Abstract：In order to apply the polarization sensor to the real three-dimensional navigation,an integrated navigation control system was designed based on the bionic polarized light navigation sensor,micro inertial measurement unit (MIMU) and global positioning system (GPS),and was applied to the quadrotor navigation control.Firstly,the functional model and angle measurement principle of the polarization sensor was presented.Then,the extended Kalman filter (EKF) technology was used to design the information fusion algorithm of the polarization sensor,MIMU and GPS.The performance of the navigation system was validated by an outdoor flight experiment and was compared with the traditional MIMU/GPS/compass navigation system.The results show that the mean position accuracy of the navigation system based on polarized light is 50.4% higher than that of the traditional navigation system in the presence of magnetic interference.It is indicated that the polarized light navigation control system has good real-time performance,high precision,strong anti-electromagnetic interference capability and the error does not accumulate over time,which can meet the accuracy and reliability requirements when the mobile carrier implements autonomous navigation.
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2020, Vol. 48 
