CN113834481B - Night polarization angle error correction method based on starlight vector information - Google Patents

Night polarization angle error correction method based on starlight vector information Download PDF

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CN113834481B
CN113834481B CN202111417645.1A CN202111417645A CN113834481B CN 113834481 B CN113834481 B CN 113834481B CN 202111417645 A CN202111417645 A CN 202111417645A CN 113834481 B CN113834481 B CN 113834481B
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vector
polarization
polarization angle
error
equation
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CN113834481A (en
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王岩
杨悦婷
杨健
郭雷
陈泰航
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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
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching

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Abstract

The invention relates to a night polarization angle error correction method based on starlight vector information. Firstly, measuring the current state of the carrier by using a polarization sensorAngle of polarization in the direction of measurement
Figure 38708DEST_PATH_IMAGE002
Will be
Figure 690269DEST_PATH_IMAGE002
Expressed as true value of polarization angle
Figure 437383DEST_PATH_IMAGE004
And error of polarization angle
Figure 567013DEST_PATH_IMAGE006
And the polarization angle measured by the polarization sensor
Figure 115806DEST_PATH_IMAGE002
Calculating a polarization vector
Figure 407110DEST_PATH_IMAGE008
(ii) a According to the clock information built in the carrier and combining with the astronomical calendar to obtain the inertial coordinate system of the moon at the current momentiRepresentation under systemm i And measured by an astronomical sensorbAre disclosed and claimediStarlight vector under system
Figure 408564DEST_PATH_IMAGE010
By passing
Figure 341885DEST_PATH_IMAGE011
Construction ofiAre disclosed and claimedbTransition matrix between systems
Figure 745185DEST_PATH_IMAGE013
In conjunction with the transformation matrix, willm i Switch over tobIs obtained bym b As a moon vector inbNominal values under; error of polarization angle
Figure DEST_PATH_IMAGE014A
As the state vector, the state vector is defined by combining an inertial navigation error equationxFurther establishing a state equation; establishing a moonBright nominal valuem b And (3) a relation equation with the polarization angle error of the observation point, and linearizing the equation, thereby establishing a measurement equation and estimating the polarization angle error.

Description

Night polarization angle error correction method based on starlight vector information
Technical Field
The invention belongs to the field of navigation, and relates to a night sky polarization angle error correction method based on starlight vector information, which can be used for full autonomous navigation of an unmanned moving carrier in an environment that a satellite signal fails due to electromagnetic interference of an aircraft in a complex environment at night, so that the survival capacity of the aircraft is improved.
Background
The night environment is darker, has the advantage that the disguise is good, and the ability of independently navigating at night is concerned with aircraft flight safety, has important meaning to effectively accomplishing the flight task. At present, the GPS system in the united states and the BDS system in china have been widely used, but they rely too much on communication signals, so that navigation information is easily lost when the signals are interfered or blocked. Therefore, the method has important engineering significance and practical value for improving the all-day autonomous navigation capability of the carrier. Compared with the daytime environment, the navigation mode based on the visual light band such as vision is difficult to realize under the dim ambient light condition at night. In order to realize autonomous navigation of the carrier in the night environment, a combined navigation strategy is adopted.
The starlight navigation utilizes the star sensor to measure the starlight vector information in the sky so as to determine the carrier attitude, has the advantages of high precision and strong autonomy, and is easily influenced by weather, such as failure in cloud, haze and other weather environments; polarized light navigation is based on atmospheric particle scattering, is an autonomous navigation method developed in recent years based on bionics, has the characteristics of interference resistance, strong environmental adaptability and the like, can still keep good navigation capability under certain cloud and mist interference, but is difficult to accurately model due to the influence of particles such as aerosol, water vapor and the like on the scattering process, so that the precision of the polarized light navigation is lower than that of astronomical navigation. Therefore, the advantages of the two navigation methods are combined, when the astronomical sensor is effective, the high-precision starlight vector information is used for correcting the polarization information, when the astronomical sensor fails, the corrected polarization information is used for navigation, and the precision and the reliability of the navigation system can be effectively improved. However, the polarization information is affected by weather and environment, and the error is often large, which is a difficult problem for correcting and compensating the polarization error.
