CN118464018B - Underwater bionic combined navigation method based on maximum polarization degree zone staring - Google Patents
Underwater bionic combined navigation method based on maximum polarization degree zone staring Download PDFInfo
- Publication number
- CN118464018B CN118464018B CN202410920193.6A CN202410920193A CN118464018B CN 118464018 B CN118464018 B CN 118464018B CN 202410920193 A CN202410920193 A CN 202410920193A CN 118464018 B CN118464018 B CN 118464018B
- Authority
- CN
- China
- Prior art keywords
- polarization
- angle
- carrier
- maximum
- vector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000010287 polarization Effects 0.000 title claims abstract description 161
- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 23
- 239000013598 vector Substances 0.000 claims abstract description 49
- 238000005259 measurement Methods 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- 239000011159 matrix material Substances 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000005215 recombination Methods 0.000 claims description 3
- 230000006798 recombination Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 238000004088 simulation Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 4
- 238000012795 verification Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005295 random walk Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
-
- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
- G06F7/38—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation
- G06F7/48—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices
- G06F7/544—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices for evaluating functions by calculation
- G06F7/548—Trigonometric functions; Co-ordinate transformations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Pure & Applied Mathematics (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Physics (AREA)
- Computing Systems (AREA)
- Geometry (AREA)
- Evolutionary Computation (AREA)
- Computer Hardware Design (AREA)
- Navigation (AREA)
Abstract
The invention discloses an underwater bionic integrated navigation method based on maximum polarization degree with gaze, and belongs to the field of underwater bionic integrated navigation. Firstly, designing a rotatable structure of a polarization sensor, and defining a related coordinate system and a rotation angle of the polarization sensor; secondly, calculating pitch angle and roll angle by using output values of the carrier accelerometer; then, calculating an initial course angle of the carrier by using the polarization information perceived by the polarization sensor; then, according to the carrier attitude information and the sun vector, an observation vector under a carrier system of the maximum polarization degree band is obtained, and the staring of the maximum polarization degree band under the underwater environment is completed; and finally, constructing a polarization measurement equation by utilizing the polarization information at the maximum polarization degree zone, and updating the carrier attitude information by combining an inertial error state equation to finish the high-precision system orientation. The invention fully utilizes the underwater polarized light field information and improves the resolving precision of the attitude angle of the system.
Description
Technical Field
The invention belongs to the field of underwater bionic integrated navigation, and particularly relates to an underwater bionic integrated navigation method based on maximum polarization degree with gaze.
Background
Sunlight is scattered in the process of irradiating the earth surface through the atmosphere, and the scattered light forms a stable sky polarized vector field with regular distribution in the sky, so that abundant navigation information is contained, and the bionic navigation means utilizing the atmospheric polarized light field have been developed very mature at present. In the same way, sunlight is refracted into water through a water body, a polarization distribution mode with a certain rule is formed under water, underwater polarization information is perceived through a sensor, and the sunlight is combined with refraction inversion of the water body to the atmosphere, so that a path is provided for underwater bionic navigation.
At present, the underwater bionic polarization navigation mainly utilizes an image type or point source type polarization sensor to sense underwater polarization information, so that sun position information is calculated, and carrier orientation is completed by combining an inertial element. The Chinese patent application (CN 202210796764.0) discloses an underwater polarization autonomous course calculation method based on zenith real-time tracking, which is used for calculating a solar vector by calculating zenith pixel coordinates so as to finish carrier orientation, wherein the method only observes polarization information of the zenith, and the polarization intensity of the zenith directly influences the course calculation precision; the Chinese patent application No. 'A solar vector resolving method based on underwater polarization distribution mode' (application number: 201911252040) can resolve solar vectors by sensing polarization information of different directions of the underwater polarization mode, and the method can sense polarization information of different visual angles, but cannot utilize the polarization vector information at the maximum polarization degree zone, and cannot resolve carrier attitude information.
