基于简化太阳方位角的绝对航向角解算方法

doi:10.7527/S1000-6893.2024.30790

Abstract

Abstract:

To acquire the absolute heading angle， an estimation method based on the simplified solar azimuth is proposed. By inputting the position information of the observation place and the observation time information， the solar declination angle and the solar time angle are obtained， so as to calculate the solar azimuth angle in the geographic due north coordinate system. Then， based on the polarization distribution characteristics of the sky， the polarized light navigation and orientation algorithm based on solar meridian extraction is used to obtain the information on the absolute heading angle， so as to achieve the purpose of navigation. The results of computer simulation and field experiments show that the rms error of solar azimuth is less than 0.01°， the rms error of the estimated outdoor static heading angleis less than 0.2°， and the rms error of the estimated dynamic heading angle is 0.53°， which basically meet the requirement of the measurement accuracy for navigation in most scenarios.

Key words: bionic navigation, polarization navigation, solar azimuth, absolute heading angle, polarization

CLC Number:

V324.2

Min ZHANG, Xia WANG, Yuyang LI. Absolute heading angle estimation based on simplified solar azimuth[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730790.

Figures/Tables 18

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Table 1

Table 2

Table 3

Fig.9

Table 4

Fig.10

Table 5

Fig.11

Fig.12

Table 6

References 22

1	WANG D B， LIANG H W， ZHU H， et al. A bionic camera-based polarization navigation sensor［J］. Sensors， 2014， 14（7）： 13006-13023.
2	范晨，何晓峰，范颖，等. 基于微惯性/偏振视觉的组合定向方法［J］. 中国惯性技术学报， 2020， 28（2）： 231-236.
	FAN C， HE X F， FAN Y， et al. Integrated orientation method based on the micro-inertial and polarized vision［J］. Journal of Chinese Inertial Technology， 2020， 28（2）： 231-236 （in Chinese）.
3	李宇阳，王霞，赵家碧，等. 基于局部大气修复的偏振导航方法［J］. 兵工学报， 2022， 43（12）： 3062-3069.
	LI Y Y， WANG X， ZHAO J B， et al. Polarization navigation algorithm based on local atmosphere image restoration［J］. Acta Armamentarii， 2022， 43（12）： 3062-3069 （in Chinese）.
4	LAMBRINOS D， KOBAYASHI H， PFEIFER R， et al. An autonomous agent navigating with a polarized light compass［J］. Adaptive Behavior， 1997， 6（1）： 131-161.
5	LI S Z， KONG F， XU H， et al. Biomimetic polarized light navigation sensor： A review［J］. Sensors， 2023， 23（13）： 5848.
6	CHU J K， ZHAO K C， ZHANG Q， et al. Construction and performance test of a novel polarization sensor for navigation［J］. Sensors and Actuators A： Physical， 2008， 148（1）： 75-82.
7	FAN C， HU X P， LIAN J X， et al. Design and calibration of a novel camera-based bio-inspired polarization navigation sensor［J］. IEEE Sensors Journal， 2016， 16（10）： 3640-3648.
8	张文静，马龙，赵立双，等. 基于微偏振阵列成像的实时天空偏振光导航［J］. 传感器与微系统， 2019， 38（2）： 9-11， 15.
	ZHANG W J， MA L， ZHAO L S， et al. Real-time sky polarized light navigation based on micropolarized array imaging［J］. Transducer and Microsystem Technologies， 2019， 38（2）： 9-11， 15 （in Chinese）.
