[8] [8] Suhai B , Horváth G. How well does the Rayleigh model describe the E-vector distribution of skylight in clear and cloudy conditions? A full-sky polarimetric study［J］. Journal of the Optical Society of America A Optics Image Science & Vision,2004,21(9):1669.

[9] [9] Lu H, Zhao K, You Z, et al. Angle algorithm based on Hough transform for imaging polarization navigation sensor［J］. Optics express,2015,23(6):7248-7262.

[10] [10] Li Q, Hu Y, Hao Q, et al. Skylight polarization patterns under urban obscurations and a navigation method adapted to urban environments［J］. Optics Express,2021,29(25):42090-42105.

[11] [11] Tang J, Nan Z, D Li, et al. Novel robust skylight compass method based on ful-sky polarization imaing under harsh conditions［J］. Optics Express,2016,24(14):15834.

[12] [12] Chen Fan et al. Multicamera polarized vision for the orientation with the skylight polarization patterns［J］. Optical Engineering,2018,57(4):043101-043101.

[13] [13] Wan Z , Zhao K , Chu J . Robust azimuth measurement method based on polarimetric imaging for bionic polarization navigation［J］. IEEE Transactions on Instrumentation and Measurement,2020,69(8):5684-5692.

[14] [14] Li Q, Hu Y, Zhang S, et al. Calibration and image processing method for polarized skylight sensor［C］∥Optoelectronic Imaging and Multimedia Technology VII. International Society for Optics and Photonics,2020,11550:115500F.

[15] [15] Zhang W, Cao Y, Zhang X, et al. Angle of sky light polarization derived from digital images of the sky under various conditions［J］. Applied Optics,2017,56(3):587-595.

[17] [17] Rublee E, Rabaud V, Konolige K, et al. ORB: An efficient alternative to SIFT or SURF［C］∥2011 International Conference on computer Vision,Barcelona,Spain:IEEE,2011:2564-2571.

[19] [19] Madsen K, Nielsen H B, Tingleff O. Methods for non-linear least squares problems(2nd ed.)［J］. Copenhagen:Technical Univ.of Denmark,2004.