CN115164871B - Two-step autonomous positioning method based on polarized light field time difference - Google Patents
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Abstract
The invention relates to a two-step autonomous positioning method based on polarized light field time difference. Comprises the following steps: firstly, polarized light fields are collected for a plurality of times within a time period by utilizing a polarized light sensor, a carrier magnetic yaw angle set is obtained by combining a magnetic compass, and a solar position measuring and calculating value set under a geomagnetic coordinate system is calculated; traversing global longitude and latitude by using a solar calendar and a global geomagnetic model to obtain a solar position calculation value set of each longitude and latitude point under a geomagnetic coordinate system, and constructing a one-step positioning fitting database; defining a distance scale, so as to establish a one-step positioning loss function based on the sun position to calculate longitude and latitude, and complete one-step positioning; traversing the area near the one-step positioning result, and constructing a two-step positioning fitting database based on the calculated value variation of the sun position at all moments; and (3) establishing a two-step positioning loss function to calculate longitude and latitude according to the solar position variation at all moments, completing two-step positioning and realizing autonomous positioning.
Description
Technical Field
The invention belongs to the field of autonomous navigation positioning, and particularly relates to a two-step autonomous positioning method based on polarized light field time difference.
Background
The polarized light field is an optical phenomenon with a certain distribution rule formed by sunlight under the action of atmospheric Rayleigh scattering, and contains information of the sun position, so that the sun position can be inverted by utilizing the polarized light field, and autonomous positioning is realized. The polarization positioning is a passive autonomous positioning mode without error accumulation, and has the advantages of being free from electromagnetic interference compared with the traditional positioning modes such as satellite, radio and the like.
The Chinese patent CN201310037586.4 'positioning system based on polarized light bionic navigation and positioning method thereof' provides a positioning method based on a multidirectional polarized light navigation sensor, wherein the method utilizes polarized information at one moment and an included angle between a carrier and magnetic north; chinese patent No. 201911250897.2 "an autonomous positioning method based on polarized north pole and polarized solar vector" proposes that the positioning is realized by combining the characteristic point information in the atmospheric polarized light field change for a period of time with the polarized solar vector; the Chinese patent No. CN201810583734.5 discloses a polarization navigation real-time positioning method based on full-sky-domain polarization degree information and the Chinese patent No. CN201811328952.0 discloses a polarization navigation global autonomous positioning method based on maximum polarization degree observation, wherein the positioning method of the polarization degree information in the sky is respectively provided, but the positioning is realized through astronomical triangle inversion, the astronomical triangle is a simplification of solar calendar, various influencing factors such as aberration, nutation and the like are ignored, and errors are brought to the positioning. The article Bioinspired polarization vision enables underwater geolocalization uses solar calendar to represent the mapping relation between sun and longitude and latitude relation, which can improve model accuracy to a certain extent.
However, the two methods only use the sun position obtained by the polarized light field at one moment, on one hand, the sun position at one moment has weak constraint on positioning, and on the other hand, the sun position calculation based on polarization always has constant error due to the non-Rayleigh scattering effect in the atmosphere, which has serious influence on positioning precision. Therefore, how to eliminate the influence of constant errors in solar measurement on positioning accuracy plays a very important role in polarization positioning application.
Disclosure of Invention
In order to solve the technical problems, the invention provides a two-step autonomous positioning method based on polarized light field time difference. The sun position calculated by the polarized light field is acquired for a plurality of times within a time period, and longitude and latitude information is inverted under the heading reference provided by the magnetic compass, so that the first-step coarse positioning is realized. And then, in the vicinity of the rough positioning result, the sun position variation quantity at a time interval is used as constraint to eliminate constant value errors, so that the second-step fine positioning is realized. The method enhances the constraint of the sun on positioning by using the sun position at a plurality of moments and the time difference effect of the sun, eliminates the influence of constant errors in the measurement of the sun position and improves the positioning precision.