9	DUPEYROUX J， VIOLLET S， SERRES J R. Polarized skylight-based heading measurements： A bio-inspired approach［J］. Journal of the Royal Society， Interface， 2019， 16（150）： 20180878.
10	田柳，高隽，范之国，等. 基于大气偏振模式分布规律的导航方向角计算方法［J］. 电子学报， 2012， 40（1）： 141-146.
	TIAN L， GAO J， FAN Z G， et al. The method of the navigation direction angle calculation with the distribution of the atmospheric polarization pattern［J］. Acta Electronica Sinica， 2012， 40（1）： 141-146 （in Chinese）.
11	王晨光，张楠，李大林，等. 利用全天域大气偏振检测的航向角解算［J］. 光电工程， 2015， 42（12）： 60-66.
	WANG C G， ZHANG N， LI D L， et al. Calculation of heading angle using all-sky atmosphere polarization［J］. Opto-Electronic Engineering， 2015， 42（12）： 60-66 （in Chinese）.
12	FAN C， HU X P， HE X F， et al. Integrated polarized skylight sensor and MIMU with a metric map for urban ground navigation［J］. IEEE Sensors Journal， 2018， 18（4）： 1714-1722.
13	LI Y Y， WANG X， PAN Y H， et al. Ultraviolet-visible light compass method based on local atmospheric polarization characteristics in adverse weather conditions［J］. Applied Optics， 2022， 61（23）： 6853-6860.
14	杜春旭，王普，马重芳，等. 用天文测量简历精确计算太阳位置的方法［J］. 可再生能源， 2010， 28（3）： 85-88， 92.
	DU C X， WANG P， MA C F， et al. Algorithm for the calculation of solar position by using astronomical almanac［J］. Renewable Energy Resources， 2010， 28（3）： 85-88， 92 （in Chinese）.
15	BOURGES B. Improvement in solar declination computation［J］. Solar Energy， 1985， 35（4）： 367-369.
16	LAMM L O. A new analytic expression for the equation of time［J］. Solar Energy， 1981， 26： 465.
17	蒋睿，王霞，左一凡，等. 基于局部大气偏振特性的仿生导航方法［J］. 航空学报， 2020， 41（S2）： 724293.
	JIANG R， WANG X， ZUO Y F， et al. Bionic navigation based on local atmospheric polarization［J］. Acta Aeronautica et Astronautica Sinica， 2020， 41（S2）： 724293 （in Chinese）.
18	REDA I， ANDREAS A. Solar position algorithm for solar radiation applications［J］. Solar Energy， 2004， 76（5）： 577-589.
19	STOKES G G. On the composition and resolution of streams of polarized light from different sources［M］∥Mathematical and Physical Papers. Cambridge： Cambridge University Press， 2009： 233-258.
20	韩国良，胡小平，何晓峰，等. 基于像素化偏振芯片的仿生偏振光罗盘技术［J］. 导航定位与授时， 2020， 7（4）： 19-25.
	HAN G L， HU X P， HE X F， et al. A technology about bionic polarized light compass based on pixelated polarizing chip［J］. Navigation Positioning & Timing， 2020， 7（4）： 19-25 （in Chinese）.
21	LIANG H J， BAI H Y， LIU N， et al. Polarized skylight compass based on a soft-margin support vector machine working in cloudy conditions［J］. Applied Optics， 2020， 59（5）： 1271-1279.
22	高隽，范之国. 仿生偏振光导航方法［M］. 北京：科学出版社， 2014： 115-117.
	GAO J， FAN Z G. Bionic polarized light navigation method［M］. Beijing： Science Press， 2014： 115-117 （in Chinese）.

太阳方位角		误差最大值/（°）	均方根误差/（°）
日	文献［22］	0.087 9	0.052 3
日	本文算法	-0.007 6	0.004 9
月	文献［22］	0.130 5	0.078 0
月	本文算法	-0.012 2	0.009 9

输入时间误差/s	太阳方位角解算值/（°）	误差/（°）
0	263.831 6	-0.003 3
1	263.834 3	-0.000 6
2	263.837 1	0.002 2
3	263.839 9	0.005
4	263.842 7	0.007 8
5	263.845 5	0.010 6
10	263.859 5	0.024 6
15	263.873 4	0.038 5
20	263.887 4	0.052 5

输入经度方向误差	太阳方位角解算值/（°）	误差/（°）
0	263.831 6	-0.003 3
1″	263.831 8	-0.003 1
30″	263.837 1	0.002 2
1′	263.842 8	0.007 9
5′	263.887 4	0.052 5
10′	263.943 3	0.108 4