The point source polarization sensor utilized by the existing underwater bionic navigation system can only observe polarized light intensity information in a fixed direction, the environmental adaptability is not high, and the polarization information at the maximum polarization degree band cannot be fully utilized. In bionic polarization navigation, the higher the polarization degree of perceived polarized light, the more accurate the calculated polarization azimuth angle. The underwater bionic integrated navigation method based on the maximum polarization degree zone staring can realize real-time tracking of the underwater maximum polarization degree zone, ensure that polarized light information with the maximum polarization degree is perceived at any time, have good dynamic property and environmental adaptability, and improve the underwater navigation orientation precision.
Disclosure of Invention
The invention provides an underwater bionic combined navigation method based on maximum polarization degree zone staring, which aims to solve the problem that the carrier orientation precision is reduced due to weakening of solar light intensity and polarization information in an underwater environment.
The invention can be applied to the point source type polarization sensing of real-time tracking maximum polarization degree band under the underwater scene, and has the advantages of high accuracy, strong intensity and high sensing frequency of underwater polarization information sensing.
In order to achieve the above purpose, the invention adopts the following technical scheme:
An underwater bionic integrated navigation method based on maximum polarization degree zone staring comprises the following steps:
step 1, selecting a carrier system as a right front upper coordinate system to give a polarization sensor coordinate system, namely Defining the rotation angle of the polarization sensorIs thatShaft and method for producing the sameAn included angle between the shafts; o is the origin of coordinates; the axis is the Z axis of the polarization sensor coordinate system, The axis is the Y axis of the carrier system; the carrier system is represented asTying;
step 2, utilizing carrier platform accelerometer output Calculating to obtain the pitch angle of the carrierAnd roll angle; The b-series lower polarization vectors of the underwater environment at two different positions are inverted to the water environment by utilizing the refraction law, and then the solution is obtainedTethered solar vector; Recombination carrier platform accelerometer outputResolving the initial course angle of the carrier；
Step 3, utilizing solar vector under navigation systemCalculating a polarization sensor rotation angle at a maximum polarization degree band of an aquatic environmentFurther obtain the observation vector of the above-water environment at the maximum polarization degree band under the b systemAccording to the law of water refraction, obtaining the observation vector at the maximum polarization degree zone under the b system corresponding to the underwater environmentCompleting staring of the maximum polarization degree band of the underwater environment; the navigation system is denoted as n system;
step 4, the underwater polarization vector to be perceived at the maximum polarization degree band Inversion to water environment to obtain corresponding water polarization vectorAnd further constructing a polarization measurement equation, and updating carrier attitude angle information by combining an inertial error state equation to finish high-precision orientation.
The beneficial effects are that:
The invention can ensure that the carrier can calculate the high-precision polarized angle by utilizing the polarized light with the highest polarization degree in real time, is not limited by the visibility of zenith and sun, fully utilizes the underwater polarized light field information and improves the calculation precision of the attitude angle of the system. The invention can be applied to the point source type polarization sensing of real-time tracking maximum polarization degree band under the underwater scene, and has the advantages of high accuracy, strong intensity and high sensing frequency of underwater polarization information sensing.
Drawings
FIG. 1 is a diagram of a navigation system architecture in accordance with the present invention;
FIG. 2 is a flow chart of an underwater bionic integrated navigation method based on maximum polarization degree zone gaze;
FIG. 3 is a diagram of the spatial coordinate system relationship according to the present invention;
FIG. 4 is a graph showing the contrast of the degree of polarization of the present invention with the prior art method;
FIG. 5 is a graph comparing heading angle errors of the present invention with those of the prior art.
Detailed Description
The following steps for implementing the present invention are described in conjunction with fig. 1-3 and examples:
as shown in fig. 1, the navigation system comprises a system platform, wherein a motor driver is arranged at the center of the system platform, a rotating shaft is arranged on the motor driver, and a rotating rod accelerometer and a polarization sensor are sequentially arranged in the direction of the rotating shaft away from the motor driver. And a platform inertia device is arranged on the system platform.
