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Method for coarsely aligning static base based on polarization and gravity information

A technology of coarse alignment and static base, applied in the field of coarse alignment of static base based on polarization and gravity information, can solve problems such as complex calculations, achieve high measurement accuracy, eliminate ambiguity, and enhance robustness

Active Publication Date: 2017-02-22
北京七星航宇科技有限公司
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  • Application Information

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Problems solved by technology

[0004] Existing methods for determining attitude using polarization information, such as patent 201210005641.7, a three-dimensional attitude acquisition method based on the spatial characteristics of atmospheric polarization patterns, patent 201210489147.2, a three-dimensional attitude determination system and method for aircraft, and patent 201310731899, three-dimensional attitude determination using atmospheric polarized light Attitude method, and patent 201410143392.7, the method of determining the space attitude of aircraft in the atmosphere by using natural light polarization mode, etc., the calculation is relatively complicated and has multi-value; patent 201310069529.4, a recursive optimization initial alignment method for integrated navigation system based on polarization information , patent 201310069511.4, a modeling of SINS / GPS / polarized light integrated navigation system and the initial alignment method of the moving base, etc., involving a long time filtering process

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  • Method for coarsely aligning static base based on polarization and gravity information
  • Method for coarsely aligning static base based on polarization and gravity information
  • Method for coarsely aligning static base based on polarization and gravity information

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Embodiment Construction

[0035] like figure 1 As shown, the specific implementation steps of the present invention are as follows:

[0036] 1. Use GPS to obtain the geographic location information and time information of the carrier, and query the azimuth angle of the sun vector in the geographic coordinate system through the astronomical almanac and height angle (like figure 2 As shown in the figure, O-XYZ constitutes a geographic coordinate system. The X axis, Y axis, and Z axis point to the local geographic east, north, and sky directions, respectively. The azimuth is the angle between the projection of the sun vector on the XY plane and the X axis. , the altitude angle is the angle between the sun vector and the XY plane), where the azimuth angle Taking the geographic east as zero and north as positive, the unit sun vector in the geographic coordinate system is obtained

[0037] 2. Use the output of the three-axis accelerometer installed in the carrier coordinate system to obtain the gra...

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Abstract

The invention relates to a method for coarsely aligning a static base based on polarization and gravity information. Adopted equipment comprises a tri-axial accelerometer, a GPS receiver and two or more polarization sensors. The method comprises the following steps: firstly, calculating a unit sun vector under a geographic coordinate system by utilizing geographic position information of a carrier and time information; secondly, obtaining gravity information by utilizing the accelerometer; thirdly, obtaining sun vector information under a carrier coordinate system by utilizing the polarization sensors; finally, determining a vector posture transformation matrix by utilizing the information. The method provided by the invention has the advantages of being high in precision, low in calculated amount and the like.

Description

technical field [0001] The invention relates to a static base rough alignment method based on polarization and gravity information, which can be used for obtaining initial attitude information of unmanned aerial vehicles, ground robots or vehicles under static base conditions, and improves the initial alignment speed and accuracy. Background technique [0002] Before the carrier enters the working state of navigation, the initial attitude information must be determined first. The current attitude measurement methods mainly include inertial measurement, geomagnetic measurement, differential GPS measurement, etc., each with its own advantages and disadvantages. Inertial measurement can continuously and real-time provide the attitude information of the carrier in various motion states, but the heading determination requires a high-precision gyroscope, which is costly; the geomagnetic sensor has low cost and small size, but is easily interfered by magnetic substances in the envi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
Inventor 郭雷牛奔杨健王纲
Owner 北京七星航宇科技有限公司
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