CN119642826B - A three-dimensional attitude determination method for a vehicle based on dual-vector characteristics of polarized light fields at night - Google Patents
A three-dimensional attitude determination method for a vehicle based on dual-vector characteristics of polarized light fields at nightInfo
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Abstract
The invention relates to a carrier three-dimensional attitude determination method based on dual vector features of a night polarized light field, which comprises the steps of obtaining night polarized light field information, obtaining neutral point coordinates and moon coordinates of an image plane coordinate system based on neutral plane features of a polarization distribution mode, further calculating a carrier neutral plane normal vector based on an imaging model by inverse solving a polarized neutral point vector and a moon vector under a carrier coordinate system, obtaining a navigation system moon vector based on time information and geographic position information, obtaining a navigation system neutral plane normal vector by using zenith direction vector calculation, constructing an orthogonal coordinate system by using corresponding moon vector and normal vector in the carrier system and the navigation system respectively, calculating an attitude conversion matrix based on the two orthogonal coordinate systems, and thus obtaining a conversion relation between the carrier system and the navigation system, and obtaining a three-dimensional attitude angle. The invention realizes autonomous attitude determination based on sky polarized light field without external input, removes external error source and improves autonomy.
Description
Technical Field
The invention belongs to the field of pose determination, and relates to a carrier three-dimensional pose determination method based on dual-vector features of a night polarized light field.
Background
The bionic polarization navigation has the characteristics of passive autonomy and error-free accumulation, and is rapidly developed. With respect to the current research, the research of polarized light navigation mainly aims at sunlight polarization in daytime, and the research of polarized light navigation of moon light for night environments is limited. Polarized navigation provides a viable solution for night autonomous navigation, especially in situations where satellite navigation signals are limited.
However, the existing night polarization attitude determination algorithm needs to know horizontal attitude information, and external sensors such as inertial navigation and horizon sensor are required to provide horizontal attitude references, so that the application range is limited by providing heading information for a carrier, and external navigation information errors can be introduced. For example, in chinese patent ZL201911250896.8 (autonomous heading and attitude determination method based on polarization-astronomical angle information observation), the star sensor provides measurement information of roll and pitch angles, so as to solve the three-dimensional attitude of the carrier, but errors of the star sensor are also introduced.
Meanwhile, the existing method for realizing three-dimensional attitude estimation based on polarization information does not consider factors such as low illumination intensity, poor visibility and the like of a scene at night. The three-dimensional attitude determination method of the aircraft can be realized based on the atmospheric polarization distribution mode by using the Chinese patent ZL201310731899.X (three-dimensional attitude determination method using atmospheric polarized light), but the method needs to match the polarization information in the horizontal direction and is not suitable for application scenes with lower heights. Chinese patent ZL201611078923.4 (a three-dimensional attitude determination method of large-space polarization based on double neutral point vectors) relies on two neutral point vector measurements obtained under a carrier system and a navigation system to estimate the carrier attitude, but two neutral points are difficult to observe at the same time under a night scene, and the applicability is limited. The Chinese patent ZL202210828890.X (three-dimensional navigation attitude determination method based on underwater downlink radiation intensity and polarized light field) can realize the determination of the three-dimensional navigation attitude of an underwater carrier, but the method is not suitable for the atmospheric environment because the optical refraction characteristics of the atmosphere-water body are needed.