The technical scheme adopted for solving the technical problems is as follows:
a two-step autonomous positioning method based on polarized light field time difference comprises the following implementation steps:
step (1), collecting polarized light fields n times within a time period T by using a polarized light sensor, and obtaining a solar position measuring and calculating value set S under a carrier coordinate system by using the polarized light fields collected each time b Converting the magnetic deflection angle set obtained by the magnetic compass into a solar position measuring and calculating value set under a geomagnetic coordinate systemThe carrier coordinate system is represented as a b system, and the geomagnetic coordinate system is represented as an m system;
step (2), constructing a one-step positioning fitting database comprising a characteristic space and an attribute space, wherein the attribute space is used for determining each theodolite lattice point (L) in the global longitude and latitude set A according to a certain grid density A ,λ A ) The feature space is to traverse each theodolite point (L) by using the solar calendar and the global geomagnetic model M A ,λ A ) The obtained solar position calculation value set S under the geomagnetic coordinate system m (L A ,λ A )；
Step (3), define t i Time solar measurement valueCalculated from sun->The distance scale between them and thereby establish a one-step positioning loss function +.>According to one ofStep positioning fitting database, calculating the loss function of each moment in the T time period>Longitude and latitude values (L) in the attribute space corresponding to the minimum i ,λ i ) Further, the longitude and latitude calculated at n times are averaged to obtain (L Ⅰ ,λ Ⅰ ) One-step positioning is completed, wherein i=1, 2, …, n represents polarized light field acquisition sequence number within a period of time T, T i The ith acquisition time of the polarized light field in the time period T;
step (4), constructing a two-step positioning fitting database, wherein the characteristic space is represented by the formula (L) Ⅰ ,λ Ⅰ ) As the center, a local longitude and latitude set B is set at a certain grid density, each theodolite point (L B ,λ B ) Solar position calculation value change quantity set delta S at two times m The attribute space is DeltaS m Longitude and latitude corresponding to each element;
step (5), using the distance scale defined in the step (3) to establish a two-step positioning loss function according to all solar position variation in the T time periodCalculating +.>Longitude and latitude values in the attribute space corresponding to the minimum time to obtain a two-step positioning result (L Ⅱ ,λ Ⅱ ) And (5) completing autonomous positioning.
Further, the specific steps of the step (1) are as follows:
the polarized light field is collected n times by utilizing the polarization sensor in a time period T, and the solar position measuring and calculating value set under the carrier coordinate system can be calculated through the polarized light fieldUse->Representing a solar position measurement value in a carrier coordinate system calculated from an ith collected polarized light field in a time period T, wherein i=1, 2,3, … and n, and the collection moment is represented as T i The carrier coordinate system is represented by b; the solar position measurement at each moment is represented by two parameters, namely a solar azimuth angle and a solar zenith angle, and is represented as a solar azimuth angle measurement value set based on a solar position measurement value set of all polarized light fields in a time period TSolar zenith angle measuring and calculating value set +.>
Establishing a geomagnetic coordinate system, namely an m system, wherein the z axis of the geomagnetic coordinate system is coincident with a navigation system, and the x axis of the geomagnetic coordinate system is magnetic north; t is the lower t of m i The time solar azimuth angle measurement value is expressed as:
wherein,at t i Magnetic deflection angle obtained by the moment magnetic compass; the solar zenith angle measurement under the m series is expressed as +.>Then when the polarized light sensor is placed horizontally, t i Measuring and calculating value of solar zenith angle under time m>Obtaining t i Solar position measurement value +.>The solar position measurement value set under the m system is obtained by the method:
further, the specific steps of the step (2) are as follows:
setting the grid density of the global longitude and the latitude to be delta L respectively 1 And delta lambda 1 Each theodolite point in the global longitude and latitude set a to be traversed is:
(L A ,λ A )＝(pδL 1 ,qδλ 1 -90)
wherein,
round () means rounding off elements in parentheses. Ensure that the longitude L ranges from 0 DEG to 360 DEG]The latitude lambda range is minus 90 degrees, 90 degrees]The method comprises the steps of carrying out a first treatment on the surface of the The solar calendar is denoted by xi, then t i Every theodolite point (L) in the global longitude and latitude set A at moment A ,λ A ) Solar position calculation value under navigation coordinate system of (2)Can be expressed as:
wherein n represents a navigation coordinate system;
the global geomagnetic model is represented by M, then t i Every theodolite point (L) in the global longitude and latitude set A at the moment A ,λ A ) The declination of (2) is:
then t i Every theodolite point (L) in the global longitude and latitude set A at moment A ,λ A ) The calculated solar position under the m series is:
where Λ represents the M-system solar position calculation function based on the solar almanac xi and the world geomagnetic model M. Thereby creating a one-step location fit database comprising feature space and attribute space. Wherein the feature space is the position of each theodolite point (L A ,λ A ) T in the upper period of time T 1 ,t 2 ,...,t n The set of solar position calculations at all moments m is expressed as:
the attribute space in the one-step positioning fitting database is a solar position calculated value set S m (L A ,λ A ) Longitude and latitude (L) corresponding to each element A ,λ A )。
Further, the specific steps of the step (3) are as follows:
definition t i The distance scale between the solar measuring value and the solar calculated value at the time m is as follows:
taking a distance scale of a distance scale between a solar measuring value and a solar calculated value at the same moment as a one-step positioning loss function, and representing as follows:
solving for t i One-step positioning loss function value at momentLongitude and latitude at minimum (L i ,λ i )：
Averaging the longitude and latitude of the minimum value of the one-step positioning loss function value at n moments in the time period T to obtain one-step positioning result (L Ⅰ ,λ Ⅰ )：
Further, the specific steps of the step (4) are as follows:
with (L) Ⅰ ,λ Ⅰ ) Taking DeltaL and Deltalambda as the side length of the two-step positioning area and taking DeltaL as the center 2 ,δλ 2 Setting a local longitude and latitude set B for the grid density, wherein each theodolite point (L B ,λ B ) Expressed by the above parameters:
t i time t i+τ The calculated change of the sun position under the geomagnetic coordinate system at the moment is as follows:
wherein τ is greater than or equal to 1 and t i+τ ≤t n The method comprises the steps of carrying out a first treatment on the surface of the Thus a set of calculated changes in the solar position over time period T is available:
thus completing the construction of the feature space in the two-step fitting database; the attribute space in the two-step positioning fitting database is a solar position calculation value set delta S m (L B ,λ B ) Longitude and latitude (L) corresponding to each element B ,λ B )。
Further, the specific steps of the step (5) are as follows:
t i t i+τ The solar position measuring and calculating value variable quantity based on polarized light fields at two moments is as follows:
n-tau solar position measuring and calculating value variable quantities can be obtained in the time period T, and a two-step positioning loss function is established by using the variable quantities:
the longitude and latitude when the minimum value is obtained is (L Ⅱ ,λ Ⅱ )：
(L Ⅱ ,λ Ⅱ )＝arg min J Ⅱ (L,λ)
And (5) finishing two-step positioning.
The beneficial effects are that:
compared with the prior art, the invention has the following advantages: in the existing polarization positioning method, the problem of constant error in the measurement of the sun position based on polarization is not considered, so that the positioning accuracy is low. The invention provides a two-step autonomous positioning method based on polarized light field time difference, which designs a coarse positioning method based on single-moment polarized light field and magnetic compass and a precise positioning method based on solar position change quantity at a certain time interval, eliminates the influence of constant value errors in solar position measurement on positioning by solar time difference, and can improve positioning accuracy.
