TY - GEN
T1 - A New Integrated Orientation Method for UUV Fused with Polarization Pattern and Light Intensity
AU - Ye, Zhaobin
AU - Hu, Pengwei
AU - Yang, Jian
AU - Wang, Aobo
AU - Guo, Lei
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - The underwater polarization orientation is a hotpot and challenge issue in autonomous navigation field. With the increasement of the water depth, the underwater polarized light intensity and the polarization orientation accuracy decreased either. In this paper, to enhance the depth adaptability of underwater polarization navigation system, a new integrated orientation method fused with polarization pattern and light intensity is proposed. To be more specific, the information quality of underwater polarization pattern and light intensity related to the water depth are quantified, and the fusion factors associate with the polarization pattern and light intensity are established. In addition, to enhance the sun vector fusion accuracy in underwater uncertainty conditions, the weights of fusion factors are adjusted by water depths. Then the sun vector fusion is combined with the miniature inertial measurement unit (MIMU) to determine heading. Finally, in order to verify this method, underwater experiments in actual ocean scene were carried out. The results exhibited that the proposed method show sound performance with different depths, and accuracy is 0.30° (RMSE) at the depth of 7 m, 1.98° (RMSE) at the depth of 15 m, and 2.05° (RMSE) at the depth of 20 m.
AB - The underwater polarization orientation is a hotpot and challenge issue in autonomous navigation field. With the increasement of the water depth, the underwater polarized light intensity and the polarization orientation accuracy decreased either. In this paper, to enhance the depth adaptability of underwater polarization navigation system, a new integrated orientation method fused with polarization pattern and light intensity is proposed. To be more specific, the information quality of underwater polarization pattern and light intensity related to the water depth are quantified, and the fusion factors associate with the polarization pattern and light intensity are established. In addition, to enhance the sun vector fusion accuracy in underwater uncertainty conditions, the weights of fusion factors are adjusted by water depths. Then the sun vector fusion is combined with the miniature inertial measurement unit (MIMU) to determine heading. Finally, in order to verify this method, underwater experiments in actual ocean scene were carried out. The results exhibited that the proposed method show sound performance with different depths, and accuracy is 0.30° (RMSE) at the depth of 7 m, 1.98° (RMSE) at the depth of 15 m, and 2.05° (RMSE) at the depth of 20 m.
KW - Integrated navigation orientation
KW - Polarization
KW - Sun vector fusion
UR - https://www.scopus.com/pages/publications/85151143192
U2 - 10.1007/978-981-19-6613-2_657
DO - 10.1007/978-981-19-6613-2_657
M3 - 会议稿件
AN - SCOPUS:85151143192
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 6814
EP - 6824
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -