An attitude optimization solution method for bionic navigation

Abstract

The invention provides an attitude optimization solution method for bionic navigation, which belongs to the technical field of attitude solution for polarized light navigation. The method uses the polarization vector and the gravity vector to construct the target error function model, and solves the optimal attitude quaternion according to different motion states, so as to improve the accuracy of attitude calculation under complex maneuvering conditions. The invention realizes the compensation and correction of the course information of the UAV by solving the search direction of the polarization azimuth angle error, and avoids the angle ambiguity problem that occurs in the direct solution. The polarized light navigation scheme designed by the present invention decouples the heading and horizontal attitude solving process to overcome the spatial position constraints of attitude solving, and at the same time adopts a gradient optimization method with variable search factors, which can change the search step size in real time according to different motion states of the aircraft , to improve the measurement accuracy and robustness of the polarized light navigation system.

Description

technical field [0001] The invention belongs to the technical field of aircraft attitude measurement and estimation, relates to a heading and attitude reference system (AHRS) based on a polarized light sensor, and mainly relates to a gradient optimization attitude calculation method with a variable search factor. Background technique [0002] Attitude and Heading Reference System (AHRS) is a key device in the navigation platform, which can provide accurate and reliable flight status information for the aircraft. The traditional attitude reference system uses the inertial measurement unit (IMU) as the main attitude calculation component. On this basis, there are two expansion methods according to the performance requirements of the navigation platform: one is composed of the inertial measurement unit and the geomagnetic sensor. The other is composed of an inertial measurement unit combined with GPS. However, both of the above two attitude measurement schemes have their own s...

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Problems solved by technology

However, both of the above two attitude measurement schemes have their own shortcomings: the geomagnetic sensor in scheme one determines the heading information by detecting the magnetic field vector, but it is very sensitive to electromagnetic interference, and is easily affected by the surrounding electromagnetic field and airborne electronic equipment, which will cause the heading attitude to be unresolved. The calculation accuracy is reduced; in the case of high maneuvering, the inconsistency between the satellite signal transmission frequency and the aircraft movement frequency is significantly enhanced, resulting in the serious phenomenon of GPS star loss in method 2, which affects the accurate calculation of heading information

However, both of these two methods have certain limitations: method one has the problem of polarization and azimuth ambiguity in the process of calculating the heading information, and the accuracy of the attitude calculation is closely related to the error accuracy of the aircraft's horizontal attitude. Higher orientation accuracy can only be achieved when the range changes, which greatly limits the space attitude calculation of the aircraft

Among them, the Kalman filter model has a large amount of calculation in each iteration process, so it needs a microprocessor with a fast enough calculation speed, otherwise it will not be able to guarantee the real-time requirements of attitude calculation, and at the same time, the model error of the polarization sensor is affected by various Influenced by factors, the corresponding error term cannot be accurately input in the Kalman filter, which further restricts the improvement of navigation accuracy and system performance by this method

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