CN117872427A - Navigation positioning method and system based on continuous solar meridian plane included angle measurement - Google Patents
Navigation positioning method and system based on continuous solar meridian plane included angle measurement Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a navigation positioning method based on continuous solar meridian plane included angle measurement, which comprises the following steps: s1, carrying out corner correction on a three-axis cradle head according to an increment corner value of three axes, maintaining the consistency of an optical axis of a distortion-free camera and the gravity direction, and enabling a short side of a camera image to point to the direction of the earth magnetic north; s2, after the undistorted camera collects the image data, the image data is processed to obtain the coordinates of the sun center in the image; s3, obtaining a solar azimuth angle A and a solar elevation angle h according to the coordinates of the sun center in the image, the coordinates of the image center, the focal length f of the undistorted camera and the pixel size dx; and further obtains the value of longitude and latitude (phi, eta) for navigation and positioning. Meanwhile, the invention also discloses a system for executing the method. The invention can continuously and stably output related data in a non-stationary environment, realizes accurate positioning and navigation, has strong adaptability and is convenient for application and popularization.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a navigation positioning method and system based on continuous solar meridian plane included angle measurement.
Background
The running relationship between the sun and the earth, combined with the observation of the current position on the sun, can accurately calculate the longitude, latitude and orientation of the current position, and is a good positioning method outside satellite positioning systems such as GPS and the like. The solar meridian plane is the plane of the observer, the observer's head apex and the composition of the sun. The current position and the body axis relative to the north direction can be calculated by acquiring the included angle between the solar meridian plane and the body axis, namely the included angle between the solar meridian plane and the body axis and combining the related astronomical formulas, so that the solar meridian plane and the body axis are used for navigation and positioning.
The method for positioning and navigating through the solar meridian included angle is mature, but the method for identifying the solar meridian and the included angle thereof is less, and the method is mainly used for carrying out image processing through a polarization degree diagram and a polarization angle diagram of all-sky polarized light so as to further calculate the solar meridian included angle. In addition, the sky polarized light distribution is only relatively stable, and the estimation model of the sky polarized light distribution cannot accurately reflect the real distribution situation, so that the popularization of the navigation positioning method based on the scheme is limited.
Disclosure of Invention
The invention aims to: the invention aims to overcome the defects of the prior art and provide a reliable, stable, continuous and low-cost navigation positioning method based on continuous solar meridian plane included angle measurement.
Meanwhile, the application also provides a navigation positioning system based on continuous solar meridian plane included angle measurement for solving the problems.
The technical scheme provided by the invention is as follows: the measuring device comprises a triaxial holder, a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer which are fixed in the intersection point area of the rotating axes of the triaxial holder, and a distortion-free camera which is fixed on the intersection point of the rotating axes of the triaxial holder, wherein the X axis of the triaxial accelerometer, the triaxial gyroscope and the triaxial magnetometer is parallel to the geographic latitude line, and the east direction is positive; the Y axis is parallel to the geographic longitude line, and the north direction is positive; the Z axis of the triaxial accelerometer is vertical to the ground plane and is positive downwards; the long side of the image collected by the undistorted camera is consistent with the x-axis of the triaxial accelerometer, the optical axis of the image points to the air, and the short side of the image is consistent with the y-axis of the triaxial accelerometer; the navigation positioning method is carried out according to the following steps:
s1, controlling the three-axis cradle head, correcting the rotation angle of the three-axis cradle head according to the increment rotation angle value of the three axes, maintaining the consistency of the optical axis of the undistorted camera and the gravity direction, and enabling the short side of the camera image to point to the direction of the magnetic north;
s2, after the undistorted camera collects image data, the image data is processed to obtain coordinates of a sun center in an image, and the coordinates are set as (u 1, v 1);
s3, obtaining a solar azimuth angle A according to the coordinates of the sun center in the image and the coordinates of the image center; obtaining a solar altitude angle h according to the coordinates of the sun center in the image, the coordinates of the image center, the focal length f of the undistorted camera and the pixel size dx; according to the solar azimuth angle A and the solar altitude angle h obtained in the above way, the values of longitude and latitude (phi, eta) are obtained and used for navigation and positioning.
The technical scheme is further defined that the method for calculating the three-axis increment rotation angle value of the three-axis cradle head in the step S1 comprises the following steps: and continuously acquiring triaxial acceleration data of the triaxial accelerometer, triaxial angular velocity data of the triaxial gyroscope and magnetic force data of the triaxial magnetometer, performing fusion calculation on the data by adopting complementary filtering, further obtaining each axis rotation angle of the current triaxial holder, and calculating an expected triaxial increment rotation angle value of the triaxial holder by adopting a Kalman filtering algorithm.
