Sun position tracking method based on black sun effect of image sensor, computer program stored in medium, and solar sensor using the same

A solar sensor, comprising:

• at least one sensor configured to capture at least one image;
• and
• at least one processor configured to extract solar vectors based on at least one location of at least one black spot appearing in the captured at least one image, and determine a position of a sun based on a rotation involving solar vectors, among the extracted solar vectors, measured at different time points,
• wherein the at least one black spot is caused by overexposure of pixels in the at least one image sensor corresponding to the at least one location of the at least one black spot in the captured at least one image.

A sun position tracking method based on a black sun effect of an image sensor, comprising:

• capturing one or more images using one or more image sensors;
• and
• processing the captured one or more images using the black sun effect, comprising
• estimating a center point of each black sun in the captured one or more images,
• extracting solar vectors with respect to the center point of each black sun,
• obtaining an initial rotation using two solar vectors represented in sensor coordinates and two solar vectors represented in reference coordinates at two different time points,
• determining an average of a plurality of initial rotations calculated by changing the two different time points by a predetermined number of times as a final rotation, to transform the extracted solar vectors into the reference coordinates, and
• fusing the transformed solar vectors.