A Skylight Orientation Sensor Based on S-Waveplate and Linear Polarizer for Autonomous Navigation

The angle of the polarization (AOP) and the degree of polarization (DOP) of the scattered skylight are symmetrically distributed concerning the solar meridian. Based on the symmetry of the skylight polarization distribution pattern, this paper proposes a novel skylight orientation sensor consisting of a camera, an S-waveplate, and a linear polarizer. The skylight orientation sensor is using the image polarization encoding capability of the S-waveplate and the linear polarizer to convert the skylight polarization information into the image’s symmetry axis extraction, which has the advantages of simple structure, better real-time performance, no resolution loss and instantaneous field of view error. The symmetry axis in the image is consistent with the solar meridian. Therefore, the angle between the solar meridian and the skylight orientation sensor reference axis can be obtained without calculating the polarization information, which shows why the sensor has better real-time performance. The angle measurement accuracy and uncertainty of the skylight orientation sensor are verified by numerical simulation and outdoor experiments. The results demonstrate that the skylight orientation sensor has good application potential in autonomous navigation.