Method and device for acquiring yaw angle of unmanned system based on head orientation cells and medium

The invention discloses an unmanned system yaw angle acquisition method and device based on head orientation cells and a medium, and the method comprises the steps: firstly, generating visual activity through employing a Gaussian function to encode an angle calculated by a visual image; secondly, constructing a one-dimensional head orientation cell angular velocity integral model by utilizing an attractor neural network, and taking the angular velocity generated by the self-motion information module as the input of the model; then, injecting activity generated by visual coding into the one-dimensional head orientation cell angular velocity integral model to fuse the self-motion information and the visual information, and correcting an accumulative error generated by the one-dimensional head orientation cell angular velocity integral model by using the visual information; and finally, calculating the yaw angle by using a neuron group information decoding method, and carrying out weighted summation on the prefe