Influence of sensor tilts on bio-inspired polarized skylight orientation determination

TL;DR

This paper analyzes how sensor tilts affect bio-inspired polarized skylight orientation methods, revealing error sources and factors influencing accuracy, and providing insights for error correction in practical applications.

Contribution

It introduces a polarization compass simulation system and investigates tilt-induced errors in four orientation approaches through simulations and experiments.

Findings

Orientation errors increase with tilt degree and solar altitude.

Errors are influenced by the relative position of the Sun.

Simulation and field results confirm error patterns and correction potential.

Abstract

Inspired by many insects, several polarized skylight orientation determination approaches have been proposed. However, almost all of these approaches always require polarization sensor pointing to the zenith of the sky dome. So, the influence of sensor tilts (not point to the sky zenith) on bio-inspired polarization orientation determination needs to be analyzed urgently. Aiming at this problem, a polarization compass simulation system is designed based upon solar position model, Rayleigh sky model, and hypothetical polarization imager. Then, the error characteristics of four typical orientation determination approaches are investigated in detail under only pitch tilt condition, only roll tilt condition, pitch and roll tilts condition respectively. Finally, simulation and field experiments all show that the orientation errors of four typical approaches are highly consistent when they are subjected to tilt interference, in addition, the errors are affected by not only the degree of inclination, but also the solar altitude angle and the relative position between the Sun and polarization sensor. The results of this paper can be used to estimate the orientation determination error caused by sensor tilts and correct this kind of error.