CN102538783A - Bionic navigation method and navigation positioning system based on remote sensing sky polarization mode patterns - Google Patents

Abstract

The invention relates to a bionic navigation method and a navigation positioning system based on a remote sensing sky polarization pattern map, comprising the following steps: using the whole sky polarization remote sensing measurement method, simultaneously measuring three images of sky light intensity, solving and describing the sky light polarization The polarization degree and polarization azimuth angle of the remote sensing sky are obtained, and the polarization mode map of the remote sensing sky is obtained; the most suitable polarization The external conditions of navigation; combined with the theoretical knowledge of astronomical navigation, solve the solar azimuth angle at different times, and use the solar azimuth angle to correct the angle between the sun meridian and the carrier, and obtain the heading angle with the geographical north and south as the reference direction; adopt the GPS navigation method The combined navigation method with the polarization navigation method handles the blind spots of the polarization navigation. The invention can be widely used in the measurement and research of navigation and positioning under various conditions, and is also a special new technology for using bionic means to serve remote sensing observation images to navigation and positioning methods and systems.

Description

Bionic navigation method and navigation positioning system based on remote sensing sky polarization pattern map

technical field

The invention relates to a bionic navigation method and a navigation and positioning system, in particular to a bionic navigation method and a navigation and positioning system based on a remote sensing sky polarization pattern map.

Background technique

Bionic polarization navigation is an autonomous navigation method in which organisms use the polarization characteristics of light to determine the reference direction, and it is one of the natural navigation methods in nature. This navigation method can avoid some deficiencies of the existing navigation methods, and is combined with inertial navigation, GPS navigation or geomagnetic navigation to become a high-precision navigation method.

Remote sensing is a method of imaging through long distances, or a method of long-distance observation. At present, the use of sky polarized light to realize remote sensing detection is mainly single-point directional measurement, that is, to measure the distribution information of sky polarized light at a certain altitude angle, and then to measure the sky light in different azimuths multiple times by adjusting the altitude angle of the instrument. The measurement results of each orientation are comprehensively analyzed to obtain the detection results. The above-mentioned single-point directional measurement method has certain limitations on the range and field of view of each measurement, and when adjusting the measurement orientation, different orientations will be measured separately. A time difference is generated, within the range of this time difference, the distribution of polarized light in the sky will change, which will lead to errors in the measurement results, and the existing technology can not solve the blind spot problem of polarized light in the sky (the degree of polarization is zero) in the navigation process. Effective monitoring and overcoming.

Contents of the invention

In view of the above problems, the purpose of the present invention is to provide a bionic navigation method and navigation positioning system based on remote sensing sky polarization pattern diagrams that can be real-time, fast, have a large measurement coverage area, and have high navigation accuracy, and can effectively avoid navigation blind spots. Using bionic means to serve remote sensing observation images to navigation and positioning methods and systems.

In order to achieve the above object, the present invention takes the following technical solutions: a bionic navigation method based on the remote sensing sky polarization pattern diagram, comprising the following steps: 1) setting a full-sky polarized light measurement system that includes three digital cameras, each of the A fisheye lens is arranged at the front end of the digital camera, a polarizer and a filter are arranged at the front end of each said fisheye lens successively, and the output end of each said digital camera is connected to a computer; 2) adopt the whole-sky polarized light measurement method, Simultaneously measure the sky light intensity on three images, calculate the polarization degree and polarization azimuth angle, and obtain the remote sensing sky polarization pattern map; 3) adopt the whole sky polarization measurement method, through the polarization degree 4) Combined with the principle of celestial navigation, solve the solar azimuth at different times, and use the solar azimuth to correct the angle between the sun meridian and the carrier , to get the heading angle with the geographic north-south as the reference direction; 5) The blind spot of polarization navigation is processed by the combined navigation method of GPS navigation method and polarization navigation method.