The existing polarization and astronomical combined navigation method, such as the granted patent "a combined navigation method (ZL 201611062735.2) based on polarization information" does not fully utilize the characteristics of astronomical information and polarization, and combines the characteristics of astronomical information and polarization to consider the correction of the error existing in the polarization information, and the granted patent "a course and attitude determination method (ZL 201911252069.2) based on polarization/astronomical information fusion" does not consider the influence of the polarization angle error, and does not closely combine astronomical and polarization information to use astronomical information to correct the polarization angle error.
Disclosure of Invention
In order to solve the defects of the prior art, in view of the comprehensive angle of precision and stability, the night sky polarization angle error correction method based on starlight vector information is provided, and polarization errors are corrected by combining astronomical information, so that the polarization information precision is improved, the anti-interference capability and the attitude calculation precision of an aircraft are improved, and high-environment-adaptability autonomous navigation can be realized.
The technical solution of the invention is as follows: a night sky polarization angle error correction method based on starlight vector information comprises the following steps:
step 1, installing a polarization sensor in a carrier coordinate systembUnder the condition of measuring the polarization angle of the carrier in the observation direction under the current state by utilizing a polarization sensor
Figure 948400DEST_PATH_IMAGE001
The polarization angle measured by the polarization sensor
Figure 523738DEST_PATH_IMAGE001
Expressed as true value of polarization angle
Figure 860041DEST_PATH_IMAGE002
And error of polarization angle
Figure 444607DEST_PATH_IMAGE003
And the polarization angle is measured by a polarization sensor
Figure 549966DEST_PATH_IMAGE001
Calculating a polarization vector
Figure 296205DEST_PATH_IMAGE004
；
Step 2, calculating the right ascension of the moon at the current moment according to the clock information arranged in the carrier and combining with the astronomical calendarR A And declinationδObtaining the moon in an inertial coordinate systemiRepresentation under systemm i (ii) a And is mounted bybMeasurement of an astronomical sensor under the systembStarlight vector under system
Figure 119804DEST_PATH_IMAGE005
，k=1,2, obtained by star atlas matchingiStarlight vector under system
Figure 242481DEST_PATH_IMAGE006
，k=1,2, by
Figure 202347DEST_PATH_IMAGE007
Construction ofiAre disclosed and claimedbTransition matrix between systems
Figure 119487DEST_PATH_IMAGE008
In combination with the conversion matrix
Figure 430383DEST_PATH_IMAGE008
Will bem i Switch over tobIs obtained bym b As a moon vector inbNominal values under;
step 3, correcting the error of the polarization angle
Figure 91172DEST_PATH_IMAGE003
As the state vector, the state vector is defined by combining an inertial navigation error equationxFurther establishing a state equation
Figure 905544DEST_PATH_IMAGE009
；
Step 4, calculating the nominal value of the moonm b And the polarization vector of the observation point
Figure 521814DEST_PATH_IMAGE004
Angle therebetweenαEstablishing a relation equation between the included angle and the polarization angle error of the observation point, and linearizing the equation to establish a measurement equation
Figure 54427DEST_PATH_IMAGE010
The polarization angle error is estimated, wherein,Z d represents a measured value ofm b And
Figure 784485DEST_PATH_IMAGE004
the cosine value of the angle between the two vectors,Hthe measurement matrix is represented by a matrix of measurements,v d in order to measure noise, night sky polarization angle error correction based on starlight vector information is completed.
Further, in step 1, the polarization sensor is mounted onbIs attached to measurebIs the polarization vector of the observation direction of the current state of the carrier
Figure 453364DEST_PATH_IMAGE001
The polarization vector directly measured by the polarization sensor has an error, expressed in the form:
Figure 977886DEST_PATH_IMAGE011
（1）
wherein the content of the first and second substances,
Figure 997795DEST_PATH_IMAGE002
the true value of the polarization angle is shown,
Figure 386DEST_PATH_IMAGE003
indicating the error of the polarization angle, observing the coordinate system of the pointgThe polarization vector under is expressed as:
Figure 54930DEST_PATH_IMAGE012
（2）
further obtainbThe polarization vector under, expressed in the form:
Figure 750353DEST_PATH_IMAGE013
（3）
wherein the content of the first and second substances,
Figure 991979DEST_PATH_IMAGE014
to representgAre disclosed and claimedbThe relationship between the systems.
