Vehicle-Mounted Polarization Orientation Strategy Considering Inclined Pavement and Occlusion Conditions
Xindong Wu, Jun Liu, Chong Shen, Huiliang Cao, Chenguang Wang, Jun Tang
Abstract
How to obtain reliable vehicle heading information in the event of GNSS rejection is the key part of the current navigation scheme. In this paper, a vehicle-mounted polarization orientation strategy for sloping roads and occlusion is investigated. For inclined road circumstances, a polarization orientation scheme with tilt compensation ability is designed which is not limited to the field of view of the image polarization compass, and a vision modulation model is provided. On this premise, a solar azimuth region orientation (SAO) strategy is developed, which lowers the measurement error caused by occlusion, and improves the image polarization compass's robustness under complex road conditions. Furthermore, outdoor experiments are delivered to testify the effectiveness of the method. In the vehicle experiment, the root mean square error (RMSE) is reduced by more than 82% when compared to the typical polarization orientation technique.