| The navigation system of magnetometer combined with micro-inertial navigation has problems such as poor resistance to magnetic interference.In this regard,a polarized light vector sensor-assisted heading and attitude optimization solution method for micro-inertial navigation navigation is proposed,and the state threshold improvement optimization theory is designed to further improve the traditional Optimize the theoretical heading and attitude calculation model to promote the research and development of the integrated navigation system of the polarized light vector sensor assisted by the micro-inertial navigation system.According to the basic inertial navigation theory,the coordinate system of the integrated navigation system for heading and attitude estimation is established.The flight attitude is updated by the quaternion method based on numerical integration.By analyzing the distribution characteristics of the polarization vector and the sensing principle of the polarization vector sensor,it is established The celestial sphere model and attitude estimation model of polarization vector distribution.According to the Paparazzi UAV,the heading and attitude calculation platform system is established,the indoor attitude estimation accuracy of the turntable inspection platform algorithm is used,and the outdoor attitude estimation accuracy of the outdoor flight inspection platform algorithm is carried out to verify the reliability of the experimental platform algorithm.It is a polarized light vector sensor that replaces the magnetometer and The integrated navigation and attitude system composed of micro-inertial navigation provides a reference,analyzes the hardware principle of the project's flight control board,and designs and produces a new version of the flight control according to the flight control requirements,which provides the basis for the subsequent upgrade of the experimental platform.In order to further improve the accuracy of the polarized light-assisted navigation system,based on the quaternion method,the error vector of the polarization vector and the gravity vector is used to build the target error function model,the optimal attitude quaternion is solved by the nonlinear optimization theory,and the dynamic step size is designed Factor and state threshold to suppress non-gravitational acceleration and improve the robustness of the system.Experiments show that this method has good static stability.In a dynamic environment,compared with general optimization methods,this method has higher resolution accuracy.Compared with UKF,EKF,and complementary filtering,it can track attitude changes well,and can Effectively reduce the influence of non-gravitational acceleration on the estimated heading attitude.A hybrid filtering algorithm based on UKF is proposed to improve the restraining effect of non-gravitational acceleration based on the improved heading and attitude optimization method based on state factors.Experiments show that the hybrid filtering heading and attitude estimation method can further reduce the influence of non-gravity acceleration on heading and attitude estimation.,Improve the accuracy of the solution. |
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