Integrated Polarized Skylight Sensor and MIMU With a Metric Map for Urban Ground Navigation

Fan, Chen; Hu, Xiaoping; He, Xiaofeng; Zhang, Lilian; Lian, Junxiang

doi:10.1109/jsen.2017.2786404

Cited by 56 publications

(32 citation statements)

References 19 publications

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“…At present, polarized light navigation at home and abroad mainly focuses on the use of single-point measurement sensor, which is vulnerable to environmental interference and has poor robustness. Based on the polarization vision sensor of four cameras used by Fan Chen et al, a new kind of array polarization light sensor which integrates four quadrant polarizers into one camera is used to improve the accuracy of the sensor and avoid the complex calibration process [9].…”

Section: A Theoretical and Experimentalmentioning

confidence: 99%

A Combination Orientation Compass Based on the Information of Polarized Skylight/Geomagnetic/MIMU

Zhang

et al. 2020

IEEE Access

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The aim of this present is to design a new kind of compass which can be used during the absence of satellite signals. It is a development trend to enhance the reliability and environmental adaptability of navigation system to enable the vehicle-borne system to have the ability of navigation and orientation without satellite signals. So far, the geomagnetic/micro inertial measurement unit(MIMU) orientation method which has been commonly used in orientation mode is vulnerable to environmental interference and has weak reliabilities. Through the research of bionic navigation at home and abroad, it has been found that some insects such as desert ants, bees, etc. can find orientation by sensing atmospheric polarization information. In this paper, by using array polarization vision sensor to get the polarization information of the local zenith, the heading angle of polarization information can be calculated, and then by using Kalman filter, the heading angle of polarization information can be fused with the results of geomagnetic/MIMU, so as to achieve better optimal heading estimation. The environmental adaptability and effectiveness of the compass have been verified by theoretical analysis and vehicle experiments.

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Section: A Theoretical and Experimentalmentioning

confidence: 99%

A Combination Orientation Compass Based on the Information of Polarized Skylight/Geomagnetic/MIMU

Zhang

et al. 2020

IEEE Access

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“…In 2018, Fan et al investigated on the use of their celestial compass for car navigation applications [22], [23]. Their polarized sensor combined four polarization units made of CCD cameras (1034×778 pixels) with wide-angle lens and spectral sensitivity in the visible range (λ max = 650nm).…”

Section: Introductionmentioning

confidence: 99%

“…Once embedded on board the car, the sensor was tested on a 2.14km-long trajectory, resulting in an orientation root means square error (RMSE) equal to 0.81 • . In 2017, Wang et al investigated the effect of foliage on the AoP measurements in car navigation [24] using the same polarized sensor as Fan and colleagues [22], [23]. Their method was tested on a 2.52km-long journey, resulting in an orientation RMSE equal to 0.92 • despite foliage.…”

Section: Introductionmentioning

confidence: 99%

Bio-inspired celestial compass yields new opportunities for urban localization

Dupeyroux

Viollet

Serres

2020

2020 28th Mediterranean Conference on Control and Automation (MED)

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Autonomous navigation requires multi-sensors data fusion provided either by global navigation satellite systems (GNSS) devices, inertial measurement units, radars and cameras to achieve accurate localization. Each technological solution features advantages but suffers also from drawbacks. Data fusion aims at maintaining a strong level of accuracy and robustness to make autonomous navigation systems reliable enough to be embedded on board any autonomous vehicles. However, there are still environmental contexts in which most sensors drift or even fail to provide correct estimates. In this study, we discuss the opportunity to use a celestial compass inspired by the desert ants' visual system which is able to extract heading information from the polarization pattern of the skylight in the ultraviolet (UV) spectrum. This new sensing mode has been mounted on-top a car and tested outdoor on a 18.6km-long journey in town and compared with GNSS estimates. The UV celestial compass yielded promising performances regarding its low complexity and the root mean square error of the orientation error was only 0.55 •. Our results suggest the suitability of such parsimonious insect-inspired solutions for robotic purposes in urban field like the last mile delivery.

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“…The angles for skylight polarization, derived using the digital images of sky under various conditions, were studied in 2017 [28]. An integrated polarized skylight sensor and Micro Inertial Measurement Unit (MIMU) with a metric map for urban ground navigation were proposed in 2018 [29].…”

Section: Introductionmentioning

confidence: 99%

A Bio-Inspired Polarization Sensor with High Outdoor Accuracy and Central-Symmetry Calibration Method with Integrating Sphere

Wang

Chu

Zhang

et al. 2019

Sensors

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A bio-inspired polarization sensor with lenses for navigation was evaluated in this study. Two new calibration methods are introduced, referred to as “central-symmetry calibration” (with an integrating sphere) and “noncontinuous calibration”. A comparison between the indoor calibration results obtained from different calibration methods shows that the two proposed calibration methods are more effective. The central-symmetry calibration method optimized the nonconstant calibration voltage deviations, caused by the off-axis feature of the integrating sphere, to be constant values which can be calibrated easily. The section algorithm proposed previously showed no experimental advantages until the central-symmetry calibration method was proposed. The outdoor experimental results indicated that the indoor calibration parameters did not perform very well in practice outdoor conditions. To establish the reason, four types of calibration parameters were analyzed using the replacement method. It can be concluded that three types can be easily calibrated or affect the sensor accuracy slightly. However, before the sensor is used outdoors every time, the last type must be replaced with the corresponding outdoor parameter, and the calculation needs a precise rotary table. This parameter, which is mainly affected by the spectrum of incident light, is the main factor determining the sensor accuracy. After calibration, the sensor reaches an indoor accuracy of ±0.009° and a static outdoor accuracy of ±0.05° under clear sky conditions. The dynamic outdoor experiment shows a ±0.5° heading deviation between the polarization sensor and the inertial navigation system with a ±0.06° angular accuracy.

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Integrated Polarized Skylight Sensor and MIMU With a Metric Map for Urban Ground Navigation

Cited by 56 publications

References 19 publications

A Combination Orientation Compass Based on the Information of Polarized Skylight/Geomagnetic/MIMU

A Combination Orientation Compass Based on the Information of Polarized Skylight/Geomagnetic/MIMU

Bio-inspired celestial compass yields new opportunities for urban localization

A Bio-Inspired Polarization Sensor with High Outdoor Accuracy and Central-Symmetry Calibration Method with Integrating Sphere

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