偏振光传感器的无人船导航与编队应用

褚金奎; 林木音; 王寅龙; 李金山; 郭晓庆

doi:10.3788/OPE.20202808.1661

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偏振光传感器的无人船导航与编队应用

现代应用光学 | 更新时间：2020-08-14

- 偏振光传感器的无人船导航与编队应用
- Application of polarization sensor to unmanned surface vehicle navigation and formation
- 光学精密工程 2020年28卷第8期页码：1661-1669
- 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：
  
  [ "褚金奎(1965-), 男, 河南平顶山人, 博士, 教授, 博士生导师, 1986年于杭州电子科技大学获得学士学位, 1989年于西安科技大学获得硕士学位, 1992年于北京航空航天大学获得博士学位, 主要从事智能机器人、仿生传感器和微机电测试技术等方面的研究。E-mail:chujk@dlut.edu.cn" ]
  [ "林木音(1994-), 男, 内蒙赤峰人, 硕士研究生, 2018年于北京科技大学获得学士学位, 主要从事偏振光导航方面的研究。E-mail:linmuyin@mail.dlut.edu.cn" ]
- 基金信息：
  
  国家自然科学基金资助项目(51675076);国家自然科学基金创新研究群体资助项目(51621064)
- DOI：10.3788/OPE.20202808.1661
  中图分类号： TP212.14
- 收稿日期：2020-01-15，
  
  修回日期：2020-02-11，
  
  录用日期：2020-2-11，
  
  纸质出版日期：2020-08-15
- 稿件说明：
移动端阅览
褚金奎, 林木音, 王寅龙, 等. 偏振光传感器的无人船导航与编队应用[J]. 光学精密工程, 2020,28(8):1661-1669.

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.
褚金奎, 林木音, 王寅龙, 等. 偏振光传感器的无人船导航与编队应用[J]. 光学精密工程, 2020,28(8):1661-1669. DOI： 10.3788/OPE.20202808.1661.

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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