Realize the navigation and positioning system based on the remote sensing sky polarization pattern map of described bionic navigation method, it is characterized in that: it comprises a GPS receiver, a odometer and a polarized light measurement system, the output of described odometer and polarized light measurement system end is connected to the input end of a dead reckoning module, the output ends of the GPS receiver and the dead reckoning module are respectively connected to the input end of a data acquisition module, and the output end of the data acquisition module is connected to a signal detection and decision-making module The output end of the signal detection and decision-making module is respectively connected to the input end of a GPS navigation independent positioning system, a GPS/polarization navigation combined positioning system and a polarization navigation independent positioning system, and the GPS navigation independent positioning system, The output ends of the GPS/polarization navigation combined positioning system and the polarization navigation independent positioning system are respectively connected to a positioning information calculation module, and the output end of the polarized light measurement system is also connected to a navigation blind spot monitoring module, and the navigation blind spot monitoring module The output terminal is connected to the output terminal of the signal detection and decision-making module.

Because the present invention adopts the above technical scheme, it has the following advantages: 1. The present invention uses three digital cameras to measure the measurement area in multiple directions simultaneously, and expands the single-point measurement to the polarized light measurement of the whole sky area, thereby forming a similar magnetic field 1. The sky polarization state diagram of the gravity field is the remote sensing sky polarization mode diagram. This method is fast and real-time, avoiding the measurement time error caused by adjusting the measurement azimuth angle in the single-point directional measurement method, and effectively ensuring the accuracy of the measurement results. 2. The digital camera of the present invention adopts a fisheye lens, which expands the field of view and makes it have a three-dimensional space angle of 180°, effectively avoiding the shortcoming of a small single-point measurement space range. 3. The present invention adopts the whole-sky polarized light measurement method, and obtains the most suitable external conditions for polarization navigation by measuring various influencing factors of the remote sensing sky polarization pattern map. 4. The present invention combines the principle of celestial navigation and uses the current azimuth angle of the sun to correct the angle output by the polarized light measurement system, so that the polarized navigation is more practical. 5. The navigation and positioning system of the present invention is provided with a navigation blind spot monitoring module. Once it is detected that the degree of polarization is zero, the independent positioning system of GPS navigation is used to avoid the blind spot of navigation, which increases the effectiveness of polarization navigation. When the degree of polarization is not zero, Accurate navigation can be achieved by combining GPS navigation and polarization navigation system. 6. The present invention can classify and display the degree of polarization and deflection angle of polarized images, and process the obtained polarized images in real time, so as to obtain intuitive information about the distribution of polarized light in the remote sensing sky. The invention can be widely used in the measurement and research of navigation and positioning under various conditions.

Description of drawings

Fig. 1 is a schematic flow sheet of the inventive method;

Fig. 2 is a schematic diagram of the relationship between the average value of the degree of polarization and the sun's altitude angle among the present invention, wherein the abscissa is time, and the unit is h, and the ordinate is the degree of polarization value, expressed as a percentage;

Fig. 3 is the average value schematic diagram of the degree of polarization of different band polarization degree images in the present invention, and wherein the abscissa represents the band, the unit is nm, and the ordinate is the degree of polarization value, expressed as a percentage, "+" is clear sky, "○" is cloudy sky;

为红色波段、中间的

为蓝色波段、最下方的

为紫色波段；Fig. 4 is under different observation bands in the present invention, the relation schematic diagram of each band polarization mean value and solar elevation angle, wherein among the figure topmost

for the red band, the middle

is the blue band, the bottom

is the purple band;

Fig. 5 is a schematic diagram of the distribution effect of the polarization azimuth angle under different weather conditions in the present invention;

Fig. 6 is a schematic diagram of the effect of the polarization azimuth angle of the clear sky over time, that is, the variation of the sun altitude angle in the present invention;

Fig. 7 is a schematic diagram of the sky polarization azimuth angle distribution effect of different bands under clear sky conditions in the present invention;

Fig. 8 (a) is the projection schematic diagram of celestial body on the earth among the present invention;

