphere polarization information under determining module coordinate system.

The maximum degree of polarization d in whole day domain obtained according to step (2)_max, atmosphere polarization information is based under determining module coordinate system Sun altitude γ, as shown in figure 3, being implemented as follows：

The maximum degree of polarization d in whole day domain obtained according to step (2)_max, obtain main polarization navigation sensor A₁Polarize view angle θ₁For：

Wherein, ± represent θ₁Be likely less than pi/2 may also be more than pi/2 ,+or-selection can be sensed by extraneous additional intensity Device is judged.

According to the main polarization navigation sensor A of step (1)₁Mounting means and step (2) sun altitude γ with scattering Angle θ₁Between relation, obtaining sun altitude γ under module coordinate system is：

γ=pi/2-θ₁。

Claims (4)

1. a kind of sun altitude computational methods based on atmosphere polarization information, it is characterised in that：

(1) the maximum degree of polarization d in design whole day domain first_maxStructure is detected, the detection structure is by three polarization navigation sensor structures Into the degree of polarization of three observation stations aerial to day and polarization direction information carry out feature extraction in real time, wherein three polarizations are led The sensor that navigates is installed in the same plane, and main polarization navigation sensor is arranged on module coordinate system z-axis direction, and two auxiliary are inclined The navigation sensor that shakes is arranged on main polarization navigation sensor both sides, and two auxiliary polarization navigation sensor main shafts navigate with main polarization Angle between sensor main shaft is η；

(2) the maximum degree of polarization d in whole day domain designed according to step (1)_maxStructure is detected, the inclined of aerial three observation stations in day is obtained Degree of shaking measured value, sets up the degree of polarization and the maximum degree of polarization d in whole day domain of three observation stations_maxBetween six rank multinomials constraint close System, determines the maximum degree of polarization d in whole day domain_max；

(3) the maximum degree of polarization d in whole day domain obtained according to step (2)_maxValue, atmospheric polarization is based under determining module coordinate system The sun altitude γ of information.

2. a kind of sun altitude computational methods based on atmosphere polarization information according to claim 1, it is characterised in that： The step (1) detects being implemented as follows for structure：

Design the maximum degree of polarization d in whole day domain_maxStructure is detected, the detection structure is made up of three polarization navigation sensors, wherein three Individual polarization navigation sensor is installed in the same plane, main polarization navigation sensor A₁Mounting plane and observed direction constitute Coordinate system is that plane where the origin of coordinates, xy axles is main polarization navigation sensor A for module coordinate system Mxyz, M₁Mounting plane, z Axle positive direction is main polarization navigation sensor A₁Observed direction, other two auxiliary polarization navigation sensor A₂, A₃It is symmetrically installed In main polarization navigation sensor A₁Both sides, two auxiliary polarization navigation sensor main shafts are with main polarization navigation sensor main shaft in peace Angle in dress plane is η, η ∈ (0,90 °)；

Using origin of coordinates M as centre of sphere structure unit celestial sphere, the throwing of the observation stations of three polarization navigation sensors on unit celestial sphere Shadow is respectively Q₁, Q₂, Q₃, MQ₁, MQ₂, MQ₃Three polarization navigation sensor A are represented respectively₁, A₂, A₃The Unit Vector of observed direction Amount, according to the maximum degree of polarization d in whole day domain_maxDetect that structure understands that the observed direction of three polarization navigation sensors is coplanar, then MQ₁, MQ₂, MQ₃With z-axis in the same plane, and MQ₂, MQ₃It is located at MQ respectively₁Both sides, with MQ₁Angle be η, η ∈ (0, 90°)；

Pass through the maximum degree of polarization d in the whole day domain of design_maxStructure is detected, A is obtained in real time₁, A₂, A₃Three polarization navigation sensors Degree of polarization measured value, uses d respectively₁, d₂, d₃Represent.

3. a kind of sun altitude computational methods based on atmosphere polarization information according to claim 2, it is characterised in that： The maximum degree of polarization d in step (2) the whole day domain_maxBe implemented as follows：

Following relation is had based on the theoretical observation station degree of polarization of Rayleigh scattering and polarization view angle：

$\frac{d_n}{d_{max}}=\frac{{\sin }^2{\mathrm{\θ}}_n}{1+{\cos }^2{\mathrm{\θ}}_n}$

Wherein, d_nObservation station degree of polarization is surveyed by n-th of polarization navigation sensor, It is inclined for three observation stations The maximum for degree of shaking, θ_nFor n-th of polarization navigation sensor observed direction and solar vector MS angle, S is the sun in unit Projection on celestial sphere, solar vector MS is the solar direction unit vector under module coordinate system, θ_n∈ [0, π], n ∈ { 1,2,3 }；

Three polarization navigation sensor A₁, A₂, A₃Observed direction MQ₁, MQ₂, MQ₃Angle with solar vector MS is respectively θ₁, θ₂,θ₃, it is theoretical according to Rayleigh scattering, then have：

