Multiple Disturbance Analysis and Calibration of an Inspired Polarization Sensor

被引：8

作者：

Du, Tao ^{[1
,2
]}

Li, Xiong ^{[1
]}

Wang, Yuehai ^{[1
]}

Yang, Jian ^{[3
]}

Liu, Wanquan ^{[4
]}

机构：

[1] North China Univ Technol, Sch Informat, Beijing 100144, Peoples R China

[2] Peking Univ, Coll Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China

[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[4] Curtin Univ, Dept Comp, Perth, WA 6102, Australia

来源：

IEEE ACCESS | 2019年 / 7卷

基金：

中国国家自然科学基金;

关键词：

Multi-source error; sensor calibration; extended Kalman filter; unscented Kalman filter; INTEGRATION; ORIENTATION; CUES;

D O I：

10.1109/ACCESS.2019.2914565

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Polarization light has been used as a key navigation cue by many animals under a stable celestial polarization pattern. Inspired by animals' unrivaled navigation skill, a bionic polarization sensor is designed previously to obtain the angle of polarization and degree of polarization. However, the accuracy and stability of the sensor are restricted by multi-source errors. In order to improve the accuracy of the sensor, in this paper, the multi-source errors are analyzed and modeled. A coarse calibration is presented to reduce the effect of inconsistency and interference. In addition, the extended Kalman filter and the unscented Kalman filter are designed to estimate the multi-source error or interference and compensate for the bionic polarization sensor. Finally, simulation and indoor experiments are conducted to validate the effectiveness of the proposed calibration method.

引用

页码：58507 / 58518

页数：12

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