CN110887479A - Heading determining method based on north polarization pole - Google Patents

Heading determining method based on north polarization pole Download PDF

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CN110887479A
CN110887479A CN201911252006.7A CN201911252006A CN110887479A CN 110887479 A CN110887479 A CN 110887479A CN 201911252006 A CN201911252006 A CN 201911252006A CN 110887479 A CN110887479 A CN 110887479A
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polarization
image
sky
coordinate system
angle
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CN110887479B (en
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郭雷
王善澎
胡鹏伟
杨悦婷
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Beihang University
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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
    • G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers

Abstract

The invention discloses a heading determining method based on north polarization, which comprises the steps of continuously collecting polarization images of an all-sky area by using an image type polarization sensor, and respectively extracting E vector directions of scattering points in all directions in the sky; calculating the average rotation angular velocity of the E vector direction of each directional scattering point in the sky according to the shooting time of each full-sky region polarization image; determining zenith coordinates in the polarization image, determining north pole coordinates with the rotation angular velocity of the E vector direction being 15 degrees/hour, and calculating the angle of a connection line of the zenith coordinates and the north pole coordinates in an image coordinate system; and finally, calculating to obtain the course angle of the carrier according to the angle of the carrier reference direction specified in advance in the image coordinate system and the relative relation between the zenith coordinate and the angle of the north pole coordinate connecting line in the image coordinate system. The method is simple and convenient in calculation process, does not need to know the geographical position and the observation time of the observation point, and has stronger robustness and environmental adaptability.

