干旱区生态环境知识资源中心(Arid): Limitation of Rayleigh sky model for bioinspired polarized skylight navigation in three-dimensional attitude determination

Arid

DOI	10.1088/1748-3190/ab7ab7
	Limitation of Rayleigh sky model for bioinspired polarized skylight navigation in three-dimensional attitude determination
	Liang, Huaju; Bai, Hongyang; Liu, Ning; Shen, Kai
通讯作者	Bai, HY
来源期刊	BIOINSPIRATION & BIOMIMETICS
ISSN	1748-3182
EISSN	1748-3190
出版年	2020
卷号	15 期号:4
英文摘要	Insects such as desert ants and drosophilae can sense polarized skylight for navigation. Inspired by insects, many researchers have begun to study how to use skylight polarization patterns for attitude determination. The Rayleigh sky model has become the most widely used skylight polarization model for bioinspired polarized skylight navigation due to its simplicity and practicality. However, this is an ideal model considering only single Rayleigh scatter events, and the limitation of this model in bio-inspired attitude determination has not been paid much attention and lacks strict inference proof. To address this problem, the rotational and plane symmetry of the Rayleigh sky model are analyzed in detail, and it is theoretically proved that this model contains only single solar vector information, which contains only two independent scalar pieces of attitude information, so it is impossible to determine three Euler angles simultaneously in real-time. To further verify this conclusion, based on a designed hypothetical polarization camera, we discuss what conditions different three-dimensional attitudes must satisfy so that the polarization images taken at different 3D attitudes are the same; this indicates that multiple solutions will appear when only using the Rayleigh sky model to determine 3D attitude. In conclusion, due to its single solar vector information and the existence of multiple solutions, it is fully proved that 3D attitude cannot be determined in real time based only upon the Rayleigh sky model. Code is available at: https://github.com/HuajuLiang/HypotheticalPolarizationCamera
英文关键词	Rayleigh sky model polarized skylight navigation attitude determination
类型	Article
语种	英语
收录类别	SCI-E
WOS记录号	WOS:000536607000001
WOS关键词	SUN COMPASS ; LIGHT ; ALGORITHM ; PATTERNS ; MAP
WOS类目	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
WOS研究方向	Engineering ; Materials Science ; Robotics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/324577
作者单位	[Liang, Huaju; Bai, Hongyang] Nanjing Univ Sci & Technol NJUST, Sch Energy & Power Engn, Nanjing, Peoples R China; [Liu, Ning] Beijing Informat Sci & Technol Univ, Beijing Key Lab High Dynam Nav Technol, Beijing, Peoples R China; [Shen, Kai] Beijing Inst Technol, Sch Automat, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Liang, Huaju,Bai, Hongyang,Liu, Ning,et al. Limitation of Rayleigh sky model for bioinspired polarized skylight navigation in three-dimensional attitude determination[J],2020,15(4).
APA	Liang, Huaju,Bai, Hongyang,Liu, Ning,&Shen, Kai.(2020).Limitation of Rayleigh sky model for bioinspired polarized skylight navigation in three-dimensional attitude determination.BIOINSPIRATION & BIOMIMETICS,15(4).
MLA	Liang, Huaju,et al."Limitation of Rayleigh sky model for bioinspired polarized skylight navigation in three-dimensional attitude determination".BIOINSPIRATION & BIOMIMETICS 15.4(2020).