Drawings
FIG. 1 is a flow chart of a two-step autonomous positioning method based on polarized light field time difference according to the present invention;
fig. 2 is a schematic diagram of calculating an included angle of two unit vectors according to the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without the inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
According to one embodiment of the present invention, as shown in fig. 1, the two-step autonomous positioning method based on polarized light field time difference of the present invention comprises the following specific implementation steps:
step 1, collecting polarized light fields n times within a time period T by using a polarized light sensor, and obtaining a solar position measuring and calculating value set S under a carrier coordinate system by using the polarized light fields collected each time b Converting the magnetic deflection angle set obtained by the magnetic compass into a solar position measuring and calculating value set under a geomagnetic coordinate systemThe carrier coordinate system is represented as a b system, and the geomagnetic coordinate system is represented as an m system. The specific requirements are as follows:
the polarized light field is collected n times by utilizing the polarization sensor in a time period T, and the solar position measuring and calculating value set under the carrier coordinate system can be calculated through the polarized light fieldUse->Representing a solar position measurement value in a carrier coordinate system calculated from an ith collected polarized light field in a time period T, wherein i=1, 2,3, … and n, and the collection moment is represented as T i The carrier coordinate system is represented by b; the solar position measurement at each moment is represented by two parameters, namely a solar azimuth angle and a solar zenith angle, and is represented as a solar azimuth angle measurement value set based on a solar position measurement value set of all polarized light fields in a time period TSolar zenith angle measuring and calculating value set +.>
The magnetic compass obtains a relative magnetic north heading angle of the carrier, called a magnetic yaw angle H. However, the magnetic north direction and the geographic north direction have a magnetic bias angle which varies with time and longitude and latitude, so that the magnetic yaw angle cannot be directly used as the navigation direction. Therefore, a geomagnetic coordinate system is established and is expressed as an m system, the z axis of the geomagnetic coordinate system is coincident with the navigation system, and the x axis of the geomagnetic coordinate system is magnetic north. T is the lower t of m i The time solar azimuth angle measurement value is expressed as:
wherein,at t i Magnetic deflection angle obtained by the moment magnetic compass. The solar zenith angle measurement under the m series is expressed as +.>Then when the polarized light sensor is placed horizontally, t i Measuring and calculating value of solar zenith angle under time m>Obtaining t i Solar position measurement value +.>The solar position measurement value set under the m system is obtained by the method:
step 2, constructing a one-step positioning fitting database comprising a characteristic space and an attribute space, wherein the attribute space is used for determining the global by a certain grid densityEach theodolite point (L in longitude and latitude set A A ,λ A ) The feature space is to traverse each theodolite point (L) by using the solar calendar and the global geomagnetic model M A ,λ A ) The obtained solar position calculation value set S under the geomagnetic coordinate system m (L A ,λ A ). The specific requirements are as follows:
setting the traversing density of the global longitude L and the latitude lambda as delta L respectively 1 =1° and δλ 1 =0.5°, each theodolite point in global longitude and latitude set a is:
(L A ,λ A )＝(pδL 1 ,qδλ 1 -90)
wherein,
round () means rounding off elements in brackets; ensuring that the global longitude L range is [0 degrees, 360 degrees ], and the global latitude lambda range is [ -90 degrees, 90 degrees ];
substituting specific numerical values to obtain:
the solar calendar is denoted by xi, then t i Every theodolite point (L) in the global longitude and latitude set A at moment A ,λ A ) Solar position calculation value under navigation coordinate system of (2)Can be expressed as:
wherein n represents a navigation coordinate system;
the global geomagnetic model is represented by M, then t i Every theodolite point (L) in the global longitude and latitude set A at the moment A ,λ A ) Magnetic bias of (2)The angle is:
d ti (L A ,λ A )＝M(L A ,λ A ,t i )
then t i Every theodolite point (L) in the global longitude and latitude set A at moment A ,λ A ) The calculated solar position under the m series is:
where Λ represents the M-system solar position calculation function based on the solar almanac xi and the world geomagnetic model M. Thereby creating a one-step location fit database comprising feature space and attribute space. Wherein the feature space is the position of each theodolite point (L A ,λ A ) T in the upper period of time T 1 ,t 2 ,...,t n The set of solar position calculations at all moments m is expressed as:
the attribute space in the one-step positioning fitting database is a solar position calculated value set S m (L A ,λ A ) Longitude and latitude (L) corresponding to each element A ,λ A )。
Step 3, defining t i Time solar measurement valueCalculated from sun->The distance scale between them and thereby establish a one-step positioning loss function +.>Calculating the loss function +.f for each moment in the T period according to the one-step location fit database>Longitude and latitude values (L) in the attribute space corresponding to the minimum i ,λ i ) Further, the longitude and latitude calculated at n times are averaged to obtain (L Ⅰ ,λ Ⅰ ) One-step positioning is completed, wherein i=1, 2, …, n represents polarized light field acquisition sequence number within a period of time T, T i The ith acquisition time of the polarized light field in the time period T. The specific requirements are as follows:
the distance scale is defined as the angle between two unit vectors. As shown in fig. 2, if the azimuth angle and zenith angle of the unit vectors a and b in the three-dimensional rectangular coordinate system are denoted as α a ,ζ a Alpha and alpha b ,ζ b . Then the angle between the two vectors has the following relationship:
cos<a,b>＝cosζ a cosζ b +sinζ a sinζ b cos(α a -α b )
the angle between unit vectors a and b is then:
<a,b>＝arccos(cosζ a cosζ b +sinζ a sinζ b cos(α a -α b ))
the sun position is represented by a unit vector, then t is defined i The distance scale between the solar measuring value and the solar calculated value at the time m is as follows:
taking a distance scale of a distance scale between a solar measuring value and a solar calculated value at the same moment as a one-step positioning loss function, and representing as follows:
solving for t i One-step positioning loss function value at momentLongitude and latitude at minimum (L i ,λ i )：
Averaging the longitude and latitude of the minimum value of the one-step positioning loss function value at n moments in the time period T to obtain one-step positioning result (L Ⅰ ,λ Ⅰ )：
Step 4, constructing a two-step positioning fitting database, wherein the feature space is represented by (L) Ⅰ ,λ Ⅰ ) As the center, a local longitude and latitude set B is set at a certain grid density, each theodolite point (L B ,λ B ) Solar position calculation value change quantity set delta S at two times m The attribute space is DeltaS m Longitude and latitude corresponding to each element. The specific requirements are as follows:
according to the solar measurement accuracy, the method obtained in step 3 (L Ⅰ ,λ Ⅰ ) The two-step positioning area side lengths delta L and delta lambda are set for the center, and in the embodiment, the longitude and latitude are set to be 5 degrees, and the longitude and latitude grid density delta L is set 2 ,δλ 2 Respectively 0.2 degrees and 0.1 degrees, constructing a local longitude and latitude set B, and traversing each theodolite point (L B ,λ B ) Calculated by the following formula:
substituting specific numerical values to obtain:
t i time t i+τ Calculated change of sun position under geomagnetic coordinate system at momentThe amount is as follows:
wherein τ is greater than or equal to 1 and t i+τ ≤t n The method comprises the steps of carrying out a first treatment on the surface of the The calculated solar zenith angle under the navigation coordinate system at the same time and the calculated solar zenith angle under the geomagnetic system are equal, namelySince the magnetic declination of the same longitude and latitude point does not change in a short time, namely d ti+τ (L,λ)＝d ti (L, λ), the above formula can therefore be written as:
thus a set of calculated changes in the solar position over time period T is available:
thus completing the construction of the feature space in the two-step fitting database; the attribute space in the two-step positioning fitting database is a solar position calculation value set delta S m (L B ,λ B ) Longitude and latitude (L) corresponding to each element B ,λ B )。
Step 5, using the distance scale defined in step 3 to establish a two-step positioning loss function according to all solar position variation in the T time periodCalculating +.>Longitude and latitude values in the attribute space corresponding to the minimum time to obtain a two-step positioning result (L Ⅱ ,λ Ⅱ ) Finish fromAnd (5) main positioning. The specific requirements are as follows:
t i t i+τ The solar position measuring and calculating value variable quantity based on polarized light fields at two moments is as follows:
n-tau solar position measuring and calculating value variable quantities can be obtained in the time period T, and a two-step positioning loss function is established by using the variable quantities:
the longitude and latitude when the minimum value is obtained is (L Ⅱ ,λ Ⅱ )：
(L Ⅱ ,λ Ⅱ )＝arg min J Ⅱ (L,λ)
And (5) finishing two-step positioning.
