Fish-eye camera and image processing for commanding a solar tracker

The design and implementation of a solar tracker based on panoramic images captured by a fisheye camera are proposed. Such images receive a digital treatment to estimate the sun azimuth and the elevation angles. These angles are fed to a microcontroller, handling an accelerometer with a gyroscope, that positions the solar tracker to the angle of solar elevation and a compass to set the azimuth angle concerning the north, either magnetic or geographic. The proposed system works satisfactorily to guide the solar tracker regardless of whether it is a sunny or cloudy day.