天空偏振模式对仿生偏振光定向的影响及实验

针对工程应用中仿生偏振光罗盘易受天气和太阳位置等因素的影响,存在定向精度低、稳定性差等问题,研究了天空偏振模式对偏振光定向的影响机理。建立了含有偏振模型误差的偏振光定向模型,推导了仿生偏振光罗盘的航向角解算方法;然后系统分析了模型误差对偏振光定向精度的影响机理,指出了载体水平角和太阳高度角是决定模型误差影响程度的主要因素;最后设计了静态实验与跑车测试,评估了不同水平角和太阳高度角时,模型误差对偏振光定向精度的影响。结果表明:当太阳高度角hs40°时,偏振光定向误差为0.729°;当40°hs75°时,误差为3.764°;精度明显降低。另外,载体水平角越大,模型误差角对定向精度的影响程度也越显著;载体水平时,定向误差为0.323°,而倾斜后误差增大为1.352°。文中对仿生偏振光定向的影响机理分析为补偿偏振模型误差,实现高精度偏振光定向提供了理论依据。

Influence of skylight polarization pattern on bionic polarized orientation and corresponding experiments

To solve the problems of directional precision errors and low stability existed in a bionic polarized light compass caused by the weather and sun position or other factors, the effect mechanism of sky polarization mode on polarized orientation was researched. A polarized orientation model including model errors was built and the algorithm to calculate a heading angle for the bionic polarized compass was deduced. Then, the influence of the model errors on the polarized orientation precision was analyzed systematically. It points out that the horizontal angle and the solar altitude angle are main factors to determine the impact of the model errors. Finally, a static experiment and a dynamic car test were designed. The influence of polarized model errors on the polarized orientation precision was assessed in different horizontal angles and solar altitude angles. The results indicate that when the solar altitude angle is less than 40°, the error of polarized orientation is 0.729°. When the angle is between 40° and 75°,the precision is evidently decreased,and the error is 3.764°. Moreover,the impact of polarized model is also evidently increased as the horizontal angle. When the vehicle runs in a level, the error is 0.323°. After inclining, the error is increased to 1.352°. The error mechanism proposed provides theoretical references for compensating model errors and improving the precision of polarized orientation.