CN105157667B - A kind of sun altitude computational methods based on atmosphere polarization information - Google Patents

Abstract

The present invention relates to a calculation method of solar altitude angle based on atmospheric polarization information. Firstly, an atmospheric polarization detection structure composed of three polarization navigation sensors is designed to obtain polarization degree information d ₁ , d ₂ , and d ₃ of three observation points; secondly, According to the relative installation positions of the three polarization navigation sensors, establish the sixth-order polynomial constraint relationship between d ₁ , d ₂ , d ₃ and the maximum polarization degree d _max in the whole space; use the sixth-order polynomial constraint relationship of the polarization degree established above to determine the full The maximum degree of polarization d _max in the airspace; finally, determine the sun altitude angle γ in the coordinate system of the polarization navigation sensor module according to the value of d _max . The invention has the advantages of simple structure, high precision, etc., and can calculate the local sun elevation angle by using the atmospheric polarization information, which is used for three-dimensional navigation and positioning of the carrier.

Description

A Calculation Method of Sun Altitude Angle Based on Atmospheric Polarization Information

technical field

The invention relates to a method for calculating the sun altitude angle based on atmospheric polarization information, which can be used for modeling the polarization integrated navigation system of an aircraft, applies the degree of polarization information to the measurement equation, simplifies the model of the polarization navigation integrated navigation system, and improves the reliability of the system model. Observability, thereby improving the alignment accuracy and navigation accuracy of the polarization integrated navigation system.

Background technique

Atmospheric polarization is a natural attribute of light. Polarized light widely exists in the natural environment, and the atmospheric polarization distribution pattern is relatively stable, which contains rich navigation information. Scientists have discovered that many creatures in nature can use polarized light to navigate. Sand ants on the ground, bees flying in the air, and lobsters under the water are all representatives of using polarized light to navigate. The corresponding results have been published in journals such as Nature and Science. .

The navigation method based on polarization information has the characteristics of autonomy, passive, no radiation, and good concealment. In the 21st century, in order to improve the performance of integrated navigation systems without satellite navigation, countries such as Europe and the United States pay more attention to the research and implementation of new autonomous navigation methods. Polarization navigation system technology has been developed rapidly.

At present, the difficulty of polarization navigation system technology is the extraction and application of polarization navigation information. Ants, bees and other organisms use polarized light to realize two-dimensional navigation, mainly using the directional characteristics of atmospheric polarization distribution, and judge the polarization direction of polarized light in the sky by sensing the polarization direction of the sky. The angle between the body axis and the sun's meridian. In order to imitate the ability of living things to navigate using atmospheric polarization characteristics, domestic and foreign scholars have developed a bionic polarization navigation sensor based on the structure of biological compound eyes. By measuring the light intensity of a certain point in the sky with different polarization directions, the polarization state information of the observation point can be calculated—— Polarization direction and degree of polarization.

In the actual atmosphere, due to the existence of large particles such as clouds, aerosols, and water droplets, as well as ground reflection phenomena, the atmospheric polarization mode presents various undesirable states. This non-ideal state makes the maximum value of the polarization degree in the entire airspace not equal to 1, while The impact of this non-ideal state on the polarization direction is not obvious. Therefore, in the existing polarization navigation technology, the polarization direction is mainly used to determine the carrier heading, and the use of another important information of atmospheric polarization information—the degree of polarization is ignored. , this phenomenon leads to insufficient utilization of atmospheric polarization information, which limits the application of polarization navigation technology in 3D navigation. Atmospheric polarization, as an important characterization of sunlight, contains information about the sun's azimuth, which can be used for three-dimensional navigation and positioning of the carrier. At present, there is no report on using atmospheric polarization information to determine the sun's altitude angle.