Disclosure of Invention
In order to solve the problem that other sensors are required to provide horizontal posture information in polarized navigation in a night scene, the present situation that the existing method for realizing three-dimensional posture estimation based on the polarized information does not consider the characteristics of the night scene is considered. According to the invention, the three-dimensional attitude estimation result of the carrier can be provided by measuring the moon vector and the neutral point vector in the sky polarized light field at night, so that a solution is provided for polarization autonomous attitude determination without depending on external horizontal reference information in a night scene. According to the invention, under the condition that other sensor errors are not introduced, carrier three-dimensional attitude estimation by using polarized navigation information only can be realized, and autonomy and precision of night polarized navigation are improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a carrier three-dimensional attitude determination method based on dual vector features of a night polarized light field comprises the following steps:
The first step, an image type polarization sensor is used for obtaining a sky polarized light field, and an image plane coordinate system is obtained based on neutral point characteristics in an atmospheric polarization distribution mode Neutral point coordinates in a system;
Secondly, calculating a carrier system according to the camera imaging model and the polarization distribution mode information under the image plane coordinate systemCoordinates of the neutral point under the systemCoordinate with moonObtaining a neutral point vectorAnd moon vectorFurther calculateNormal vector of neutral plane of neutral point-moon;
Step three, importing time information and geographic position information into an astronomical calendar to obtain a navigation systemTethered moon vectorBased on zenith direction vectorObtainingNormal vector of neutral plane where line connecting zenith and moon is located;
Fourth step, under the carrier system, based on moon vectorVector normal to neutral planeConstructing an orthogonal coordinate system, similarly, constructing a moon-based vector under a navigation systemVector normal to neutral planeConstructing an orthogonal coordinate system;
Fifth step based on Tying and connectingAnd 2 orthogonal coordinate systems under the system, obtaining a coordinate conversion relation between the carrier system and the navigation system, and obtaining three-dimensional attitude information through calculation.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention provides three-dimensional attitude information based on the image type polarization sensor only, and the night polarization navigation technology is not limited to heading estimation any more.
(2) According to the method, the situation that the moon pattern cannot be directly observed in the actual application scene is considered, the moon information is obtained based on the global polarized light field information, and the environmental adaptability of three-dimensional gesture determination by utilizing the polarized light field is improved.
(3) According to the invention, the three-dimensional space information is resolved only by using the polarized light navigation technology, so that the introduction of an external sensor error is avoided, and the possible influence of the external error is reduced.
Drawings
Fig. 1 is a flow chart of a carrier three-dimensional attitude determination method based on dual vector characteristics of a night polarized light field.
Fig. 2 is a schematic view of an image plane coordinate system according to the present invention.
FIG. 3 is a schematic diagram of a vector system according to the present invention.
Fig. 4 is a schematic diagram of a navigation coordinate system and polarized light field according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1, the carrier three-dimensional attitude determination method based on dual vector characteristics of a night polarized light field in the embodiment of the invention comprises the following steps:
first, as shown in fig. 2, an image type polarization sensor is used to collect a sky polarized light field, obtain a polarized image, and obtain polarization Angle (AOP) information by means of a solution. Drawing edge contours of different polarized angle areas in polarized angle images, and obtaining an image plane coordinate system based on the characteristic that the contours of all polarized angles of a polarized light field intersect at a neutral point Neutral point coordinates in a system。
When the whole moon pattern is visible in the polarized image, an image plane coordinate system is obtained by a method of extracting the centroidMoon coordinates in a system。
The second step of calculating the conversion relation between the image plane coordinate system and the carrier coordinate system based on the camera model includes calculating the azimuth angle and zenith angle of the detection point corresponding to each group of pixels in the carrier coordinate system based on the coordinates of the group of pixels in the image plane coordinate system by using the calibrated camera model to obtain the detection point in the carrier systemCoordinates below. Based on neutral point coordinatesIs obtained through camera model calculationCoordinates of the neutral point. Camera model-basedThe coordinate calculation process under the system is as follows:
firstly, calculating the neutral point coordinates of an image plane coordinate system and the center coordinates of an image obtained by calibrating a camera model Relative positional relationship betweenConsider that the coordinate axis directions of the image plane coordinate system and the carrier coordinate system are different:
。
Next, calculate The following neutral point coordinates:
;
;
。
Wherein, the Is the focal length of the camera lens used.
