Application of polarized-light-aided attitude determination in optical-flow-based autonomous navigation

HUANG Xian-lin; LIU Jia-qi; LU Hong-qian

doi:10.13873/j.1000-97872011.01.008

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Application of polarized-light-aided attitude determination in optical-flow-based autonomous navigation

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- Application of polarized-light-aided attitude determination in optical-flow-based autonomous navigation
- Vol. 30, Issue 1, Pages: 137-140+144(2011)
- 作者机构：
  
  哈尔滨工业大学控制理论与制导技术研究中心
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.01.008
  CLC： V249.32
- Published：2011
- 稿件说明：
移动端阅览
[1]黄显林,刘佳琦,卢鸿谦.偏振光辅助定姿在基于光流自主导航中的应用[J].传感器与微系统,2011,30(01):137-140+144.

HUANG Xian-lin, LIU Jia-qi, LU Hong-qian. Application of polarized-light-aided attitude determination in optical-flow-based autonomous navigation[J]. 2011, 30(1): 137-140+144.
[1]黄显林,刘佳琦,卢鸿谦.偏振光辅助定姿在基于光流自主导航中的应用[J].传感器与微系统,2011,30(01):137-140+144. DOI： 10.13873/j.1000-97872011.01.008.

HUANG Xian-lin, LIU Jia-qi, LU Hong-qian. Application of polarized-light-aided attitude determination in optical-flow-based autonomous navigation[J]. 2011, 30(1): 137-140+144. DOI： 10.13873/j.1000-97872011.01.008.

摘要

根据大气偏振光分布特点和偏振光导航原理搭建三通道测量平台对偏振光信息进行采集

通过视觉图像特征的空间梯度瞬时变化率计算飞行器周围环境的稀疏光流场。结合大气偏振光与运动环境光流信息构造基于GPS/惯导/偏振光/光流组合导航系统。分别对高度、姿态角和速度误差进行估计并进行算法仿真

结果表明:该方法具有较高精确度

对未来无人机火星探索应对特殊环境挑战提供新的导航途径。

Abstract

Based on the characteristics of polarized light distribution in the air and navigation principle

a three-channel polarized light measurement platform is built up to collect polarization information.Optical flow can be determined by computing the ratio of spatial to temporal intensity gradients of the visual image’s features.Polarized light information and optical flow information through Kalman filter is integrated to construct navigation system based on GPS

INS

polarized light and optical flow.The results of simulations and estimations of altitude

attitude angles

and velocity error of aircraft show that this method has high accuracy

and it provide a new navigation path to meet the challenges of Mars for UAVs.

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references

基于天空偏振光分布模式的仿生导航定向机理初探 [J]. 晏磊,关桂霞,陈家斌,吴太夏,邵轩. 北京大学学报(自然科学版) . 2009(04)

基于自然偏振光的自主导航新方法研究进展 [J]. 周军,刘莹莹. 宇航学报 . 2009(02)

基于稀疏光流的无人机自主导航方案 [J]. 陈磊,陈宗基. 航空学报 . 2008(S1)

偏振光/地磁/GPS/SINS组合导航方法 [J]. 卢鸿谦,尹航,黄显林. 宇航学报 . 2007(04)

Rayleigh大气天空光偏振分布仿真与预测 [J]. 赵开春,褚金奎,姚弘轶,张强,王体昌. 四川大学学报(工程科学版) . 2007(S1)

偏振光/地磁/GPS/SINS组合导航算法研究 [D]. 李明明. 哈尔滨工业大学 2008

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