Contents of the invention

The problem solved by the technology of the present invention is: to overcome the defect of insufficient utilization of the existing polarization information, and use the atmospheric polarization information to obtain the sun altitude angle for the three-dimensional navigation and positioning of the carrier. The invention proposes a combined detection structure of three polarization navigation sensors, rationally designs the detection directions of the three polarization navigation sensors, establishes a sixth-order polynomial constraint relationship between the degree of polarization at the observation point and the maximum degree of polarization d _max in the whole sky, and realizes the full The calculation of the maximum degree of polarization d _max in the sky field, and then the solution of the sun altitude angle γ in the module coordinate system, provides an effective way to use the information of the degree of polarization to the carrier navigation. The method is simple in structure and easy to implement in algorithm. Introducing the sun altitude angle γ in the coordinate system of the polarization module into the polarization integrated navigation model can greatly simplify the complexity of the polarization integrated navigation model, improve the observability of the integrated navigation system, and further improve the integrated navigation. System alignment accuracy and navigation accuracy.

The technical solution of the present invention is: a kind of calculation method of solar altitude angle based on atmospheric polarization information, and its realization steps are as follows:

(1) First, design the detection structure of the maximum polarization degree d _max in the whole sky. The detection structure is composed of three polarization navigation sensors. The polarization navigation sensors are installed in the same plane, the main polarization navigation sensor is installed in the z-axis direction of the module coordinate system, and the two auxiliary polarization navigation sensors are installed on both sides of the main polarization navigation sensor. The included angle between the main axes is η;

(2) According to the detection structure of the maximum degree of polarization d _max in the whole sky designed in (1), obtain the measured values of the degree of polarization of the three observation points in the sky, and establish the degree of polarization of the three observation points and the maximum degree of polarization d _max in the whole sky The sixth-order polynomial constraint relationship between determines the maximum polarization degree d _max in the whole sky;

(3) According to the value of the maximum polarization degree d _max in the whole sky obtained in (2), determine the solar altitude angle γ based on the atmospheric polarization information in the module coordinate system.

Said step (1) first designs the detection structure of the maximum degree of polarization d _max in the whole sky, and the detection structure is composed of three polarization navigation sensors, and performs feature extraction on the degree of polarization and polarization direction information of three observation points in the sky in real time, Among them, three polarization navigation sensors are installed in the same plane, the main polarization navigation sensor is installed in the z-axis direction of the module coordinate system, two auxiliary polarization navigation sensors are installed on both sides of the main polarization navigation sensor, and the main axes of the two auxiliary polarization navigation sensors are connected to the main axis. The included angle between the main axes of the polarization navigation sensor is η, and the specific realization is as follows:

Design the detection structure of the maximum polarization degree d _max in the whole sky. The detection structure is composed of three polarization navigation sensors, and the three polarization navigation sensors are installed in the same plane. The coordinates formed by the installation plane and the observation direction _of the main polarization navigation sensor A1 are The system is the module coordinate system Mxyz, M is the coordinate origin, the plane where the xy axis is located is the installation plane of the main polarization navigation sensor A ₁ , the positive direction of the z axis is the observation direction of the main polarization navigation sensor A ₁ , and the other two auxiliary polarization navigation sensors A ₂ , A ₃ is symmetrically installed on both sides of the main polarization navigation sensor A ₁ , and the included angles between the main axes of the two auxiliary polarization navigation sensors and the main polarization navigation sensor in the installation plane are both η,η∈(0,90°);

The unit celestial sphere is constructed with the coordinate origin M as the center of the sphere, and the projections of the observation points of the three polarization navigation sensors on the unit celestial sphere are Q ₁ , Q ₂ , Q ₃ , MQ ₁ , MQ ₂ , and MQ ₃ respectively represent the three polarization navigation The unit vectors of the observation directions of sensors A ₁ , A ₂ , A ₃ , according to the detection structure of the maximum polarization degree d _max in the whole sky, the observation directions of the three polarization navigation sensors are in the same plane, then MQ ₁ , MQ ₂ , MQ ₃ and z The axes are in the same plane, and MQ ₂ and MQ ₃ are respectively located on both sides of MQ ₁ , and the included angles with MQ ₁ are both η,η∈(0,90°);

