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A Novel Attitude Determination System Aided by Polarization Sensor.

Wei Zhi1, Jinkui Chu2, Jinshan Li3

  • 1Key Laboratory for Micro/Nano Technology and System of Liaoning Province, Dalian University of Technology, Dalian 116024, China. zhiwei_1983@mail.dlut.edu.cn.

Sensors (Basel, Switzerland)
|January 10, 2018
PubMed
Summary

A new attitude determination system uses a polarization sensor to provide accurate heading angles, unaffected by magnetic interference. This novel system enhances Unmanned Aerial Vehicle (UAV) navigation accuracy, especially in challenging environments.

Keywords:
E-vector directionpolarization sensorquad-rotor UAVsolar vector

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Area of Science:

  • Aerospace Engineering
  • Robotics
  • Sensor Technology

Background:

  • Traditional attitude determination systems often rely on magnetometers, which are susceptible to magnetic interference.
  • Accurate attitude estimation is critical for Unmanned Aerial Vehicle (UAV) stability and autonomous navigation.
  • Existing systems may struggle in environments with significant magnetic disturbances.

Purpose of the Study:

  • To develop and validate a novel attitude determination system incorporating a polarization sensor.
  • To enhance heading angle accuracy using atmospheric polarization models and sensor fusion.
  • To demonstrate the system's robustness in magnetic interference environments.

Main Methods:

  • Derivation of an improved heading angle function based on the polarization of light and solar vector.
  • Application of the Extended Kalman Filter (EKF) with quaternion differential equations for sensor data fusion.
  • Detailed deduction of covariance functions for filter process and measurement noises.
  • Indoor and outdoor testing to validate system performance.

Main Results:

  • The polarization sensor demonstrated immunity to magnetic fields, enabling operation in environments with magnetic interference.
  • The proposed system achieved higher measurement accuracy compared to conventional attitude determination systems.
  • Real-world experiments with a quad-rotor confirmed the system's feasibility and accuracy for autonomous navigation.

Conclusions:

  • The novel attitude determination system, aided by a polarization sensor and EKF, offers a robust solution for UAVs.
  • The system provides precise attitude parameters, crucial for reliable flight control and autonomous navigation.
  • This approach overcomes limitations of magnetic sensors, expanding operational capabilities in challenging environments.