Error Modeling And Compensation Of Bio-inspired Polarization Compass

This thesis study on the bio-inspired pixelated light compass.The main research contents are the design of the pixelated nano-grating parameters,the errors come from the polarization compass processing,and the error of the bionic plorazization directional algorithm.According to these aspects,this thesis analysis the error chain model and conducted experimental test and verification.The major contribution and innovation points are as follows:(1)Based on the malus law,the thesis deduced the polarization measure foumula for the light compass.Considering the linear sensitivity error of CCD chips and the installation error between the CCD chip and the pixelated nano-grating,the plorazition measure formula is proposed.And the calculation method is derived according to the least-square estimation.Then,experiments were conduceted to analysis the effectiveness for the calculation formula by collect datas of the sky and the ground targets.Last,the sun vector is established as an optimization problem of finding the minimum exgenvector.The experience turned out it can get the relatively accurate results.(2)Parameter design of the pixelated light compass and error analysis and modeling for the course of working.Optical simulation software is used for simulation analysis of pixelated nano-grating designed parameters,including the wire grid cycle,duty cycle,width,depth and thickness of isolation layer.Then the calibration method of the installation error between the CCD chip and the pixelated nano-grating is proposed.The performance of the polarized light compass was tested under the standard light source.The conclusion of practical value is obtained.(3)A method of solving the heading angle based on the method of weighted averaging based on polarized light image is proposed.Based on this,the influence of polarization measurement error and solar position error on the orientation accuracy is derived and simulated.Then,the indoor orientation test under the standard light source and the outdoor static orientation experiment and dynamic experiment on a car was carried out to verify the accuracy and the usability of the algorithm.