Further, in the step 2, the right ascension of the moon at the current time is obtained by combining the astronomical calendar with the clock information built in the carrierR A And declinationδAnd further obtain the moon iniThe following representation:
Figure 798261DEST_PATH_IMAGE015
（5）
by means of mounting onbMeasurement of the star sensor under the systembStarlight vector under system
Figure 707311DEST_PATH_IMAGE005
，k=1,2, through star map matching, inertial coordinate system can be obtainediStarlight vector under system
Figure 573636DEST_PATH_IMAGE006
，k=1,2, by
Figure 568137DEST_PATH_IMAGE016
Construction ofiIs tied tobTransformation matrix of system
Figure 912530DEST_PATH_IMAGE008
：
Figure 676087DEST_PATH_IMAGE017
（6）
Wherein the content of the first and second substances,
Figure 713313DEST_PATH_IMAGE019
，
Figure 195110DEST_PATH_IMAGE021
wherein, in the step (A),
Figure 343194DEST_PATH_IMAGE022
，
Figure 226837DEST_PATH_IMAGE023
is shown perpendicular to
Figure 434964DEST_PATH_IMAGE024
The unit vector of the plane formed by the two vectors,
Figure 138478DEST_PATH_IMAGE025
is shown perpendicular to
Figure 824674DEST_PATH_IMAGE026
The unit vector of the plane to be formed,
Figure 828402DEST_PATH_IMAGE027
is represented by
Figure 941852DEST_PATH_IMAGE028
Three mutually perpendicular unit vectors are constructed; in the same way as above, the first and second,
Figure 135592DEST_PATH_IMAGE029
is represented by
Figure 625479DEST_PATH_IMAGE030
Three mutually perpendicular unit vectors are constructed;norm() The expression is normalized to the vector in order to guarantee
Figure 483713DEST_PATH_IMAGE031
Three vectors are unit vectors;
in conjunction with the transformation matrix, willm i Switch over tobIs obtained bym b As a moon vector inbNominal values under:
Figure 33643DEST_PATH_IMAGE032
（7）
further, in step 3, the polarization angle error is used as a state vector, and an inertial navigation error equation is combined to establish the state vector, where the state vector is expressed as:
Figure 711749DEST_PATH_IMAGE033
（8）
wherein
Figure 739748DEST_PATH_IMAGE034
The error in the three-axis misalignment angle is indicated,
Figure 186910DEST_PATH_IMAGE035
the error in the three-axis velocity is represented,
Figure 173321DEST_PATH_IMAGE036
representing the latitude, longitude, altitude error,
Figure 338723DEST_PATH_IMAGE037
showing the drift of the three axes of the gyro,
Figure 170413DEST_PATH_IMAGE038
representing the bias of three axes of the accelerometer, and establishing a state equation based on the state vector as follows:
Figure 472081DEST_PATH_IMAGE009
（9）
wherein the content of the first and second substances,Ais a matrix of the states of the system,wis a noise matrix.
Further, in the step 4, according to the nominal value of the moon given in the step 2m b The included angle between the nominal value and the polarization vector of the observation point can be obtainedα：
Figure 629393DEST_PATH_IMAGE039
（10）
In the above formula, the first and second carbon atoms are,m b and
Figure 282091DEST_PATH_IMAGE040
obtained from star sensors and polarisation sensors respectivelybThe moon vector sum underbAnd further, obtaining the relation between the included angle and the polarization angle by using the polarization vector:
Figure 651892DEST_PATH_IMAGE041
（11）
the angle is established by the above equation (11)αLinear relationship to polarization angle error, expressed as:
Figure 73646DEST_PATH_IMAGE042
（12）
therefore, a measurement equation is established to estimate the polarization error, and the measurement equation is expressed as:
Figure 136280DEST_PATH_IMAGE043
（13）
wherein the content of the first and second substances,
Figure 10696DEST_PATH_IMAGE044
，v d representing noise, and finishing night sky polarization angle error correction based on starlight vector information.
Compared with the prior art, the invention has the advantages that:
(1) errors existing in the polarization information are corrected by using astronomical information, error terms existing in the polarization information are effectively corrected, and the precision of the polarization information in the attitude determination of the auxiliary carrier is improved;
(2) the self-attitude determination method is suitable for the environment with electromagnetic interference at night, can realize self-attitude determination, and improves the concealment of the aircraft.
Drawings
FIG. 1 is a flow chart of the method of 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.
