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基于大气偏振模式的三维姿态角解算方法

Calculation Method of Three-dimensional Attitude Angle Based on Atmospheric Polarization Pattern

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摘要

为了满足无人飞行器自主导航对姿态参数的迫切需求,提出一种利用大气偏振信息获取载体三维姿态信息的方法。首先充分解析大气偏振模式;然后采用K-means聚类算法解算太阳在空间中的位置信息;最后利用磁罗盘与载体体轴夹角获取载体的航向信息。在已知航向角的基础上,对导航坐标进行基准变换。首先将天顶点与太阳位置处于同一轴向,使得天顶点与太阳位置矢量处于同一基准并同时旋转;然后根据天顶点与太阳位置固有的高度夹角,将俯仰角与横滚角的计算进行转换;最后通过一系列的转换和计算得到横滚角和俯仰角的信息。实验结果表明,利用大气偏振模式解算的太阳位置可获得有效的载体姿态信息,模拟仿真的解算精度可达0.01°,外场实验的精度可达0.1°。

Abstract

In this study, a method is proposed to obtain the three-dimensional attitude information of carriers based on the atmospheric polarization pattern to meet the urgent need of obtaining attitude parameters for ensuring the autonomous navigation of unmanned aerial vehicles. Initially, the atmospheric polarization mode is completely analyzed. Then, the K-means clustering algorithm is used to calculate the position of sun in space. Finally, the angle between the magnetic compass and the carrier body is used to obtain the heading information of the carrier. The navigation coordinates are transformed into a reference based on the known heading angle. First, the zenith and sun are observed to be on the same axis; thus, the zenith and sun position vectors are on the same reference and rotate together. Then, the pitch and roll angles are calculated according to the inherent height angle between the zenith and sun. Finally, the roll and pitch angle information are obtained through several conversions and calculations. The experimental results show that effective carrier attitude information can be obtained based on the position of the sun calculated in the atmospheric polarization mode, the accuracy of the simulation can reach 0.01°, whereas that of the field experiment can reach 0.1°.

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中图分类号:V279; V249.3

DOI:10.3788/LOP57.221107

所属栏目:成像系统

基金项目:国家自然科学基金青年基金、 博士科研启动基金、 来晋优秀博士奖励资金项目;

收稿日期:2020-04-11

修改稿日期:2020-04-30

网络出版日期:2020-11-01

作者单位    点击查看

杨江涛:太原科技大学电子信息工程学院, 山西 太原 030024
王健安:太原科技大学电子信息工程学院, 山西 太原 030024
王银:太原科技大学电子信息工程学院, 山西 太原 030024
胡啸:太原科技大学电子信息工程学院, 山西 太原 030024

联系人作者:杨江涛(yangjiangtao6567@tyust.edu.cn)

备注:国家自然科学基金青年基金、 博士科研启动基金、 来晋优秀博士奖励资金项目;

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引用该论文

Yang Jiangtao,Wang Jian''an,Wang Yin,Hu Xiao. Calculation Method of Three-dimensional Attitude Angle Based on Atmospheric Polarization Pattern[J]. Laser & Optoelectronics Progress, 2020, 57(22): 221107

杨江涛,王健安,王银,胡啸. 基于大气偏振模式的三维姿态角解算方法[J]. 激光与光电子学进展, 2020, 57(22): 221107

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