Related Experiment Video
Updated: Dec 2, 2025

Automated Charting of the Visual Space of Housefly Compound Eyes
Published on: March 31, 2022
Design and calibration model of a bioinspired attitude and heading reference system based on compound eye
Xin Liu1, Jian Yang1,2,3, Lei Guo1,2,3
1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, People's Republic of China.
Abstract:
Insects such as honeybees are capable of fusing the information sensed by multiple sensory organs for attitude and heading determination. In this paper, inspired by the sensory fusion mechanism of insects' polarization compass and haltere, a bioinspired polarization-based attitude and heading reference system (PAHRS) is presented. The PAHRS consists of compound eye polarization compass and inertial measurement unit (IMU). By simulating multi-view structure of the dorsal rim area in insects' compound eyes, a non-coplanar 'polarization-opponent (POL)-type' architecture is adopted for the compound eye polarization compass. The polarization compass has multi-directional observation channels, which is capable of adaptively selecting the angle of polarization and obtaining the polarization vectors. Therefore, the environmental adaptability of the polarization compass can be enhanced. In addition, the integration strategy between the compound eye polarization compass and IMU is proposed. Moreover, the sources of system errors are analyzed to improve the heading angle accuracy, based on which a new calibration model is established to compensate the installation errors of the PAHRS. Finally, experiments are carried out under both clear sky and cloudy conditions. The test results show that the error root mean square of heading angle is 0.14° in clear sky, and 0.42° in partly cloudy conditions.
More Related Videos
07:09Gaze in Action: Head-mounted Eye Tracking of Children's Dynamic Visual Attention During Naturalistic Behavior
Published on: November 14, 2018
07:24Using Eye-tracking to Assess the Relative Importance of Visual and Vestibular Input to Subcortical Motion Processing in the Roll Plane
Published on: August 22, 2025
Related Concept Videos
Gyroscope: Precession
Azimuths and Bearings
Gyroscope
Relative Motion Analysis using Rotating Axes-Problem Solving
Here, in order to determine the magnitude of velocity and acceleration for point...
Curvilinear Motion: Polar Coordinates
The particle's location is described using a unit vector along the radial direction. Deriving the particle's position...
Polar and Cylindrical Coordinates