In this paper, to address the problem of positioning accumulative errors of the inertial navigation system (INS), a bionic autonomous positioning mechanism integrating INS with a bioinspired polarization compass is proposed. In addition, the bioinspired positioning system hardware and the integration model are also presented. Concerned with the technical issue of the accuracy and environmental adaptability of the integrated positioning system, the sun elevation calculating method based on the degree of polarization (DoP) and direction of polarization (E-vector) is presented. Moreover, to compensate for the latitude and longitude errors of INS, the bioinspired positioning system model combining the polarization compass and INS is established. Finally, the positioning performance of the proposed bioinspired positioning system model was validated via outdoor experiments. The results indicate that the proposed system can compensate for the position errors of INS with satisfactory performance.
Bionic Integrated Positioning Mechanism Based on Bioinspired Polarization Compass and Inertial Navigation System