A 3D Attitude Estimation Method Based on Attitude Angular Partial Feedback for Polarization-Based Integrated Navigation System

Abstract

Polarization (POL) navigation is inspired by insects’ behavior of precepting celestial polarization patterns to orient themselves. It has the advantages of being autonomous and having no accumulative error, which allows it to be used to correct the errors of the inertial navigation system (INS). The integrated navigation system of the POL-based solar vector with INS is capable of 3D attitude determination. However, the commonly used POL-based integrated navigation system generally implements the attitude update procedure without considering the performance difference with different magnitudes of the angles between the solar-vector and body-axes of the platform (S-B angles). When one of the S-B angles is small enough, the estimated accuracy of the attitude angle by the INS/POL is worse than that of the strapdown inertial navigation system. To minimize the negative impact of POL in this situation, an attitude angular adaptive partial feedback method is proposed. The S-B angles are used to construct a partial feedback factor matrix to adaptively adjust the degree of error correction for INS. The results of simulation and real-world experiments demonstrate that the proposed method can improve the accuracy of 3D attitude estimation compared with the conventional all-feedback method for small S-B angles especially for yaw angle estimation.

Biomimetic Polarized Light Navigation Sensor: A Review

“…As shown in Figure 8d, in order to eliminate the negative impact of polarization navigation, they proposed an attitude angle adaptive partial feedback algorithm to adjust the error correction degree of inertial navigation in an adaptive form. This method can improve the accuracy of three-dimensional attitude estimation [54]. In 2022, Zhao et al analyzed the heading error caused by pitch angle and roll angle during flight of UAV guided by polarized light [55].…”

“…MIMU: Miniature Inertial Measurement Unit. (d) Polarized light sensor unit[54]. (e) Six rotor UAV with polarized light sensor[55].…”

“…[3-5,18,31-37] Time-sharing imaging Camera, turntable, polarizer [57-70] Simple production and low cost.The orientation error and assembly error are large. [[38][39][40][41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56] …”