Fig. 8 (b) is a schematic diagram of a navigation triangle in the present invention;

Fig. 9 is a schematic diagram of polarization navigation neutral point-navigation blind spot in the present invention;

Fig. 10 is a schematic structural diagram of the navigation and positioning system of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

As we all know, sky light has polarization characteristics due to the scattering of sunlight by atmospheric particles, and the distribution characteristics of sky polarized light are usually expressed by polarization degree and polarization azimuth angle. The target features on the earth's surface and in the atmosphere make the scattered light produce polarization characteristics in the process of reflecting, scattering and transmitting sunlight (electromagnetic radiation), which can be used as an information source for polarization navigation.

As shown in Figure 1, the polarized light measuring system of the present invention includes three digital cameras, and each digital camera front end is provided with a fisheye lens, and each fisheye lens front end is provided with a polarizer and a filter plate successively, and each digital camera The output end is connected to the same computer, and the method for obtaining navigation information using the polarized light measuring system of the present invention comprises the following steps:

1) Using the whole-sky polarized light measurement method, the sky light intensity is measured simultaneously on three images, and the polarization degree and polarization azimuth angle describing the sky light polarization state are solved to obtain the remote sensing sky polarization pattern map.

On any XOY plane, the sky light intensity obtained by observing in the direction of the angle α with the X axis is:

$\mathrm{<span\; class="notranslate">\; I</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; I</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; <figure-callout\; id="2"\; label="Q\; cos"\; filenames="HDA0000135543180000042.png"\; state="\{\{state\}\}">Q</figure-callout></span><figure-callout\; id="2"\; label="Q\; cos"\; filenames="HDA0000135543180000042.png"\; state="\{\{state\}\}">\; </figure-callout>}\mathrm{<span\; class="notranslate">\; </span>}\mathrm{<span\; class="notranslate">cos</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

As long as four measurements are made on the light intensity of the sky light in different directions in the whole sky area, the four parameters I, Q, U and V of the Stocks vector can be obtained by simultaneously solving the above formula, where I is Unpolarized light intensity, Q and U are linearly polarized light in two directions respectively, and V represents circularly polarized light. At the same time, the degree of polarization d and polarization azimuth ψ, degree of polarization d and polarization azimuth describing the polarization state of sky light can be calculated The formula for calculating the angle ψ is as follows:

$\mathrm{<span\; class="notranslate">\; d</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{{\mathrm{<span\; class="notranslate">\; Q</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; u</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; V</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}{\mathrm{<span\; class="notranslate">\; I</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&psi;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; Q</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

In the actual measurement, since the value of the V component in the Stocks vector is relatively small, it can be approximately considered that V=0, so as long as the light intensity I(α _i ) of the sky polarized light in three different directions is measured, it can be obtained simultaneously I, Q, U, d and ψ, the specific solution process is as follows: through three digital cameras, the light intensity I(α _i ) of sky polarized light in three directions in the whole sky area is measured simultaneously, and α _i is taken as 0° , 45°, 90° are solved simultaneously, and we get:

Simultaneously the above formula (4) is simplified to get:

I, Q, and U can be obtained through formula (5), and the obtained I, Q, and U can be substituted into formulas (2) and (3) to obtain the corresponding degree of polarization d and polarization azimuth ψ .

In the specific experiment, the obtained polarization images in different orientations are processed in real time. Firstly, the measured three-way light intensity is graded and processed, and then the formula (5) is used to solve the first three components I, Q, and U of the Stocks vector. According to the formulas (2) and (3), the corresponding degree of polarization and polarization azimuth angle are calculated according to the formulas (2) and (3), and the degree of polarization and the size of the deflection angle are graded and displayed, thus obtaining the polarized light in the sky Intuitive information about the distribution.

2) Using the whole-sky polarized light measurement method, the most suitable external conditions for polarization navigation are obtained by analyzing the various influencing factors of the polarization degree and polarization azimuth angle in the remote sensing sky polarization pattern map.

