Abstract
Polarization (POL) navigation is inspired by insects’ behavior of precepting celestial polarization patterns to orient themselves. It has the advantages of being autonomous and having no accumulative error, which allows it to be used to correct the errors of the inertial navigation system (INS). The integrated navigation system of the POL-based solar vector with INS is capable of 3D attitude determination. However, the commonly used POL-based integrated navigation system generally implements the attitude update procedure without considering the performance difference with different magnitudes of the angles between the solar-vector and body-axes of the platform (S-B angles). When one of the S-B angles is small enough, the estimated accuracy of the attitude angle by the INS/POL is worse than that of the strapdown inertial navigation system. To minimize the negative impact of POL in this situation, an attitude angular adaptive partial feedback method is proposed. The S-B angles are used to construct a partial feedback factor matrix to adaptively adjust the degree of error correction for INS. The results of simulation and real-world experiments demonstrate that the proposed method can improve the accuracy of 3D attitude estimation compared with the conventional all-feedback method for small S-B angles especially for yaw angle estimation.
Highlights
Polarization (POL) navigation inspired by insects has been widely investigated due to its full-autonomy and lack of risk of cumulative errors
The solar vector-based POL navigation integrated with inertial navigation system (INS) is adopted for 3D attitude estimation
INS/POL Integrated Navigation System Modeling. Both the all-feedback method and adaptive partial feedback (APF) are based on the solar vector-based INS/POL integrated navigation model which can be used for 3D attitude determination
Summary
Polarization (POL) navigation inspired by insects has been widely investigated due to its full-autonomy and lack of risk of cumulative errors. The POL cannot determinate 3D attitude individually, the third strategy of the solar vector-based POL navigation can aid INS for 3D attitude angles estimation. In this extreme case, POL cannot aid INS for yaw estimation in the third integrated strategy. The solar vector-based POL navigation integrated with INS is adopted for 3D attitude estimation. The results demonstrate that in the condition of small S-B angles, the negative effect of POL measurement for INS/POL system is reduced, especially for yaw estimation Both the all-feedback method and APF are based on the solar vector-based INS/POL integrated navigation model which can be used for 3D attitude determination.
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