本文選題：偏振光導(dǎo)航 + 偏振光傳感器　； 參考：《大連理工大學(xué)》2015年碩士論文

【摘要】：偏振光導(dǎo)航是一種新型的仿生導(dǎo)航技術(shù)。由于偏振光導(dǎo)航具有自主性、抗干擾性等優(yōu)勢,其應(yīng)用前景得到廣泛關(guān)注。目前無人機(jī)導(dǎo)航技術(shù)大多依賴衛(wèi)星,但衛(wèi)星導(dǎo)航易受干擾和攻擊等缺陷。為了保障無人機(jī)具有高精度和抗干擾性的導(dǎo)航技術(shù),設(shè)計了兩種融入偏振光傳感器信息的濾波算法以及基于偏振光組合導(dǎo)航的無人機(jī)實(shí)驗平臺,為偏振光導(dǎo)航在無人機(jī)三維空間導(dǎo)航領(lǐng)域的應(yīng)用累積了前期的應(yīng)用理論和實(shí)驗基礎(chǔ)。本文分析天空偏振光的分布規(guī)律,并研究了如何從天空偏振光中獲取方位信息；探討了偏振光傳感器在傾斜情況下方位角的求取方法,為偏振光傳感器應(yīng)用于無人機(jī)三維導(dǎo)航提供一定的理論基礎(chǔ)。對捷聯(lián)慣導(dǎo)系統(tǒng)和GPS/SINS組合導(dǎo)航系統(tǒng)的機(jī)理進(jìn)行了研究,利用慣導(dǎo)工具箱和Matlab進(jìn)行仿真,并使用MFC技術(shù)開發(fā)了捷聯(lián)慣導(dǎo)系統(tǒng)仿真界面。在此基礎(chǔ)上,設(shè)計了兩種融入偏振光傳感器信息的組合導(dǎo)航算法,分別是基于偏振光傳感器的集中卡爾曼濾波算法和基于偏振光傳感器的互補(bǔ)濾波算法,利用Matlab仿真兩種算法,結(jié)果表明都能提高無人機(jī)的姿態(tài)精度,滿足導(dǎo)航精度的要求。為了研究偏振光傳感器在無人機(jī)導(dǎo)航上的應(yīng)用,設(shè)計了基于偏振光組合導(dǎo)航的無人機(jī)實(shí)驗平臺,分析無人機(jī)實(shí)驗平臺的功能需求,完成無人機(jī)實(shí)驗平臺的軟硬件開發(fā)。經(jīng)過多次實(shí)驗調(diào)試,實(shí)現(xiàn)無人機(jī)的自主飛行,并采集大量偏振光傳感器數(shù)據(jù)驗證了基于偏振光組合導(dǎo)航理論和實(shí)驗的可行性。
[Abstract]:Polarized light navigation is a new bionic navigation technology.Due to the advantages of autonomy and anti-interference, the application prospect of polarized light navigation has been paid more and more attention.At present, UAV navigation technology mostly relies on satellite, but satellite navigation is vulnerable to interference and attack.In order to guarantee the navigation technology of UAV with high precision and anti-jamming, two filtering algorithms are designed to incorporate the information of polarized light sensor and the UAV experimental platform based on integrated navigation of polarized light is designed.The theoretical and experimental basis for the application of polarized light navigation in the field of three-dimensional navigation of UAV is accumulated.In this paper, the distribution law of sky polarized light is analyzed, and how to obtain azimuth information from sky polarized light is studied.It provides a theoretical basis for the application of polarized light sensor in UAV three-dimensional navigation.The results show that it can improve the attitude accuracy of UAV and meet the requirements of navigation accuracy.
【學(xué)位授予單位】：大連理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V279;V249.3

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本文編號：1730972