Method and Implementation of a Bioinspired Polarization-Based Attitude and Heading Reference System by Integration of Polarization Compass and Inertial Sensors

Jian, Yang; Du, Tao; Liu, Xin; Niu, Ben; Guo, Lei

doi:10.1109/tie.2019.2952799

Cited by 62 publications

(26 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In recent research, a bio-inspired polarization-based attitude and heading reference system (PAHRS) is developed. The three-dimensional polarization heading information can be calculated independently of GNSS correction [21]. However, the aforementioned algorithms are all based on e-vector without considering the information provided by the degree of polarization (DoP).…”

Section: ) Combination With Inertial Sensorsmentioning

confidence: 99%

A Bio-Inspired Navigation Strategy Fused Polarized Skylight and Starlight for Unmanned Aerial Vehicles

et al. 2020

Self Cite

View full text Add to dashboard Cite

The migratory animals are capable of traveling long distances by fusing varied information, such as the halteres, the star positions, and the polarization pattern. Motivated by the navigation strategy of migratory animals, a bio-inspired navigation strategy based on polarized skylight, starlight, and halteres is presented in this paper. To enhance the environmental adaptability of the polarization navigation system, a sun vector calculation method tightly fusing the degree of polarization (DoP) and the azimuth of polarization (e-vector) is proposed. By setting the threshold of DoP values of the observation points, the DoP and the e-vector within the threshold range can be selected to deduce the sun position. As such, the robustness and reliability of the sun position can be improved. Concerned with the issue of attitude and heading determination in GNSS-challenged conditions, an integrated navigation strategy combined with polarized light and starlight is proposed. In addition, a Kalman filter is adopted to fuse the navigation data of polarized light, starlight, and inertial sensors. Finally, simulations are conducted to validate the performance of the integrated model. The results illustrated that the proposed navigation strategy is capable of determining the attitude and heading in the scenarios of which the Global Navigation Satellite System (GNSS) is disturbed.

show abstract

Section: ) Combination With Inertial Sensorsmentioning

confidence: 99%

A Bio-Inspired Navigation Strategy Fused Polarized Skylight and Starlight for Unmanned Aerial Vehicles

et al. 2020

Self Cite

View full text Add to dashboard Cite

show abstract

“…Dupeyroux et al designed a six-legged walking robot equipped with two ultraviolet light polarisation sensors and demonstrated the effectiveness of polarised light navigation with experiments without using GNSS (Dupeyroux et al, 2017(Dupeyroux et al, , 2019a(Dupeyroux et al, , 2019b. Yang et al (2019) proposed a polarisation attitude and heading reference system to address the autonomous attitude and heading determination challenge in GNSS-denied and magnetic disturbed scenarios. Subsequently, they presented a self-positioning system using polarisation pattern for the location of users (Yang et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

A bionic point-source polarisation sensor applied to underwater orientation

et al. 2021

Self Cite

View full text Add to dashboard Cite

With the characteristics of full autonomy and no accumulated errors, polarisation navigation shows tremendous prospects in underwater scenarios. In this paper, inspired by the polarisation vision of aquatic organisms, a novel point-source polarisation sensor with high spectral adaptability (400 nm–760 nm) is designed for underwater orientation. To enhance the environmental applicability of the underwater polarisation sensor, a novel sensor model based on the underwater light intensity attenuation coefficient and optical coupling coefficient is established. In addition, concerned with the influence of light intensity uncertainty on sensor performance underwater, an antagonistic polarisation algorithm is adopted for the first time, to improve the accuracy of angle of polarisation and degree of polarisation in the low signal-to-noise ratio environment underwater. Finally, indoor and outdoor experiments are carried out to evaluate the performance of the designed polarisation sensor. The results show that the designed point-source polarisation sensor can acquire polarised light and be used for heading determination underwater.

show abstract

“…In addition to the position, attitude also plays an important role in the landing guidance and controls system. For accurate attitude estimation, the Inertial Navigation System (INS) is commonly used [19]. Aided by the onboard inertial sensors, Yang et al [19] proposed a bioinspired polarization-based attitude and heading reference system to self-determine the heading orientation in the GNSS-denied environments.…”

Section: Introductionmentioning

confidence: 99%

“…For accurate attitude estimation, the Inertial Navigation System (INS) is commonly used [19]. Aided by the onboard inertial sensors, Yang et al [19] proposed a bioinspired polarization-based attitude and heading reference system to self-determine the heading orientation in the GNSS-denied environments. However, the INS measurement is often affected by internal or external factors such as drift, magnetic field, and temperature variation [20].…”

Section: Introductionmentioning

confidence: 99%

Learning-Type Anchors-Driven Pose Estimation for the Autolanding Fixed-Wing UAVs

Tang,

Shen,

Xiang

et al. 2021

Preprint

View full text Add to dashboard Cite

<p>We propose a learning-type anchors-driven real-time pose estimation method for the autolanding fixed-wing unmanned aerial vehicle (UAV). The proposed method enables online tracking of both position and attitude by the ground stereo vision system in the Global Navigation Satellite System denied environments. A pipeline of convolutional neural network (CNN)-based UAV anchors detection and anchors-driven UAV pose estimation are employed. To realize robust and accurate anchors detection, we design and implement a Block-CNN architecture to reduce the impact of the outliers. With the basis of the anchors, monocular and stereo vision-based filters are established to update the UAV position and attitude. To expand the training dataset without extra outdoor experiments, we develop a parallel system containing the outdoor and simulated systems with the same configuration. Simulated and outdoor experiments are performed to demonstrate the remarkable pose estimation accuracy improvement compared with the conventional Perspective-N-Points solution. In addition, the experiments also validate the feasibility of the proposed architecture and algorithm in terms of the accuracy and real-time capability requirements for fixed-wing autolanding UAVs.</p>

show abstract

Method and Implementation of a Bioinspired Polarization-Based Attitude and Heading Reference System by Integration of Polarization Compass and Inertial Sensors

Cited by 62 publications

References 26 publications

A Bio-Inspired Navigation Strategy Fused Polarized Skylight and Starlight for Unmanned Aerial Vehicles

A Bio-Inspired Navigation Strategy Fused Polarized Skylight and Starlight for Unmanned Aerial Vehicles

A bionic point-source polarisation sensor applied to underwater orientation

Learning-Type Anchors-Driven Pose Estimation for the Autolanding Fixed-Wing UAVs

Contact Info

Product

Resources

About