Study On Autonomous Acquisition Of Spatial Attitude Based On Skylight Polarization Mode

Bionic polarization navigation method is an autonomous navigation method in view of natural polarization property.It is based on highly sensitive polarized visual perception and navigation functions of animals such as desert ants.It takes the natural polarization of sunlight as the theoretical basis.Through the detection and calculation of skylight polarization modes,the carriers' navigation information were acquired.Aiming at how to use the skylight polarization mode to obtain the attitude of the carrier during the flight,an autonomous acquisition of spatial attitude based on skylight polarization mode was proposed.A skylight polarization representation model in inclined attitude was established,extracting the feature information from the skylight polarization mode in different attitudes,utilizing the spatial transformation between feature information to achieve the acquisition of space attitude of the carrier.The main work of this paper includes:(1)Focusing on the characterization of the distribution of skylight polarization mode in any attitude,a modeling method of skylight polarization mode in inclined attitude was proposed.Establishing the spatial relationship between the coordinate systems before and after the transformation with the rotation matrix,the space transformation from any inclined attitude to horizontal state was achieved.(2)Based on the model of skylight polarization mode in inclined attitude,the feature extraction methods of skylight polarization mode in inclined attitude were studied.Utilizing the method of least square and Hough Transform,respectively,fitting the distribution of the angle of polarization mode,the zenith point and solar position were extracted,respectively.(3)A method of autonomous acquisition of spatial attitude using skylight polarization mode was proposed.Through the skylight polarization mode before and after the variation of attitude,extracting the zenith point and solar position,respectively.Utilizing the spatial transformation between feature information to achieve the acquisition of space attitude of the carrier.The simulation and measurement results show that,the method can realize autonomous acquisition of space attitude information of the carrier.