Since the distribution of polarized light in the sky is affected by weather conditions, observation bands, and the sun's altitude angle, the present invention uses an all-sky polarized light measurement method to analyze various influencing factors that affect the degree of polarization and the polarization azimuth.

①Analysis of Influencing Factors of Polarization Degree

As shown in Figure 2, the embodiment of the present invention chooses to carry out the whole-sky polarization remote sensing measurement experiment under two different weather conditions, and the experimental results show that the degree of polarization of the whole sky under cloudy conditions is much smaller than that under clear sky conditions, mainly due to cloudy conditions The depolarization effect caused by multiple scattering in the lower atmosphere greatly reduces the polarization degree of the image. In order to obtain the distribution law of the degree of polarization in the whole sky within a period of time, the present invention conducts a continuous remote sensing observation experiment on the distribution of polarized light in the sky (as shown in FIG. 2 ). Under clear sky conditions from 10:30 am to 15:00 pm, a digital camera is used to take pictures of the whole sky at regular intervals, and the distribution of polarized light in a certain area observed through continuous 6 hours is shown in Table 1:

Table 1 The change of polarization degree with time

time 10:30 11:00 12:00 13:00 14:00 15:00 Average degree of polarization 0.1370 0.1073 0.0971 0.1023 0.1555 0.3225

It can be seen from Table 1 that from 10:30 am to 12:00 am, the average polarization degree of the image gradually decreases, and reaches the minimum when the solar altitude angle is maximum (12:00), and then as time goes by , the average value of the polarization degree image becomes larger gradually. Therefore, it can be concluded that the sky polarization distribution is closely related to the solar altitude angle. The lower the elevation angle, the larger the average value of the degree of polarization; otherwise, the smaller the average value of the degree of polarization.

As shown in Figure 3, using the above method, under different weather conditions, different observation bands are selected to obtain the distribution of polarization degrees in the whole sky.

As shown in Figure 4, using the above method, with the change of the sun altitude angle, the distribution of sky polarization degree in different observation bands is obtained.

The above measurement results show that when the sky is clear, the polarization degree of the sky decreases as the wavelength decreases; but in turbulent and cloudy weather, the depolarization effect in the long-wave band is more obvious, and the polarization degree decreases accordingly, while the depolarization in the shorter wavelength band The effect is small, considering the above factors, it is considered that the blue band is the most suitable band for polarization navigation.

②Analysis of influencing factors on polarization azimuth angle

The organisms in nature can use sky polarized light to navigate. In addition to relying on the corresponding polarization vision to detect the existence of sky polarized light, they also need to obtain direction information from the distribution of sky light polarization azimuth angle. Therefore, it is particularly important to analyze the distribution of sky light polarization azimuth angle under different conditions. From the measurement results (as shown in Figure 5), it can be seen that the polarization azimuth angles of sky light under different weather conditions are regularly and symmetrically distributed around the center point, and the polarization azimuth angles gradually change from 0° to Increase to 30° and then to 60°, then gradually decrease from -60° to -30° and back to 0°.

In cloudy weather conditions, the polarization azimuth angle is changed compared with that in the clear sky state. This is because the depolarization effect caused by the multiple scattering of the atmosphere under the cloudy state reduces the polarization azimuth angle of the entire image. Nevertheless, the characteristic that the polarization azimuth distribution is symmetrical to the solar meridian has not changed, and the direction information required for navigation can still be obtained by using its distribution. In order to obtain the distribution law of the polarization azimuth angle of the whole sky within a period of time, the embodiment of the present invention conducts a continuous observation experiment on the distribution of polarized light in the sky (as shown in FIG. 6 ). Under sunny weather conditions, the whole sky is photographed every hour from 11:00 noon to 16:00 pm, and the distribution of polarized light in the sky is observed for 6 consecutive hours. Judging from a single polarization azimuth distribution image, the polarization azimuth distribution has certain similarities, but the shape and size of the polarization azimuth distribution are different at different solar altitudes. With the change of the solar altitude, the entire The polarization azimuth distribution of the sky rotates around the zenith, which is a dynamic characteristic of the polarization pattern diagram.

