This paper aims at applying polarized skylight navigation to the actual small unmanned aerial vehicles (UAVs) to provide a new method for UAVs in electromagnetic interference environment. Firstly, we adopt an angle conversion algorithm between polarization sensors output and the yaw angle. Then, tilt correction algorithm is designed to solve the problem that yaw angle error increases when the UAVs tilts. And then, we proposed an integrated navigation system of a polarization sensor, a micro inertial measurement unit (MIMU) and a global positioning system (GPS) to obtain the complete navigation parameters for UAVs. Finally, we apply the algorithm to a small quadrotor UAV, and control the UAV to perform autonomous mission in the electromagnetic interference environment. The experimental results show that the proposed method has higher yaw angle accuracy, strong anti-interference ability and no cumulative error which can meet the accuracy and reliability requirements of small UAVs.
Integrated Navigation System Based on Polarization Sensor in Small UAVs
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 162 ; 1648-1657
2022-03-18
10 pages
Article/Chapter (Book)
Electronic Resource
English
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