Description

Heading determining method based on north polarization pole
Technical Field
The invention relates to the field of sky polarized light navigation, in particular to a heading determining method based on north polarization pole.
Background
The scattering of sunlight through the earth's atmosphere creates a stable polarized light distribution pattern. Scientists have shown in decades that organisms such as solenopsis invicta, monarda, dung beetle and the like can use an atmospheric polarization distribution mode to navigate and complete activities such as foraging, homing, capturing, migrating and the like. In recent years, polarized light navigation is gradually developed into a novel navigation mode, and because the sky polarized light is stably distributed in a larger range and is not easy to be interfered by the outside, the polarized light navigation method is a passive and autonomous navigation mode.
The existing polarized light navigation orientation modes can be roughly divided into two modes, one mode is that a solar vector is solved through an E vector in the sky according to a Rayleigh scattering model, a local solar vector orientation is solved according to a solar almanac, and finally the heading of a carrier is determined, and the method has the defects that an observation place and time need to be known in advance, and the calculation process is complicated, for example, a received Chinese patent CN201710027484.2, a solar orientation acquisition method based on an atmospheric polarization mode, and a received Chinese patent CN201710914696.2, an orientation method of a micro-array polarized light compass; the other method is to determine the direction of the solar meridian through neutral point information in an atmospheric scattering model, and to solve the local solar meridian direction according to a solar almanac to determine the heading, the method depends on polarization neutral points in the sky, and the neutral points are easily interfered under the condition of complex weather conditions, for example, an autonomous navigation method based on atmospheric polarized light characteristic assisted orientation is disclosed in the article.
The course determining method is based on the atmospheric polarization scattering model in the static mode, solar astronomical almanac is calculated by knowing observation time and position information in advance to obtain a solar azimuth angle, and then the carrier course is finally determined according to the relative relation between polarization information and solar information. In addition, the second method needs to find a neutral point with zero polarization degree in the sky, and is easily interfered in complex weather environments such as poor air quality and the like, so that the orientation fails.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method solves the problems that the existing sky polarized light orientation needs to know the absolute position information of an observation point, the current observation time is high and weather interference is easy to cause, and provides a heading determining method of a dynamic sky polarized model. The invention starts from a dynamic sky polarized light scattering model, determines the heading of a carrier by searching the north pole with the rotation angular velocity of 15 degrees/hour in the E vector direction in the sky, has simple and convenient calculation process, does not need to know the information of time, position and the like, and is not easily influenced by the environment such as weather and the like.
The technical solution of the invention is as follows: a course determining method based on north polarization pole is provided. The method is realized by the following steps:
step (1) continuously acquiring n polarization images of the whole sky area by using an Image type polarization sensoriI is 1,2,3, …, n, and E vector directions of all directional scattering points in the sky are extracted respectively
Figure BDA0002309305960000021
The upper corner mark i represents the ith polarization image, and the lower corner marks x and y represent the coordinates of scattering points in an image coordinate system;
step (2), shooting time T according to each full space region polarization imageiI is 1,2,3, …, n, calculating average rotation angular velocity omega of vector direction of each directional scattering point E in the skyx,y；
Step (3) of determining a polarization ImageiZenith coordinate Z (x) of (C)z,yz) And determining the north pole coordinate P (x) of the E vector direction with the rotation angular velocity of 15 degrees/hourp,yp) Calculating zenith coordinate Z (x)z,yz) And the north pole coordinate P (x)p,yp) Angle β of the link in the image coordinate system;
step (4), according to the angle theta of the carrier reference direction specified in advance in the image coordinate system, and the zenith coordinate Z (x)z,yz) And north pole coordinate P (x)p,yp) The relative relationship between the angles β of the connecting lines in the image coordinate system is calculated to obtain the carrier heading angle psi.
Further, the E vector side of each scattering point in the sky in the step (1)To the direction of
Figure BDA0002309305960000031
Where α represents the polarization angle, the upper corner mark i represents the ith polarization image, and the lower corner marks x, y represent the coordinates of the respective scattering points in the polarization image coordinate system.
Further, the average rotation angular velocity ω of the E vector direction in the step (2)x,yThe calculation method comprises the following steps of firstly, making difference between E vector directions of scattering points in the sky shot at two adjacent moments
Figure BDA0002309305960000032
Then divided by the time interval Ti+1-TiObtaining the angular velocity of the moment, finally summing the angular velocities of each moment and dividing the sum by the total number n-1 to obtain the average angular velocity omegax,yThe specific calculation formula is as follows:
Figure BDA0002309305960000033
further, a point at which the rotation angular velocity of the E vector direction in the step (3) is 15 degrees/hour is a north pole P in the celestial coordinate system.
Further, in the step (3), the north pole P (x)p,yp) And zenith Z (x)z,yz) The specific calculation method of the angle β of the connecting line in the image coordinate system is as follows:
Figure BDA0002309305960000034
further, the angle θ of the carrier reference direction in the image coordinate system in the step (4) is specified in advance, and the specific calculation formula of the north hemisphere carrier heading angle is as follows:
ψ＝β-θ。
compared with the prior art, the invention has the advantages that:
(1) compared with the conventional static sky polarized light course determining method, the method does not need to know the absolute position of the observation point and the current observation time, and is simple and convenient in calculation process;
(2) according to the invention, according to the dynamic sky polarized light scattering model, the north pole with the rotation angular velocity of 15 degrees/hour in the E vector direction in the sky is searched to determine the course, so that the method is not easily interfered by complex weather and has strong environmental adaptability.
Drawings
FIG. 1 is a flowchart of the process of the present invention;
FIG. 2 is a schematic view of a dynamic sky polarized light scattering model distribution utilized in the present invention;
FIG. 3 is a schematic view of determining a heading according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
According to one embodiment of the invention, the specific implementation steps of the invention are described by taking the determination of the two-dimensional heading of the ground mobile robot as an example. Firstly, the XYZ axes of the image type polarization sensor and the XYZ axes of the ground mobile robot are coincidently installed, that is, horizontally installed on the ground mobile robot, and the whole sky is observed vertically upwards, as shown in fig. 3. The reference direction of the ground mobile robot is specified in advance as the negative direction of the Y axis. As shown in fig. 1, a heading determining method based on north polarization pole includes the following specific steps:
step (1) continuously acquiring n polarization images of the whole sky area by using an Image type polarization sensoriI is 1,2,3, …, n, and E vector directions of all directional scattering points in the sky are extracted respectively
Figure BDA0002309305960000041
Where α represents the polarization angle, the upper corner mark i represents the ith polarization image, and the lower corner marks x, y represent the coordinates of the respective scattering points in the image coordinate system.
Step (2), shooting time T according to each full space region polarization imageiI is 1,2,3, …, n, and the average rotation angular velocity ω in the vector direction of each scattering point E in the sky is calculatedx,yThe calculation method comprises the following steps of firstly, making difference between E vector directions of scattering points in the sky shot at two adjacent moments
Figure BDA0002309305960000042
Then divided by the time interval Ti+1-TiObtaining the angular velocity of the moment, finally summing the angular velocities of each moment and dividing the sum by the total number n-1 to obtain the average angular velocity omegax,yThe specific calculation formula is as follows:
Figure BDA0002309305960000043
and (3) according to a dynamic sky polarized light scattering model distribution model (as shown in fig. 2), no matter at any moment in four seasons of the year, a point, namely a north pole, always exists in the sky, and the rotation angular velocity of the E vector direction of the point is constantly 15 degrees/hour. When the carrier is in the northern hemisphere of the earth, the point is the north pole. As shown in FIG. 3, the polarized Image is determinediZenith coordinate Z (x) of (C)z,yz) And determining the north pole coordinate P (x) of the E vector direction with the rotation angular velocity of 15 degrees/hour (15 DEG/h)p,yp) Calculating zenith coordinate Z (x)z,yz) And the north pole coordinate P (x)p,yp) The angle β of the connecting line in the image coordinate system is calculated by the following specific method:
Figure BDA0002309305960000051
step (4), as shown in FIG. 3, of determining the angle θ of the carrier reference direction in the image coordinate system and the zenith coordinate Z (x)z,yz) And north pole coordinate P (x)p,yp) The relative relationship between the angles β of the connecting lines in the image coordinate system is used for calculating the carrier heading angle psi, and the specific calculation formula is as follows:
ψ＝β-θ。
the above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art may occur without departing from the principles of the present invention and should be considered as within the scope of the present invention. Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (6)