As shown in Figure 7, under clear weather conditions, the distribution of sky polarization azimuth angles in purple, blue, and red bands can be observed through remote sensing. Under different observation band conditions, the distribution of polarization azimuth angles is not too large The changes of , all present a regular symmetrical distribution. Combining with the distribution of the degree of polarization, it is considered that the best navigation information can be obtained from the distribution of the polarization azimuth angle in the blue band in the clear sky.

3) Using the principle of celestial navigation, solve the solar azimuth at different times, and use the solar azimuth to correct the output of the polarized light measurement system to obtain the heading angle with the geographical north and south as the reference direction.

Existing studies have shown that sand ants, bees and other insects have a visual nervous system that is extremely sensitive to the direction of sky polarized light. They use their own polarized visual system to sense the symmetry line of the polarized pattern map of the sky—the sun’s meridian, and use this as a basis Determine the angle β between the long axis of its body and the sun's meridian. The polarized light measurement system designed in the present invention imitates the polarization sensitive mechanism of insects to obtain the angle β between the current moving direction of the carrier and the meridian of the sun.

The polarized light measurement system designed by the present invention adopts three digital cameras to simultaneously shoot a certain area of the sky, and can obtain three remote sensing sky polarization images at the same time, and the output of the polarized light measurement system is:

c ₁ (φ)=k[1+dcos(2β)] (6)

${\mathrm{<span\; class="notranslate">\; c</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 4</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; c</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; d</span>}\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&times;</span>\frac{\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

In the above formula, c _i (φ) (i=1, 2, 3) respectively represents the average brightness value of the image taken when the deflection direction of the polarizer and the current direction of the carrier are 0°, 45° and 90°, and the k constant factor , the angle β between the current direction of motion of the carrier and the sun meridian can be obtained by combining the above (6)(7)(8). However, the solar meridian is constantly changing, and there are certain limitations in using it as a navigation reference line for a long time, so it is necessary to use the azimuth of the sun for correction.

As shown in Figure 8(a), in celestial navigation, the right ascension and declination of the celestial body are usually obtained by querying the "Maritime Almanac" or calculation, and the right ascension and declination of the celestial body obtained from the query and the projection of the celestial body on the earth The location of the point GP - corresponding to longitude and latitude. By solving the navigation triangle, as shown in Figure 8(b), the altitude and azimuth of the sun can be obtained. In the navigation triangle, the sun altitude angle h _s can be calculated by the following formula:

sinh _s = sinφsinδ+cosφcosδcost (9)

The solar azimuth A _s can be calculated by the following formula:

${\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; sinh</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&delta;</span>}}{{\mathrm{<span\; class="notranslate">\; cosh</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 10</span>}<span\; class="notranslate">\; )</span>$

In the above formula, h _s is the solar altitude angle; A _s is the solar azimuth angle; t is the local solar hour angle; φ is the geographic latitude; δ is the solar declination. Using the current azimuth angle A _s of the sun to correct β, the angle between the current direction of the carrier and the geographical north-south can be obtained, that is, the heading angle of the carrier is θ=β+A _s . As long as the motion speed is sensed by other sensors, the position at the next moment can be calculated. Knowing the position at the next moment, the relative position of the sun is determined, and the position of the sun determines the distribution pattern of polarized light in the sky, so the designed polarized light measurement system can be sensitive to the distance between the current carrier motion direction and the sun's meridian angle. In this way, the navigation and positioning task can be completed by iterating formula (11) successively.

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \&Integral;</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&theta;dt</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \&Integral;</span>{\mathrm{<span\; class="notranslate">\; v</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&theta;dt</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\end{array}\right.<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0,1,2</span>}<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 11</span>}<span\; class="notranslate">\; )</span>$

In the above formula, (x _i , y _i ) and v _i represent the position and velocity at time i respectively, and θ is the heading angle.

