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首页> 外文期刊>IEEE sensors journal >Design and Calibration of a Novel Camera-Based Bio-Inspired Polarization Navigation Sensor
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Design and Calibration of a Novel Camera-Based Bio-Inspired Polarization Navigation Sensor

机译：新型基于相机的生物启发偏振导航传感器的设计与校准

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摘要

The remarkable ability of animals using the skylight polarization pattern provides a significant inspiration for the autonomous robotic navigation. The bio-inspired polarization navigation approach with advantages of efficiency and reliability has aroused much interesting for experts to perform further research. The sensor of measuring the skylight polarization pattern plays a key role in bio-inspired polarization navigation. A novel camera-based bionic polarization navigation sensor is designed and implemented. We propose a robust measurement method based on the least squares by utilizing all outputs of measurement units. For improving the precision of measurement, the errors of sensor are analyzed, and an effective calibration algorithm is proposed in detail. The experiment results show that the measurement accuracy is improved greatly after calibration. Finally, to evaluate the performance of our sensor, experiments of measuring the actual skylight polarization pattern are performed and compared with the results from the single-scattering Rayleigh theory. The comparison results indicate that our sensor can achieve an effective and accuracy measurement in practice.
机译：动物利用天光偏振图案的非凡能力为自主机器人导航提供了重要的启示。具有效率和可靠性优势的受生物启发的极化导航方法引起了专家进行进一步研究的极大兴趣。测量天光偏振方向图的传感器在生物启发的偏振导航中起着关键作用。设计并实现了一种新型的基于相机的仿生极化导航传感器。我们通过利用测量单位的所有输出，提出了一种基于最小二乘的稳健测量方法。为了提高测量精度，分析了传感器的误差，并提出了有效的校准算法。实验结果表明，校正后测量精度大大提高。最后，为了评估我们的传感器的性能，进行了测量实际天光偏振方向图的实验，并将其与单散射瑞利理论的结果进行了比较。比较结果表明，我们的传感器在实践中可以实现有效而准确的测量。

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