Such as can be obtained from the first stepMoon coordinates of the systemThen the camera model can be used for calculation to obtainLunar coordinates under the system。
As shown in fig. 3, if the moon pattern in the polarized image is incomplete or invisible, it can be implemented by using the perpendicular relationship between the polarized E vector and the moon vector. For polarized images, the AOP corresponding to each group of pixels isThe calculated polarization E vectorSatisfy the following requirements, wherein,,For a moon vector obtained by connecting a moon with an origin, a superscript T indicates a transpose of a matrix. Based on the effective polarized E vector information and the perpendicular relation between the effective polarized E vector information and the moon vector, the effective polarized E vector information is obtained by calculationUnder-tie moon vector。
Neutral point of the systemWith moon positionAre all located on the neutral plane of the sky polarized light field, and can be determined based on the moon vector and the neutral point vectorThe neutral plane of the systemWherein,Representing the cross product of the vectors. Further, based onCan obtain its normal vector。
Third step, carrier coordinate systemZenith direction vector of the tieAnd moon vectorDetermining a normal vector to a neutral plane in a carrier coordinate system, comprising:
as shown in FIG. 4, the time information and longitude and latitude information are input into an astronomical calendar to obtain a moon vector in the navigation system n 。The zenith point under the system is the position and coordinate of the carrier right aboveObtaining the zenith direction vector。The lower moon and the zenith point are positioned on the moon-antiselena bright noon line, and the moon-antiselena bright noon line is contained on the neutral plane of the polarized light field. Based onAndCan be determined toThe neutral plane of the system. Further, corresponding normal vectors can be obtained。
The fourth step, respectively taking moon vector and neutral plane normal as anchoring vectors, respectively constructing orthogonal coordinate systems in a carrier system and a navigation system, and comprises the following steps:
it is known from the definition of moon vector and neutral plane normal vector that these two vectors are necessarily non-parallel and thus can be used as basis vectors for constructing an orthogonal coordinate system.
At the position ofIs based on moon vectorAnd normal vectorThe orthogonal matrix may be constructed as follows:
;
Wherein, the AndRepresenting respectively two vectors used to construct the orthogonal matrix,、AndThree mutually perpendicular unit vectors are calculated and respectively point to one direction of the coordinate axes.
Similarly, inThe underslung may be based on moon vectorsAnd normal vectorConstructing the following orthogonal matrix:
;
Wherein, the AndRepresenting respectively two vectors used to construct the orthogonal matrix,、AndThree mutually perpendicular unit vectors are calculated and respectively point to one direction of the coordinate axes.
The coordinate transformation relation matrix A can be obtained:
;
Wherein, the AndFor the purpose of anchoring the vector,AndTo calculate the vector. Selection ofAndThe coordinate transformation relation matrix calculated as the anchor vector is. Similarly, selectAndThe coordinate transformation relation matrix calculated as the anchor vector is。
Fifthly, selecting an error Standard Deviation (SD) corresponding to the anchor vector as a solution to obtain a coordinate transformation relation matrixAndAnd (5) measuring the precision, and establishing a weight coefficient. Gesture matrix obtained using moon vector as anchor vectorSD corresponding to moon vector measurementSimilarly, a gesture matrix using normal vectors as anchor vectorsSD corresponding to normal vector measurement。
Based on SD as precision weight, the gesture conversion matrix can be obtainedLinear unbiased minimum variance estimation of (2)The method comprises the following steps:
;
With unknown SD with errors AndInstead of being accurateAndIt is possible to obtain:
;
the weights of the two gesture conversion matrixes are obtained by SD, and the weights are defined 、The method comprises the following steps of:
;
namely there is 。
Definition of the definitionIs thatThe variance of (1) is:
;
From the above, it can be seen that the minimum Can be used for selecting weight valueAnd then obtained.
I.e. can be based onAndThe pose transformation matrix with the smallest variance is obtained by:
;
Wherein, the Is superior toAndIs a result of the posture conversion matrix estimation.
Based on the gesture conversion matrix, three-dimensional gesture information of the carrier, namely a pitch angle, a roll angle and a course angle, can be calculated.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
The above description is only specific embodiments of the present invention to facilitate the understanding of the present invention by those skilled in the art, but the scope of the present invention is not limited thereto, and any other modifications and substitutions easily conceivable by those skilled in the art should be included within the scope of the present invention.
