基于大气偏振模式的三维姿态信息获取

现有的偏振光导航方法提供的二维方向信息不能满足导航的实际需求,因此,本文提出了一种利用大气偏振模式获取三维姿态信息的方法,选取太阳作为空间显著特征点,利用大气偏振模式信息计算出载体在两次不同状态下的太阳空间位置信息,通过建立姿态变换矩阵获得了载体的三维姿态信息。最后,对不同天气条件、不同太阳空间位置、不同波段以及天空被部分遮挡情况下太阳空间位置计算的误差分布情况进行了仿真分析和实际测量。实验结果显示,当天空有气溶胶粒子分布时,蓝色波段下的计算误差最小,方位角和高度角的误差分别为1.50°和2.10°;当观测视场中有树木遮挡时,方位角和高度角的平均误差分别为0.91°和1.97°,由此表明本文方法能够有效提取太阳的空间位置,获得载体的三维姿态信息,并满足实际导航的需求。

Three-dimensional attitude information obtained by the skylight polarization pattern

The two-dimensional direction information provided by the current polarized skylight navigation method can not meet the actual needs of the navigation, therefore, a method for obtaining 3D pose information by using atmospheric polarization modes was researched. The sun was selected as the spatial point with the salient feature, then the sun spatial position information of the carrier was calculated under two different states by using atmospheric polarization mode information, and thereby 3D pose information of the carrier was obtained through the establishment of attitude transformation matrix. Finally the error distributions in obtaining solar spatial position information under different weathers, different solar spatial locations, different bands and the conditions of the sky being partially obscured were investigated theoretically and experimentally. The result show that the errors of elevation and azimuth angles are 1.50° and 2.10° respectively in the blue band in aerosols, and the average errors of the elevation and azimuth angles are 0.91°and 1.97° respectively in the field of views being obscured by trees. It is indicated that the sun spatial position can be effectively obtained under different circumstances by the proposed method, which can meet the need for 3D pose information of the carrier in actual navigations.