The method can be used for the full autonomous navigation of the ground robot in the night GPS interference environment, and the survival capability of the carrier is improved.
As shown in fig. 1, the specific implementation steps of the present invention are as follows:
step 1, installing a polarization sensor onbIs attached to measurebIs the polarization vector of the observation direction of the current state of the carrier
Figure 715346DEST_PATH_IMAGE001
The polarization vector directly measured by the polarization sensor has an error, expressed in the form:
Figure 991607DEST_PATH_IMAGE011
（1）
wherein the content of the first and second substances,
Figure 225142DEST_PATH_IMAGE002
the true value of the polarization angle is shown,
Figure 586853DEST_PATH_IMAGE003
indicating the error of the polarization angle, observing the coordinate system of the pointgThe polarization vector under is expressed as:
Figure 298457DEST_PATH_IMAGE012
（2）
further obtainbThe polarization vector under, expressed in the form:
Figure 960383DEST_PATH_IMAGE013
（3）
wherein the content of the first and second substances,
Figure 364819DEST_PATH_IMAGE014
to representgAre disclosed and claimedbThe relationship between the systems.
Step 2, obtaining the right ascension of the moon at the current moment according to the clock information arranged in the carrier and combining with the astronomical calendarR A And declinationδAnd further obtain the moon iniThe following representation:
Figure 213827DEST_PATH_IMAGE015
（5）
by means of mounting onbMeasurement of the star sensor under the systembStarlight vector under system
Figure 729122DEST_PATH_IMAGE005
，k=1,2, through star map matching, inertial coordinate system can be obtainediStarlight vector under system
Figure 266061DEST_PATH_IMAGE006
，k=1,2, by
Figure 841399DEST_PATH_IMAGE016
Construction ofiIs tied tobTransformation matrix of system
Figure 177703DEST_PATH_IMAGE008
：
Figure 762268DEST_PATH_IMAGE017
（6）
Wherein the content of the first and second substances,
Figure 867627DEST_PATH_IMAGE019
，
Figure 613866DEST_PATH_IMAGE021
wherein, in the step (A),
Figure 171887DEST_PATH_IMAGE022
，
Figure 560143DEST_PATH_IMAGE023
is shown perpendicular to
Figure 520008DEST_PATH_IMAGE024
The unit vector of the plane formed by the two vectors,
Figure 437149DEST_PATH_IMAGE025
is shown perpendicular to
Figure 13624DEST_PATH_IMAGE026
The unit vector of the plane to be formed,
Figure 674412DEST_PATH_IMAGE027
is represented by
Figure 488784DEST_PATH_IMAGE045
Three mutually perpendicular unit vectors are constructed; in the same way as above, the first and second,
Figure 107984DEST_PATH_IMAGE046
is represented by
Figure 640597DEST_PATH_IMAGE047
Three mutually perpendicular unit vectors are constructed;norm() The expression is normalized to the vector in order to guarantee
Figure 839497DEST_PATH_IMAGE031
Three vectors are unit vectors;
in conjunction with the transformation matrix, willm i Switch over tobIs obtained bym b As a moon vector inbNominal value under system
Figure 773955DEST_PATH_IMAGE032
（7）
And 3, establishing a state vector by taking the polarization angle error as the state vector and combining an inertial navigation error equation, wherein the state vector is expressed as:
Figure 564057DEST_PATH_IMAGE048
（8）
wherein
Figure 318386DEST_PATH_IMAGE034
The error in the three-axis misalignment angle is indicated,
Figure 586556DEST_PATH_IMAGE035
the error in the three-axis velocity is represented,
Figure 641100DEST_PATH_IMAGE036
representing the latitude, longitude, altitude error,
Figure 70944DEST_PATH_IMAGE037
showing the drift of the three axes of the gyro,
Figure 578149DEST_PATH_IMAGE038
representing the bias of three axes of the accelerometer, and establishing a state equation based on the state vector as follows:
Figure 384431DEST_PATH_IMAGE009
（9）
wherein the content of the first and second substances,Ais a matrix of the states of the system,wis a noise matrix.
