仿生偏振光定向算法及误差分析

基于标准大气偏振模型，研究了仿生偏振光定向原理，推导了当载体倾斜时的航向角计算方法，分析了各项误差源对航向角估计误差的影响。结果表明：若已知载体的水平角，可根据偏振角解算出载体航向角；引起定向误差的主要因素来自于仿生偏振光传感器误差和载体的水平角误差，太阳位置误差的因素可以忽略；当太阳高度角小于50°、载体水平角小于20°时，仿生偏振光定向的精度约等于偏振角的测量精度，即定向精度约为0.2°。

Algorithms and Error Analysis of Bionic Orientation Based on Polarized Light

The bionic orientation principles are studied based on standard atmospheric polarization model. An algorithm for calculating azimuth angle is described under the condition that the carrier is tilted. The effects of each error source on the heading angle error are analyzed. The results show that the azimuth angle can be calculated according to the polarization angle of the sensor and the horizontal angle of carrier. The main factors causing the orientation error are both bionic polarization sensor error and horizontal angle error. The sun position errors can be ignored. When the solar elevation angle is less than 50°, and the carrier horizontal angle is less than 20°, the accuracy of the bionic orientation is about 0.2°, which is approximately equal to the sensor accuracy.