Claims (8)
1. The carrier three-dimensional attitude determination method based on the double-vector characteristics of the night polarized light field is characterized by comprising the following steps of:
The first step, an image type polarization sensor is used for obtaining a sky polarized light field, and an image plane coordinate system is obtained based on neutral point characteristics in an atmospheric polarization distribution mode Neutral point coordinates in a system;
Secondly, calculating a carrier system according to the camera imaging model and the polarization distribution mode information under the image plane coordinate systemCoordinates of the neutral point under the systemCoordinate with moonObtaining a neutral point vectorAnd moon vectorFurther calculateNormal vector of neutral plane of neutral point-moon;
Step three, importing time information and geographic position information into an astronomical calendar to obtain a navigation systemTethered moon vectorBased on zenith direction vectorObtainingNormal vector of neutral plane where line connecting zenith and moon is located;
Fourth step, under the carrier system, based on moon vectorVector normal to neutral planeConstructing an orthogonal coordinate system, similarly, constructing a moon-based vector under a navigation systemVector normal to neutral planeConstructing an orthogonal coordinate system;
Fifth step based on Tying and connectingAnd 2 orthogonal coordinate systems under the system, obtaining a coordinate conversion relation between the carrier system and the navigation system, and obtaining three-dimensional attitude information through calculation.
2. The method for three-dimensional pose determination of a carrier based on dual vector features of night polarized light field according to claim 1, wherein said first step comprises:
Acquiring a sky polarized light field by using an image type polarization sensor to obtain a polarized image, calculating to obtain polarized angle information, drawing edge contours of different polarized angle areas in the polarized angle image, and obtaining an image plane coordinate system based on the characteristic that the contours of all polarized angles of the polarized light field intersect at a neutral point Neutral point coordinates in a system;
When the whole moon pattern is visible in the polarized image, an image plane coordinate system is obtained by a method of extracting the centroidMoon coordinates in a system。
3. The method for three-dimensional pose determination of a carrier based on dual vector features of night polarized light field according to claim 1, wherein said second step comprises:
Calculating azimuth angle and zenith angle of the detection point corresponding to each group of pixels in the carrier coordinate system according to the coordinates of the group of pixels in the image plane coordinate system by using the calibrated camera model, thereby obtaining the point in the carrier system Coordinates under the system based on neutral point coordinatesIs obtained through camera model calculationCoordinates of the neutral point;
Camera model-basedThe coordinate calculation process under the system is as follows:
firstly, calculating the neutral point coordinates of an image plane coordinate system and the center coordinates of an image obtained by calibrating a camera model Relative positional relationship betweenConsider that the coordinate axis directions of the image plane coordinate system and the carrier coordinate system are different:
Next, calculate The following neutral point coordinates:
Wherein, the Is the focal length of the camera lens used.
