複方向太陽ベクトルを用いた偏光天空ナビゲーションとGNSS/SINSの統合航法システム
Polarized Skylight Navigation System (PSNS)/ GNSS/SINS Integrated Navigation
偏光天空ナビゲーション(PSNS)単独では3次元姿勢をリアルタイム推定できない課題に対し、双方向太陽ベクトルに基づく統合航法アルゴリズムを提案し、DSP+FPGAデュアルコア構成でPSNS/GNSS/SINS統合航法システムを構築した。
著者: Huaju Liang, Hongyang Bai
分類: cs.RO
原文アブストラクト
Bioinspired polarized skylight navigation system (PSNS) is a new navigation method, which imitates insects using polarized skylight for navigation. However, the latest research shows that the current PSNS is difficult to obtain the three-dimensional (3D) attitude in real time only relying on polarized skylight. This causes not only that three-dimensional (3D) cannot be estimated only by PSNS in real time, but also when polarized light is integrated with other navigation methods, 3D attitude cannot be directly used for integrated navigation. Therefore, an integrated navigation algorithm based on bi-direction solar vector is proposed, and a DSP+FPGA (digital signal processor + field programmable gate array) dual-core architecture PSNS/GNSS/SINS (global navigation satellite system/strapdown inertial navigation system) integrated navigation system was constructed.