Polarized-Light/Geomagnetism/GPS/SINS Integrated Navigation

To improve the attitude determination performances of the MAV navigation systems,a polarized-light/geomagnetism/GPS/SINS integrated navigation method was proposed.The principles of polarized-light and geomagnetism based attitude determination were demonstrated.Full observability of the system is proved.The observation degeneracy and the degeneracy conditions are indicated.The navigation algorithm was implemented with Federated kalman filtering.The performances of the GPS/SINS navigation system with polarized-light-aiding alone and polarized-light/geomagnetism-aiding are respectively studied by Matlab simulating.The simulation results indicate that the capability of the attitude error correction of the Polarized-light/geomagnetism/GPS/SINS navigation system is better than that of the polarized-light/GPS/SINS system.It can be concluded that the degree of observability and precision of the stated system can be improved obviously with polarized-light and geomagnetism aiding.