A Novel Orientation Method for Polarized Light Compass Under Tilted Conditions

Guo-liang, Han; Zhang, Lilian; He, Xiaofeng; He, Ruiguang; Mao, Jun; Wu, Xuesong; Hu, Xiaoping

doi:10.1109/jsen.2020.2994104

Cited by 14 publications

(2 citation statements)

References 25 publications

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“…According to [38], ϕ represents the angle between the E vector and the observed meridian plane. The relationship between ϕ and ξ is represented as…”

Section: Heading Measurementmentioning

confidence: 99%

An Improved Bio-Orientation Method Based on Direct Sunlight Compensation for Imaging Polarization Sensor

Li,

Zhang,

Fan

et al. 2024

J. Imaging

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Direct sunlight in complex environmental conditions severely interferes with the light intensity response for imaging Polarization Sensor (PS), leading to a reduction in polarization orientation accuracy. Addressing this issue, this article analyzes the impact mechanism of direct sunlight on polarization sensor detection in a complex environment. The direct sunlight interference factor is introduced into the intensity response model of imaging polarization detection, enhancing the accuracy of the polarization detection model. Furthermore, a polarization state information analytical solution model based on direct sunlight compensation is constructed to improve the accuracy and real-time performance of the polarization state information solution. On this basis, an improved bio-orientation method based on direct sunlight compensation for imaging polarization sensor is proposed. The outdoor dynamic reorientation experiment platform is established to validate the effectiveness of the proposed method. Compared with the traditional methods, the experimental results demonstrate a 23% to 47% improvement in the polarization orientation accuracy under various solar zenith angles.

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“…According to [38], ϕ represents the angle between the E vector and the observed meridian plane. The relationship between ϕ and ξ is represented as…”

Section: Heading Measurementmentioning

confidence: 99%

An Improved Bio-Orientation Method Based on Direct Sunlight Compensation for Imaging Polarization Sensor

Li,

Zhang,

Fan

et al. 2024

J. Imaging

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“…In terms of the Stokes vector, the AOP of each pixel corresponding to the incident light is calculated as follows [25]:…”

Section: Preliminaries: Imaging Theory-based Atmospheric Polarization...mentioning

confidence: 99%

Polarized light-aided visual-inertial navigation system: global heading measurements and graph optimization-based multi-sensor fusion

Xia¹,

Liu²,

Daochang³

et al. 2022

Meas. Sci. Technol.

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Polarized skylight is as fundamental a constituent of passive navigation as geomagnetic field. In regards to its applicability to outdoor robot localization, a polarized light-aided VINS (abbreviates ‘visual-inertial navigation system’) modelization dedicated to globally optimized pose estimation and heading correction is constructed. The combined system follows typical visual SLAM (abbreviates ‘simultaneous localization and mapping’) frameworks, and we propose a methodology to fuse global heading measurements with visual and inertial information in a graph optimization based estimator. With ideas of ‘new-added attribute of each vertex and heading error encoded constraint edges’, the heading, as absolute orientation reference, is estimated by Berry polarization model and continuously updated in a graph structure. The formulized graph optimization process for multi-sensor fusion is simultaneously provided. In terms of campus road experiments on Bulldog-CX Robot platform, results are compared against purely stereo camera-dependent and VINS Fusion frameworks, revealing our design is substantially more accurate than others with both locally and globally consistent position and attitude estimates. As essentially passive, anatomically coupled and drifts calibratable navigation mode, the polarized light-aided VINS may therefore be considered as a tool candidate for a class of visual SLAM based multi-sensor fusion.

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