Mr. Jiankai Yin Profile

Jiankai Yin

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Proceedings Article | 17 August 2024 Paper

An enhanced nighttime attitude determination method for polarization/inertial/celestial integrated navigation system

Yixuan Pan, Suolan Li, Xin Liu, Jiankai Yin, Xiang Yu

Proceedings Volume 13218, 132180O (2024) https://doi.org/10.1117/12.3032484

KEYWORDS: Star sensors, Error analysis, Navigation systems

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Polarization/Inertial/Celestial (PIC) integrated navigation system presents a promising solution for attitude information acquisition in unfamiliar and electromagnetic interference environments at night. However, the fusion strategy and the installation errors among polarization sensor (PS), star sensor (SS), and inertial measurement unit (IMU) can affect system accuracy. To improve the system performance, this paper proposes an enhanced nighttime attitude determination method for PIC integrated navigation system. In comparison with existing schemes, a novel system model is devised, wherein installation errors are augmented into the state variables, with the angle between moon vector provided by PS and star vector provided by SS being utilized to establish measurement models. By this means, simultaneous estimation of attitude misalignment angles and installation errors can be achieved. Furthermore, in order to enhance the nighttime environmental adaptability, a trimodal fusion strategy is presented, which could assess the effectiveness of the polarization sensor and star sensor, and selects and switches between Polarization/Inertial/Celestial (PIC) mode, Polarization/Inertial (PI) mode, and Inertial/Celestial (IC) mode. Finally, a series of simulation experiments validate the feasibility and effectiveness of the proposed approach.

Proceedings Article | 17 August 2024 Paper

An adaptive fusion factor-based polarization sensor/sun sensor/IMU integrated navigation method for BAHRS

Haotian Bai, Xin Liu, Jiankai Yin, Qian Zhao, Pengwei Hu

Proceedings Volume 13218, 132180U (2024) https://doi.org/10.1117/12.3032537

KEYWORDS: Sun, Sensors, Polarization, Sensor fusion, Unmanned aerial vehicles, Navigation systems, Error analysis, Satellite navigation systems

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The bio-inspired attitude and heading reference system (BAHRS) is capable of providing a reliable solution for determining attitude and heading determination under conditions of global navigation satellite system (GNSS) signal degradation. A critical challenge in BAHRS data processing is the fusion of polarization sensor (PS) and sun sensor, which significantly impacts system performance. In existing studies, however, observation signals extracted from PS and sun sensor are independently used as measurements when fused with the inertial measurement unit (IMU). The accuracy of the measurements from PS and sun sensors is not assessed, resulting in degraded fusion system performance. To improve the navigation accuracy of BAHRS, an adaptive fusion factor-based PS/sun sensor/IMU fusion strategy is proposed. Specifically, the fusion factor can be dynamically adjusted online based on the accuracy of PS and sun sensor measurements. Consequently, the optimal sun vector can be calculated for fusion with IMU, enhancing BAHRS navigation performance. Moreover, a BAHRS architecture is designed with an integration of compound eye PS and sun sensor. Based on the multi-direction observation structure of compound eye PS, the reliable direction of polarization (e-vector) and sun vector information can be obtained simultaneously, which improve the environmental adaptability of BAHRS. Finally, the effectiveness of the proposed fusion strategy is verified by the simulation, static ground test and unmanned aerial vehicle (UAV) flight test.

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