Through the designed all-sky domain maximum polarization d _max detection structure, the polarization measurement values of the three polarization navigation sensors A ₁ , A ₂ , and A ₃ are obtained in real time, denoted by d ₁ , d ₂ , and d ₃ respectively;

The step (2) obtains the measured values of the polarization degrees of three observation points in the sky according to the detection structure of the maximum polarization degree d _max in the whole sky according to (1), and establishes the polarization degree and the maximum polarization degree of the whole sky of the three observation points The sixth-order polynomial constraint relationship between degrees d _max determines the maximum polarization degree d _max in the whole sky. The specific implementation is as follows:

Based on the Rayleigh scattering theory, the polarization degree of the observation point has the following relationship with the polarization observation angle:

Among them, d _n is the degree of polarization of the observation point measured by the nth polarization navigation sensor, is the maximum value of the polarization degree of the three observation points, θ _n is the angle between the observation direction of the nth polarization navigation sensor and the sun vector MS, S is the projection of the sun on the unit celestial sphere, and the sun vector MS is the sun in the module coordinate system Direction unit vector, θ _n ∈ [0, π], n ∈ {1, 2, 3};

The angles between the observation directions MQ ₁ , MQ ₂ , MQ ₃ of the three polarization navigation sensors A ₁ , A ₂ , A ₃ and the sun vector MS are θ ₁ , θ ₂ , θ ₃ respectively. According to the Rayleigh scattering theory, we have :

Among them, θ ₁ is the angle between the observation direction MQ ₁ and MS of the main polarization navigation sensor A ₁ , θ ₂ is the angle between the observation direction MQ ₂ and MS of the auxiliary polarization navigation sensor A ₂ , and θ ₃ is the observation direction of the auxiliary polarization navigation sensor A ₃ Angle between direction MQ ₃ and MS;

According to the detection structure of the maximum degree of polarization d _max in the whole sky designed in step (1), the observation direction MQ ₁ of the main polarization navigation sensor A ₁ coincides with the z-axis of the module coordinate system, so the following equation holds:

θ ₁ +γ = π/2

Among them, γ is used as the sun altitude angle in the module coordinate system;

Using the cosine theorem of spherical triangles in spherical triangles △Q ₂ Q ₁ S and △Q ₃ Q ₁ S:

cosθ ₂ ＝cosθ ₁ cosη+sinθ ₁ sinηcos∠SQ ₁ Q ₂

cosθ ₃ ＝cosθ ₁ cosη+sinθ ₁ sinηcos∠SQ ₁ Q ₃

According to the detection structure of the maximum polarization degree d _max in the whole sky designed in step (1), MQ ₁ , MQ ₂ , and MQ ₃ are in the same plane, then ∠SQ ₁ Q ₂ +∠SQ ₁ Q ₃ = π, θ ₁ , θ ₂ and θ ₃ can be expressed as:

cosθ ₂ +cosθ ₃ = 2cosηcosθ ₁

Let a=2cosη, according to the relative installation positions of the three polarization navigation sensors in the detection structure of the maximum polarization degree d _max in the whole sky, and the relationship between the polarization degree of the three observation points and the polarization observation angle, establish the polarization degrees of the three observation points The sixth-order polynomial constraint relationship with the maximum degree of polarization d _max in the whole sky, in the interval of real numbers There is a unique solution to the inner equation;

α ₆ d _max ⁶ + α ₅ d _max ⁵ + α ₄ d _max ⁴ + α ₃ d _max ³ + α ₂ d _max ² + α ₁ d _max + α ₀ ＝0

in:

The value of the maximum degree of polarization d _max in the whole sky according to (2) in the described step (3) determines the solar elevation angle γ based on the atmospheric polarization information under the module coordinate system, and the specific realization is as follows:

According to the maximum degree of polarization d _max in the whole sky obtained in step (2), the polarization observation angle θ _{1 of} the main polarization navigation sensor A1 is obtained as:

Among them, ± means that θ ₁ may be smaller than π/2 or larger than π/2, and the choice of + or - can be judged by an external light sensor.

According to the installation method of the main polarization navigation sensor A1 in step ( ₁ ) and the relationship between the sun altitude angle γ and the scattering angle _θ1 in step (2), the sun altitude angle γ in the module coordinate system is obtained as:

γ=π/2-θ ₁

The principle of the present invention is: based on the Rayleigh scattering theory, the atmospheric polarization distribution mode has certain symmetry, the distribution characteristics of the polarization direction and degree of polarization distribution in the whole space are fixed at a certain geographical location at a certain moment, and the polarization navigation sensor can realize The polarization information of a certain point in the sky is measured, but due to the non-ideal state of the atmospheric polarization distribution, the polarization information of a certain point cannot be fully used in the polarization navigation system. The invention proposes a method for calculating the sun altitude angle by using the atmospheric polarization information to maximize the utilization of the polarization information, aiming at the inability to fully utilize the polarization information and the polarization navigation system. First, a three-sensor polarization detection structure is constructed, and the installation directions of the three polarization navigation sensors are reasonably designed; then, based on the Rayleigh scattering theory and the cosine theorem of spherical triangles, the polarization degree information of the three observation points and the maximum value in the whole sky are constructed. The relationship between the degrees of polarization; finally, the sun altitude angle γ in the coordinate system of the polarization module is obtained by solving the multivariate nonlinear equations.

The advantage of the present invention compared with prior art is:

(1) The present invention designs the detection structure of the maximum degree of polarization d _max of the three sensors in the whole sky, and establishes the degree of polarization of the three observation points and the maximum degree of polarization d _max of the whole sky by rationally designing the installation directions of the three polarization navigation sensors The sixth-order polynomial constraint relationship between them reduces the difficulty of solving the maximum polarization degree d _max in the whole sky. Compared with the traditional method of obtaining d _max through full-space polarization imaging, the structure, cost, and algorithm complexity are reduced, and the system redundancy is increased. redundancy. According to the value of the maximum polarization degree d _max in the whole sky, the altitude angle of the sun is calculated, which is used for the three-dimensional navigation and positioning of the carrier.

Description of drawings

Fig. 1 is the design flowchart of the present invention;

Fig. 2 is a schematic diagram of the detection structure of the three-polarization navigation sensor involved in the present invention;

Fig. 3 is a schematic diagram of the sun altitude angle γ and the polarization observation angle θ in the coordinate system of the polarization module involved in the present invention.

detailed description

As shown in Figure 1, the specific implementation steps of the present invention are as follows:

1. Design the detection structure of the maximum polarization degree d _max in the whole sky, and perform feature extraction on the polarization degree and polarization direction information of three observation points in the sky in real time:

Firstly, the detection structure of the maximum polarization degree d _max in the whole sky is designed, as shown in Fig. 2, the detection structure is composed of three polarization navigation sensors, among which the three polarization navigation sensors are installed in the same plane, and the installation of the main polarization navigation sensor A ₁ The coordinate system formed by the plane and the observation direction is the module coordinate system Mxyz, M is the coordinate origin, the plane where the xy axis is located is the installation plane _of the main polarization navigation sensor A1, the positive direction _of the z axis is the observation direction of the main polarization navigation sensor A1, and the other two Two auxiliary polarization navigation sensors A ₂ and A ₃ are symmetrically installed on both sides of the main polarization navigation sensor A ₁ , and the included angles between the main axis of the two auxiliary polarization navigation sensors and the main axis of the main polarization navigation sensor in the installation plane are both η,η∈(0 ,90°);