Step 4, according to the nominal value of the moon given in step 2m b The included angle between the nominal value and the polarization vector of the observation point can be obtainedα：
Figure 293481DEST_PATH_IMAGE039
（10）
In the above formula, the first and second carbon atoms are,m b and
Figure 162736DEST_PATH_IMAGE049
obtained from star sensors and polarisation sensors respectivelybThe moon vector sum underbAnd further, obtaining the relation between the included angle and the polarization angle by using the polarization vector:
Figure 891657DEST_PATH_IMAGE050
（11）
the angle is established by the above equation (11)αLinear relationship to polarization angle error, expressed as:
Figure 501630DEST_PATH_IMAGE051
（12）
therefore, a measurement equation is established to estimate the polarization error, and the measurement equation is expressed as:
Figure 530766DEST_PATH_IMAGE043
（13）
wherein the content of the first and second substances,
Figure 567992DEST_PATH_IMAGE052
，v d representing noise, and finishing night sky polarization angle error correction based on starlight vector information.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
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 (4)

1. A night polarization angle error correction method based on starlight vector information is characterized by comprising the following steps:
step 1, installing a polarization sensor in a carrier coordinate systembUnder the condition of measuring the polarization angle of the carrier in the observation direction under the current state by utilizing a polarization sensor
Figure 993069DEST_PATH_IMAGE001
The polarization angle measured by the polarization sensor
Figure 644630DEST_PATH_IMAGE001
Expressed as true value of polarization angle
Figure 893209DEST_PATH_IMAGE002
And error of polarization angle
Figure 898205DEST_PATH_IMAGE003
And the polarization angle measured by the polarization sensor
Figure 446998DEST_PATH_IMAGE004
Calculating a polarization vector
Figure 738302DEST_PATH_IMAGE005
；
Step 2, calculating the right ascension of the moon at the current moment according to the clock information arranged in the carrier and combining with the astronomical calendarR A And declinationδObtaining the moon vector in the inertial coordinate systemiRepresentation under systemm i (ii) a And is mounted bybMeasurement of an astronomical sensor under the systembStarlight vector under system
Figure 864390DEST_PATH_IMAGE006
，k=1,2, obtained by star atlas matchingiStarlight vector under system
Figure 532132DEST_PATH_IMAGE007
，k=1,2, by
Figure 935431DEST_PATH_IMAGE008
And
Figure 538582DEST_PATH_IMAGE009
construction ofiAre disclosed and claimedbTransition matrix between systems
Figure 761753DEST_PATH_IMAGE010
In combination with the conversion matrix
Figure 233186DEST_PATH_IMAGE010
Will bem i Switch over tobIs obtained bym b As a moon vector inbNominal values under;
step 3, correcting the error of the polarization angle
Figure 615625DEST_PATH_IMAGE011
As the state vector, the state vector is defined by combining an inertial navigation error equationxFurther establishing a state equation
Figure 514311DEST_PATH_IMAGE012
；
Step 4, calculating the nominal value of the moon vectorm b And the polarization vector of the observation point
Figure 490357DEST_PATH_IMAGE005
Angle therebetweenαEstablishing a relation equation between the included angle and the polarization angle error of the observation point, and linearizing the equation to establish a measurement equation
Figure 109689DEST_PATH_IMAGE013
The polarization angle error is estimated, wherein,Z d represents a measured value ofm b And
Figure 487580DEST_PATH_IMAGE005
the cosine value of the angle between the two vectors,Hthe measurement matrix is represented by a matrix of measurements,v d for measuring noise, night sky polarization angle error correction based on starlight vector information is completed;
in the step 4, according to the nominal value of the moon vector given in the step 2m b Obtaining the included angle between the nominal value and the polarization vector of the observation pointα：
Figure 416222DEST_PATH_IMAGE014
（10）
In the above formula, the first and second carbon atoms are,m b and
Figure 879565DEST_PATH_IMAGE015
obtained from astronomical sensors and polarisation sensors, respectivelybThe moon vector sum underbThe included angle is further obtained by the following polarization vectorαAnd polarization angle:
Figure 692800DEST_PATH_IMAGE016
（11）
the angle is established by the above equation (11)αLinear relationship to polarization angle error, expressed as:
Figure 534985DEST_PATH_IMAGE017
（12）
therefore, a measurement equation is established to estimate the polarization angle error,
Figure 41053DEST_PATH_IMAGE018
representing the coordinate system of the observation pointgAre disclosed and claimedbIs the conversion relationship between the systems, the measurement equation is expressed as:
Figure 726112DEST_PATH_IMAGE019
（13）
wherein the content of the first and second substances,
Figure 343038DEST_PATH_IMAGE020
，v d representing noise, and finishing night sky polarization angle error correction based on starlight vector information.
