Add to BibSonomy
Abstract
High precision and reliability attitude measurement play an important role in autonomous unmanned navigation. Finding inspiration from desert ants, known as highly efficient navigators who can find their way after foraging for hundreds of meters from their home in hostile environments, we propose an attitude measurement method using polarization skylight and gravitational field. Contrary to the previous method, we utilize three-dimensional polarization vectors and any one-dimensional output of the accelerometers to calculate attitudes. In addition, we designed an accelerometer component selection algorithm, which is to select the one-dimensional component with the minimum motion acceleration from the output of the three-dimensional accelerometer. With this method, even if the carriers remain in a maneuvering state, the motion acceleration of the vehicle will have less impact on the accuracy of attitude measurement. To evaluate the performance of our method, the outdoor experiment was carried out to compare our method with existing traditional methods. Comparison results show that our method has higher measurement accuracy than others and is still applicable in the case of carriers maneuvering in practice under a clear sky.
© 2020 Optical Society of America
Full Article | PDF ArticleMore Like This
Shan Li, Donghua Zhao, Hua Yu, Tao Jin, Chenguang Wang, Jun Tang, Chong Shen, Jun Liu, Yicheng Wu, and Hong Yang
Appl. Opt. 61(3) 765-774 (2022)
Guangmin Li, Ya Zhang, Shiwei Fan, Chunzhi Liu, Fei Yu, Xiaofeng Wei, and Wenling Jin
Opt. Express 32(6) 9184-9200 (2024)
Moshe Hamaoui
Appl. Opt. 56(3) B37-B46 (2017)