Design And Implementation Of Polarized Light/Geomagnetic Combined Orientation Algorithms Based On TX2 Platform

In the future information war,under the condition of satellite rejection,the existing equipment cannot meet the needs of high-precision navigation and orientation in complex environment.At the same time,the unmanned system needs better and more autonomous,high-precision and long-term navigation independent of satellite navigation.Some creatures in nature can extract their own information for navigation from polarized light,geomagnetic field and other environment.Such ability has the characteristics of full autonomy,anti-interference,and measurement error does not accumulate with time.Those characteristics can effectively improve the level of current navigation system which has the disadvantages of the accumulation of directional error,weak environmental adaptability and so on.Therefore,the study of polarized light geomagnetic composite orientation algorithm is of great significance to solve autonomous navigation and positioning in weak even non satellite environment.In this paper,the polarized light/geomagnetic/micro inertial combination orientation method has been studied.This method takes the navigation ability of biology in nature as inspiration,and draws on the basic achievements in the field of bionics research and robot navigation from peers at home and abroad,so as to provide solutions and means for autonomous navigation of unmanned platform.Based on the application background of micro unmanned flight platform,this paper uses the extended Kalman filter algorithm to fuse the information of polarized light compass/geomagnetic instrument/MIMU in the software algorithm,and completes the optimal estimation of heading angle.Sensors such as polarized light compass,geomagnetic instrument,micro inertial measurement unit are integrated with TX2,which are programmed by multithread interactive programming based on C++.The solution is integrated and realized on the TX2 hardware platform from three levels.(1)Based on the principle of atmospheric polarized light orientation,using the information of atmospheric polarized light collected by polarized light sensor to realize the orientation of the carrier based on the information of atmospheric polarized light;using geomagnetic instrument to obtain the orientation of the carrier based on the information of geomagnetic;using micro inertial measurement unit to obtain the heading angle estimation of the carrier;(2)Using Kalman filter to fuse the course information of three different information sources to get the optimal estimation of the carrier course;(3)Integrate the hardware of TX2 and realizes the algorithm programming based on C + +,and do the verifications by the experiments of UAV.