While the foregoing has been described in relation to illustrative embodiments thereof, so as 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 is to be construed as limited to the spirit and scope of the invention as defined and defined by the appended claims, as long as various changes are apparent to those skilled in the art, all within the scope of which the invention is defined by the appended claims.
Claims (6)
1. The two-step autonomous positioning method based on polarized light field time difference is characterized by comprising the following steps:
step (1), collecting polarized light fields n times within a time period T by using a polarized light sensor, and obtaining a solar position measuring and calculating value set S under a carrier coordinate system by using the polarized light fields collected each time b Converting the magnetic deflection angle set obtained by the magnetic compass into a solar position measuring and calculating value set under a geomagnetic coordinate systemThe carrier coordinate system is represented as a b system, and the geomagnetic coordinate system is represented as an m system;
step (2), constructing a one-step positioning fitting database comprising a characteristic space and an attribute space, wherein the attribute space is used for determining each theodolite lattice point (L) in the global longitude and latitude set A according to a certain grid density A ,λ A ) The feature space is to traverse each theodolite point (L) by using the solar calendar and the global geomagnetic model M A ,λ A ) The obtained solar position calculation value set S under the geomagnetic coordinate system m (L A ,λ A )；
Step (3), define t i Time solar measurement valueCalculated from sun->The distance scale between them and thereby establish a one-step positioning loss function +.>According to the one-step positioning fitting database, calculating a loss function of each moment in the T time periodLongitude and latitude values (L) in the attribute space corresponding to the minimum i ,λ i ) Further, the longitude and latitude calculated at n times are averaged to obtain (L Ⅰ ,λ Ⅰ ) One-step positioning is completed, wherein i=1, 2, …, n represents polarized light field acquisition sequence number within a period of time T, T i The ith acquisition time of the polarized light field in the time period T;
step (4), constructing a two-step positioning fitting database, wherein the characteristic space is represented by the formula (L) Ⅰ ,λ Ⅰ ) As the center, a local longitude and latitude set B is set at a certain grid density, each theodolite point (L B ,λ B ) Solar position calculation value change quantity set delta S at two times m The attribute space is DeltaS m Longitude and latitude corresponding to each element;
step (5), using the distance scale defined in the step (3) to establish a two-step positioning loss function according to all solar position variation in the T time periodCalculating +.>Longitude and latitude values in the attribute space corresponding to the minimum time to obtain a two-step positioning result (L Ⅱ ,λ Ⅱ ) And (5) completing autonomous positioning.
2. The two-step autonomous positioning method based on polarized light field time difference according to claim 1, wherein: the specific steps of the step (1) are as follows:
the polarized light field is collected n times by utilizing the polarization sensor in a time period T, and the solar position measuring and calculating value set under the carrier coordinate system can be calculated through the polarized light fieldUse->Representing a solar position measurement value in a carrier coordinate system calculated from an ith collected polarized light field in a time period T, wherein i=1, 2,3, … and n, and the collection moment is represented as T i The carrier coordinate system is represented by b; the solar position measurement at each moment is represented by two parameters, namely a solar azimuth angle and a solar zenith angle, and is represented as a solar azimuth angle measurement value set based on a solar position measurement value set of all polarized light fields in a time period TSolar zenith angle measuring and calculating value set +.>
Establishing a geomagnetic coordinate system, namely an m system, wherein the z axis of the geomagnetic coordinate system is coincident with a navigation system, and the x axis of the geomagnetic coordinate system is magnetic north; t is the lower t of m i The time solar azimuth angle measurement value is expressed as:
wherein,at t i Magnetic deflection angle obtained by the moment magnetic compass; the solar zenith angle measurement under the m series is expressed as +.>Then when the polarized light sensor is placed horizontally, t i Measuring and calculating value of solar zenith angle under time m>Obtaining t i Solar position measurement value +.>The solar position measurement value set under the m system is obtained by the method:
3. the two-step autonomous positioning method based on polarized light field time difference according to claim 2, wherein: the specific steps of the step (2) are as follows:
setting the grid density of the global longitude and the latitude to be delta L respectively 1 And delta lambda 1 Each theodolite point in the global longitude and latitude set a to be traversed is:
(L A ,λ A )＝(pδL 1 ,qδλ 1 -90)
wherein,
round () means rounding off elements in brackets; ensure that the longitude L ranges from 0 DEG to 360 DEG]The latitude lambda range is minus 90 degrees, 90 degrees]The method comprises the steps of carrying out a first treatment on the surface of the The solar calendar is denoted by xi, then t i Every theodolite point (L) in the global longitude and latitude set A at moment A ,λ A ) Solar position calculation value under navigation coordinate system of (2)Expressed as:
wherein n represents a navigation coordinate system;
the global geomagnetic model is represented by M, then t i Every theodolite point (L) in the global longitude and latitude set A at the moment A ,λ A ) The declination of (2) is:
then t i Every theodolite point (L) in the global longitude and latitude set A at moment A ,λ A ) The calculated solar position under the m series is:
wherein Λ represents an M-system lower solar position calculation function based on a solar calendar XI and a world geomagnetic model M; thereby establishing a one-step positioning fitting database comprising feature space andattribute space; wherein the feature space is the position of each theodolite point (L A ,λ A ) T in the upper period of time T 1 ,t 2 ,...,t n The set of solar position calculations at all moments m is expressed as:
the attribute space in the one-step positioning fitting database is a solar position calculated value set S m (L A ,λ A ) Longitude and latitude (L) corresponding to each element A ,λ A )。
4. A two-step autonomous positioning method based on polarized light field time difference according to claim 3, characterized in that: the specific steps of the step (3) are as follows:
definition t i The distance scale between the solar measuring value and the solar calculated value at the time m is as follows:
taking a distance scale of a distance scale between a solar measuring value and a solar calculated value at the same moment as a one-step positioning loss function, and representing as follows:
solving for t i One-step positioning loss function value at momentLongitude and latitude at minimum (L i ,λ i )：
Averaging the longitude and latitude of the minimum value of the one-step positioning loss function value at n moments in the time period T to obtain one-step positioning result (L Ⅰ ,λ Ⅰ )：
5. The two-step autonomous positioning method based on polarized light field time difference according to claim 4, wherein: the specific steps of the step (4) are as follows:
with (L) Ⅰ ,λ Ⅰ ) Taking DeltaL and Deltalambda as the side length of the two-step positioning area and taking DeltaL as the center 2 ,δλ 2 Setting a local longitude and latitude set B for the grid density, wherein each theodolite point (L B ,λ B ) Expressed by the above parameters:
t i time t i+τ The calculated change of the sun position under the geomagnetic coordinate system at the moment is as follows:
wherein τ is greater than or equal to 1 and t i+τ ≤t n The method comprises the steps of carrying out a first treatment on the surface of the Thus, a change amount set of the calculated value of the solar position in the time period T is obtained:
thus completing the construction of the feature space in the two-step fitting database; the attribute space in the two-step positioning fitting database is a solar position calculation value set delta S m (L B ,λ B ) Longitude and latitude (L) corresponding to each element B ,λ B )。
6. The two-step autonomous positioning method based on polarized light field time difference according to claim 5, wherein: the specific steps of the step (5) are as follows:
t i t i+τ The solar position measuring and calculating value variable quantity based on polarized light fields at two moments is as follows:
n-tau solar position measuring and calculating value variable quantities can be obtained in the time period T, and a two-step positioning loss function is established by using the variable quantities:
the longitude and latitude when the minimum value is obtained is (L Ⅱ ,λ Ⅱ )：
(L Ⅱ ,λ Ⅱ )＝argminJ Ⅱ (L,λ)
And (5) finishing two-step positioning.
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