褚金奎

个人信息Personal Information

教授

博士生导师

硕士生导师

性别:男

毕业院校:北京航空航天大学

学位:博士

所在单位:机械工程学院

学科:机械电子工程. 微机电工程. 测试计量技术及仪器

办公地点:机械大方楼6019

联系方式:0411-84706108

电子邮箱:chujk@dlut.edu.cn

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Bio-inspired attitude measurement method using a polarization skylight and a gravitational field

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论文类型:期刊论文

发表时间:2020-03-20

发表刊物:APPLIED OPTICS

收录刊物:SCIE

卷号:59

期号:9

页面范围:2955-2962

ISSN号:1559-128X

摘要:High precision and reliability attitude measurement play an important role in autonomous unmanned navigation. Finding inspiration from desert ants, known as highly efficient navigators who can find their way after foraging for hundreds of meters from their home in hostile environments, we propose an attitude measurement method using polarization skylight and gravitational field. Contrary to the previous method, we utilize three-dimensional polarization vectors and any one-dimensional output of the accelerometers to calculate attitudes. In addition, we designed an accelerometer component selection algorithm, which is to select the one-dimensional component with the minimum motion acceleration from the output of the three-dimensional accelerometer. With this method, even if the carriers remain in a maneuvering state, the motion acceleration of the vehicle will have less impact on the accuracy of attitude measurement. To evaluate the performance of our method, the outdoor experiment was carried out to compare our method with existing traditional methods. Comparison results show that our method has higher measurement accuracy than others and is still applicable in the case of carriers maneuvering in practice under a clear sky. (C) 2020 Optical Society of America