A Novel Attitude Determination System Aided by Polarization Sensor

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ID: 93822
2018
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Abstract
This paper aims to develop a novel attitude determination system aided by polarization sensor. An improved heading angle function is derived using the perpendicular relationship between directions of E-vector of linearly polarized light and solar vector in the atmospheric polarization distribution model. The Extended Kalman filter (EKF) with quaternion differential equation as a dynamic model is applied to fuse the data from sensors. The covariance functions of filter process and measurement noises are deduced in detail. The indoor and outdoor tests are conducted to verify the validity and feasibility of proposed attitude determination system. The test results showed that polarization sensor is not affected by magnetic field, thus the proposed system can work properly in environments containing the magnetic interference. The results also showed that proposed system has higher measurement accuracy than common attitude determination system and can provide precise parameters for Unmanned Aerial Vehicle (UAV) flight control. The main contribution of this paper is implementation of the EKF for incorporating the self-developed polarization sensor into the conventional attitude determination system. The real-world experiment with the quad-rotor proved that proposed system can work in a magnetic interference environment and provide sufficient accuracy in attitude determination for autonomous navigation of vehicle.
Reference Key
zhi2018asensors Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Zhi, Wei;Chu, Jinkui;Li, Jinshan;Wang, Yinlong;
Journal sensors
Year 2018
DOI
DOI not found
URL
http://www.mdpi.com/1424-8220/18/1/158
Keywords
Chemical technology polarization sensor quad-rotor uav e-vector direction solar vector

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