A multiscale transform denoising method of the bionic polarized light compass for improving the unmanned aerial vehicle navigation accuracy

作     者：Donghua ZHAO Jun TANG Xindong WU Jing ZHAO Chenguang WANG Chong SHEN Jun LIU Donghua ZHAO;Jun TANG;Xindong WU;Jing ZHAO;Chenguang WANG;Chong SHEN;Jun LIU

作者机构：Key Laboratory of Instrumentation Science&Dynamic MeasurementMinistry of EducationSchool of Instrument and ElectronicsNorth University of ChinaTaiyuan 03005JPR China School of Information and Communication EngineeringNorth University of ChinaTaiyuan 030051PR China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2022年第35卷第4期

页      面：400-414页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0802[工学-机械工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：co-supported by the National Natural Science Foundation of China(No.61973281) The Innovative Research Group Project of National Natural Science Foundation of China(No.51821003) the Aeronautical Science Foundation of China(No.2018ZCU0002) the Program for the Top Young Academic Leaders of Higher Learning Institutions of Shanxi Shanxi Postgraduate Innovation Project,China(No.2020BY102) the Young Academic Leaders Foundation in North University of China the Fund for Shanxi‘‘1331 Project”Key Subjects Construction 

主　　题：Denoising Multi-scale transform Orientation Polarized light compass UAV navigation 

摘      要：In recent years, the bionic polarized light compass has been widely studied for the unmanned aerial vehicle navigation. However, it is found from the obtained investigation results that a polarized light compass with a sensitive and high dynamic range polarimeter still provides inferior output precision of the heading angle due to the presence of the noise generating from the *** noise is existed not only in the angle of the polarization image acquired by polarimeters but also in the output heading data, which leads to a sharp reduction in the accuracy of a polarized light compass. Herein, we present noise analysis and a novel multiscale transform denoising method of a polarized light compass used for the unmanned aerial vehicle navigation. Specifically, a multiscale principle component analysis utilizing one-dimensional image entropy as classification criterion is directly implemented to suppress the noise in the acquired polarization image. Subsequently, a multiscale time–frequency peak filtering method using the sample entropy as classification criterion is applied for the output heading data so as to further increase the heading measurement accuracy from the denoised image above. These two approaches are combined to significantly reduce the heading error affected by different types of noises. Our experimental results indicate the proposed multiscale transform denoising method exhibits high performance in suppressing the noise of a polarized light compass used for the unmanned aerial vehicle navigation compared to existing prior arts.