CN112066979A - Polarization pose information coupling iteration autonomous navigation positioning method - Google Patents

Polarization pose information coupling iteration autonomous navigation positioning method Download PDF

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CN112066979A
CN112066979A CN202010874766.8A CN202010874766A CN112066979A CN 112066979 A CN112066979 A CN 112066979A CN 202010874766 A CN202010874766 A CN 202010874766A CN 112066979 A CN112066979 A CN 112066979A
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polarization
vector
solar
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杨健
张洁
郭雷
王岩
王善澎
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Beihang University
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Abstract

The invention relates to a polarization pose information coupling iteration autonomous navigation positioning method, which comprises the following steps that firstly, a polarization sensor measures a polarization angle and calculates a sun vector of a computer system, and the sun vector is converted into a sun vector under a geographic coordinate system; then, resolving the solar altitude and azimuth at the moment from the solar vector under the geographic coordinate system; calculating the declination of the sun through time, and calculating the longitude and latitude of the moving body; the navigation system solar vector is updated by using position and time, the solar vector and the gravity vector under the body system are updated by using new measurement information, the three-dimensional attitude of the moving body is solved by converting the direction cosine matrix of the attitude, and the concurrent resolution of the attitude of the polarization as the only external information source is realized by two-step loop iteration of position updating and attitude updating. The method uses polarization as a unique external information source, realizes simultaneous resolving of the position and the attitude, is applicable to navigation of a moving body under satellite rejection and magnetic interference conditions, and has the advantages of low cost of required sensors, small volume and easy realization and application.

Description

Polarization pose information coupling iteration autonomous navigation positioning method
Technical Field
The invention relates to a polarization pose information coupling iteration-based autonomous navigation positioning method. The method takes polarization as a unique external information source, and realizes autonomous position calculation and three-dimensional attitude calculation of the moving body under the conditions of GNSS rejection or failure and magnetic interference. Belongs to the field of autonomous positioning and navigation of moving bodies.
Background
Currently, due to the mature technology and irreplaceable precision of satellite navigation, the global satellite navigation system (including GPS in the united states, BDS in china, GLONASS in russia, and GALILEO in the european union) has become a technology on which the transportation and transportation fields are generally dependent. However, with the widespread use of satellite navigation technology, in recent years, due to interference, occlusion and even tampering of satellite communication signals, unpredictable errors and huge economic losses are caused. In 2018, the light performance carried out by 1374 unmanned aerial vehicle clusters is held by the west security, and the failure of the performance and the falling of dozens of unmanned aerial vehicles are caused due to directional interference. In 2019, due to the fact that GPS interference equipment of a farm causes the problems that GPS signals of aircrafts are frequently lost near a plurality of flights of a Harbin airport, and faults of ADS-B systems occur on part of flights, and the problems warn people to research the urgency of autonomous navigation technology. The polarized navigation is a navigation mode inspiring some migratory birds and insects, researches show that sunlight forms regularly distributed polarized fields through atmospheric scattering, and some migratory birds (such as pigeons) and insects (such as imperial butterflies) can sense sky polarized light information, so that navigation and positioning are facilitated. The existing research mainly focuses on obtaining three-dimensional attitude information from polarization information, and is insufficient in the aspect of simultaneous position and attitude calculation by utilizing the polarization information.
In the existing research, for example, the chinese patent (CN109506660A) "an attitude optimization solution method for bionic navigation", the chinese patent (CN106651951A) "an atmospheric polarization mode detection and heading solution system and method", the chinese granted patent (CN103697893B) "a three-dimensional attitude determination method using atmospheric polarized light" and the chinese granted patent (CN102589544B) "a three-dimensional attitude acquisition method based on spatial characteristics of atmospheric polarization mode" in the application are all extracted according to the direction information contained in the polarization information, so as to provide reference for the real-time attitude and heading of the moving object, and no clue of the position information contained in the polarization information is further researched. The research on polarization positioning is less, and the papers published by zakunqi et al, "design and construction of a multidirectional polarized light real-time positioning prototype," and the chinese granted patent (CN103115623B) "positioning system and positioning method based on polarized light bionic navigation" all need to integrate a magnetic sensor in the system, and in the calculation process, the magnetic sensor is needed to provide course information of a moving body, and the polarization attitude resolving performance is not fully utilized. In the application, a Chinese patent (CN109459015A), a polarized navigation global autonomous positioning method based on maximum polarization degree observation, and a Chinese granted patent (CN106767766B), a sky polarized positioning method based on a single neutral point model, both need to perform initial alignment of postures, and the three-dimensional posture of a carrier is required to be kept unchanged during positioning. The existing method does not realize the fully autonomous coupling attitude determination positioning independent of GNSS and magnetic compass.
