Solar-tracking is one of the key issues in underwater polarization navigation. Most existing studies are based on the Angle of Underwater Polarization (AoUP). As water depth increases, however, the AoUP is disturbed by multiple scattering, while the Degree of Underwater Polarization (DoUP) maintains a stable relative relationship. To address the less robustness of polarization navigation, a solar-tracking and integrated orientation method based on DoUP is proposed. In consideration of the refraction, the relationship between the solar position and DoUP is established based on the maximum Degree of Polarization. Moreover, an integrated navigation model is developed aided by the solar position. Results from the static experiment in water tank and dynamic sea trials demonstrate that the proposed method exhibits improved accuracy and robustness compared to the AoUP method. This article presents a potential approach to improve the adaptability of underwater autonomous orientation.

中文翻译：

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基于水下偏振度的太阳跟踪综合定向


太阳跟踪是水下偏振导航的关键问题之一。大多数现有研究都是基于水下偏振角（AoUP）。然而，随着水深的增加，AoUP 会受到多重散射的干扰，而水下偏振度 (DoUP) 则保持稳定的相对关系。针对偏振导航鲁棒性较差的问题，提出一种基于DoUP的太阳跟踪与集成定向方法。考虑到折射，太阳位置和DoUP之间的关系是基于最大偏振度建立的。此外，还开发了在太阳位置辅助下的综合导航模型。水箱静态实验和动态海上试验的结果表明，与 AoUP 方法相比，该方法具有更高的精度和鲁棒性。本文提出了一种提高水下自主定向适应性的潜在方法。