A Novel Polarized Skylight Navigation Model for Bionic Navigation With Marginalized Unscented Kalman Filter

Bionic navigation is an essential technology in GPS-denied environment for vehicle navigation. This paper combined strapdown inertial navigation system, polarized skylight sensors and odometer to design a new navigation model. In particular, a novel measurement model is developed based on polarized skylight. This model primarily utilizes the cross product to compute the error between the measured ...