Visual Inertial Navigation System Aided by Polarized Light

Jinkui Chu; Hanpei Hu; Zhenhua Wan; Jinshan Li

doi:10.3788/LOP213411

Laser & Optoelectronics Progress, Volume. 60, Issue 7, 0726002(2023)

Visual Inertial Navigation System Aided by Polarized Light

Jinkui Chu^*, Hanpei Hu, Zhenhua Wan, and Jinshan Li

School of Mechanical Engineering, Faculty of Mechanical Engineering, Materials and Energy, Dalian University of Technology, Dalian 116023, Liaoning, China

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Figures & Tables(14)

Fig. 1. Principle of polarized light orientation

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Fig. 2. Block diagram of integrated navigation system assisted by polarized light

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Fig. 3. Integrated navigation system experimental platform

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Fig. 4. Vehicle-mounted navigation diagram

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Fig. 5. Navigation trajectory comparison (experiment 1)

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Fig. 6. RPE of integrated navigation system (experiment 1)

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Fig. 7. RPE of original navigation system (experiment 1)

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Fig. 8. Navigation trajectory comparison (experiment 2)

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Fig. 9. Navigation course angle comparison (experiment 2)

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Fig. 10. RPE of integrated navigation system (experiment 2)

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Fig. 11. RPE of original navigation system (experiment 2)

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Table 1. Information of integrated navigation system sensor
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Table 1. Information of integrated navigation system sensor
Sensor Type Sampling frequency /Hz
Polarized light sensor Self-developed 20
Binocular camera MYNTEYE S1000 15
Accelerometer BMI088 100
Gyroscope BMI088 100
GNSS and inertial navigation system（INS） SPAN-CPT 100

Table 2. Navigation mode error comparison (experiment 1)
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Table 2. Navigation mode error comparison (experiment 1)
Plan Average position error /m Average angle error /（°）
Integrated-navigation 1.10 0.69
SLAM 1.29 0.83

Table 3. Navigation mode error comparison (experiment 2)
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Table 3. Navigation mode error comparison (experiment 2)
Plan Average position error /m Average angle error /（°）
Integrated-navigation 0.75 0.36
SLAM 0.90 0.47

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Jinkui Chu, Hanpei Hu, Zhenhua Wan, Jinshan Li. Visual Inertial Navigation System Aided by Polarized Light[J]. Laser & Optoelectronics Progress, 2023, 60(7): 0726002

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