The Research Of Bionic Vision Integrated Navigation Algorithm Based On Sky Polarized Light

With the rapid development of science and technology,higher requirements have been put forward for navigation autonomy and anti-jamming ability.The navigation problem in complex jamming environment is the difficulty of current research,and the mainstream navigation methods have disadvantages such as high price and weak anti-jamming ability,so it is urgent to explore new navigation methods.At present,the combination of Simultaneous Localization And Mapping(SLAM)and Polarized Light Navigation is a new navigation method,which has attracted the attention of scholars.Visual SLAM mainly imitates biological visual perception system to realize navigation and localization through image matching,but it is easy to accumulate errors.Polarization navigation main imitation on earth some insects navigation and positioning method,but only course angle polarization navigation information,this paper combined with the advantages of two types of navigation,design a kind of polarization/vision integrated navigation system,vehicle navigation is made and experiments has been done,the results show that the integrated navigation system has high accuracy,robustness and autonomy.Firstly,the coordinate system and coordinate transformation matrix used in the integrated navigation system are introduced.In the integrated navigation system,the motion model and observation model of visual SLAM are constructed,and the direct linear transformation is deduced to solve the motion,which lays a theoretical foundation for the polarization/vision integrated navigation system.Secondly,the experimental platform of polarization/vision integrated navigation is designed,and the hardware selection and sensor performance analysis are completed according to the requirements.At the same time,the sensor data acquisition and processing algorithm is designed according to the data format of each sensor,and the overall algorithm flow of the system is given.Moreover,the bionic polarization directional sensor is designed to provide related functions such as absolute heading Angle,combined navigation experimental data set recording,and feature point motion vector elimination of mismatched points.By combining the information of bionic polarization directional sensor and binocular vision sensor with Bundle Adjustment(BA),the bionic polarization directional sensor was realized to correct the heading angle of visual SLAM.Finally,the combined navigation platform is used to complete the Angle contrast experiment and outdoor navigation experiment.The experimental results of Angle comparison show that the heading Angle solution accuracy of the bionic polarization directional sensor is higher than that of the visual SLAM,and the anti-jamming ability is stronger.Experimental results show that the average position error of the polarization/vision integrated navigation system is 0.83 m,and the Angle error is 0.33°.Compared with the traditional visual SLAM navigation system,the heading Angle accuracy is improved by38.9% and the position accuracy is improved by 8.9%.The experimental results show that the polarization/vision integrated navigation system is better than the traditional pure vision SLAM navigation accuracy,and the error does not accumulate over time.