器件及型号	关键参数
偏振相机 LUCID PHX050S-P	传感器：IMX250MZR CMOS
	靶面尺寸：11.1 mm（Type 2/3″）
	分辨率：2 448 px×2 048 px
	像元尺寸：3.45 μm×3.45 μm
	帧率：24 fps
	快门：global
GNSS接收机司南导航 M100	RTK初始化时间：<10 s
	航向角精度：0.2（°）/R
	横滚/俯仰角精度：0.4（°）/R（R为基线距离，单位为m）
多齿分度台九江精达 DFT-360A	台面直径：205 mm
	承载能力：30 kg
	最小分度值：1°
	测角重复精度：0.12″

时间	均方根误差/（°）	误差最大值/（°）	误差标准差/（°）
上午	0.173 6	0.282 2	0.068 4
下午	0.132 8	0.282 9	0.085 6

Absolute heading angle estimation based on simplified solar azimuth

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 18

References 22

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Wei WANG, Huilin JIANG, Mingce CHEN, Yan DONG, Qing XU, Li WANG, Keyan DONG, Yan AN. Single detector composite tracking system based on rotating polarization grating and fast steering mirror [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(3): 630538-630538.
[2]	Zidi ZHONG, Qi GUO, Zhijun TU, Huijie ZHAO, Senbo WANG. Long-wave infrared polarization imaging based on liquid crystal polarization grating [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(3): 630523-630523.
[3]	Ziwei FANG, Jingjing HE, Jing LIN. Modeling study on dielectric properties of graphene⁃doped polymer composites [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(14): 429510-429510.
[4]	Jiankai HUANG, Jiapeng YIN, Mengyun AN, Chen PANG, Yongzhen LI, Xuesong WANG. Detection of air balloon with polarimetric weather radar [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(14): 630188-630188.
[5]	Gezhao NIU, Yanming LIU, Lan GAO, Tingkun ZHANG, Bowen BAI. Bistatic polarization scattering characteristic of plasma-sheath-covered blunt cone [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S2): 97-105.
[6]	JIANG Rui, WANG Xia, ZUO Yifan, LI Leilei, CHEN Jiabin. Bionic navigation based on local atmospheric polarization [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(S2): 724293-724293.
[7]	CHEN Guangdong, HUANG Yuze, WANG Yuan. Attitude estimation of space vehicle based on three-dimensional structure vector of electromagnetic wave [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(4): 322545-322545.
[8]	YU Xiang, LI Dan, ZHANG Jianqiu. A robust beamformer with a polarization sensitive array and polarization estimation [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(6): 320752-320752.
[9]	ZHANG Aiai, HE Jingjing, LIU Tianjiao, ZHANG Weifang. Electrochemical features of corrosion of 5A06 Al-Mg alloy in seawater [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(9): 3147-3154.
[10]	ZHANG Xiao, ZHOU Jianjiang, WANG Fei. Fast Extraction of 2D Full Polarization Scattering Centers Based on Spatial Filtering [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014, 35(9): 2530-2539.
[11]	QI Zisen, GUO Ying, WANG Buhong, HOU Wenlin. Optimal Design for Conformal Array Antennas with Respect to Element Polarization [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(4): 693-701.
[12]	Liu Zhaoting;Liu Zhong;He Jin. Polarization Smoothing-based Direction Finding and Polarization Estimation of Coherent Sources with Linear Electromagnetic Vector Sensor Array [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2010, 31(8): 1646-1652.
[13]	Zhang Yanjun;Chen Aixin. Design and Realization of Ka-band High-gain Circularly Polarized Airborne Microstrip Antenna Array [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2010, 31(6): 1245-1249.
[14]	Liu Jin;Wang Xuesong;Ma Liang;Wang Tao;Feng Dejun;Li Yongzhen;Wang Guoyu. Experimental Study on Dynamic Scattering Properties of Space Precession Target [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2010, 31(5): 1014-1023.
[15]	Huang Peilin;Liu Zhanhe. Experimental Research on Scattering Characteristics of Bolt/Rivet Objects [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2009, 30(5): 912-918.