面向地面无人平台的仿生偏振光定向算法

仿生偏振光定向为地面无人平台提供了一种新型的低成本、小型化定向方式。设计了一种基于微阵列式偏振光栅的仿生光罗盘,实现了一种加权平均的偏振光定向算法,分析了大气偏振模式误差、太阳位置误差、偏振光传感器误差和水平姿态角误差等因素对航向角估计精度的影响。实验结果表明,动态车载条件下定向误差小于0.5°。

Bionic Polarized Light Orientation Algorithm for Unmanned Ground Vehicle

Bionic polarized light orientation technology can be used to achieve the low-cost orientation for the unmanned ground vehicle. In this paper, a bionic polarized light compass based on microarray polarization grating is designed, a weighted average polarized orientation algorithm is proposed. The influence of error factors such as atmospheric polarization mode errors, solar position errors, measurement errors and horizontal attitude errors on the accuracy of heading angle estimation is analyzed. The experimental results show that the directional error is less than 0.5 °under the condition of dynamic vehicle.