$\left\{\begin{array}{c}\frac{d_1}{d_{\max }}=\frac{{\sin }^2{\mathrm{\θ}}_1}{1+{\cos }^2{\mathrm{\θ}}_1}\\ \frac{d_2}{d_{max}}=\frac{{\sin }^2{\mathrm{\θ}}_2}{1+{\cos }^2{\mathrm{\θ}}_2}\\ \frac{d_3}{d_{max}}=\frac{{\sin }^2{\mathrm{\θ}}_3}{1+{\cos }^2{\mathrm{\θ}}_3}\end{array}\right.$

Wherein, θ₁For main polarization navigation sensor A₁Observed direction MQ₁With MS angle, θ₂For auxiliary polarization navigation sensor A₂See Survey direction MQ₂With MS angle, θ₃For auxiliary polarization navigation sensor A₃Observed direction MQ₃With MS angle；

The maximum degree of polarization d in whole day domain designed according to step (1)_maxDetect structure, main polarization navigation sensor A₁Observed direction MQ₁ Overlapped with module coordinate system z-axis, therefore there is following equation to set up：θ₁+ γ=pi/2

Wherein, γ is sun altitude under module coordinate system；

In spherical triangle △ Q₂Q₁S and △ Q₃Q₁It can be obtained using the spherical triangle cosine law in S：

cosθ₂=cos θ₁cosη+sinθ₁sinηcos∠SQ₁Q₂

cosθ₃=cos θ₁cosη+sinθ₁sinηcos∠SQ₁Q₃

The maximum degree of polarization d in whole day domain designed according to step (1)_maxDetect structure, MQ₁, MQ₂, MQ₃In the same plane, then ∠ SQ₁Q₂+∠SQ₁Q₃=π, θ₁,θ₂,θ₃Between relation be represented by：

cosθ₂+cosθ₃=2cos η cos θ₁

A=2cos η are made, according to the maximum degree of polarization d in whole day domain_maxDetect relative between three polarization navigation sensors in structure Installation site, and three observation station degree of polarizations and polarization observation angular dependence, set up degree of polarization and the whole day domain of three observation stations Maximum degree of polarization d_maxBetween six rank multinomial restriction relations, in real number intervalInterior equation existence and unique solution；

α₆d_max ⁶+α₅d_max ⁵+α₄d_max ⁴+α₃d_max ³+α₂d_max ²+α₁d_max+α₀=0

Wherein：

α₆=4a²-a⁴

α₅=2a⁴d₁+(4a²-2a⁴)d₂+(4a²-2a⁴)d₃

α₄=4a⁴d₁d₂+4a⁴d₁d₃+(8-4a⁴)d₂d₃-(a⁴+4a²)d₁ ²-(a⁴+4)d₂ ²-(a⁴+4)d₃ ²

α₃=(8a⁴+16)d₁d₂d₃-(8-2a⁴)d₁d₂ ²-(2a⁴+4a²)d₁ ²d₂-(8-2a⁴)d₁d₃ ²

-(2a⁴+4a²)d₁ ²d₃-(2a⁴+4a²)d₂d₃ ²-(2a⁴+4a²)d₂ ²d₃

α₂=(8-4a⁴)d₁ ²d₂d₃+4a⁴d₁d₂ ²d₃+4a⁴d₁d₂d₃ ²

-(4+a⁴)d₁ ²d₂ ²-(4+a⁴)d₁ ²d₃ ²-(a⁴+4a²)d₂ ²d₃ ²

α₁=2a⁴d₁ ²d₂ ²d₃+(4a²-2a⁴)d₁ ²d₂d₃ ³+(4a²-2a⁴)d₁d₂ ²d₃ ²

α₀=(4a²-a⁴)d₁ ²d₂ ²d₃ ²。

4. a kind of sun altitude computational methods based on atmosphere polarization information according to claim 1, it is characterised in that： Sun altitude γ's is implemented as follows in the step (3)：

The maximum degree of polarization d in whole day domain obtained according to step (2)_max, obtain main polarization navigation sensor A₁Polarize view angle θ₁For：

${\cos }^2{\mathrm{\θ}}_1=\frac{d_{max}-d_1}{d_{max}+d_1}$

${\mathrm{\θ}}_1=\mathrm{arc}cos(\±\sqrt{\frac{d_{max}-d_1}{d_{max}+d_1}})$

Wherein, ± represent θ₁Be likely less than pi/2 may also be more than pi/2 ,+or-selection can be entered by extraneous additional intensity sensor Row judges；

According to the main polarization navigation sensor A of step (1)₁Mounting means and step (2) sun altitude γ and scatteringangleθ₁It Between relation, obtaining sun altitude γ under module coordinate system is：

γ=pi/2-θ₁。