Application of polarization sensor to unmanned surface vehicle navigation and formation

Jin-kui CHU; Mu-yin LIN; Yin-long WANG; Jin-shan LI; Xiao-qing GUO

doi:10.3788/OPE.20202808.1661

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Application of polarization sensor to unmanned surface vehicle navigation and formation

Modern Applied Optics | 更新时间：2020-08-14

- Application of polarization sensor to unmanned surface vehicle navigation and formation
- Optics and Precision Engineering Vol. 28, Issue 8, Pages: 1661-1669(2020)
- 作者机构：
  
  大连理工大学机械工程学院, 辽宁大连 116024
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20202808.1661
  CLC： TP212.14
- Received：15 January 2020，
  
  Revised：11 February 2020，
  
  Accepted：11 February 2020，
  
  Published：15 August 2020
- 稿件说明：
移动端阅览
Jin-kui CHU, Mu-yin LIN, Yin-long WANG, et al. Application of polarization sensor to unmanned surface vehicle navigation and formation[J]. Optics and precision engineering, 2020, 28(8): 1661-1669.
DOI：

Jin-kui CHU, Mu-yin LIN, Yin-long WANG, et al. Application of polarization sensor to unmanned surface vehicle navigation and formation[J]. Optics and precision engineering, 2020, 28(8): 1661-1669. DOI： 10.3788/OPE.20202808.1661.

摘要

为了实现偏振光传感器在水面波动环境下及编队协同情境下的应用，并提升无人船导航的抗电磁干扰能力，设计了一种基于偏振光传感器、微惯性测量单元（MIMU）及全球定位系统（GPS）的组合导航系统，为偏振光传感器集成了云台底座，并搭建偏振光无人船平台进行了导航及编队实验。介绍了偏振光导航原理及无人船编队原理；基于卡尔曼滤波设计了偏振光传感器/MIMU/GPS组合导航算法；基于上述组合导航算法进行了无人船的循迹与编队实验。循迹对比实验结果表明：无人船利用偏振光传感器进行组合导航的航向角误差为6.055°，位置误差为0.209 m，在磁罗盘受干扰的情况下偏振光组合导航系统仍可正常工作；编队实验结果表明：领航船循迹误差为0.425 m，跟随船编队误差为0.707 m。该偏振光传感器可应用于水面环境导航，偏振光组合导航系统可用于无人船导航与编队。

Abstract

It is necessary to improve the anti-electromagnetic interference ability of unmanned surface vehicle(USV) navigation; one method is to apply polarization sensors in fluctuant water environments and formation coordination.In this study

an integrated navigation system was designed based on a polarization sensor

micro inertial measurement unit (MIMU)

and global positioning system (GPS). A gimbal was mounted for the polarization sensor

and a USV experimental platform was built for navigation and formation experiments. First

the principle of polarized light navigation and USV formation were introduced.Subsequently

the integrated navigation system with a polarization sensor was designed based on Kalman filtering. Finally

tracking and formation of USV experiments were performed based on the integrated navigation system. The results of the tracking experiment show that the heading angle error and position error of the polarization sensor/MIMU/GPS integrated navigation system are 6.055° and 0.209 m

respectively.The polarized light integrated navigation system could work normally even if the magnetic compass was disturbed. The results of the formation experiment show that the leader tracking error is 0.425 m

and the follower formation error is 0.707 m. The polarization sensor can be used in fluctuant water circumstance navigation

and the polarized light integrated navigation system can be used in USV navigation and formation.

关键词

Keywords

references

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