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From skylight input to behavioural output: A computational model of the insect polarised light compass
Fig 8
The objective function and the accuracy of the compass.
(A) Schematic representation of the objective function; the yellow and green suns illustrate the real and estimated sun position; the disk around the green sun denotes the uncertainty of the estimation, 
. (B) Mean absolute angular error (coloured solid lines), MAE ± SE, and confidence (black dashed line), τs, against the solar elevation for different disturbance levels, when the sensor points towards the zenith. (C) The mean absolute angular error (black solid line), uncertainty (σs; black dashed line) and confidence (τs; grey dashed line) against different disturbance levels. On the bottom there are some examples of the responses of the POL units in (D) a non-disturbed condition; (E) with η = 33% disturbance; (F) with η = 66% disturbance; and (G) with η = 99% disturbance. The insets show a sample of the sky that caused the responses and the yellow mark on it shows the position of the sun.
doi: https://doi.org/10.1371/journal.pcbi.1007123.g008