偏振导航传感器测角误差分析与补偿

借鉴沙漠蚂蚁等昆虫利用天空偏振模式进行导航的方法，设计了偏振传感器来获取导航系统的航向角。为提高偏振传感器的测角精度，研究了影响偏振传感器测角精度的误差因素与补偿方法。讨论了如何利用偏振传感器从天空偏振模式中提取偏振方位角信息的方法，分析了影响偏振测角精度的主要误差因素，建立了偏振传感器的测角误差模型。根据测角误差模型，推导了偏振方位角的解算方法，并利用最小二乘算法，通过估算模型的误差参数值间接补偿测角误差。最后，采用提出的误差补偿算法在晴朗天气下进行了实验测试。测试结果表明：误差补偿后测角精度得到明显提高，约为0.17°（3σ）。实验结果验证了提出的误差补偿算法可以实现对角度误差的有效补偿。

Analysis and compensation of angle errors of polarization navigation sensors

A polarization angle sensor was designed to gain the azimuth angle of a navigation system by learning from desert ants using the polarized pattern for navigation. To improve the measuring accuracy of the polarization angle, the factors influencing the angular errors were analyzed and the compensation method was researched. Based on the polarization principles, how to obtain the information of polarized azimuth angle from a sky polarization pattern was discussed, the main factors influencing the angular error measurement was analyzed, and a polarization angle error measuring model was built. According to the model, the solution to the polarization azimuth angle was deduced and the Least Square Method(LSM) of error compensation was presented to indirectly compensate the angular error by estimating the error parameters of the model. An experiment was performed eventually when the weather was fine. The experimental results show that the angular error is less than 0.17 degree (3σ), which indicates that the accuracy of the polarization angle is improved. The experiment demonstrates that the algorithm is feasible to compensate angular errors.