The unit celestial sphere is constructed with the coordinate origin M as the center of the sphere, and the projections of the observation points of the three polarization navigation sensors on the unit celestial sphere are Q ₁ , Q ₂ , Q ₃ , MQ ₁ , MQ ₂ , and MQ ₃ respectively represent the three polarization navigation The unit vectors of the observation directions of the sensors A ₁ , A ₂ , and A ₃ can be known from the detection structure of the maximum polarization degree d _max in the whole sky, and the three polarization navigation sensors are in the same plane, so MQ ₁ , MQ ₂ , and MQ ₃ are on the same axis as the z axis In the plane, and MQ ₂ and MQ ₃ are respectively located on both sides of MQ ₁ , and the included angles with MQ ₁ are both η,η∈(0,90°);

Through the designed all-sky domain maximum polarization d _max detection structure, the polarization measurement values of the three polarization navigation sensors A ₁ , A ₂ , and A ₃ are obtained in real time, denoted by d ₁ , d ₂ , and d ₃ respectively;

2. Establish the sixth-order polynomial constraint relationship between the degree of polarization of the three observation points and the maximum degree of polarization d _max in the whole sky:

Based on the Rayleigh scattering theory, the polarization degree of the observation point has the following relationship with the polarization observation angle (scattering angle):

Among them, d _n is the degree of polarization of the observation point measured by the nth polarization navigation sensor, is the maximum value of the polarization degree of the three observation points, θ _n is the angle between the observation direction of the nth polarization navigation sensor and the sun vector MS, S is the projection of the sun on the unit celestial sphere, and the sun vector MS is the sun in the module coordinate system Direction unit vector, θ _n ∈ [0, π], n ∈ {1, 2, 3};

The angles between the observation directions MQ ₁ , MQ ₂ , MQ ₃ of the three polarization navigation sensors A ₁ , A ₂ , A ₃ and the sun vector MS are θ ₁ , θ ₂ , θ ₃ respectively. According to the Rayleigh scattering theory, we have :

Among them, θ ₁ is the angle between the observation direction MQ ₁ and MS of the main polarization navigation sensor A ₁ , θ ₂ is the angle between the observation direction MQ ₂ and MS of the auxiliary polarization navigation sensor A ₂ , and θ ₃ is the observation direction of the auxiliary polarization navigation sensor A ₃ Angle between direction MQ ₃ and MS;

According to the detection structure of the maximum degree of polarization d _max in the whole sky designed in step (1), the observation direction MQ ₁ of the main polarization navigation sensor A ₁ coincides with the z-axis of the module coordinate system, so the following equation holds:

θ ₁ +γ = π/2

Among them, γ is used as the sun altitude angle in the module coordinate system;

Using the cosine theorem of spherical triangles in spherical triangles △Q ₂ Q ₁ S and △Q ₃ Q ₁ S:

cosθ ₂ ＝cosθ ₁ cosη+sinθ ₁ sinηcos∠SQ ₁ Q ₂

cosθ ₃ ＝cosθ ₁ cosη+sinθ ₁ sinηcos∠SQ ₁ Q ₃

According to the detection structure of the maximum polarization degree d _max in the whole sky designed in step (1), MQ ₁ , MQ ₂ , and MQ ₃ are in the same plane, then ∠SQ ₁ Q ₂ +∠SQ ₁ Q ₃ = π, θ ₁ , θ ₂ and θ ₃ can be expressed as:

cosθ ₂ +cosθ ₃ = 2cosηcosθ ₁

Let a=2cosη, according to the relative installation positions of the three polarization navigation sensors in the detection structure of the maximum polarization degree d _max in the whole sky, and the relationship between the polarization degree of the three observation points and the polarization observation angle, establish the polarization degrees of the three observation points The sixth-order polynomial constraint relationship with the maximum degree of polarization d _max in the whole sky, in the interval of real numbers There is a unique solution to the inner equation;

α ₆ d _max ⁶ + α ₅ d _max ⁵ + α ₄ d _max ⁴ + α ₃ d _max ³ + α ₂ d _max ² + α ₁ d _max + α ₀ ＝0

in:

α ₆ =4a ² -a ⁴

α ₅ =2a ⁴ d ₁ +(4a ² -2a ⁴ )d ₂ +(4a ² -2a ⁴ )d ₃

α ₄ ＝4a ⁴ d ₁ d ₂ +4a ⁴ d ₁ d ₃ +(8-4a ⁴ )d ₂ d ₃ -(a ⁴ +4a ² )d ₁ ² -(a ⁴ +4)d ₂ ² -( a ⁴ +4)d ₃ ²

α ₃ ＝(8a ⁴ +16)d ₁ d ₂ d ₃ -(8-2a ⁴ )d ₁ d ₂ ² -(2a ⁴ +4a ² )d ₁ ² d ₂ -(8-2a ⁴ )d ₁ d ₃ ²

-(2a ⁴ +4a ² )d ₁ ² d ₃ -(2a ⁴ +4a ² )d ₂ d ₃ ² -(2a ⁴ +4a ² )d ₂ ² d ₃

α ₂ =(8-4a ⁴ )d ₁ ² d ₂ d ₃ +4a ⁴ d ₁ d ₂ ^{2 2} d ₃ +4a ⁴ d ₁ d ₂ d ₃ ²

-(4+a ⁴ )d ₁ ² d ₂ ² -(4+a ⁴ )d ₁ ² d ₃ ² -(a ⁴ +4a ² )d ₂ ² d ₃ ²

α ₁ =2a ⁴ d ₁ ² d ₂ ² d ₃ +(4a ² -2a ⁴ )d ₁ ² d ₂ d ₃ ³ +(4a ² -2a ⁴ )d ₁ d ₂ ² d ₃ ²

α ₀ =(4a ² -a ⁴ )d ₁ ² d ₂ ² d ₃ ²

3. Determine the solar altitude angle γ based on the atmospheric polarization information in the module coordinate system.

According to the maximum degree of polarization d _max in the whole sky obtained in step (2), determine the solar altitude angle γ based on the atmospheric polarization information in the module coordinate system, as shown in Figure 3, and the specific implementation is as follows:

According to the maximum degree of polarization d _max in the whole sky obtained in step (2), the polarization observation angle θ _{1 of} the main polarization navigation sensor A1 is obtained as:

Among them, ± means that θ ₁ may be smaller than π/2 or larger than π/2, and the choice of + or - can be judged by an external light sensor.

According to the installation method of the main polarization navigation sensor A1 in step ( ₁ ) and the relationship between the sun altitude angle γ and the scattering angle _θ1 in step (2), the sun altitude angle γ in the module coordinate system is obtained as:

γ=π/2−θ ₁ .

Claims (4)

