基于大气偏振特性的载体三维空间自主姿态测量理论与方法研究

项目名称： 基于大气偏振特性的载体三维空间自主姿态测量理论与方法研究

项目编号： No.61503347

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 王晨光

作者单位： 中北大学

项目金额： 19万元

中文摘要： 本项目面向无人平台在陌生区域、弱/无卫星信号及复杂电磁环境下的自主导航需求，以太阳光大气粒子瑞利散射形成的空间偏振分布为导航信息来源，以沙蚁偏振信息导航生物模型为基础，开展基于大气偏振特性的载体三维空间自主姿态测量理论与方法研究。研制三维空间偏振信息测量平台，开发全天域三维偏振模式高精度获取技术；提出一种基于图像分割的天空局部有效区域识别算法，解决多云、雾霾、夜间等复杂环境下大气偏振模式被破坏后导航方法的可靠性问题；提出太阳和地理天顶点为双偏振特征矢量的姿态方程求解方法，实现载体空间三维姿态解算；建立姿态测量误差传递模型，提高姿态解算的可靠性与环境适用性，为偏振光导航三维空间自主姿态测量提供基础理论与关键技术支持。

中文关键词： 偏振光导航；大气偏振模式；双偏振特征矢量；三维姿态测量；自主导航

英文摘要： According to the request of the autonomous navigation in unfamiliar area with weak/no satellite signal and complex electromagnetic environment, we imitate the polarization navigation model of cataglyphis and use the polarization pattern of skylight as the navigation information source to develop a novel method to measure the carrier 3D attitude autonomously using the atmospheric polarization pattern. The platform and the processing technique to precisely acquire all-sky polarization information are developed. Image segmentation is introduced to recognize the effective sky area, overcoming the problem that polarization navigation is impressionable in complex environment like cloudy, foggy and night. The algorithm using sun and zenith as the double polarization feature vectors are proposed to solve the attitude equation, enabling the acquisition of carrier 3D attitude. Error propagation model of attitude measurement is established to improve the reliability and environmental adaptability of attitude measurement, providing basic theory and key technique for polarization attitude measurement in 3D space.

英文关键词： Polarization Navigation;Atmosphere polarization pattern;double polarization feature points;3D attitude measurement;autonomous navigation