As shown in fig. 2, the underwater bionic integrated navigation method based on maximum polarization degree zone staring comprises the following steps:
step 1, selecting a carrier coordinate system, namely The system is a right front upper coordinate system, giving a polarization sensor coordinate system, namelyAt the same time define the rotation angle of the polarization sensorIs thatAnd (3) withAn included angle between the shafts;
step 2, utilizing carrier platform accelerometer output Calculating to obtain the pitch angle of the carrierAnd roll angle; The b-series lower polarization vector in the underwater environment at two different positions is utilized, the refraction law is utilized to invert the b-series lower polarization vector to water, and then the b-series lower solar vector is obtained through calculation; Accelerometer output of recombination carrier platformCalculating the initial course angle of the carrier；
Step 3, utilizing the solar vector under the navigation system, namely n systemCalculating a polarization sensor rotation angle at a maximum polarization degree band of an aquatic environmentThereby obtaining the observation vector at the maximum polarization degree band under the water environment b systemAccording to the law of water refraction, an observation vector corresponding to the maximum polarization degree zone under the b system of the underwater environment is obtainedCompleting staring of the maximum polarization degree band of the underwater environment;
Step 4, according to the underwater polarization vector perceived at the maximum polarization degree zone Inverting it to water to obtain corresponding water polarization vectorAnd further constructing a polarization measurement equation, and updating carrier attitude angle information by combining an inertial error state equation to finish high-precision orientation.
Specifically, in step 1, a carrier coordinate system is selected, i.eThe system is a right front upper coordinate system, and a sensor coordinate system is definedThe method comprises the following steps: Shaft and method for producing the same The two parts are overlapped together,In line with the orientation of the polarization sensor,The axis is determined according to the right hand rule. Defining a polarization sensor rotation angleIs thatShaft and method for producing the sameAn included angle of the shaft; beta isShaft and method for producing the sameThe angle of the axes is shown in fig. 3. In fig. 3, Z m is the direction of observation of the polarization sensor, X n is the east direction, and Y n is the north direction.
Based on accelerometer output on carrier platformCalculating the pitch angle of the carrierAnd roll angle：
；
Wherein, 、For the carrier platform accelerometer output value component,Gravitational acceleration.
Specifically, in step 2, the carrier platform is held stationary and the polarization sensors are rotated to and from, respectivelyIncluded angle of axes、Where two different positions are acquiredUnder-line underwater environment polarization azimuth angle、Inversion is carried out on water by utilizing the influence of water refraction on the polarization azimuth angle to obtain the corresponding polarization azimuth angle of the water environment、Further obtaining the corresponding polarization vector of the water environment、：
、；
Further, the solar vector in the b-system can be obtained by using polarization vector cross-multiplication：
；
Wherein:
；
where k=1, 2, 、、Respectively isThe element at the corresponding position is selected,A rotation matrix from m to b at the corresponding position;
thereby obtaining the initial course angle of the carrier ：
；
Wherein, 、The solar altitude and azimuth angles under the b system are respectively; Is that The azimuth angle is obtained according to the local astronomical calendar at the time.
Specifically, in step 3, the observed vector at the maximum polarization degree band under the b-series of the above-water environmentThe expression form of (a) is as follows:
；
Wherein, A polarization sensor rotation angle at a maximum polarization degree band representing an aquatic environment;
using a gesture conversion matrix Converting it into n series:
；
Wherein, ~Respectively representing gesture conversion matrixElements at corresponding locations.
The observation vector at the maximum polarization band in the sky polarization distribution mode is perpendicular to the sun vector, expressed as:；
In the above-mentioned method, the step of, ；
Wherein, 、Solar altitude under n series and azimuth under n series respectively;
Intermediate parameters of the order Intermediate parameters；
Then the rotation angle of the polarization sensor at the maximum polarization degree zone of the water environment is obtained：
；
According to the water refraction law, the rotation angle of the polarization sensor at the maximum polarization degree zone in the underwater environment can be calculated：
；
Wherein, 、Respectively the refractive index of gas and liquid,Is the pitch angle of the carrier;
The motor is utilized to drive the polarization sensor to rotate to a corresponding angle, so that the staring of the maximum polarization degree band in the underwater environment can be realized, and the polarization information at the maximum polarization degree band is perceived.
