An Auxiliary Strategy Of Vehicle Autonomous Navigation Model Based On Polarization Of Skylight

In view of land combat vehicle how to realize autonomous and passive navigation under the special war environment where the active navigation waves is susceptible to interference and loses function, autonomous navigation and positioning technology is the key to ensure that the vehicle can realize independent, passive, and high precision navigation and positioning reliably under the special environment. In this paper, reference domestic and foreign research results and experience, to deal with the technology problems. Using the system adopts the strapdown inertial navigation system as the basic navigation sensor, with other external auxiliary correction technology, using integrated navigation technology to enhance and improve the navigation precision of system, and launching a series of research work as the following.First, research and analysis the bionic polarized light of atmospheric polarization characteristics and its related navigation technology, vehicle kinematic model, analyzes the nonholonomic constraints and other technical research. Considering the crucial for the carrier heading measurement and control of autonomous land vehicle passive navigation application requirements, the use of atmospheric polarization pattern orientation of characteristic, combining rule of motor vehicle navigation sensor configuration, build the bionic polarized light vehicle navigation orientation method. Considering low cost, high precision, good integration, strong anti-jamming ability of vehicle navigation technology development demand, constructed a used vehicle strapdown inertial navigation system as the basic navigation sensors, no additional sensors, absolutely only used vehicle kinematics model and the nonholonomic constraints to effective scheme aided inertial navigation system. Research methods and solutions for the system performance simulation test validation, and gives the details of the results of data analysis.Second, in order to improve navigation precision of the algorithm of the inertial navigation system aided by the vehicle dynamic model, and make sure the ability of autonomous navigation system is passive and anti-interference. Based on the formation mechanism of the sky light polarization mode and the detection principle of polarized light, an orientation method of the vehicle navigation by polarized light navigation is discussed. Use it to get heading angle information, and with the virtual observation of position and velocity provided by the kinematics model and constraint condition of the vehicle, and the position, speed, heading information of the onboard inertial navigation system together. Through the design of integrated navigation system information fusion algorithm, to complement each other, carry on the effective combination of reasonable configuration. Using mathematical method to modeling of the system equation.In the end, according to the properties of the on-board application environment, formulates the system overall simulation testing framework, including vehicle trajectory model, set up the simulation environment, and the simulation and the simulation results of data analysis. According to the results of test analysis, validate the rationality of the design of simulation platform structure configuration, and optimize the implementation scheme of information fusion. Overall, build a strong autonomy, good concealment and anti-interference navigation system, it can realize accurate and reliable autonomous navigation of the land combat vehicle.