Abstract
Navigation plays a vital role in our daily life. As traditional and commonly used navigation technologies, Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) can provide accurate location information, but suffer from the accumulative error of inertial sensors and cannot be used in a satellite denied environment. The remarkable navigation ability of animals shows that the pattern of the polarization sky can be used for navigation. A bio-inspired POLarization Navigation Sensor (POLNS) is constructed to detect the polarization of skylight. Contrary to the previous approach, we utilize all the outputs of POLNS to compute input polarization angle, based on Least Squares, which provides optimal angle estimation. In addition, a new sensor calibration algorithm is presented, in which the installation angle errors and sensor biases are taken into consideration. Derivation and implementation of our calibration algorithm are discussed in detail. To evaluate the performance of our algorithms, simulation and real data test are done to compare our algorithms with several exiting algorithms. Comparison results indicate that our algorithms are superior to the others and are more feasible and effective in practice.
Highlights
It is vital to know the position, velocity and attitude of an agent in many applications
We focus on the angle computation algorithm and the sensor calibration of a POLarization Navigation Sensor (POLNS)
In order to test the performance of the iterative Least Squares based calibration algorithm, the algorithm is tested with large initial errors, which is very important in a real calibration process
Summary
It is vital to know the position, velocity and attitude of an agent in many applications. Cataglyhpis get their compass direction mainly from the polarization of the blue sky [6] Some fly insects, such as bees [7], butterfly, and dragonfly [8], are able to utilize polarized skylight in their navigation activities. Studies on the POLNS mainly concentrate on the mechanical construction, the angle computation algorithm, and the sensor calibration. We focus on the angle computation algorithm and the sensor calibration of a POLNS. We present a Least Squares based calculation algorithm by employing the outputs of all the POL-OP units, which can be used for arbitrary installation angle assignment and expanded to multiple. Numeric simulation and real data test have been done to evaluate the performance of our angle computation and sensor calibration algorithms.
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