The invention relates to a navigational positioning method based on
sky polarization
distribution model matching. The method comprises the following steps: taking a
positive direction of a
mobile robot as a 0-degree reference direction, photographing the
sky above the
mobile robot in real time by employing a polarization camera, acquiring a real-time
sky polarization distribution
false color image through calculation and synthesis; performing local
feature modeling on the sky polarization distribution
false color image; performing stable feature point extraction and
feature matching on the local features of the sky polarization distribution
false color image, and obtaining an affine transformation relationship between the sky polarization
distribution model diagrams; and calculating the position and navigational direction of the
mobile robot. According to the method, the polarization distribution of the whole sky is not required to be obtained; the local feature information of the sky polarization distribution is utilized, so that the navigational direction of the mobile
robot can be acquired from the sky polarization distribution, and the position of the mobile
robot can be acquired; and the method is not required to depend on prior knowledge and is high in environmental adaptivity and high in accuracy.