偏振光传感器在四旋翼飞行器中的应用

doi:10.3969/j.issn.0372-2112.2020.01.024

PDF(3528 KB)

电子学报 ›› 2020, Vol. 48 ›› Issue (1) : 198-203. DOI: 10.3969/j.issn.0372-2112.2020.01.024

科研通信

偏振光传感器在四旋翼飞行器中的应用

褚金奎, 武进, 李金山, 支炜

作者信息 +

Application of Polarization Sensor in Quadrotor Helicopter

CHU Jin-kui, WU Jin, LI Jin-shan, ZHI Wei

Author information +

文章历史 +

摘要

为了实现偏振光传感器在实际三维空间中的导航应用，设计了一种基于仿生偏振光导航传感器、微惯性测量单元（MIMU）与全球定位系统（GPS）的组合导航控制系统，并实际应用到了四旋翼导航控制之中.本文首先介绍了偏振光传感器的功能模型和测角原理.其次采用扩展卡尔曼滤波（EKF）技术设计了偏振光传感器、MIMU、GPS的信息融合算法，通过室外飞行试验对该导航系统的性能进行了测试，并与传统MIMU/GPS/电子罗盘导航系统进行了比较.结果显示：在有磁场干扰环境下，基于偏振光的导航控制系统平均位置精度较传统导航系统提高了50.4%.实验结果表明：该导航控制系统实时性好、精度较高、抗电磁干扰能力强，且误差不随时间累积，基本满足移动载体进行自主导航时的精度和可靠性要求.

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.

导出引用

褚金奎, 武进, 李金山, 支炜. 偏振光传感器在四旋翼飞行器中的应用[J]. 电子学报, 2020, 48(1): 198-203. https://doi.org/10.3969/j.issn.0372-2112.2020.01.024

CHU Jin-kui, WU Jin, LI Jin-shan, ZHI Wei. Application of Polarization Sensor in Quadrotor Helicopter[J]. Acta Electronica Sinica, 2020, 48(1): 198-203. https://doi.org/10.3969/j.issn.0372-2112.2020.01.024

中图分类号： TP212.9

参考文献

[1] BORENSTEIN J,EVERETT H R,FENG L,et al.Mobile robot position:sensors and techniques[J].Journal of Robotic Systems,1997,14(4):231-249.
[2] HORVÁTH G,WEHNER R.Skylight polarization as perceived by desert ants and measured by video polarimetry[J].Journal of Comparative Physiology A,1999,184(1):1-7.
[3] ROSSEL S,WEHNER R.The bee's map of the evector pattern in the sky[J].Proceedings of the National Academy of Sciences of the United States of America,1982,79(14):4451-4455.
[4] 范之国,高隽,潘登凯,等.利用偏振光、地磁、GPS进行多信息源融合导航方法的研究与实现[J].武汉大学学报(信息科学版),2009,34(11):1324-1327. FAN Z G,GAO J,PAN D K,et al.The implementation of a new integrated navigation solution with polarized-light assisting with geomagnetism and GPS[J].Geomatics and Information Science of Wuhan University,2009,34(11):1324-1327.(in Chinese)
[5] CHAHL J,MIZUTANI A.Biomimetic attitude and orientation sensors[J].IEEE Sensors Journal,2012,12(2):289-297.
[6] 王玉杰,胡小平,练军想,等.仿生偏振视觉定位定向机理与实验[J].光学精密工程,2016,24(09):2109-2116. WANG Y J,HU X P,LIAN J X,et al.Mechanisms of bionic positioning and orientation based on polarization vision and corresponding experiments[J].Optics and Precision Engineering,2016,24(09):2109-2116.(in Chinese)
[7] 王昕,高隽,范之国,等.偏振光导航测角歧义性问题的解决方法[J].电子学报,2014,42(11):2184-2190. WANG X,GAO J,FAN Z-G,et al.The solution to the problem of the ambiguity of angle calculation in the polarized skylight navigation[J].Acta Electronica Sinica,2014,42(11):2184-2190.(in Chinese)
[8] ZHI W,CHU J K,LI J S,et al.A novel attitude determination system aided by polarization sensor[J].Sensors,2018,18(1):158.
[9] LAMBRINOS D,LLER R M,LABHART T,et al.A mobile robot employing insect strategies for navigation[J].Robotics and Autonomous Systems,2000,30(1):39-64.
[10] CHU J K,ZHAO K C,ZHANG Q,et al.Construction and performance test of a novel polarization sensor for navigation[J].Sensors and Actuators A Physical,2008,148(1):75-82.
[11] 褚金奎,陈文静,王洪青,等.基于偏振光传感器的移动机器人导航实验[J].光学精密工程,2011,19(10):2419-2426. CHU J K,CHEN W J,WANG H Q,et al.Mobile robot navigation tests with polarization sensors[J].Optics and Precision Engineering,2011,19(10):2419-2426.(in Chinese)
[12] FAN C,HU X P,He X F,et al.Integrated polarized skylight sensor and MIMU with a metric map for urban ground navigation[J].IEEE Sensor Journal,2017,18(4):1714-1722.
[13] 卢鸿谦,尹航,黄显林.偏振光/地磁/GPS/SINS组合导航方法[J].宇航学报,2007,28(4):897-902. LU H Q,YIN H,HUANG X L.Polarized-light/geomagnetism/GPS/SINS integrated navigation[J].Journal of Astronautics,2007,28(4):897-902.(in Chinese)
[14] 褚金奎,赵开春.仿昆虫复眼偏振敏感测角光电模型研究[J].微纳电子技术,2005,42(12):541-545. CHU J K,ZHAO K C.Study of angle measurement optoelectronic model on emulating polarization sensitive compound eye of insect[J].Micronano Electronic Technology,2005,42(12):541-545.(in Chinese)
[15] CHU J K,ZHAO K C,WANG T C,et al.Research on a novel polarization sensor for navigation[A].Proceedings of the 2007 International Conference on Information Acquisition[C].Jeju City,Korea,2007.241-246.
[16] FENG K,LI J,ZHANG X M,SHEN C,et al.A new quaternion-based Kalman filter for real-time attitude estimation using the two-step geometrically-intuitive correction algorithm[J].Sensors,2017,17(9):2146.
[17] 黎永键,赵祚喜,高俊文.MEMS惯性传感器融合的水平姿态解算方法[J].南京师范大学学报(工程技术版),2015,15(02).20-26. LI Y J,ZHAO Z X,GAO J W.Design of horizontal attitude estimation using MEMS inertial sensor[J].Journal of Nanjing Normal University(Engineering and Technology Edition),2015,15(02).20-26.(in Chinese)
[18] TITTERTON D,WESTON J.Strapdown Inertial Navigation Technology(2nd Edition)[M].Institution of Engineering and Technology,2004.
[19] SABATELLI S,GALGANI M,FANUCCI L,et al.A double stage Kalman filter for orientation tracking with an integrated processor in 9-D IMU[J].IEEE Transactions on Instrumentation and Measurement,2013,62(3):590-598.