The present invention discloses a bionic polarized light heading measurement method based on an improved polarization field singular
point model. First, an image-based bionic polarized light sensor and a high-precision
fiber-optic
inertial navigation system are initialized. Next, the bionic polarized light sensor captures an image and transmits it to a host computer to determine the observation vector, polarization degree, and polarization angle information. Then, an improved polarization field singular
point model for the full-
sky polarization pattern is constructed using singular point correction coefficients. Based on a vector consisting of the solar
azimuth,
solar altitude, atmospheric
turbidity parameters, and correction coefficients in the polarized light
sensor system, the polarization angle and polarization degree corresponding to a
single pixel are calculated. The polarization angle information is converted from the sensor coordinate
system to the observation meridian coordinate
system. Finally, a minimization objective function is constructed, and the
least squares optimization method is used to determine the solar
azimuth in the polarized light
sensor system. Combined with the solar
azimuth in the world coordinate
system, the heading is ultimately determined. This invention addresses the problems of existing image-based polarized light sensor heading measurement methods, which are all based on a single
Rayleigh scattering model and cannot adapt to weather conditions with thick aerosols and high solar altitudes. Furthermore, existing
sky polarization pattern characterization models suffer from high computational complexity and poor characterization capabilities.