Fig. 1. Method for obtaining heading angle

Fig. 2. Space coordinate system diagram

Fig. 3. Effect of environmental interference on polarization angle. (a) No interference sky intensity image; (b) atmospheric polarization angle distribution without interference; (c) sky intensity image with interference; (d) atmospheric polarization angle distribution with interference

Fig. 4. Comparison of clustering results. (a) Distribution and clustering results of atmospheric polarization angle without interference; (b) distribution and clustering results of atmospheric polarization degree without interference; (c) distribution and clustering results of atmospheric polarization angle with interference; (d) distribution and clustering results of atmospheric polarization degree with interference

Fig. 5. Processing results of the anti-interference algorithm. (a) Polarization degree image after anti-interference; (b) polarization angle image after anti-interference; (c) polarization degree image after anti-interference fusion; (d) comparison before and after fusion

Fig. 6. Measurement system of all-sky atmospheric polarization modes

Fig. 7. Anti-interference experimental results. (a) (d) (g) Input image; (b) (e) (h) AOP image; (c) (f) (i) AOP image with anti-interference

Fig. 8. Comparison of experimental results. (a) No interference; (b) data affected by cloud interference; (c) data affected by solar overexposure interference; (d) data affected by both cloud interference and solar overexposure interference simultaneously

Fig. 9. Comparison of manual annotation and algorithm annotation results. (a) Experimental results of manual annotation; (b) experimental results of algorithm annotation; (c) comparison of differences between manual annotation and algorithm annotation

Fig. 10. Comparison of anti-interference capabilities of 3 methods. (a) Comparison of accuracy; (b) comparison of loss

Fig. 11. Comparison of solar meridian angles before and after interference removal. (a) Solar meridian angle and actual angle before interference removal; (b) solar meridian angle and actual angle after interference removal

Fig. 12. Comparison of navigation errors before and after interference removal. (a) Experimental results of data with significant interference; (b) experimental results of data with less interference