2. The night polarization angle error correction method based on the star light vector information according to claim 1, characterized in that:
in the step 1, the polarization sensor is installed onbIs attached to measurebThe polarization angle of the current state observation direction of the carrier
Figure 554577DEST_PATH_IMAGE004
The polarization angle directly measured by the polarization sensor has an error, and is expressed in the following form:
Figure 965966DEST_PATH_IMAGE021
（1）
wherein the content of the first and second substances,
Figure 138322DEST_PATH_IMAGE022
the true value of the polarization angle is shown,
Figure 168726DEST_PATH_IMAGE011
indicating the error of the polarization angle, observing the coordinate system of the pointgThe polarization vector under is expressed as:
Figure 375716DEST_PATH_IMAGE023
（2）
further obtainbThe polarization vector under, expressed in the form:
Figure 223586DEST_PATH_IMAGE024
（3）
wherein the content of the first and second substances,
Figure 742292DEST_PATH_IMAGE018
to representgAre disclosed and claimedbThe relationship between the systems.
3. The night polarization angle error correction method based on the star light vector information according to claim 1, characterized in that:
in the step 2, the right ascension of the moon at the current moment is obtained by combining the clock information arranged in the carrier and the astronomical calendarR A And declinationδAnd then obtain the moon vector atiThe following representation:
Figure 701021DEST_PATH_IMAGE025
（5）
by means of mounting onbMeasurement of an astronomical sensor under the systembStarlight vector under system
Figure 496939DEST_PATH_IMAGE026
，k=1,2, obtaining inertial frame by star map matchingiStarlight vector under system
Figure 515710DEST_PATH_IMAGE027
，k=1,2, by
Figure 272445DEST_PATH_IMAGE028
And
Figure 34865DEST_PATH_IMAGE029
construction ofiIs tied tobTransformation matrix of system
Figure 950868DEST_PATH_IMAGE010
：
Figure 999596DEST_PATH_IMAGE030
（6）
Wherein
Figure 633839DEST_PATH_IMAGE032
Wherein, in the step (A),
Figure 668791DEST_PATH_IMAGE033
，
Figure 580247DEST_PATH_IMAGE034
is shown perpendicular to
Figure 409662DEST_PATH_IMAGE035
The unit vector of the plane formed by the two vectors,
Figure 390257DEST_PATH_IMAGE036
is shown perpendicular to
Figure 494479DEST_PATH_IMAGE037
The unit vector of the plane to be formed,
Figure 119495DEST_PATH_IMAGE038
is represented by
Figure 650971DEST_PATH_IMAGE039
Three mutually perpendicular unit vectors are constructed; in the same way as above, the first and second,
Figure 604014DEST_PATH_IMAGE040
is represented by
Figure 511928DEST_PATH_IMAGE041
Three mutually perpendicular unit vectors are constructed;norm() The expression is normalized to the vector in order to guarantee
Figure 257030DEST_PATH_IMAGE042
Three vectors are unit vectors;
in conjunction with the transformation matrix, willm i Switch over tobIs obtained bym b As a moon vector inbNominal values under:
Figure 84040DEST_PATH_IMAGE043
（7）。
4. the night polarization angle error correction method based on the star light vector information according to claim 1, characterized in that:
in step 3, the polarization angle error is used as a state vector, and an inertial navigation error equation is combined to establish the state vector, so that the state vector is expressed as:
Figure 649014DEST_PATH_IMAGE044
（8）
wherein
Figure 95039DEST_PATH_IMAGE045
The error in the three-axis misalignment angle is indicated,
Figure 570013DEST_PATH_IMAGE046
the error in the three-axis velocity is represented,
Figure 443292DEST_PATH_IMAGE047
representing the latitude, longitude, altitude error,
Figure 761140DEST_PATH_IMAGE048
showing the drift of the three axes of the gyro,
Figure 745277DEST_PATH_IMAGE049
representing the bias of three axes of the accelerometer, and establishing a state equation based on the state vector as follows:
Figure 324026DEST_PATH_IMAGE050
（9）
wherein the content of the first and second substances,Ais a matrix of the states of the system,wis a noise matrix.
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