Patent Document ID: 9989625
Application ID: 15240663
Patent Status: 1

Claim One:
1. A system for determining a new position/orientation of an object, comprising: a sky polarimeter configured to record polarized image data of the sky; a signal processing unit configured to receive and store in memory the image data from the sky polarimeter, calculate one or more of Stokes parameters (S 0 , S 1 , S 2 ), degree of linear polarization (DoLP), and angle of polarization (AoP) from the image data, detect obscurants and filter the obscurants from the image data to produce a filtered image, obtain known position/orientation data of the object, find the Sun azimuth and elevation in the filtered image by performing a coordinate transform on a measured polarization pattern to generate a scanning AoP image, determining one or more of roll, pitch, yaw, latitude and longitude of the object using the filtered image, performing minimum detection and extracting a region of the image containing the Sun and zenith, and applying morphological erosion on a binary image to reduce the detected minimum region to a single line, and extracting a sun-zenith line.