基于偏振光及重力的辅助定姿方法研究

Attitude Determination Aided by Polarized-Light and Gravity

提出了一种以太阳方向矢量为基准的偏振光导航方法,该方法利用太阳方向矢量物理意义明确的特点,消除了直接利用偏振光进行导航定向时存在的180°模糊性问题。为完全观测载体姿态,同时引入了重力观测量,提出了利用偏振光及重力矢量联合辅助定姿的方法,并详细推导了该方法的观测方程,同时给出了当姿态误差较小时,观测方程的简化线性形式。利用该姿态观测方程,设计了基于偏振光及重力辅助定姿的偏振光/GPS/SINS组合导航算法。理论分析及仿真表明,通过引入偏振光及重力矢量进行辅助定姿,导航系统可以直接观测载体的平台姿态误差,进而增强了系统对载体姿态的估计性能,且使得组合导航系统可以完成大初始姿态误差时的导航任务。

Taking solar direction vector as reference, a new polarized-light navigation method is proposed. By means of the physical meaning of solar direction vector, the 180° directional ambiguity in navigation using polarized-light directly is overcame. The attitude determination method aided by polarized-light and gravity is proposed. The observation equation of this method is developed. And the simplified linear form of observation equation is presented when the attitude error is small. The Polarized-light/GPS/SINS integrated navigation algorithm is designed. Theoretical analysis and simulation results demonstrate that by introducing the polarized-light and gravity observation equation, the integrated navigation system can observe the carrier platform attitude error directly. And then the attitude estimation performance of the navigation system is enhanced. And the navigation task with large initial attitude error can be completed.