Disclosure of Invention
The invention provides a polarization pose information coupling iteration autonomous navigation positioning method. The method has the advantages that a detailed polarization positioning process is given through analysis of the space-time position relation of the polarization distribution field in the forming and transmission processes, resolving of polarization information to the three-dimensional attitude is achieved through combination of the passive gravity vector, and real-time pose concurrent resolving of polarization as the only external information source is achieved through construction of two-step loop iteration. The method is suitable for the fully autonomous pose calculation under the conditions of satellite navigation rejection or failure and magnetic interference, and under the conditions of static motion and non-large-motor motion of the moving body.
The technical scheme adopted by the invention for solving the technical problems is as follows: a polarization pose information coupling iteration autonomous navigation positioning method comprises the following steps:
step (1), measuring polarization E vectors E of two different observation directions by using a compound eye polarization navigation systemiAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving body
Figure BDA0002652300350000021
Obtaining polarization inversion-based under navigation systemSun vector
Figure BDA0002652300350000022
Step (2), utilizing the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy, and inverting the solar vector s based on polarization from the navigation systemnResolving a solar azimuth angle v and a solar altitude angle h;
step (3), calculating the annual cumulative day parameter delta d by using the time information t, calculating the solar declination according to the astronomical calendar, combining the solar azimuth angle v and the altitude angle h obtained in the step (2), calculating and updating the position information of the moving body according to the spherical triangular relation formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system by the spherical triangular relation: longitude λ, latitude L;
and (4) calculating the solar vector of the navigation system at the moment of t by combining the astronomical almanac according to the next sampling time t and the position information lambda and L calculated in the step (3)
Figure BDA0002652300350000023
Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurement
Figure BDA0002652300350000024
And the vector of gravity
Figure BDA0002652300350000025
Solving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*；
And (5) constructing two-step loop iteration by the position updating steps of the steps (1), (2) and (3) and the three-dimensional attitude updating step of the step (4), resolving and updating in real time, and realizing the coupling iteration autonomous navigation positioning based on the polarization pose information.
Further, the polarization E vector E of two different observation directions is measured by the compound eye polarization navigation system in the step (1)iAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving body
Figure BDA0002652300350000031
Obtaining a solar vector based on polarization inversion under a navigation system
Figure BDA0002652300350000032
The specific requirements are as follows:
polarization sensor acquisition machine system (0,0,1)TAnd
Figure BDA0002652300350000033
polarization angle phi of two directions1,φ2Separately calculating E vectors E in both directionsi、EjThen, the system can be solved (the sensor coordinate system is coincident with the machine system, and the installation matrix is a unit matrix I)3×3) The sun vector of (a) is:
Figure BDA0002652300350000039
and solving a direction cosine matrix of the attitude transformation according to the attitude angles psi, theta and gamma of the moving body, wherein the direction cosine matrix is expressed as:
Figure BDA0002652300350000034
Figure BDA0002652300350000035
where c γ is cos (γ), s γ is sin (γ), and the directional cosine matrix satisfies the characteristic of unit orthogonality, that is:
Figure BDA0002652300350000036
so far, the sun vector s under the navigation system can be obtainedn：
Figure BDA0002652300350000037
Further, in the above-mentioned case,the step (2) utilizes the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy to obtain a solar vector s based on polarization inversion from a navigation systemnResolving the solar azimuth angle v and the altitude angle h, and concretely realizing the following steps:
in astronomy, the solar zenith angle α is defined as the angle between the incident direction of the direct solar ray and the zenith direction, the solar altitude angle h is defined as the angle between the incident direction of the direct solar ray and the ground plane, and the two angles are complementary angles to each other:
Figure BDA0002652300350000038
the sun azimuth angle v is the sun position, and refers to the included angle between the projection of the sun light on the ground plane and the local meridian line, i.e. the included angle v between the projection of the incident sun light on the horizontal ground and the southo. In the invention, because the navigation system is an east-north-sky coordinate system (a geographical coordinate system), for simple calculation, the solar azimuth is defined as the included angle between the projection of the solar ray on the horizontal ground and the true north direction: v ═ vo+ π, north is positive. According to the spatial position relationship:
sn＝[sinνcosh cosνcosh sinh]T
further, the time information t in the step (3) is used to calculate the annual product day parameter Δ d, the solar declination is obtained according to the astronomical calendar, the longitude λ and the latitude L of the moving body are resolved and updated through the spherical triangular relation according to the spherical triangular relation formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system by combining the solar azimuth angle ν and the altitude angle h obtained in the step (2), and the specific implementation is as follows:
the time information t is used for calculating the annual product day parameter delta d, and the specific calculation method comprises the following steps:
Figure BDA0002652300350000041
according to the astronomical calendar, the solar declination is obtained by the accumulated-day-of-the-year parameter delta d:
Figure BDA0002652300350000042
in an celestial coordinate system, a moving body B, a north pole A of the celestial axis and the sun S form a spherical triangle on the celestial sphere, and the spatial angle relationship of the moving body B, the north pole A of the celestial axis and the sun S is described in the coordinate system by combining the v and the h calculated in the steps, so that the following requirements are met:
Figure BDA0002652300350000043
wherein, L is the latitude of the moving body on the earth at the moment, the declination of the sun in the celestial coordinate system at the moment, and T is the local solar hour angle of the moving body.
The latitude L and the local solar time angle T can be solved. Time zone longitude lambda where time information t of the moving body is knownUTCIt can be found by looking up a table, so that the longitude λ of the moving body can be solved according to the following formula:
λ＝T-15t-λUTC+180
further, the navigation system sun vector at the moment t is solved by combining the astronomical almanac and the position information λ, L solved by the next sampling time t and the step (3) in the step (4)
Figure BDA0002652300350000044
Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurement
Figure BDA0002652300350000045
And the vector of gravity
Figure BDA0002652300350000046
Solving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*The specific method comprises the following steps:
substituting the position information lambda and L and the updated time information t into the astronomical calendar to calculate the Taiji under the navigation systemAzimuth angle v*Altitude h from sun*Thereby updating the sun vector under the navigation system
Figure BDA0002652300350000047
Figure BDA0002652300350000048
Measuring angle using new polarization
Figure BDA0002652300350000049
The solar vector under the updating machine system is as follows:
Figure BDA00026523003500000410
measurement a by accelerometer at that momentx,ay,azThe updated system has the following gravity vector:
Figure BDA00026523003500000411
wherein, goFor the gravitational acceleration constant, the gravitational vector in the geographic coordinate system is always vertically downward, which can be expressed as:
Figure BDA0002652300350000051
then, a new three-dimensional vector group Lambda under a machine system and a navigation system is respectively constructed by utilizing the sun vector and the gravity vectorbAnd Λn，
Figure BDA0002652300350000052
Figure BDA0002652300350000053
Passing between two coordinate systemsThe direction cosine matrix can obtain the angle relation between the three-dimensional attitude angles, and further can calculate the three-dimensional attitude theta*,γ*,ψ*：
Figure BDA0002652300350000054
Further, in the step (5), two-step loop iteration is constructed by updating the positions (steps (1), (2) and (3)) and the three-dimensional attitude (step (4)), the updating is solved in real time, and the polarization pose information-based coupled iteration autonomous navigation positioning is realized, specifically as follows:
at the initial moment of the moving body, an initial three-dimensional attitude angle is obtained through initial alignment, the sampling frequency f of the sensor is set to be more than or equal to 50Hz, and the moving body is restrained not to carry out large maneuvering, so that the movement of the moving body between two adjacent sampling can be approximated to a quasi-steady state due to the time slow change characteristic of the polarization distribution mode. When the sensor acquires first sampling data, the position calculation of the first sampling moment can be realized according to the algorithms in the steps (1), (2) and (3); when the sensor acquires the second sampling data, combining the calculated position information, and realizing the attitude update at the second sampling moment according to the algorithm in the step (4); and then, the calculated three-dimensional attitude is used as the known information for next position calculation to carry out iterative calculation. Therefore, with the updating of the measured data, two-step loop iteration is constructed, namely the concurrent resolution of the pose with the polarization as the only external information source is realized.