1. A method for calculating the solar elevation angle based on atmospheric polarization information, characterized in that: (1) First, design the detection structure of the maximum polarization degree d _max in the whole sky. The detection structure is composed of three polarization navigation sensors. The polarization navigation sensors are installed in the same plane, the main polarization navigation sensor is installed in the z-axis direction of the module coordinate system, and the two auxiliary polarization navigation sensors are installed on both sides of the main polarization navigation sensor. The included angle between the main axes is η; (2) According to the detection structure of the maximum degree of polarization d _max in the whole sky designed in step (1), obtain the measured values of the degree of polarization of the three observation points in the sky, and establish the degree of polarization of the three observation points and the maximum degree of polarization d in the whole sky The sixth-order polynomial constraint relationship between _max determines the maximum polarization degree d _max in the whole sky; (3) According to the value of the maximum polarization degree d _max in the whole sky obtained in step (2), determine the solar altitude angle γ based on the atmospheric polarization information in the module coordinate system. 2. a kind of solar altitude calculation method based on atmospheric polarization information according to claim 1, is characterized in that: the concrete realization of described step (1) detection structure is as follows: Design the detection structure of the maximum polarization degree d _max in the whole sky. The detection structure is composed of three polarization navigation sensors, and the three polarization navigation sensors are installed in the same plane. The coordinates formed by the installation plane and the observation direction _of the main polarization navigation sensor A1 are The system is the module coordinate system Mxyz, M is the coordinate origin, the plane where the xy axis is located is the installation plane of the main polarization navigation sensor A ₁ , the positive direction of the z axis is the observation direction of the main polarization navigation sensor A ₁ , and the other two auxiliary polarization navigation sensors A ₂ , A ₃ is symmetrically installed on both sides of the main polarization navigation sensor A ₁ , and the included angles between the main axes of the two auxiliary polarization navigation sensors and the main polarization navigation sensor in the installation plane are both η, η∈(0,90°); The unit celestial sphere is constructed with the coordinate origin M as the center of the sphere, and the projections of the observation points of the three polarization navigation sensors on the unit celestial sphere are Q ₁ , Q ₂ , Q ₃ , MQ ₁ , MQ ₂ , and MQ ₃ respectively represent the three polarization navigation The unit vectors of the observation directions of sensors A ₁ , A ₂ , A ₃ , according to the detection structure of the maximum polarization degree d _max in the whole sky, the observation directions of the three polarization navigation sensors are in the same plane, then MQ ₁ , MQ ₂ , MQ ₃ and z The axes are in the same plane, and MQ ₂ and MQ ₃ are respectively located on both sides of MQ ₁ , and the included angles with MQ ₁ are both η,η∈(0,90°); Through the designed all-sky domain maximum polarization d _max detection structure, the polarization measurement values of the three polarization navigation sensors A ₁ , A ₂ , and A ₃ are obtained in real time, denoted by d ₁ , d ₂ , and d ₃ respectively. 3. a kind of solar altitude calculation method based on atmospheric polarization information according to claim 2, is characterized in that: the concrete realization of described step (2) maximum polarization degree d _max of the whole sky is as follows: Based on the Rayleigh scattering theory, the polarization degree of the observation point has the following relationship with the polarization observation angle: $\frac{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; cos</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}$ Among them, d _n is the degree of polarization of the observation point measured by the nth polarization navigation sensor, is the maximum value of the polarization degree of the three observation points, θ _n is the angle between the observation direction of the nth polarization navigation sensor and the sun vector MS, S is the projection of the sun on the unit celestial sphere, and the sun vector MS is