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第25届中国控制会议

作者： Lu Hongqian, Huang Xianlin, Yin Hang Harbin Institute of Technology, Harbin 150001

＜正＞To improve the attitude error correcting capabilities of GPS/SINS integrated navigation systems, a new method of polarized-light-based GPS/SINS integrated navigation is presented. The principles of polarized-light-aided attitude determination are demonstrated, and a multi-module approach is proposed to increases the degree of observability. The integrated navigation algorithm is implemented in frame of federated kalman filtering. To verify the effects of the method , matlab simulating is performed. The results indicate that the degree of observability and precision of the navigation system can be obviously improved, and the performance of the system can be improved more by using multi-polarizedlight modules whose lines of sight are non-parallel with each other.

关键词： polarized light navigation AHR Integrated navigation Federated Kalman Filtering

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Bioinspired polarized Skylight Orientation Determination Artificial Neural Network

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Journal of Bionic Engineering 2023年第3期20卷 1141-1152页

作者： Huaju Liang Hongyang Bai Ke Hu Xinbo Lv School of Energy and Power Engineering Nanjing University of Science and TechnologyNanjing210094China Neuromorphic Computing Laboratory China Nanhu Academy of Electronics and Information TechnologyJiaxing314001China Guidance Radar General Department Xi’an Electronic Engineering Research InstituteXi’an710100China School of Automation Nanjing University of Science and TechnologyNanjing210094China

This paper proposes an artificial neural network to determine orientation using polarized skylight. This neural network has specific dilated convolution, which can extract light intensity information of different polarization directions. Then, the degree of polarization (DOP) and angle of polarization (AOP) are directly extracted in the network. In addition, the exponential function encoding of orientation is designed as the network output, which can better reflect the insect’s encoding of polarization information and improve the accuracy of orientation determination. Finally, training and testing were conducted on a public polarized skylight navigation dataset, and the experimental results proved the stability and effectiveness of the network.

关键词： polarized light navigation Orientation determination Artificial neural network

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