关键词: 天空偏振光, 车辆动态数学模型, 惯性导航, 车辆导航, 组合滤波器

Abstract: An improved algorithm based on polarized light is put forward concentrating on the problems which are course angle error divergence and not getting high precision as well as high reliability navigation parameters, for automotive auxiliary algorithm of inertial navigation system. Together with the output of the inertial navigation system, the algorithm uses the filter model of multisource information system for navigation parameters of the filter estimation adopting the course angle, the virtual position and the velocity observed quantity, which can be acquired by the polarized light sensor system and the vehicle dynamic mathematical model respectively. Therefore, the inertial navigation system and vehicle dynamic mathematical model can be corrected by the real-time feedback. Simulation analysis is performed by computer. Results show that the inertial navigation system aided algorithm not only can get better accuracy than the pure inertial navigation system and traditional kinematics auxiliary method of inertial navigation but also has certain engineering application value in achieving accurate and reliable autonomous orientation of vehicle navigation system.

Key words: polarized light, vehicle dynamic model, inertial navigation, vehicle navigation, combination filter