Bionic Compass Method Based on Atmospheric Polarization Optimization in Non-Ideal Clear Condition

The bionic polarization compass is a fascinating subject in the navigation domain. Existing polarization navigation models are primarily based on Rayleigh scattering theory, which is applicable to high-altitude, dry, and clear weather conditions. In most scenarios, it is difficult to meet such ideal clear conditions. This paper proposes a bionic navigation method based on atmospheric polarization optimization to improve heading accuracy under non-ideal clear conditions. A signal model under non-ideal clear conditions was firstly established to introduce disturbances of aerosols and other particles into the raw signal function acquired by a camera. Then, an energy functional optimization model was constructed to eliminate the disturbances caused by large particle scattering and restore the original sky polarization pattern. Subsequently, the heading angle was calculated using astronomical data, enhancing accuracy under non-ideal conditions. Finally, we constructed a polarization compass system and conducted field experiments. The results demonstrate that the proposed algorithm effectively mitigates the impact of scattering from aerosols and other particles, reducing the heading angle error to within 2° under sunny, cloudy, overcast and sandy conditions.