Compared with the prior art, the invention has the following advantages:
the existing navigation field mainly focuses on an algorithm for resolving heading and attitude from polarization information, clues about positions in a sky polarization mode are researched less, a part of algorithms need a geomagnetic sensor to provide heading information in the implementation process, the method is easy to fail when used in the environment of geomagnetic interference, even misleading error information is provided for a moving body, the method only depends on the polarization information externally and is not influenced by the geomagnetic interference, meanwhile, a multi-time information positioning method and a polarization camera image post-processing method adopted in the existing method need to limit the moving body to a specific position, the method breaks through the limitation, and the method has good applicability to the static state or the non-large maneuvering moving state of the moving body. The invention takes polarization as the only exogenous information, realizes the fully-autonomous pose resolving under the condition of GNSS rejection or failure, has low cost of required devices and is easy to realize and apply.
Drawings
FIG. 1 is a flow chart of a polarization pose information coupling iteration-based autonomous navigation positioning method according to the present invention;
FIG. 2 is a graph showing the relationship between the sun zenith angle, altitude angle, azimuth angle and sun vector in a local geographic coordinate system;
FIG. 3 is a spherical triangular space relationship formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system.
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.
The method is suitable for the global navigation satellite system rejection or failure, magnetic interference, unmanned aerial vehicles, missiles, ships and other moving bodies.
According to one embodiment of the invention, a polarization sensor with an included angle of 45 ° between two polarization channels is designed, and during the experiment, one polarization collection channel is vertically directed to the zenith direction, and the other channel is in the plane of the sensor coordinate system YOZ and forms an included angle of 45 ° with the y axis.
The polarization sensor and the accelerometer need to be calibrated in advance to ensure that coordinate systems of the polarization sensor and the accelerometer are superposed, when the sensor is installed on a moving body, the coordinate system of the sensor and the corresponding three shafts of a machine body system are respectively installed in parallel in the same direction, and the installation matrix is a unit matrix I3×3If the device is installed in other modes, the device should be used in the resolving processConsider the translation relationship of the installation matrix. The machine system is a coordinate system established by taking a moving body as a reference;
as shown in the attached figure 1, the polarization pose information coupling iteration-based autonomous navigation positioning method comprises the following specific implementation steps:
step 1, measuring polarization E vectors E of two different observation directions by using a compound eye polarization navigation systemiAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving body
Figure BDA0002652300350000061
Obtaining a solar vector based on polarization inversion under a navigation system
Figure BDA0002652300350000062
The concrete implementation is as follows:
polarization sensor acquisition machine system (0,0,1)TAnd
Figure BDA0002652300350000063
polarization angle phi of two directions1,φ2Separately calculating E vectors E in both directionsi、EjThen, the system can be solved (the sensor coordinate system is coincident with the machine system, and the installation matrix is a unit matrix I)3×3) The sun vector of (a) is:
Figure BDA0002652300350000071
and solving a direction cosine matrix of the attitude transformation according to the attitude angles psi, theta and gamma of the moving body, wherein the direction cosine matrix is expressed as:
Figure BDA0002652300350000072
Figure BDA0002652300350000073
where c γ is cos (γ), s γ is sin (γ), and the directional cosine matrix satisfies the characteristic of unit orthogonality, that is:
Figure BDA0002652300350000074
so far, the sun vector s under the navigation system can be obtainedn：
Figure BDA0002652300350000075
Step 2, utilizing the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy to carry out the solar vector s based on polarization inversion under the navigation systemnResolving the solar azimuth angle v and the altitude angle h, and specifically realizing the following steps:
in astronomy, the solar zenith angle α is defined as the angle between the incident direction of the direct solar ray and the zenith direction, the solar altitude angle h is defined as the angle between the incident direction of the direct solar ray and the ground plane, and the two angles are complementary angles to each other:
Figure BDA0002652300350000076
the sun azimuth angle v is the sun position, and refers to the included angle between the projection of the sun light on the ground plane and the local meridian line, i.e. the included angle v between the projection of the incident sun light on the horizontal ground and the southo. In this document, because the navigation system is an east-north-sky coordinate system (geographical coordinate system), for the sake of simple calculation, the solar azimuth is defined as the included angle between the projection of the solar ray on the horizontal ground and the true north direction: v ═ vo+ π, north is positive. The spatial positional relationship described with reference to fig. 2:
sn＝[sinνcosh cosνcosh sinh]T
and 3, calculating a yearly-accumulated daily parameter delta d by using the time information t, calculating solar declination according to the astronomical calendar, combining the solar azimuth angle v and the altitude angle h obtained in the step 2, calculating and updating the longitude lambda and the latitude L of the moving body according to the spherical triangular relation formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system by the spherical triangular relation, and specifically realizing the following steps:
the time information t is used for calculating the annual product day parameter delta d, and the specific calculation method comprises the following steps:
Figure BDA0002652300350000077
according to the astronomical calendar, the solar declination is obtained by the accumulated-day-of-the-year parameter delta d:
Figure BDA0002652300350000081
in the celestial coordinate system, the moving body B, the north pole A of the celestial axis and the sun S form a spherical triangle (as shown in the attached figure 3) on the celestial sphere, and the spatial angle relationship of the moving body B, the north pole A of the celestial axis and the sun S is described in the coordinate system by combining the v and the h calculated in the steps, so that the following requirements are met:
Figure BDA0002652300350000082
wherein, L is the latitude of the moving body on the earth at the moment, the declination of the sun in the celestial coordinate system at the moment, and T is the local solar hour angle of the moving body.
The latitude L and the local solar time angle T can be solved. Time zone longitude lambda where time information t of the moving body is knownUTCIt can be found by looking up a table, so that the longitude λ of the moving body can be solved according to the following formula:
λ＝T-15t-λUTC+180
and 4, calculating the solar vector of the navigation system at the t-x moment by combining the astronomical almanac according to the next sampling time t and the position information lambda and L calculated in the step 3
Figure BDA0002652300350000083
Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurement
Figure BDA0002652300350000084
And the vector of gravity
Figure BDA0002652300350000085
Solving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*The method is concretely realized as follows:
substituting the position information lambda and L solved in the step (3) and the updated time information t into the astronomical calendar to calculate the solar azimuth angle v under the navigation system*Altitude h from sun*Thereby updating the sun vector under the navigation system
Figure BDA0002652300350000086
Figure BDA0002652300350000087
Measuring angle using new polarization
Figure BDA0002652300350000088
The solar vector under the updating machine system is as follows:
Figure BDA0002652300350000089
measurement a by accelerometer at that momentx,ay,azThe updated system has the following gravity vector:
Figure BDA00026523003500000810
wherein, goFor the gravitational acceleration constant, the gravitational vector in the geographic coordinate system is always vertically downward, which can be expressed as:
Figure BDA00026523003500000811
then, a new three-dimensional vector under a machine system and a new three-dimensional vector under a navigation system are respectively constructed by utilizing the sun vector and the gravity vectorGroup ΛbAnd Λn，
Figure BDA00026523003500000812
Figure BDA0002652300350000091
The angle relation between the three-dimensional attitude angles can be obtained through the direction cosine matrix between the two coordinate systems, and the three-dimensional attitude theta can be further solved*,γ*,ψ*：
Figure BDA0002652300350000092
And 5, establishing two-step loop iteration by the position updating (steps (1), (2) and (3)) and the three-dimensional attitude updating (step (4)), resolving and updating in real time, and realizing the coupling iteration autonomous navigation positioning based on the polarization pose information, wherein the method specifically comprises the following steps:
at the initial moment of the moving body, an initial three-dimensional attitude angle is obtained through initial alignment, the sampling frequency f of the sensor is set to be 100Hz, and the moving body is restrained from large maneuvering, so that the movement of the moving body between two adjacent sampling can be approximated to a quasi-steady state due to the time slow-change characteristic of the polarization distribution mode. When the sensor acquires first sampling data, the position calculation of the first sampling moment can be realized according to the algorithms in the steps (1), (2) and (3); when the sensor acquires the second sampling data, combining the calculated position information, and realizing the attitude update at the second sampling moment according to the algorithm in the step (4); and carrying out iterative solution by using the solved attitude as known information of the next position solution. Therefore, with the updating of the measured data, two-step loop iteration is constructed, namely the concurrent resolution of the pose with the polarization as the only external information source is realized.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.

