Polarized Skylight Navigation System (PSNS)/ GNSS/SINS Integrated Navigation

TL;DR

This paper introduces a novel integrated navigation system combining a bioinspired polarized skylight navigation system with GNSS and SINS, addressing real-time 3D attitude estimation challenges.

Contribution

It proposes a new integrated navigation algorithm based on bi-directional solar vectors and develops a DSP+FPGA dual-core architecture for improved real-time performance.

Findings

Enhanced real-time 3D attitude estimation capability

Successful integration of PSNS with GNSS and SINS

Improved navigation accuracy and robustness

Abstract

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.