4) The blind spot of polarization navigation is processed by using the navigation method combining GPS navigation method and polarization navigation method.

Polarized light navigation uses the polarization characteristics of sky light to obtain direction information, but theoretical analysis and actual measurement results show that there is a point in the sky where the degree of polarization is zero—the polarization neutral point (as shown in Figure 9). The polarization neutral point is a blind spot for polarization navigation. Whether you can use polarized light for navigation needs to check whether the degree of polarization is within the detectable range. If the degree of polarization is zero, polarization navigation will not work. Therefore, in the actual polarization navigation process, to avoid the area where the degree of polarization is zero, you can use the combined navigation method of GPS navigation and polarization navigation to avoid the blind spot of polarization navigation. When the degree of polarization is detected to be zero, use a separate GPS navigation method For navigation, when the degree of polarization is not zero, polarization navigation can be used alone, or a combination of GPS navigation and polarization navigation can be used to achieve precise navigation as required.

As shown in Figure 10, based on the above-mentioned bionic navigation method, the navigation and positioning system of the present invention includes a GPS receiver 1, an odometer 2 and a polarized light measurement system 3, and the odometer 1 and the polarized light measurement system 3 constitute a polarization navigation and positioning system, the output of the odometer 2 and the polarized light measurement system 3 is connected to the input of a dead reckoning module 4, and the output of the GPS receiver 1 and the dead reckoning module 4 is respectively connected to the input of a data acquisition module 5, The output end of the data acquisition module 5 is connected to the output end of a signal detection and decision-making module 6, and the output end of the signal detection and decision-making module 6 is respectively connected to the GPS navigation independent positioning system 7, the GPS/polarization navigation combined positioning system 8 and the polarization navigation independent positioning The input end of the system 9, the output end of the GPS navigation independent positioning system 7, the GPS/polarization navigation combined positioning system 8 and the polarization navigation independent positioning system 9 are respectively connected to the positioning information calculation module 10, while the output end of the polarized light measurement system 3 A navigation blind spot monitoring module 11 is also connected, and the navigation blind spot monitoring module 11 calculates the polarization degree value and sends it to the signal detection and decision module 6 . When the navigation and positioning system works, the GPS receiver 1 and the dead reckoning module 4 send their respective navigation information to the data acquisition module 5, and the data acquisition module 5 sends the two groups of navigation information collected to the signal detection and decision-making module 6, The signal detection and decision-making module 6 determines the specific navigation mode according to the actual situation and preset weight factors. When the navigation blind spot monitoring module 11 detects that the degree of polarization is zero, that is, the polarization navigation blind spot, the signal detection and decision-making module 6 automatically switches to GPS navigation alone. The positioning system 7 uses GPS to avoid blind spots in navigation and complete navigation. When the degree of polarization is not zero, according to the actual needs, you can use the polarization navigation independent positioning system, or you can use the information provided by the two navigation and positioning systems to solve the positioning information by using the combined navigation to obtain the optimal positioning result. Good positioning accuracy.

In summary, the present invention realizes remote sensing sky polarization pattern acquisition and processing through the sky polarized light measurement system, the whole sky polarized light measurement method, and the analysis of the factors affecting the sky polarized light distribution, and through the polarization navigation method and the monitoring of navigation blind spots, Combined with other auxiliary navigation methods, the bionic navigation positioning information can be obtained and the bionic polarization navigation can be realized. The implementation steps involved in the above method and the structure and connection mode of each component can be changed. All equivalent transformations and improvements carried out on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention. outside.

