为了满足偏振光定位的实时性要求，设计了基于STM32的偏振光定位系统，实现了偏振方位角数据的同步采集，降低了系统数据总线的复杂程度及上位机接收数据的复杂度，同时也解决了太阳高度角和方位角的双解问题。首先根据偏振光定位原理设计了4个偏振方位角采集模块，用来采集天空中4个观测方向的偏振方位角，每个偏振方位角采集模块的精度可达±0.2°；其次，设计了太阳方向矢量判断模块，用来解决偏振矢量的180°二义性造成的太阳高度角和方位角的双解问题。实验结果表明：偏振光定位系统可以得到正确的太阳高度角和方位角,并且适用于全天定位;在约55 min的实验中，地理经度和纬度的最大误差分别为±1°、±1.5°；偏振光定位系统满足实时性的要求，定位精度稳定，可以应用于实际定位。

In order to meet the real-time requirement of the polarized light positioning system, the polarized light positioning system based on STM32 is designed, which achieves the synchronization of polarization azimuth data acquisition, reduces the complexity of the system data bus and the complexity of personal computer data receiving, and solves the problem of double-solution of solar altitude angle and azimuth. Firstly, based on the principle of polarized light positioning, four polarization azimuth acquisition modules are designed to get the polarization azimuth of the four directions in the sky, and the error of every module is under ±0.2°. Then, the sun vector judgment module is designed to solve the problem of 180° double-solution of solar altitude angle and azimuth, which results from the polarization vector. The experiments show that the polarized light positioning system can obtain the correct solar altitude angle and azimuth, and it is suitable for daytime. The maximum errors of longitude and latitude are ±1° and ±1.5° respectively in the experiment of about 55 minutes. The polarized light positioning system meets the requirements of real-time with a stable positioning accuracy, so it can be applied to the actual positioning.