Owing to preferable anti-interference and anti-cumulative-error capabilities, polarized skylight navigation technology has been developed. However, in urban environments with extensive demand, the sky is usually partially obscured by buildings and trees. Urban landscape obscurations with polarization patterns that have not been sufficiently studied can greatly influence navigation accuracy. In this paper, we study the polarization patterns generated by obscurations and summarize the impacts of obscured urban sky scenes on the navigation results. We also propose a full-sky polarization imaging navigation method adapted to urban environments. A compact full-sky polarimeter is established, and a specific pattern inpainting algorithm based on convolution operation is proposed to amend the navigation errors caused by obscurations. Among 174 sets of comparative experiments, 90.2% of the extraction results are improved after inpainting, which verifies the effectiveness and robustness of the method. Discussions on the optimization of parameters in the algorithm and the recommended values are also provided. This work offers a novel approach to overcome the impacts of obscurations for urban polarization navigation.

中文翻译：

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城市遮挡下的天光偏振模式及适应城市环境的导航方法

由于具有较好的抗干扰和抗累积误差能力，偏振天窗导航技术得到了发展。然而，在需求广泛的城市环境中，天空通常会被建筑物和树木部分遮挡。具有尚未得到充分研究的偏振模式的城市景观障碍会极大地影响导航精度。在本文中，我们研究了由遮挡产生的偏振模式，并总结了被遮挡的城市天空场景对导航结果的影响。我们还提出了一种适应城市环境的全天空偏振成像导航方法。建立了一种紧凑型全天旋光仪，提出了一种基于卷积运算的特定图案修复算法来修正由遮挡引起的导航误差。在174组对比实验中，90.2%的提取结果在修复后得到了提升，验证了该方法的有效性和鲁棒性。还讨论了算法中的参数优化和推荐值。这项工作提供了一种新方法来克服遮挡对城市极化导航的影响。