Claims (9)

1. bionical air navigation aid based on remote sensing sky polarization mode figure may further comprise the steps:

1) be provided with one include three digital cameras all-sky polarized light measurement system; Each said digital camera front end is provided with a fish eye lens; Each said fish eye lens front end is disposed with a polaroid and a filter plate, and the output terminal of each said digital camera connects a computing machine;

2) adopt all-sky polarized light measurement method, measure when the skylight light intensity is carried out three width of cloth images, calculate degree of polarization and polarization position angle, obtain remote sensing sky polarization mode figure;

3) adopt all-sky polarized light measurement method,, obtain the external condition of the most suitable polarization navigation through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed;

4) combine the celestial navigation principle, find the solution different solar azimuths constantly, and utilize the angle between solar azimuth correction sun meridian and the carrier, obtaining with geographical north and south is the course angle of reference direction;

5) adopt the integrated navigation mode of GPS navigation mode and polarization navigate mode that polarization navigation blind spot is handled.

2. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 1; It is characterized in that: the all-sky polarized light measurement method single measurement region area said step 2) is big; The solid space angle can reach 180 degree; The time error of having avoided spot measurement to bring forms the Systematization method that different parameters is extracted, form remote sensing sky polarization mode figure simultaneously.

3. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 1; It is characterized in that: adopt all-sky polarized light measurement method in the said step 3); Through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed; Obtain the external condition of the most suitable polarization navigation; Be to be the basis with remote sensing sky polarization mode figure, obtained polarization image system transaction module and software,, deflection angle strong and weak to degree of polarization be big or small carries out grade classification, clear display is directly perceived.

4. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 2; It is characterized in that: adopt all-sky polarized light measurement method in the said step 3); Through the degree of polarization among the remote sensing sky polarization mode figure and azimuthal each influence factor of polarization are analyzed; Obtain the external condition of the most suitable polarization navigation; Be to be the basis with remote sensing sky polarization mode figure, obtained polarization image system transaction module and software,, deflection angle strong and weak to degree of polarization be big or small carries out grade classification, clear display is directly perceived.

5. like claim 1 or 2 or 3 or 4 described bionical air navigation aids based on remote sensing sky polarization mode figure; It is characterized in that: analysis-by-synthesis is the sky polarized light regularity of distribution under the condition of different weather condition, differing heights angle and different observation wave bands; The analysis result of binding isotherm; Obtain the environmental baseline of the most suitable navigation, provided the disposal route of navigation blind spot simultaneously.

6. like claim 1 or 2 or 3 or 4 described bionical air navigation aids based on remote sensing sky polarization mode figure; It is characterized in that: said step 4) is different from the method for sun meridian as the navigation reference line; But with solar azimuth the navigation angle is compensated, with fixing south poles as the navigation reference direction.

7. the bionical air navigation aid based on remote sensing sky polarization mode figure as claimed in claim 5; It is characterized in that: said step 4) is different from the method for sun meridian as the navigation reference line; But with solar azimuth the navigation angle is compensated, with fixing south poles as the navigation reference direction.

8. like each described bionical air navigation aid of claim 1～7 based on remote sensing sky polarization mode figure; It is characterized in that: the method through remote sensing observations obtains remote sensing sky polarization mode figure; Serve bionical navigation application and navigation application, form the technology that the remote sensing means are served air navigation aid and system.

9. realize navigation positioning system based on remote sensing sky polarization mode figure like each said bionical air navigation aid of claim 1～8; It is characterized in that: it comprises a GPS receiver, a mileage gauge and a polarized light measurement system; Said mileage gauge is connected the input end of a dead reckoning module with the output terminal of polarized light measurement system; The output terminal of said GPS receiver and dead reckoning module is connected respectively to the input end of a data acquisition module; The output terminal of said data acquisition module connects the output terminal of an input and decision-making module; Said input and the output terminal of decision-making module are connected the navigate input end of independent positioning system of the independent positioning system of a GPS navigation, GPS/ polarization navigation integrated positioning system and a polarization respectively; The navigate output terminal of independent positioning system of the independent positioning system of said GPS navigation, GPS/ polarization navigation integrated positioning system and polarization is connected a location information respectively and resolves module; The while output terminal of said polarized light measurement system also connects a navigation blind spot monitoring modular, and the output terminal of said navigation blind spot monitoring modular connects the output terminal of said input and decision-making module.

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