4. A method for three-dimensional pose determination of a carrier based on dual vector features of night polarized light field according to claim 3, if obtained in the first stepCoordinates of moonThen calculate by using the camera modelCoordinate of moonWhen the moon pattern in the polarized image is incomplete or invisible, the perpendicular relation between the polarized E vector and the moon vector is utilized to realize;
for polarized images, each group of pixels corresponds to a polarization angle of The calculated polarization E vectorSatisfy the following requirements, wherein,,The moon vector obtained for the connection of the moon and the origin is obtained by calculating based on the effective polarized E vector information and the perpendicular relation between the effective polarized E vector information and the moon vectorUnder-tie moon vector;
Neutral pointWith moon positionAre all located on the neutral plane of the sky polarized light field, and are determined based on the moon vector and the neutral point vectorThe neutral plane of the systemWherein;
Based onObtaining the normal vector thereof。
5. The method for three-dimensional pose determination of a carrier based on dual vector features of night polarized light field according to claim 1, wherein said third step comprises:
Inputting the time information and longitude and latitude information into an astronomical calendar to obtain a moon vector under a navigation system n-system ;The zenith point under the system is the position and coordinate of the carrier right aboveI.e. obtaining zenith direction vector;The inferior moon and zenith point are located on the moon-antiselena bright meridian, the moon-reverse moon meridian is located on the neutral plane of polarized light field, based onAndDetermination ofThe neutral plane of the systemThereby obtaining the corresponding normal vector。
6. The method for three-dimensional pose determination of a carrier based on dual vector features of night polarized light field according to claim 1, wherein said fourth step comprises:
At the position of Is based on moon vectorAnd normal vectorConstructing the following orthogonal matrix:
Wherein, the AndRepresenting respectively two vectors used to construct the orthogonal matrix,、AndThree mutually perpendicular unit vectors are obtained through calculation and point to one direction of the coordinate axes respectively;
At the position of Based on moon vectorAnd normal vectorConstructing the following orthogonal matrix:
Wherein, the AndRepresenting respectively two vectors used to construct the orthogonal matrix,、AndThree mutually perpendicular unit vectors are obtained through calculation and point to one direction of the coordinate axes respectively;
thereby obtaining a coordinate conversion relation matrix A:
Wherein, the AndFor the purpose of anchoring the vector,AndTo calculate the vector, selectAndThe coordinate transformation relation matrix calculated as the anchor vector isSelectingAndThe coordinate transformation relation matrix calculated as the anchor vector is。
7. The method for three-dimensional pose determination of a carrier based on dual vector features of night polarized light field according to claim 1, wherein said fifth step comprises:
selecting the standard deviation of the error corresponding to the anchor vector as the coordinate transformation relation matrix obtained by calculation AndEstablishing weight coefficient by using moon vector as anchoring vector to obtain gesture matrixError standard deviation corresponding to moon vector measurementGesture matrix using normal vector as anchor vectorError standard deviation corresponding to normal vector measurement。
8. The carrier three-dimensional attitude determination method based on dual vector characteristics of night polarized light field according to claim 7, wherein the attitude transformation matrix is obtained based on the standard deviation of error as the accuracy weightThe linear unbiased minimum variance estimate of (2) is:
by the standard deviation of the unknown error with errors AndInstead of being accurateAndThe method comprises the following steps of:
the weights of the two gesture conversion matrixes are obtained by error standard deviation, and the defined weights are respectively as follows:
namely there is ;
Definition of the definitionIs thatThe variance of (1) is:
The minimum is obtained by the above method At the option of weightObtaining the product;
I.e. based on AndThe pose transformation matrix with the smallest variance is obtained by:
Wherein, the Is superior toAndIs a gesture conversion matrix estimation result;
based on the gesture conversion matrix, three-dimensional gesture information of the carrier is obtained through calculation, wherein the three-dimensional gesture information comprises a pitch angle, a roll angle and a course angle.
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| US9464938B2 (en) * | 2014-02-06 | 2016-10-11 | The Boeing Company | Systems and methods for measuring polarization of light in images |
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| CN110887476B (en) * | 2019-12-09 | 2021-08-13 | 北京航空航天大学 | Autonomous heading and attitude determination method based on polarization-astronomical angle information observation |
| CN111595329B (en) * | 2020-05-29 | 2022-03-08 | 北京航空航天大学 | Autonomous positioning method based on observation moonlight atmospheric polarization mode |
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| CN114937075B (en) * | 2022-06-06 | 2024-05-14 | 北京航空航天大学 | Autonomous orientation method of underwater polarized light field based on three-dimensional solar meridian plane fitting |
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| CN116720026A (en) * | 2023-06-12 | 2023-09-08 | 合肥工业大学 | A modeling method for atmospheric polarization patterns based on the joint influence of the sun and the moon |
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| CN103759727A (en) * | 2014-01-10 | 2014-04-30 | 大连理工大学 | Navigation and positioning method based on sky polarized light distribution mode |
| CN107367716A (en) * | 2017-07-04 | 2017-11-21 | 武汉大学 | A kind of high-precision satellite-borne SAR geometric calibration method |
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