An All-Weather Integrated Navigation Method Based on Polarized Light for Unmanned Mobile System

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An All-Weather Integrated Navigation Method Based on Polarized Light for Unmanned Mobile System

Zhang, Yuan / Xing, Yan / Xiong, Kai

Aiming at the requirements of all-weather and autonomous navigation for ground unmanned mobile platform (unmanned vehicle, unmanned robot and UAV), an all-weather integrated navigation method based on polarized light is proposed. According to the different maximum polarization degrees of sky polarized light under different weather conditions, the all-weather requirement is transformed into a problem of adapting to different maximum polarization degrees. Aiming at this problem, this method uses the current statistical model to estimate the maximum degree of polarization. Based on the different values of the model parameter, the maximum limit of the maximum degree of polarization, multiple parallel filters are designed, and the corresponding weights are calculated based on the measured residuals of the parallel filters and the corresponding covariance matrix. Adaptation to different weather conditions achieved by adjusting weights. The simulation results show that the designed parallel filter can automatically select the appropriate parallel filter as the main source of output, and obtain stable navigation performance when the maximum degree of polarization changes under different weather conditions.

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Dokumentinformationen

Titel :

An All-Weather Integrated Navigation Method Based on Polarized Light for Unmanned Mobile System

Weitere Titelangaben:

Lect. Notes Electrical Eng.

Beteiligte:

Wu, Meiping (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Cheng, Jin (Herausgeber:in) / Zhang, Yuan (Autor:in) / Xing, Yan (Autor:in) / Xiong, Kai (Autor:in)

Kongress:

International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021

Erschienen in:

Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Kapitel : 252 ; 2558-2567

Lecture Notes in Electrical Engineering ; 861

Erscheinungsdatum :

2022-03-18

Format / Umfang :

10 pages

ISBN :

978-981-16-9492-9 , 978-981-16-9491-2

ISSN :