Specifically, in step 4, the polarization sensor observes the maximum polarization degree band to obtain the azimuth angle of the underwater environment polarizationInverting it to atmosphere to obtain the corresponding water polarization azimuthThereby obtaining the polarization E vector of the maximum polarization degree band：
；
And then constructing a polarization measurement equation:
；
Wherein, For the measurement of the amount of polarization,Representing the three-dimensional misalignment angle of the carrier,In order to provide a polarization measurement matrix,Representation ofIs used for the matrix of the anti-symmetry of (a),Is a polarization vector error.
Taking state variablesThe method comprises the following steps:
；
Wherein, Is a three-axis speed error and,Is the error of longitude, latitude and altitude,、And the zero offset of the gyroscope and the zero offset of the accelerometer are respectively adopted.
The system state equation is constructed as follows:
；
Wherein, Representing state variablesIs used for the purpose of determining the derivative of (c),In the form of a state transition matrix,For system noise, the following is satisfied:
；
Wherein, 、The random walk of the gyroscope and the random walk of the accelerometer are respectively carried out;
and updating the carrier attitude angle information by using a system state equation and a polarization measurement equation to finish the high-precision orientation of the system.
Compared with the existing bionic integrated navigation method for fixedly observing the zenith direction, the method provided by the invention carries out simulation verification, and the specific static simulation verification results are as follows:
(1) The simulation parameter settings are shown in table 1:
Watch (watch) Simulation parameter table
(2) Simulation results:
Fig. 4 is a time-dependent curve of the polarization degree, and it can be seen from simulation results that the polarization degree perceived by the conventional bionic integrated navigation method with fixed zenith direction is far smaller than the polarization degree perceived by the maximum polarization degree staring method proposed by the method; fig. 5 is a comparison result of the measurement errors of the course angle, the calculated course angle error of the existing underwater bionic combined navigation method for fixedly observing the zenith direction is 0.22 degrees, the calculated course angle error of the invention is 0.11 degrees, the accuracy of the course angle is doubled, and specific data are shown in table 2 (course angle error table).
Watch (watch)
(3) Simulation conclusion:
through simulation analysis and verification, the method provided by the invention can better improve the navigation angle measurement precision of the existing navigation method, and the effectiveness of the method is verified.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art. The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The underwater bionic combined navigation method based on the maximum polarization degree zone staring is characterized by comprising the following steps of:
step 1, selecting a carrier system as a right front upper coordinate system to give a polarization sensor coordinate system, namely Defining the rotation angle of the polarization sensorIs thatShaft and method for producing the sameAn included angle between the shafts; o is the origin of coordinates; the axis is the Z axis of the polarization sensor coordinate system, The axis is the Y axis of the carrier system; the carrier system is represented asTying;
step 2, utilizing carrier platform accelerometer output Calculating to obtain the pitch angle of the carrierAnd roll angle; The b-series lower polarization vectors of the underwater environment at two different positions are inverted to the water environment by utilizing the refraction law, and then the solution is obtainedTethered solar vector; Recombination carrier platform accelerometer outputResolving the initial course angle of the carrier；
Step 3, utilizing solar vector under navigation systemCalculating a polarization sensor rotation angle at a maximum polarization degree band of an aquatic environmentFurther obtain the observation vector of the above-water environment at the maximum polarization degree band under the b systemAccording to the law of water refraction, obtaining the observation vector at the maximum polarization degree zone under the b system corresponding to the underwater environmentCompleting staring of the maximum polarization degree band of the underwater environment; the navigation system is expressed as n system, and the observed vector at the maximum polarization degree band under b system of the water environmentThe method comprises the following steps:
；
using a gesture conversion matrix Observation vector at maximum polarization degree band under b system of water environmentConverting into n series to obtain water environment observation vector under n seriesObtaining the rotation angle of the polarization sensor at the maximum polarization degree zone of the water environment according to the perpendicular relation between the observation vector at the maximum polarization degree zone and the solar vector in the sky polarization distribution mode：
；
In the above-mentioned method, the step of,；
Wherein, ，，Solar vector under n series respectivelyThe element at the corresponding position is selected,~Respectively representing gesture conversion matrixElements at corresponding locations; Is that The solar altitude under the system; Is that Obtaining the azimuth angle of the system according to the local astronomical calendar at the time;
obtaining the rotation angle of the polarization sensor at the maximum polarization degree band under the underwater environment according to the water refraction law ：
；
Wherein, 、Respectively gas refractive index and liquid refractive index; Is the pitch angle of the carrier;
The polarization sensor is driven by the motor to rotate to a corresponding angle, namely, the staring of the maximum polarization degree band in the underwater environment is realized, and the polarization information at the maximum polarization degree band is perceived;
step 4, the underwater polarization vector to be perceived at the maximum polarization degree band Inversion to water environment to obtain corresponding water polarization vectorAnd further constructing a polarization measurement equation, and updating carrier attitude angle information by combining an inertial error state equation to finish high-precision orientation.
