Abstract
In this paper, to address the problem of positioning accumulative errors of the inertial navigation system (INS), a bionic autonomous positioning mechanism integrating INS with a bioinspired polarization compass is proposed. In addition, the bioinspired positioning system hardware and the integration model are also presented. Concerned with the technical issue of the accuracy and environmental adaptability of the integrated positioning system, the sun elevation calculating method based on the degree of polarization (DoP) and direction of polarization (E-vector) is presented. Moreover, to compensate for the latitude and longitude errors of INS, the bioinspired positioning system model combining the polarization compass and INS is established. Finally, the positioning performance of the proposed bioinspired positioning system model was validated via outdoor experiments. The results indicate that the proposed system can compensate for the position errors of INS with satisfactory performance.
Highlights
Real-time autonomous positioning is essential for long endurance vehicles, especially in unknown and complex environments [1]
With the identified difficulties in mind, this paper aims to propose a bionic integrated positioning mechanism combined with a polarized skylight and inertial navigation system (INS), and establish a bionic integrated positioning system model
The sun elevation calculation method based on degree of polarization (DoP) and E-vector can improve the accuracy of the calculated sun elevation, there are still some factors that affect the accuracy of the sun elevation calculation and result in the positioning errors of the integrated system model
Summary
Real-time autonomous positioning is essential for long endurance vehicles, especially in unknown and complex environments [1]. The global navigation satellite system (GNSS), visual navigation system (VNS), and inertial navigation system (INS) are the commonly used positioning methods [2,3]. VNS relies on useful information derived from the structured environment [4,5]. It is important to develop a global positioning system, which is not dependent on GNSS and VNS for long-range navigation. The polarization pattern has been proven to contain the geographic location information, which can be used for long-endurance vehicle positioning in unknown environments [10]. Due to the non-accumulative errors and immunity to electromagnetic interference, the bioinspired polarization positioning method has attracted much attention in the field of autonomous navigation
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