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A 3D Attitude Estimation Method Based on Attitude Angular Partial Feedback for Polarization-Based Integrated

Pengwei Hu1, Panpan Huang2, Zhenbing Qiu2

  • 1School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.

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|February 15, 2022
PubMed
Summary
This summary is machine-generated.

Polarization (POL) navigation enhances inertial navigation systems (INS) by using celestial patterns. A new adaptive method improves 3D attitude accuracy, especially when solar-vector angles are small, outperforming traditional approaches.

Keywords:
3D attitude estimationpartial feedbackpolarization navigationthe solar vector

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Area of Science:

  • Robotics and Autonomous Systems
  • Navigation and Guidance
  • Biomimetics

Background:

  • Polarization (POL) navigation, inspired by insect orientation using celestial polarization patterns, offers autonomous and drift-free navigation.
  • Integrated navigation systems combining POL with Inertial Navigation Systems (INS) enable 3D attitude determination.
  • Conventional POL-INS integration methods do not account for varying solar-vector to body-axis (S-B) angles, potentially degrading accuracy.

Purpose of the Study:

  • To address the accuracy degradation of POL-INS integrated navigation when S-B angles are small.
  • To propose an adaptive method that optimizes the integration of POL and INS based on S-B angle magnitudes.
  • To enhance the 3D attitude estimation accuracy of integrated navigation systems.

Main Methods:

  • An attitude angular adaptive partial feedback method was developed.
  • The method utilizes S-B angles to construct a partial feedback factor matrix.
  • This matrix adaptively adjusts the INS error correction based on S-B angle magnitudes.

Main Results:

  • The proposed adaptive partial feedback method improves 3D attitude estimation accuracy compared to conventional all-feedback methods.
  • Performance gains are particularly significant for small S-B angles.
  • Yaw angle estimation accuracy shows notable improvement under these conditions.

Conclusions:

  • The adaptive partial feedback method effectively mitigates the negative impact of small S-B angles in POL-INS integrated navigation.
  • This approach enhances the robustness and accuracy of autonomous navigation systems.
  • The findings are validated through both simulations and real-world experiments.