A Novel Attitude Measurement Method Based on Forward Polarimetric Imaging of Skylight
| Autor: | Kaichun Zhao, Jinkui Chu, Zhenhua Wan |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Heading (navigation)
Inertial frame of reference Computer science business.industry media_common.quotation_subject 020208 electrical & electronic engineering Polarimetry Attitude and heading reference system 02 engineering and technology Skylight Position (vector) Sky 0202 electrical engineering electronic engineering information engineering Computer vision Artificial intelligence Electrical and Electronic Engineering business Instrumentation Zenith media_common |
| Zdroj: | IEEE Transactions on Instrumentation and Measurement. 70:1-9 |
| ISSN: | 1557-9662 0018-9456 |
| DOI: | 10.1109/tim.2021.3063776 |
| Popis: | Due to the lack of environmental features, a large number of sky areas in the image are usually discarded. However, many organisms, such as insects and birds, can obtain azimuth information from these neglected sky areas and they use it to navigate. This article presents a novel method for estimating the 3-D attitude from these neglected sky areas using a skylight polarization pattern and vertical component constraints. In contrast to the traditional zenith imaging method that only determines the heading angle, this new method determines the 3-D attitude based on forward polarimetric imaging. We first describe the theoretical background of skylight polarization pattern and then derive the relationship between attitude and skylight polarization parameters, such as the angle of E-vector and solar vector. Subsequently, these polarization parameters are estimated. Finally, an attitude measurement method is proposed, which can be divided into absolute and relative attitudes according to whether the solar position is known. The outdoor experiment was performed to compare our method with the existing attitude and heading reference system (AHRS). The experimental results show that our proposed method is comparable to the existing inertial AHRS. This work provides a new attitude measurement method for navigation applications. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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