Research On Bionic Polarized Light/Geomagnetic Combined Attitude Determination Technology

With the continuous improvement of the requirements of future information war,traditional navigation methods such as satellite and inertial navigation work alone,which are difficult to meet the navigation requirements of small unmanned combat platform under complex conditions.Therefore,it is very necessary to develop a new type of autonomous navigation means to meet the needs of high-precision,long endurance and anti-interference attitude measurement.The atmospheric polarization characteristic contains direction information.As a new autonomous navigation method,bionic polarized light navigation based on natural polarization characteristic is an important research direction in the field of autonomous navigation in satellite rejection environment.Therefore,the research on bionic polarized light navigation and integrated navigation methods and technologies based on bionic polarized light is of great significance to enrich and develop the theory of autonomous navigation.Aiming at the problem that the orientation accuracy of bionic polarized light navigation is easily affected by the weather when it works alone,this paper proposes to combine polarized light and geomagnetic information to solve the problem of carrier orientation and attitude measurement,puts forward the corresponding combined orientation and attitude measurement method,and verifies the feasibility of the proposed method through a series of experiments.The main contents of this paper include:(1)A polarized light / geomagnetic combined orientation method based on Unscented Kalman filter algorithm is proposed.Firstly,the polarization information and geomagnetic information are obtained by using polarization camera and three-axis magnetometer.On this basis,the polarization orientation and geomagnetic orientation results are obtained respectively;Then,the unscented Kalman filter is designed to fuse the heading angle calculated by the two sensors.In order to further improve the accuracy of heading calculation and the robustness of the filter,the noise and measurement noise of the integrated navigation system are adaptively processed,and the static experiment and on-board experiment are carried out on the built integrated heading test platform.The experimental results show that the proposed combined orientation method has higher reliability and stability than the single means of polarization or geomagnetism,and the estimation accuracy of heading angle by adaptive unscented Kalman filter algorithm is higher than that by unscented Kalman filter algorithm.(2)A three-dimensional attitude measurement method based on solar position information and geomagnetic information is proposed.Firstly,the theoretical background of sky polarization mode is described,and the working principle of using sky polarization information to calculate solar position information is analyzed;Secondly,the three-dimensional attitude calculation matrix based on solar vector and geomagnetic vector is designed,and the traditional triad attitude measurement algorithm is optimized;Finally,static experiments and turntable experiments are carried out to verify the attitude solution accuracy of the proposed algorithm.The experimental results show that the proposed method can effectively use the solar position information and geomagnetic information to obtain the three-dimensional attitude information of the carrier.