Design Of UAV Navigation Platform Based On Polarization

Design of polarized light sensor prototype and verification on the robot navigation had opened up a new field for navigation, however, the polarization navigation in3d space was still in the initial stage of exploration. Based on polarization in3d space navigation application, UAV navigation experimental platform and simulation platform based on polarization was designed:navigation experimental platform designed to provide performance test for airborne polarization sensor and the polarization navigation algorithm for practical verification; navigation simulation platform designed to provide airborne sensor data source and simulation verification for polarization navigation algorithm. Two platform complemented each other could lay the foundation for the test and application of polarization navigation.In this paper, the mechanism of polarization distribution in the sky and imitation cataglyphis structure of polarization sensor was analyzed; navigation principle of polarization sensor in2D robot and3D UAV was discussed; principle of data simulation for airborne polarization sensor was derived as theoretical support for further navigation platform to build.In UAV navigation experimental platform based on polarized light Firstly, the overall structure, hardware, the navigation algorithm and control algorithm of navigation experimental platform was designed; and then based on design of experiment platform of navigation, the hardware and software of navigation experimental platform was built; finally, flight experiment proved that the navigation experimental platform had good navigation performance and could complete the acquisition task of polarization sensor data.In UAV navigation simulation platform based on polarized light. Firstly, the overall structure of navigation simulation platform was established; and then the key module of the UAV model, environment model, airborne sensor model using Aerospace and Aerosim toolbox were constructed; finally, the SINS data simulation and airborne polarization data simulation on the simulationplatform were tested. The simulation results indicated that the simulation data and the actual sensor data were basically consistent, can be used for subsequent polarization3D navigation development.