the sun in the module coordinate system Direction unit vector, θ _n ∈ [0, π], n ∈ {1, 2, 3}; The angles between the observation directions MQ ₁ , MQ ₂ , MQ ₃ of the three polarization navigation sensors A ₁ , A ₂ , A ₃ and the sun vector MS are θ ₁ , θ ₂ , θ ₃ respectively. According to the Rayleigh scattering theory, we have : $\left\{\begin{array}{c}\frac{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; cos</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}\\ \frac{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; cos</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}\\ \frac{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; cos</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}\end{array}\right.$ Among them, θ ₁ is the angle between the observation direction MQ ₁ and MS of the main polarization navigation sensor A ₁ , θ ₂ is the angle between the observation direction MQ ₂ and MS of the auxiliary polarization navigation sensor A ₂ , and θ ₃ is the observation direction of the auxiliary polarization navigation sensor A ₃ Angle between direction MQ ₃ and MS; According to the detection structure of the maximum degree of polarization d _max in the whole sky designed in step (1), the observation direction MQ ₁ of the main polarization navigation sensor A ₁ coincides with the z-axis of the module coordinate system, so the following equation holds true: θ ₁ + γ = π/ 2 Among them, γ is the sun altitude angle in the module coordinate system; Using the cosine theorem of spherical triangles in spherical triangles △Q ₂ Q ₁ S and △Q ₃ Q ₁ S: cosθ ₂ ＝cosθ ₁ cosη+sinθ ₁ sinηcos∠SQ ₁ Q ₂ cosθ ₃ ＝cosθ ₁ cosη+sinθ ₁ sinηcos∠SQ ₁ Q ₃ According to the detection structure of the maximum polarization degree d _max in the whole sky designed in step (1), MQ ₁ , MQ ₂ , and MQ ₃ are in the same plane, then ∠SQ ₁ Q ₂ +∠SQ ₁ Q ₃ = π, θ ₁ , θ ₂ and θ ₃ can be expressed as: cosθ ₂ +cosθ ₃ = 2cosηcosθ ₁ Let a=2cosη, according to the relative installation positions of the three polarization navigation sensors in the detection structure of the maximum polarization degree d _max in the whole sky, and the relationship between the polarization degree of the three observation points and the polarization observation angle, establish the polarization degrees of the three observation points The sixth-order polynomial constraint relationship with the maximum degree of polarization d _max in the whole sky, in the interval of real numbers There is a unique solution to the inner equation; α ₆ d _max ⁶ + α ₅ d _max ⁵ + α ₄ d _max ⁴ + α ₃ d _max ³ + α ₂ d _max ² + α ₁ d _max + α ₀ ＝0 in: α ₆ =4a ² -a ⁴ α ₅ =2a ⁴ d ₁ +(4a ² -2a ⁴ )d ₂ +(4a ² -2a ⁴ )d ₃ α ₄ ＝4a ⁴ d ₁ d ₂ +4a ⁴ d ₁ d ₃ +(8-4a ⁴ )d ₂ d ₃ -(a ⁴ +4a ² )d ₁ ² -(a ⁴ +4)d ₂ ² -( a ⁴ +4)d ₃ ² α ₃ ＝(8a ⁴ +16)d ₁ d ₂ d ₃ -(8-2a ⁴ )d ₁ d ₂ ² -(2a ⁴ +4a ² )d ₁ ² d ₂ -(8-2a ⁴ )d ₁ d ₃ ² -(2a ⁴ +4a ² )d ₁ ² d ₃ -(2a ⁴ +4a ² )d ₂ d ₃ ² -(2a ⁴ +4a ² )d ₂ ² d ₃ α ₂ =(8-4a ⁴ )d ₁ ² d ₂ d ₃ +4a ⁴ d ₁ d ₂ ^{2 2} d ₃ +4a ⁴ d ₁ d ₂ d ₃ ² -(4+a ⁴ )d ₁ ² d ₂ ² -(4+a ⁴ )d ₁ ² d ₃ ² -(a ⁴ +4a ² )d ₂ ² d ₃ ² α ₁ =2a ⁴ d ₁ ² d ₂ ² d ₃ +(4a ² -2a ⁴ )d ₁ ² d ₂ d ₃ ³ +(4a ² -2a ⁴ )d ₁ d ₂ ² d ₃ ² α ₀ =(4a ² −a ⁴ )d ₁ ² d ₂ ² d ₃ ² . 4. a kind of solar altitude calculation method based on atmospheric polarization information according to claim 1, is characterized in that: the concrete realization of solar altitude γ in described step (3) is as follows: According to the maximum degree of polarization d _max in the whole sky obtained in step (2), the polarization observation angle θ _{1 of} the main polarization navigation sensor A1 is obtained as: ${\mathrm{<span\; class="notranslate">\; cos</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}$ ${\mathrm{<span\; class="notranslate">\; \&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arc</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; o</span>}\mathrm{<span\; class="notranslate">\; the\; s</span>}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; \&PlusMinus;</span>\sqrt{\frac{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; d</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}}<span\; class="notranslate">\; )</span>$ Among them, ± means that θ ₁ may be smaller than π/2 or larger than π/2, and the choice of + or - can be judged by an external light sensor; According to the installation method of the main polarization navigation sensor A1 in step ( ₁ ) and the relationship between the sun altitude angle γ and the scattering angle _θ1 in step (2), the sun altitude angle γ in the module coordinate system is obtained as: γ=π/2−θ ₁ .