1. A course determining method based on north polarization pole is characterized by comprising the following steps:
step (1) continuously acquiring n polarization images of the whole sky area by using an Image type polarization sensoriI is 1,2,3, …, n, and E vector directions of all directional scattering points in the sky are extracted respectively
Figure FDA0002309305950000011
The upper corner mark i represents the ith polarization image, and the lower corner marks x and y represent the coordinates of scattering points in an image coordinate system;
step (2), shooting time T according to each full space region polarization imageiI is 1,2,3, …, n, calculating average rotation angular velocity omega of vector direction of each directional scattering point E in the skyx,y；
Step (3) of determining a polarization ImageiZenith coordinate Z (x) of (C)z,yz) And determining the north pole coordinate P (x) of the E vector direction with the rotation angular velocity of 15 degrees/hourp,yp) Calculating zenith coordinate Z (x)z,yz) And the north pole coordinate P (x)p,yp) Angle β of the link in the image coordinate system;
step (4), according to the angle theta of the carrier reference direction specified in advance in the image coordinate system, and the zenith coordinate Z (x)z,yz) And north pole coordinate P (x)p,yp) Connecting between angles β in the image coordinate systemAnd calculating the relative relation to obtain the carrier heading angle psi.
2. The method of claim 1, wherein the method comprises:
e vector direction of each scattering point in the sky in the step (1)
Figure FDA0002309305950000012
Where α represents the polarization angle, the upper corner mark i represents the ith polarization image, and the lower corner marks x, y represent the coordinates of the respective scattering points in the polarization image coordinate system.
3. The method of claim 1, wherein the method comprises:
average rotation angular velocity ω in the direction of the E vector in the step (2)x,yThe calculation method comprises the following steps of firstly, making difference between E vector directions of scattering points in the sky shot at two adjacent moments
Figure FDA0002309305950000013
Then divided by the time interval Ti+1-TiObtaining the angular velocity of the moment, finally summing the angular velocities of each moment and dividing the sum by the total number n-1 to obtain the average angular velocity omegax,yThe specific calculation formula is as follows:
Figure FDA0002309305950000021
4. the method of claim 1, wherein the method comprises:
and (4) the point of the E vector direction rotation angular velocity of 15 degrees/hour in the step (3) is the north pole P in the celestial coordinate system.
5. The method of claim 1, wherein the method comprises:
in the step (3), the north pole P (x)p,yp) And zenith Z (x)z,yz) The specific calculation method of the angle β of the connecting line in the image coordinate system is as follows:
Figure FDA0002309305950000022
6. the method of claim 1, wherein the method comprises:
in the step (4), the angle theta of the reference direction of the carrier in the image coordinate system is specified in advance, and the specific calculation formula of the heading angle of the northern hemisphere carrier is
ψ＝β-θ。
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