Further, in step S2, the method for processing the image data to determine the sun center includes: s2.1, performing binarization processing on the image by adopting an Otsu method (OTSU); s2.2, adopting open-closed loop treatment to realize denoising and enhancement; s2.3, carrying out connected domain detection on the binary image by adopting a classical seed filling method, and adding and averaging domain edge pixels in each connected domain to obtain the center of the domain; s2.4, counting the distance from the edge of the domain to the center, calculating an expected value and variance, finding the minimum variance, and recognizing the minimum variance as the coordinates of the sun center in the image.
Further, in step S3, the solar azimuth angle a is obtained according to the coordinates of the sun center in the image and the coordinates of the image center, which specifically includes: the image center point is 1/2 of the image resolution, and the coordinates of the image center are set to be (u 0, v 0), so that the solar azimuth angle A is obtained:
further, in step S3, a solar altitude angle h is obtained according to the coordinates of the sun center in the image, the coordinates of the image center, the focal length f of the undistorted camera, and the pixel size dx:
where h is negative, the term "about the equator" about the south ".
Further, in step S3, the longitude and latitude (Φ, η) values are obtained according to the obtained solar azimuth angle a and solar altitude angle h, and the method is as follows:
in the method, solar declination delta and time difference E pass through ephemeris index, t UT1 For the world time of the acquisition time, the values of longitude and latitude (phi, eta) are solved.
The invention also provides another technical scheme as follows: the navigation positioning system based on continuous solar meridian plane included angle measurement comprises a three-axis cradle head, a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer which are fixed in the intersection point area of the rotating axes of the three-axis cradle head, and a distortion-free camera which is fixed on the intersection point of the rotating axes of the three-axis cradle head, wherein the X axes of the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer are parallel to a geographic latitude line and are in east direction; the Y axis is parallel to the geographic longitude line, and the north direction is positive; the Z axis of the triaxial accelerometer is vertical to the ground plane and is positive downwards; the long side of the image collected by the undistorted camera is consistent with the x-axis of the triaxial accelerometer, the optical axis of the image points to the air, and the short side of the image is consistent with the y-axis of the triaxial accelerometer; and further comprising data processing means for performing the method of any of the above.
The beneficial effects are that: the navigation positioning method and the navigation positioning system based on continuous solar meridian plane included angle measurement can effectively reduce the equipment cost for measuring and calculating the solar meridian plane included angle, and can fully utilize mature equipment and technology in the market; meanwhile, the environment requirement for measuring and calculating the solar meridian plane included angle is reduced, related data can be continuously and stably output in a non-stationary environment, accurate positioning and navigation are realized, adaptability is high, and application and popularization are facilitated.
Detailed Description
The technical scheme of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
Example 1: the invention provides a system for measuring an included angle of a continuous solar meridian plane, which is shown in the following diagram in the structural schematic diagram and comprises a triaxial holder, a triaxial accelerometer, a triaxial gyroscope, a triaxial magnetometer, a distortion-free camera, a data processing device and a supporting platform.
The support platform is used for fixing the whole system and providing power.
The triaxial accelerometer is fixed in the intersection area of the rotating axes of the triaxial holder, the X axis of the triaxial accelerometer is parallel to the geographic latitude line, and the east direction is positive; the Y axis of the triaxial accelerometer is parallel to a geographic longitude line, and the north direction is positive; the Z axis of the triaxial accelerometer is vertical to the ground plane and is positive downwards.
The three-axis gyroscope and the three-axis magnetometer are fixed in the intersection point area of the rotating axes of the three-axis cradle head, and the direction of the three-axis gyroscope and the three-axis magnetometer are kept consistent.
The undistorted camera is fixed on the intersection point of the rotating axes of the three-axis holder, the long side of the image collected by the undistorted camera is consistent with the x-axis of the three-axis accelerometer, the optical axis of the image points to the air, and the short side of the image is consistent with the y-axis of the three-axis accelerometer. And a blue filter is arranged in front of the lens of the undistorted camera, and the output image is a gray image.
The data processing device collects data output by the triaxial accelerometer, the triaxial gyroscope, the triaxial magnetometer and the undistorted camera, calculates the sun height and the azimuth angle, and further controls the triaxial holder.