2. The method for underwater bionic integrated navigation based on maximum polarization degree zone gaze according to claim 1, wherein the step 1 comprises:
Shaft and method for producing the same The axes of the two pairs of rollers are coincident,The axis is oriented in line with the polarization sensor,The axis is determined according to the right-hand rule, wherein,The axis is the X axis of the polarization sensor coordinate system,The axis is the X axis of the carrier system,The axis is the Y-axis of the polarization sensor coordinate system.
3. The method for underwater bionic integrated navigation based on maximum polarization degree zone gaze according to claim 2, wherein the step 2 comprises:
Holding the carrier platform stationary, rotating the polarization sensors to and from, respectively Included angle of axes、Where two different positions are acquiredUnder-line underwater environment polarization azimuth angle、; According to the influence of the refraction of the water body on the polarization azimuth angle, two different positions are provided withUnder-line underwater environment polarization azimuth angle、Inversion to atmosphere to obtain corresponding polarization azimuth angle of water environment、Thereby obtaining the water polarization vector、Further, the solar vector under the b system is obtained by utilizing polarization vector cross multiplication：
；
Wherein, ；
Wherein, 、、Solar vector under b system respectivelyThe element at the corresponding position is selected,For m-to b-series rotation matrices, k=1, 2;
Further obtaining the initial course angle of the carrier ：
；
Wherein, 、Solar altitude under b series, azimuth under b series; Is that The azimuth angle is obtained according to the local astronomical calendar at the time.
4. The method for underwater bionic integrated navigation based on maximum polarization degree zone gaze according to claim 3, wherein the step 4 comprises:
the polarization sensor observes the maximum polarization degree band to obtain the polarization azimuth angle Azimuth angle of polarizationInversion to atmosphere to obtain corresponding water polarization azimuthThereby obtaining the polarization vector of the maximum polarization degree band；
Further, a polarization measurement equation is constructed as follows:
；
Wherein, For the measurement of the amount of polarization,Representing the three-dimensional misalignment angle of the carrier,In order to provide a polarization measurement matrix,Representation ofIs used for the matrix of the anti-symmetry of (a),Is a polarization vector error;
taking state variables The method comprises the following steps:
；
Wherein, Is a three-axis speed error and,Is the error of longitude, latitude and altitude,、Zero offset of the gyroscope and zero offset of the accelerometer are respectively adopted;
the system state equation is constructed as follows:
；
Wherein, Representing state variablesIs used for the purpose of determining the derivative of (c),In the form of a system state transition matrix,Is system noise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410920193.6A CN118464018B (en) | 2024-07-10 | 2024-07-10 | Underwater bionic combined navigation method based on maximum polarization degree zone staring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410920193.6A CN118464018B (en) | 2024-07-10 | 2024-07-10 | Underwater bionic combined navigation method based on maximum polarization degree zone staring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118464018A CN118464018A (en) | 2024-08-09 |
| CN118464018B true CN118464018B (en) | 2024-09-06 |
Family
ID=92168753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410920193.6A Active CN118464018B (en) | 2024-07-10 | 2024-07-10 | Underwater bionic combined navigation method based on maximum polarization degree zone staring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118464018B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759725A (en) * | 2014-02-10 | 2014-04-30 | 北京航空航天大学 | Polarization azimuth angle determination method based on six-channel photoelectric sensor |
