Autonomous navigation positioning method based on polarization pose information coupling iteration

Abstract

The invention relates to an autonomous navigation positioning method based on polarization pose information coupling iteration, and the method comprises the steps: firstly measuring a polarization angle through a polarization sensor, calculating a system sun vector, and converting the system sun vector into a sun vector under a geographic coordinate system; then, resolving the solar altitude angleand azimuth angle at the moment from the solar vector under the geographic coordinate system; calculating the solar declination through time, and calculating the longitude and latitude of the movingbody; updating the sun vector of the navigation system by using the position and the time, updating the sun vector and the gravity vector under the machine system by using the new measurement information, solving the three-dimensional attitude of the moving body through an attitude conversion direction cosine matrix, and updating the three-dimensional attitude of the moving body through two-step loopback iteration of position updating and attitude updating. Pose concurrent calculation with polarization as a unique external information source is realized. According to the method, polarization serves as a unique external information source, simultaneous calculation of the position and the attitude is achieved, the method can be suitable for navigation of a moving body under satellite denialand magnetic interference conditions, and the needed sensor is low in cost, small in size and easy to apply and implement.

Description

technical field [0001] The invention relates to an iterative autonomous navigation and positioning method based on polarization pose information coupling. This method uses polarization as the only external information source, and realizes the independent position calculation and three-dimensional attitude calculation of the moving body under the conditions of GNSS rejection or failure and magnetic interference. The invention belongs to the field of autonomous positioning and navigation of moving bodies. Background technique [0002] At present, due to the mature technology and irreplaceable accuracy of satellite navigation, global satellite navigation systems (including GPS in the United States, BDS in China, GLONASS in Russia and GALILEO in the European Union) have become technologies that are widely relied on in the transportation and traffic fields. However, with the widespread use of satellite navigation technology, in recent years, satellite communication signals have ...

AI Technical Summary

Problems solved by technology

However, with the widespread use of satellite navigation technology, in recent years, due to the interference, blocking, or even tampering of satellite communication signals, unpredictable errors and huge economic losses have been caused.

In 2018, Xi'an held a light show with 1374 UAV clusters. Due to directional interference, the performance failed and dozens of UAVs fell.

In 2019, due to the GPS interference equipment of a breeding farm, many flights in Harbin Airport frequently lost the GPS signal of the aircraft near it, and some flights had ADS-B system failures. These all warn us of the urgency of researching autonomous navigation technology

Existing methods have not achieved fully autonomous coupling attitude determination and positioning independent of GNSS and magnetic compass

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