S1, controlling a triaxial holder, correcting a rotation angle of the triaxial holder according to an increment rotation angle value of a triaxial, maintaining the consistency of an optical axis of the undistorted camera and a gravity direction, and enabling a short side of a camera image to point to a magnetic north direction.
And continuously acquiring triaxial acceleration data of the triaxial accelerometer, triaxial angular velocity data of the triaxial gyroscope and magnetic force data of the triaxial magnetometer, and carrying out fusion calculation on the data by adopting a common holder control algorithm such as complementary filtering so as to obtain the rotation angles of all the axes of the current triaxial holder. And calculating a three-axis increment rotation angle value of the expected three-axis cradle head by adopting a Kalman filtering algorithm, outputting the increment rotation angle value to the three-axis cradle head, and correcting the rotation angle of the three-axis cradle head according to the three-axis increment rotation angle value, so as to maintain the connection line between the image center acquired by the undistorted camera and the geomagnetic north pole and the connection line between the image bottom long side and the middle point of the long side, wherein the connection line between the image center and the middle point is called a magnetic north line.
By controlling and adjusting the rotation angle of the three-axis cradle head, the optical axis of the undistorted camera is ensured to always coincide with the focal point of the camera and the zenith right above the position of the undistorted camera.
Here "celestial sphere" is a concept in astronomy: an imaginary sphere with a viewer as a center and an arbitrary length as a radius. "celestial sphere vertex" refers to a point at the top of the observer's head where a straight line is drawn through the center of the celestial sphere and parallel to the plumb line of the observation point, intersecting the celestial sphere at two points.
2. And processing the image acquired by the undistorted camera to obtain the coordinates of the sun center in the image.
After the undistorted camera collects the image data, the image data is processed to obtain the coordinates of the sun center in the image, and the coordinates are set as (u 1, v 1).
The method for processing the image data to determine the sun center is the prior art, and the common method is as follows: s2.1, performing binarization processing on the image by adopting an Otsu method (OTSU); s2.2, adopting open-closed loop treatment to realize denoising and enhancement; s2.3, carrying out connected domain detection on the binary image by adopting a classical seed filling method, and adding and averaging domain edge pixels in each connected domain to obtain the center of the domain; s2.4, counting the distance from the edge of the domain to the center, calculating an expected value and variance, finding the minimum variance, and recognizing the minimum variance as the coordinates of the sun center in the image. Because the prior art is adopted, the intermediate specific implementation method is not repeated.
3. And continuously outputting the sun altitude and azimuth angle so as to obtain longitude and latitude information of the device for navigation and positioning.
The connection line of the sun and the focus of the undistorted camera passes through the image plane, and a projection point is left, so that the vertical projection of the focus of the undistorted camera, the zenith of the celestial sphere and the sun on the image plane of the undistorted camera is the connection line of the sun projection point and the center of the image, and the included angle between the connection line and the north line is the included angle between the solar meridian plane and the magnetic north line, namely the azimuth angle of the sun.
The center point of the image is 1/2 of the resolution of the image, the coordinates of the center of the image are set to (u 0, v 0), and then the solar azimuth angle A can be obtained:
the focal length f and the pixel size dx are determined by the physical parameters of the undistorted camera.
The solar altitude h is:
where h is negative, the term "about the equator" about the south ".
Further, longitude and latitude (phi, eta) are obtained, and the following equation set is adopted for solving:
in the method, solar declination delta and time difference E pass through ephemeris index, t UT1 In order to acquire the world time at the moment, the unknown numbers are D, phi and eta, and three equations are provided at the same time, so that the values of longitude and latitude (phi and eta) can be solved for navigation and positioning.
Each frame of image can calculate a group of solar altitude h and azimuth angle A, the output frame rate fps of the camera image is generally 15, 25 and 30 (frames/second), so that continuous operation can continuously output the solar altitude h and azimuth angle A, and longitude and latitude information can be obtained for navigation and positioning.
