Attitude Determination of Photovoltaic Device by Means of Differential Absorption Imaging

Abstract

Future wireless power transmission will cover power levels up to kilowatts or more and transmission distances up to the scale of kilometers. With its narrow beam divergence angle, optical wireless power transmission (OWPT) is a promising candidate for such system implementations. In the operation of OWPT, it is necessary to estimate the position, direction (azimuth, elevation), and attitude of the target photovoltaic device before the power supply. The authors have proposed the detection of targets using differential absorption imaging and positioning with a combination of stereo imagery. In the positioning by stereo imagery, a condition regarding the consistency of the left and right images can be defined. This corresponds to the certain value of the exposure time of the image sensor, and this depends on the target’s attitude angle. In this paper, we discuss target attitude estimation using this minimum exposure time at which the integrity measure converges. A physical model was derived under general conditions of target position and experimental configuration. Target attitudes were estimated within an error range of 10 to 15 degrees in approximately 60 degrees range. On the other hand, there is an attitude estimation method based on the apparent size of the target. When using this method to estimate the attitude angle, errors are significantly large for specular and diffuse mixed targets like the PV. The method proposed in this paper is a robust attitude estimation method for the photovoltaic device in OWPT.