Claims (6)

1. A polarization pose information coupling iteration autonomous navigation positioning method is characterized by comprising the following steps:
step (1), measuring polarization E vectors E of two different observation directions by using a compound eye polarization navigation systemiAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving body
Figure FDA0002652300340000011
Obtaining a solar vector based on polarization inversion under a navigation system
Figure FDA0002652300340000012
Step (2), utilizing the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy, and inverting the solar vector s based on polarization from the navigation systemnResolving a solar azimuth angle v and a solar altitude angle h;
step (3), calculating the annual cumulative day parameter delta d by using the time information t, calculating the solar declination according to the astronomical calendar, combining the solar azimuth angle v and the altitude angle h obtained in the step (2), calculating and updating the position information of the moving body according to the spherical triangular relation formed by the moving body, the north pole of the zenith axis and the sun in the celestial coordinate system by the spherical triangular relation: longitude λ, latitude L;
and (4) calculating the solar vector of the navigation system at the moment of t by combining the astronomical almanac according to the next sampling time t and the position information lambda and L calculated in the step (3)
Figure FDA0002652300340000013
Using new polarization measurement and accelerometer measurementUpdating the sun vector under the organism system
Figure FDA0002652300340000014
And the vector of gravity
Figure FDA0002652300340000015
Solving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*；
And (5) constructing two-step loop iteration by the position updating steps of the steps (1), (2) and (3) and the three-dimensional attitude updating step of the step (4), resolving and updating in real time, and realizing the coupling iteration autonomous navigation positioning based on the polarization pose information.
2. The polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
measuring polarization E vectors E of two different observation directions by using compound eye polarization navigation system in step (1)iAnd EjTo obtain the sun vector s under the systembCombining the attitude transformation matrix between the navigation system and the body system of the moving body
Figure FDA0002652300340000016
Obtaining a solar vector based on polarization inversion under a navigation system
Figure FDA0002652300340000017
The specific requirements are as follows:
polarization sensor acquisition machine system (0,0,1)TAnd
Figure FDA0002652300340000018
polarization angle phi of two directions1,φ2Separately calculating E vectors E in both directionsi、EjWherein the sensor coordinate system is coincident with the machine body system, and the installation matrix is a unit matrix I3×3Then, the sun vector under the organism system is calculated as:
Figure FDA0002652300340000021
and solving a direction cosine matrix of the attitude transformation according to the attitude angles psi, theta and gamma of the moving body, wherein the direction cosine matrix is expressed as:
Figure FDA0002652300340000022
Figure FDA0002652300340000023
where c γ ═ cos (γ), s γ ═ sin (γ), ψ, θ angles are the same, c denotes the value of cos for angles, and s denotes the value of sin for angles; meanwhile, the direction cosine matrix satisfies the characteristic of unit orthogonality, namely:
Figure FDA0002652300340000024
thus, the sun vector s under the navigation system is obtainedn：
Figure FDA0002652300340000025
3. The polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
the step (2) utilizes the space position information of the solar azimuth angle v and the zenith angle alpha in astronomy to obtain a solar vector s based on polarization inversion from a navigation systemnResolving the solar azimuth angle v and the altitude angle h, and concretely realizing the following steps:
in astronomy, the solar zenith angle α is defined as the angle between the incident direction of the direct solar ray and the zenith direction, the solar altitude angle h is defined as the angle between the incident direction of the direct solar ray and the ground plane, and the two angles are complementary angles to each other:
Figure FDA0002652300340000026
the sun azimuth angle v is the sun position, and refers to the included angle between the projection of the sun light on the ground plane and the local meridian line, i.e. the included angle v between the projection of the incident sun light on the horizontal ground and the southo(ii) a Because the navigation system is an east-north-sky coordinate system, for the sake of simple calculation, the solar azimuth is defined as the included angle between the projection of the sunlight on the horizontal ground and the true north direction: v ═ vo+ pi, north is positive; according to the spatial position relationship:
sn＝[sinνcosh cosνcosh sinh]T。
4. the polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
calculating an annual product day parameter delta d by using the time information t in the step (3), calculating solar declination according to an astronomical calendar, calculating and updating longitude lambda and latitude L of the moving body according to a spherical triangular relation formed by the moving body, the north pole of the zenith and the sun in the celestial coordinate system by combining the solar azimuth angle v and the altitude angle h obtained in the step (2) and calculating the longitude lambda and the latitude L of the moving body according to the spherical triangular relation, and the method is specifically realized as follows:
the time information t is used for calculating the annual product day parameter delta d, and the specific calculation method comprises the following steps:
Figure FDA0002652300340000031
the floor function represents rounding down, and the maximum integer not greater than the acted variable is taken; year, month and day represent the current year, month and day, and the solar declination is obtained from the annual cumulative day parameter Δ d according to the astronomical calendar:
Figure FDA0002652300340000032
in an celestial coordinate system, a moving body B, a north pole A of the celestial axis and the sun S form a spherical triangle on the celestial sphere, and the spatial angle relationship of the moving body B, the north pole A of the celestial axis and the sun S is described in the coordinate system by combining the v and the h calculated in the steps, so that the following requirements are met:
Figure FDA0002652300340000033
wherein, L is the latitude of the moving body on the earth at the moment, the declination of the sun in the celestial coordinate system at the moment, and T is the local solar hour angle of the moving body;
then the latitude L and the local solar time angle T are obtained by calculation, the time information T of the moving body is known, and the longitude lambda of the time zone where the moving body is locatedUTCCan be found by looking up a table to solve the longitude λ of the moving body according to the following formula:
λ＝T-15t-λUTC+180。
5. the polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
in the step (4), the solar vector of the navigation system at the moment of t is solved by combining the astronomical almanac by utilizing the next sampling time t and the position information lambda and L solved in the step (3)
Figure FDA0002652300340000034
Updating the sun vector under the system of the body using the new polarization measurement and accelerometer measurement
Figure FDA0002652300340000035
And the vector of gravity
Figure FDA0002652300340000036
Solving three-dimensional attitude angle theta of moving body according to double-vector attitude determination method*,γ*,ψ*The specific method comprises the following steps:
the position information λ, L and further calculated by the step (3)Substituting the new time information t into the astronomical calendar to calculate the solar azimuth angle v under the navigation system*Altitude h from sun*Thereby updating the sun vector under the navigation system
Figure FDA0002652300340000037
Figure FDA0002652300340000038
Measuring angle using new polarization
Figure FDA0002652300340000039
The solar vector under the updating machine system is as follows:
Figure FDA00026523003400000310
measurement a by accelerometer at that momentx,ay,azThe updated system has the following gravity vector:
Figure FDA0002652300340000041
wherein, goFor the gravitational acceleration constant, the gravity vector in the geographic coordinate system is always vertically downward, expressed as:
Figure FDA0002652300340000042
then, a new three-dimensional vector group Lambda under a machine system and a navigation system is respectively constructed by utilizing the sun vector and the gravity vectorbAnd Λn，
Figure FDA0002652300340000043
Figure FDA0002652300340000044
The angle relation between the three-dimensional attitude angles is obtained through a direction cosine matrix between the two coordinate systems, and the three-dimensional attitude theta is further solved*,γ*,ψ*：
Figure FDA0002652300340000045
6. The polarization pose information coupling iteration-based autonomous navigation positioning method according to claim 1, characterized in that:
in the step (5), two-step loop iteration is constructed by the position updating steps of the steps (1), (2) and (3) and the three-dimensional attitude updating step of the step (4), the updating is resolved in real time, and the polarization pose information-based coupling iteration autonomous navigation positioning is realized, and the method is specifically realized as follows:
at the initial moment of the moving body, acquiring an initial three-dimensional attitude angle through initial alignment, setting the sampling frequency f of a sensor to be more than or equal to 50Hz, and constraining the moving body not to perform large maneuvering, wherein the movement of the moving body between two adjacent samplings is approximately quasi-steady-state due to the time slow-change characteristic of a polarization distribution mode; the large motor comprises the actions of taking off and landing of the aircraft, quickly turning and turning over; when the sensor acquires first sampling data, the position of the first sampling moment is calculated according to the algorithms in the steps (1), (2) and (3); when the sensor acquires the second sampling data, combining the calculated position information, and realizing the attitude update at the second sampling moment according to the algorithm in the step (4); then, the calculated attitude is used as known information for next position calculation to carry out iterative calculation; therefore, with the updating of the measured data, two-step loop iteration is constructed, namely the concurrent resolution of the pose with the polarization as the only external information source is realized.
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