부산대학교 도서관

A solution based on a biomimetic polarized light compass using ZYNQ is proposed to address the problem of autonomous navigation for micro unmanned aerial vehicles in situations where satellite signals are completely blocked. Firstly, a high-precision and portable polarized light compass system is designed based on the fully programmable system-on-chip ZYNQ7020 and Sony’s polarized light chip IMX250MZR using Xlink. Then, real-time acquisition of polarized images, polarization decomposition, and bilinear interpolation image preprocessing operations are implemented on the polarized light compass system. A method based on spatial template extraction is proposed to solve the carrier heading angle by extracting the solar meridian line. Finally, the polarized light compass system can output polarized images and heading angle data in real-time via Ethernet and serial ports. The results of static and onboard experiments show that the static orientation accuracy of the polarized light compass is better than 0.2°, and the dynamic orientation accuracy is better than 0.7° under clear weather conditions, providing a feasible solution for micro unmanned aerial vehicles to achieve autonomous orientation in the absence of satellite signals.