Research Of Attitude Measuring Method By Bionic Polarized Light In The Three Dimensional Space

The navigation technology is one of the important part of unmanned aerial vehicle(UAV)system,with the development of human society and the advancement of science,the tradition navigation methods can not meet higher performance requirements of navigation technology in all walks of life.In addition to improve navigation sensor manufacturing process to improve the accuracy of measurement,researching new navigation techniques is attracting attention.In recent years,many insects use the stable distribution of polarization for navigation in the sky was found,as one of earth's natural attribute,polarized light navigation has advantages in strong autonomy,low cost,stable distribution advantage,with broad prospects in the civil and military field.Putting forward two navigation methods based on polarized light,providing a new method for UAV navigation in this paper.In the first,analyzing the forming principle of polarized light and atmospheric polarization pattern distribution,to lay the theoretical foundation for polarizer pattern distribution and following research.Analyzing the principle of polarized light sensor measurement and pointing out the angle ambiguity issues,putting forward to use gyroscope assistance polarized light sensor to extend the measurement range,and proving this method feasibility through the experiments.Designing the UAV experiment platform based on the Paparazzi open source project,and introducing the software and hardware of platform in detail,which uses the magnetometer and inertial navigation compose the navigation position reference system.It can be better completed autonomous flight experiment after associated sensor calibration.The simulation and real experiments show that the navigation position reference system can accurately measure attitude angles.It can be used to provide the reference angles for validating angle measuring method based on polarized light sensor.Coming up with an adaptive complementary filter of polarized light sensor and inertial navigation for attitude estimation.It uses the characteristics of gyroscope,accelerometer and polarized light sensor in the frequency domain,the low-pass and high-pass filter is designed to fuse the information,according to the phenomenon of the accelerometer is susceptible to the motion acceleration and the polarized light sensor is vulnerable to external factors interference,the adaptive link is designed.Experiments show that the error accumulated problems of gyro can be effectively solved by this algorithm,what's more,it can improve the robustness of system,and has the advantage of simple calculation.Putting forward a new method for calculating the attitude angle by only using polarized light sensor.The sun projection in body coordinate can be measured by polarized light sensor,and the sun projection in navigation coordinate can be calculated using the longitude and latitude of observation point and observation time.According to the sun projection in different coordinate system,three attitude angles are calculated by calculating the attitude matrix.Compared with the traditional method that the polarized light sensor only used to calculate the heading angle,this method extends the scope of application,replaces the other angle sensor applications,providing a new method of navigation.