The scheme can effectively reduce the equipment cost for measuring and calculating the solar meridian plane included angle, and can fully utilize mature equipment and technology in the market; meanwhile, the scheme reduces the environmental requirement for measuring and calculating the solar meridian plane included angle, and can continuously and stably output related data in a non-stationary environment.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The navigation positioning method based on continuous solar meridian plane included angle measurement comprises a three-axis holder, a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer which are fixed in the intersection point area of the rotating axes of the three-axis holder, and a distortion-free camera which is fixed on the intersection point of the rotating axes of the three-axis holder, wherein the X axis of the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer is parallel to a geographic latitude line, and the eastern direction is positive; the Y axis is parallel to the geographic longitude line, and the north direction is positive; the Z axis of the triaxial accelerometer is vertical to the ground plane and is positive downwards; the long side of the image collected by the undistorted camera is consistent with the x-axis of the triaxial accelerometer, the optical axis of the image points to the air, and the short side of the image is consistent with the y-axis of the triaxial accelerometer;
the navigation positioning method is characterized by further comprising a data processing device, and the navigation positioning method comprises the following steps of:
s1, controlling the three-axis cradle head, correcting the rotation angle of the three-axis cradle head according to the increment rotation angle value of the three axes, maintaining the consistency of the optical axis of the undistorted camera and the gravity direction, and enabling the short side of the camera image to point to the direction of the magnetic north;
s2, after the undistorted camera collects image data, the image data is processed to obtain coordinates of a sun center in an image, and the coordinates are set as (u 1, v 1);
s3, obtaining a solar azimuth angle A according to the coordinates of the sun center in the image and the coordinates of the image center; obtaining a solar altitude angle h according to the coordinates of the sun center in the image, the coordinates of the image center, the focal length f of the undistorted camera and the pixel size dx; according to the solar azimuth angle A and the solar altitude angle h obtained in the above way, the values of longitude and latitude (phi, eta) are obtained and used for navigation and positioning.
2. The navigation positioning method based on continuous solar meridian plane included angle measurement according to claim 1, wherein the method for calculating the three-axis increment rotation angle value of the three-axis cradle head in step S1 is as follows: and continuously acquiring triaxial acceleration data of the triaxial accelerometer, triaxial angular velocity data of the triaxial gyroscope and magnetic force data of the triaxial magnetometer, performing fusion calculation on the data by adopting complementary filtering, further obtaining each axis rotation angle of the current triaxial holder, and calculating an expected triaxial increment rotation angle value of the triaxial holder by adopting a Kalman filtering algorithm.
3. The navigation positioning method based on continuous solar meridian plane angle measurement according to claim 1, wherein in step S2, the method for processing the image data to determine the sun center comprises the following steps: s2.1, performing binarization processing on the image by adopting an Otsu method (OTSU); s2.2, adopting open-closed loop treatment to realize denoising and enhancement; s2.3, carrying out connected domain detection on the binary image by adopting a classical seed filling method, and adding and averaging domain edge pixels in each connected domain to obtain the center of the domain; s2.4, counting the distance from the edge of the domain to the center, calculating an expected value and variance, finding the minimum variance, and recognizing the minimum variance as the coordinates of the sun center in the image.
4. The navigation positioning method based on continuous solar meridian plane included angle measurement according to claim 1, wherein in step S3, a solar azimuth angle a is obtained according to coordinates of a solar center in an image and coordinates of an image center, and the specific method comprises: the image center point is 1/2 of the image resolution, and the coordinates of the image center are set to be (u 0, v 0), so that the solar azimuth angle A is obtained:
5. the navigation positioning method based on continuous solar meridian plane included angle measurement according to claim 4, wherein in step S3, a solar altitude angle h is obtained according to the coordinates of the sun center in the image, the coordinates of the image center, the focal length f of the undistorted camera, and the pixel size dx:
where h is negative, the term "about the equator" about the south ".
6. The navigation positioning method based on continuous solar meridian plane angle measurement according to claim 5, wherein in step S3, the values of longitude and latitude (Φ, η) are obtained according to the obtained solar azimuth angle a and solar altitude angle h, and the method comprises the following steps:
in the method, solar declination delta and time difference E pass through ephemeris index, t UT1 For the world time of the acquisition time, the values of longitude and latitude (phi, eta) are solved.
7. The navigation positioning system based on continuous solar meridian plane included angle measurement comprises a three-axis cradle head, a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer which are fixed in the intersection point area of the rotating axes of the three-axis cradle head, and a distortion-free camera which is fixed on the intersection point of the rotating axes of the three-axis cradle head, wherein the X axes of the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer are parallel to a geographic latitude line and are in east direction; the Y axis is parallel to the geographic longitude line, and the north direction is positive; the Z axis of the triaxial accelerometer is vertical to the ground plane and is positive downwards; the long side of the image collected by the undistorted camera is consistent with the x-axis of the triaxial accelerometer, the optical axis of the image points to the air, and the short side of the image is consistent with the y-axis of the triaxial accelerometer; further comprising data processing means for performing the method of any one of claims 1 to 6.
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