Abstract
Abstract. Bio-inspired polarization navigation is a promising navigation method inspired by insects’ autonomous foraging and homing behaviour. Many insects acquire their spatial orientation by sensing the polarization pattern of the skylight. We propose utilization of solar meridian in the polarized skylight as an orientation cue because of its significant features. Using its features, we then design and construct an imaging polarization navigation prototype. The prototype consists of a field-division polarization imaging sensor, the corresponding software, an interface, and the solar-meridian recognizing and measurement algorithm. The field-division polarization imaging sensor is the core component of the prototype and acquires polarized intensity images. To adapt to the demand of real-time on navigation system, we then propose an optimized real-time polarization image processing and pattern recognition algorithm based on Hough transform. The azimuth measurement accuracy of the sensor is then calibrated using a facility that is able to get higher azimuth accuracy by measurement of the star light. To verify the navigation capability of the developed system, we use a dynamic experiment, where the prototype is installed on the top of a vehicle and its navigation performance is compared with GNSS.
Highlights
Many insects are able to navigate based on sensing orientation cues in the skylight, see e.g., [Heinze, 2020]
We develop an imaging polarization navigation prototype including a field-division polarization imaging sensor, the accompanied software, the interface, and the solar-meridian recognizing and measurement algorithm
The accuracy and precision of the sensor was calibrated under the real skylight in which higher accuracy orientation reference was measured using celestial navigation method
Summary
Many insects are able to navigate based on sensing orientation cues in the skylight, see e.g., [Heinze, 2020]. Several prototypes which use photodiodes as photoelectric converters have been developed based on the polarization-sensitive behaviour of insects [Chu, 2007]. In [Ma, 2015], the symmetry algorithm is used to measure the orientation of the solar meridian. Efficient polarization acquiring sensors and real time orientation determination algorithm are necessary for navigation systems. Instead of the accuracy calibration of the orientation measurement, [Chu, 2008][Zhao, 2013][Powell, 2013] investigate precision. In [Chu, 2008][Lambrinos, 2000][Fan, 2011], several bio-inspired polarization navigation prototypes which use photo-diodes as optic-electric converters are investigated for moving entities to evaluate their navigation ability. We develop an imaging polarization navigation prototype including a field-division polarization imaging sensor, the accompanied software, the interface, and the solar-meridian recognizing and measurement algorithm. To calibrate the orientation accuracy of the sensor, a calibration system is developed that utilizes the real skylight. Conduct a dynamic experiment in which the prototype is installed on the top of a running car and the measurements are compared with the measurement of GNSS receiver to verify its navigation capability
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