title: Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm.
abstract: Bio-inspired imaging polarization navigation which can provide navigation information and is capable of sensing polarization information has advantages of high-precision and anti-interference over polarization navigation sensors that use photodiodes. Although all types of imaging polarimeters exist, they may not qualify for the research on the imaging polarization navigation algorithm. To verify the algorithm, a real-time imaging orientation determination system was designed and implemented. Essential calibration procedures for the type of system that contained camera parameter calibration and the inconsistency of complementary metal oxide semiconductor calibration were discussed, designed, and implemented. Calibration results were used to undistort and rectify the multi-camera system. An orientation determination experiment was conducted. The results indicated that the system could acquire and compute the polarized skylight images throughout the calibrations and resolve orientation by the algorithm to verify in real-time. An orientation determination algorithm based on image processing was tested on the system. The performance and properties of the algorithm were evaluated. The rate of the algorithm was over 1 Hz, the error was over 0.313°, and the population standard deviation was 0.148° without any data filter.
authors.affiliation: State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. luh14@mails.tsinghua.edu.cn.|Ordnance Engineering College, Shijiazhuang 050003, China. luh14@mails.tsinghua.edu.cn.
authors.forename: Hao
authors.initials: H
authors.lastname: Lu
authors.affiliation: State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. kaichunz@mail.tsinghua.edu.cn.
authors.forename: Kaichun
authors.initials: K
authors.lastname: Zhao
authors.affiliation: Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China. wangxiaochu1985@gmail.com.
authors.forename: Xiaochu
authors.initials: X
authors.lastname: Wang
authors.affiliation: State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. yz-dpi@mail.tsinghua.edu.cn.
authors.forename: Zheng
authors.initials: Z
authors.lastname: You
authors.affiliation: Ordnance Engineering College, Shijiazhuang 050003, China. ddgcx@163.com.
authors.forename: Kaoli
authors.initials: K
authors.lastname: Huang
keywords: Zhang’s calibration; bio-inspired polarization navigation; multi-camera imaging polarimeter; orientation determination