The global positioning and orientation determination of marine vehicles is a challenging issue, especially in the distant sea scenarios where global navigation satellite system (GNSS) and/or magnetic compass failure. In this paper, a self-contained interactive iteration positioning and orientation coupled navigation method based on skylight polarization is proposed. To be more specific, by fusing the e-vectors and the gravity vectors, the orientation determination step is presented. Accordingly, the pitch, yaw, and roll angles can be calculated, and introduced into the global positioning step. In combination with the two steps, a coupled iteration mechanism of global positioning solution and orientation determination based on skylight polarization is constructed. According to the coupled iteration mechanism, the polarization-based geolocation and orientation can be thereby calculated under the complex scenarios where the GNSS or magnetic compass are disturbed. Finally, a set of simulations and field tests are carried out to validate the performance of the method.

海上车辆的全球定位和方向确定是一个具有挑战性的问题，尤其是在全球导航卫星系统（GNSS）和/或磁罗盘故障的远海场景中。提出了一种基于天窗偏振的自包含交互式迭代定位与定向耦合导航方法。更具体地，通过融合e向量和重力向量，提出了方向确定步骤。因此，可以计算俯仰角，偏航角和侧倾角，并将其引入全局定位步骤。结合这两个步骤，构建了基于天光偏振的全局定位解和方位确定的耦合迭代机制。根据耦合迭代机制，因此，可以在GNSS或电磁罗盘受到干扰的复杂情况下计算基于极化的地理位置和方向。最后，进行了一组模拟和现场测试，以验证该方法的性能。