论文标题
传感器倾斜对生物启发的极化天窗方向测定的影响
Influence of sensor tilts on bio-inspired polarized skylight orientation determination
论文作者
论文摘要
受到许多昆虫的启发，已经提出了几种两极分化的天窗定向方法。但是，几乎所有这些方法总是需要指向天顶的极化传感器。因此，需要紧急分析传感器倾斜（不指向天顶）对生物启发的极化定向确定的影响。针对这个问题，极化指南针模拟系统的设计基于太阳位置模型，瑞利天空模型和假设的极化成像仪。然后，仅在俯仰倾斜条件下，分别详细研究了四种典型取向测定方法的误差特性，分别仅倾斜条件，倾斜和倾斜条件。最后，模拟和现场实验均表明，在受到倾斜干扰时，四种典型方法的方向误差高度一致，此外，误差不仅受倾斜度的影响，而且受太阳高度角度和太阳和偏振传感器之间的相对位置的影响。本文的结果可用于估计传感器倾斜引起的方向确定错误并纠正这种错误。
Inspired by many insects, several polarized skylight orientation determination approaches have been proposed. However, almost all of these approaches always require polarization sensor pointing to the zenith of the sky dome. So, the influence of sensor tilts (not point to the sky zenith) on bio-inspired polarization orientation determination needs to be analyzed urgently. Aiming at this problem, a polarization compass simulation system is designed based upon solar position model, Rayleigh sky model, and hypothetical polarization imager. Then, the error characteristics of four typical orientation determination approaches are investigated in detail under only pitch tilt condition, only roll tilt condition, pitch and roll tilts condition respectively. Finally, simulation and field experiments all show that the orientation errors of four typical approaches are highly consistent when they are subjected to tilt interference, in addition, the errors are affected by not only the degree of inclination, but also the solar altitude angle and the relative position between the Sun and polarization sensor. The results of this paper can be used to estimate the orientation determination error caused by sensor tilts and correct this kind of error.
