Liu Xin, Yang Jian, Guo Lei, Yu Xiang, Wang Shanpeng
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, People's Republic of China.
Beijing Advanced Innovation Center for Big Data-Based Precision Medicine, Beihang University, Beijing 100191, People's Republic of China.
Bioinspir Biomim. 2020 Nov 5;16(1):016001. doi: 10.1088/1748-3190/abb520.
Insects such as honeybees are capable of fusing the information sensed by multiple sensory organs for attitude and heading determination. In this paper, inspired by the sensory fusion mechanism of insects' polarization compass and haltere, a bioinspired polarization-based attitude and heading reference system (PAHRS) is presented. The PAHRS consists of compound eye polarization compass and inertial measurement unit (IMU). By simulating multi-view structure of the dorsal rim area in insects' compound eyes, a non-coplanar 'polarization-opponent (POL)-type' architecture is adopted for the compound eye polarization compass. The polarization compass has multi-directional observation channels, which is capable of adaptively selecting the angle of polarization and obtaining the polarization vectors. Therefore, the environmental adaptability of the polarization compass can be enhanced. In addition, the integration strategy between the compound eye polarization compass and IMU is proposed. Moreover, the sources of system errors are analyzed to improve the heading angle accuracy, based on which a new calibration model is established to compensate the installation errors of the PAHRS. Finally, experiments are carried out under both clear sky and cloudy conditions. The test results show that the error root mean square of heading angle is 0.14° in clear sky, and 0.42° in partly cloudy conditions.
蜜蜂等昆虫能够融合多个感觉器官所感知的信息来确定姿态和航向。本文受昆虫偏振罗盘和平衡棒的感觉融合机制启发，提出了一种基于生物启发的偏振姿态和航向参考系统（PAHRS）。该PAHRS由复眼偏振罗盘和惯性测量单元（IMU）组成。通过模拟昆虫复眼中背缘区域的多视图结构，复眼偏振罗盘采用了非共面的“偏振对立（POL）型”架构。偏振罗盘具有多方向观测通道，能够自适应地选择偏振角并获取偏振矢量。因此，可以提高偏振罗盘的环境适应性。此外，还提出了复眼偏振罗盘与IMU之间的融合策略。而且，分析了系统误差源以提高航向角精度，在此基础上建立了新的校准模型来补偿PAHRS的安装误差。最后，在晴空和多云条件下进行了实验。测试结果表明，晴空条件下航向角的误差均方根为0.14°，部分多云条件下为0.42°。