| CN104374388A (en) * | 2014-11-10 | 2015-02-25 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106679645B (en) * | 2016-08-24 | 2019-10-25 | 大连理工大学 | Real time navigation apparatus based on multi-direction polarised light |
| CN110887473B (en) * | 2019-12-09 | 2021-12-10 | 北京航空航天大学 | Bionic polarization autonomous combined navigation method based on polarization degree weighting |
| CN112461191B (en) * | 2020-11-20 | 2022-04-05 | 北京航空航天大学 | Sun height calculating method based on underwater refraction and scattering coupling polarization degree |
| CN116817961A (en) * | 2022-11-11 | 2023-09-29 | 哈尔滨工业大学 | Bionic polarization sensor field calibration method based on improved polarization field singular point model |
| CN115574816B (en) * | 2022-11-24 | 2023-03-14 | 东南大学 | Bionic vision multi-source information intelligent perception unmanned platform |
| CN115752479A (en) * | 2022-12-08 | 2023-03-07 | 北京航空航天大学 | Polarization compass sun tracking method based on non-ideal Rayleigh scattering atmospheric polarization distribution characteristics |
-
2024
- 2024-07-10 CN CN202410920193.6A patent/CN118464018B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759725A (en) * | 2014-02-10 | 2014-04-30 | 北京航空航天大学 | Polarization azimuth angle determination method based on six-channel photoelectric sensor |
| CN104374388A (en) * | 2014-11-10 | 2015-02-25 | 大连理工大学 | Flight attitude determining method based on polarized light sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118464018A (en) | 2024-08-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101344391B (en) | Lunar vehicle posture self-confirming method based on full-function sun-compass | |
| CN103033189B (en) | Inertia/vision integrated navigation method for deep-space detection patrolling device | |
| CN103323026B (en) | The attitude reference estimation of deviation of star sensor and useful load and modification method | |
| CN104658012B (en) | Motion capture method based on inertia and optical measurement fusion | |
| CN103335630B (en) | low-cost three-dimensional laser scanner | |
| CN102426025B (en) | Simulation analysis method for drift correction angle during remote sensing satellite attitude maneuver | |
| Sinclair | The motions of the satellites of Mars | |
| CN104833352B (en) | High-precision vision/inertia integrated navigation method under multimedium complex environment | |
| CN104880192B (en) | A kind of carrier heading computing method based on polarization compass | |
| CN103245364B (en) | Method for testing dynamic performance of star sensor | |
| CN102829781A (en) | Implementation method of rotation type strapdown optical-fiber compass | |
| CN104374388A (en) | Flight attitude determining method based on polarized light sensor | |
| CN105758400A (en) | Extracting method for fixed star sensitive east and west parameters of stationary satellite imaging navigation and registration | |
| CN110929427A (en) | Remote sensing satellite video imaging rapid simulation method | |
| CN110146093A (en) | Binary asteroid detection independently cooperates with optical navigation method | |
| CN105929836A (en) | Control method of quadrotor | |
| CN103323027A (en) | Star point reconstruction-based star sensor dynamic-compensation method | |
| CN105446346A (en) | Moon relative calibrating posture adjustment method by remote sensing satellite | |
| CN104123461B (en) | A kind of illumination visible relation computational methods for space object photometric analysis | |
| CN105486315B (en) | Remote sensing satellite is to moon absolute calibration attitude adjusting method | |
| CN112229421B (en) | Strapdown inertial navigation shaking base coarse alignment method based on optimal estimation of Litsea group | |
| CN111207773B (en) | Attitude unconstrained optimization solving method for bionic polarized light navigation | |
| CN102901485A (en) | Quick and autonomous orientation method of photoelectric theodolite | |
| CN106123917A (en) | Consider the SINS compass alignment methods of outer lever arm effect | |
| CN118464018B (en) | Underwater bionic combined navigation method based on maximum polarization degree zone staring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |