CN103776445B - Amplitude-division polarization navigation angle sensing design method and device - Google Patents
Amplitude-division polarization navigation angle sensing design method and device Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention belongs to the field of navigation and measurement and control, and relates to an amplitude-division angle sensing design method and device for navigation by using polarization information of sky scattered light. The method adopts a) an amplitude-dividing multi-channel synchronous detection mode to detect the polarization state of incident light; b) the small field telescope realizes the functions of light collection and directional measurement; c) analyzing the vibration azimuth angle of the linearly polarized light electric field vector by a Stokes vector sum matrix analysis method; d) performing system optimization design on indexes and installation and adjustment states of internal components of the sensing device by taking the condition number of the instrument matrix as an evaluation factor; e) the reference polarization state generator is used for accurately calibrating the instrument matrix of the sensing device and calibrating and inspecting the sensing device. The invention provides a new technical approach for autonomous navigation by using an optical means, can be widely applied to the navigation purpose of vehicles, ships, low-altitude aircrafts, autonomous robots and other equipment, and can also be used in the fields of polar investigation, field exploration, geological investigation and the like.
Description
Technical field
The invention belongs to navigation and observation and control technology field, polarized light Detection Techniques are combined by it with airmanship,
Relate to a kind of navigation angle sensitive design method and device utilizing sky scattering light polarization information to carry out navigating.
Can be widely applied to the navigation purpose of the equipment such as vehicle, naval vessel, low flyer, autonomous robot, it is possible to
For fields such as polar expedition, field exploration, geology investigations.
Background technology
Polarization navigation is a kind of novel navigation side utilizing sky scattering light polarization distribution pattern to carry out independent navigation
Method.Polarization navigation is initially a kind of bionical sensing and air navigation aid, comes from elder brothers such as husky ant, Apis, Gryllus Chinensiss
The polarization vision systematic research of worm, by passive measurement and analysis atmospheric scattering light polarization information, resolves
Go out carrier reference axis relative to the meridianal azimuth of the sun, determine further according to education in astronomy and space angle relation
Course angle, it is achieved independent navigation.Polarization navigation has that autonomy is strong, precision good, error is accumulated the most in time,
The features such as volume is little, electromagnetism interference is strong, can lead in combination as the important supplement of existing airmanship
Boat system plays a significant role, can be widely applied to vehicle, naval vessel, low flyer, autonomous robot
Deng the navigation purpose of equipment it can also be used to fields such as polar expedition, field exploration, geology investigations.
What the outer document of Present Domestic had pointed out mainly has two kinds for polarizing the angle sensing equipment of navigation.A kind of
As shown in Figure 1 and Figure 2, for a kind of sensing device of mimic biology polarization vision system design, wherein Fig. 1 is
Floor map, Fig. 2 is schematic perspective view.In Fig. 1, polaroid 1 is by six fritter polaroid splicings
Become, principal direction 2(of six fritter polaroids i.e. printing opacity direction) different, respectively 0 °, 30 °, 60 °,
90 °, 120 °, 150 °, wherein 0 °, the principal direction of the two fritter polaroids of 90 ° be mutually perpendicular to, 30 °, 120 °
The principal direction of two fritter polaroids be mutually perpendicular to, 60 °, the principal direction of the two fritter polaroids of 150 ° the most vertical
Directly.It is fitted with light-sensitive detector 3 in the lower section of each fritter polaroid, totally six, passes through partially for receiving
Shake the line polarized light of sheet.The polaroid 1 being spliced by six fritters is arranged in lens barrel 4.In Fig. 2, enter
Penetrating light wave 5 through after polaroid 1, be incident upon on the light-sensitive detector 3 of lower section, light-sensitive detector 3 is by light
Signal is converted into the signal of telecommunication, supply follow-up signal collecting device (being not drawn in figure) and the equipment of calculating (in figure
It is not drawn into) process.This angle sensing equipment uses lens barrel 4 or additional sleeve mechanism (being not drawn in figure)
Realize light harvesting and orientation survey.Another kind of angular transducer is a kind of polarization sensitive cmos image sensing
Device, uses modern ultraprecise integrated circuit processing technique, wire grating polaroid is integrated into CMOS camera
Each pixel on.The pixel type of organization of this polarization sensitive cmos image sensor as it is shown on figure 3,
Each most basic functional unit is made up of 2 × 2 pixels, and Fig. 3 (a), Fig. 3 (b) sets forth two kinds of allusion quotations
The basic functional units form of type.In Fig. 3 (a), pixel 6 does not indicate arrow, represent that this pixel is common
Pixel, it does not has integrated wiregrating, pixel 7 are marked with the arrow in 90 ° of directions, represents and be integrated with on this pixel
Principal direction is the wiregrating of 90 °, and pixel 8 is then integrated with the wiregrating that principal direction is 0 °.In Fig. 3 (b), pixel 6
For without the common pixel of wiregrating, it is 90 °, 0 °, the wiregrating of 45 ° that pixel 7,8,9 is integrated with principal direction respectively.
Owing to integrated wiregrating plays the effect of linear polarizer, this basic functional units being made up of 2 × 2 pixels
Possesses linear polarization azimuth determination function, it is possible to the linear polarization azimuth of perception sky scattering light.
From measurement pattern, above two polarization navigation angle sensor is wave-front division detection principle.
This kind of wave-front division detection method, the most feasible, method is the most relatively simple, but in enforcement technology
There is many problems.
Former is designed a model, has technically had that certainty of measurement is the highest, the efficiency of light energy utilization is low, anti-
The weakness such as veiling glare and directional monitoring ability.First, certainty of measurement, sensitivity are the highest.This is because requirement
By six pieces of independent polaroids by 0 ° of printing opacity direction, 30 °, 60 °, 90 °, 120 °, 150 ° of six angles strictly arrange
Row are installed, the limited precision processed due to polaroid, assemble and detect, and the angle precision of this kind of arrangement is difficult to
Reach higher level, and can debug to instrument and bring the highest requirement.It addition, typically use dichroism to ooze
Iodine polyvinyl alcohol polaroid (H polaroid), or optical coating polaroid, the polarizing properties of this kind of polaroid
Low, extinction ratio is generally only capable of reaching 10-3The order of magnitude, delustring performance in the case of short wavelength's (royal purple light)
Meeting worse (10-2).Polaroid is the core parts of polarizing angle sensing device angle detecting, the two factor
Necessarily cause the problem that the accuracy and sensitivity of this polarization angle sensing device is the highest.Secondly, light-use
Rate is low.This is because the light beam through six fritter polaroids is not fully utilized, the most a small amount of luminous energy is by six
Individual light-sensitive detector receives (photosurface is less), and utilization rate is the lowest, and major part light is changed into background miscellaneous light, will
Severe jamming detection process, reduces signal to noise ratio, and the low sensing device that also limit of the efficiency of light energy utilization is at low-light ring
Application under border.Finally, anti-veiling glare and oriented detection ability.Owing to using simple tube-in-tube structure, anti-miscellaneous
Light is poor with orientation survey ability.Such as shown in Fig. 4, the investigative range of light-sensitive element 10 is true by sleeve 11
Fixed, it is actually conical region between light 12 and 13, corresponding to a piece of large area that it is aerial, by
Polarization state of each point aerial differing in sky, the big visual angle measurement that sleeve mechanism is implemented has homogenized each point
Polarization state, obtain is the composite measurement result of this area of space, though contributing to the most to a certain extent carrying
High noise immunity, but result in measurement sensitivity and precision be greatly reduced.Additionally, sleeve mechanism also can be produced
(such as direct projection will produce diffuse-reflectance veiling glare, this veiling glare at the light 14 of sleeve 11 inwall to raw veiling glare
Polarizability with stronger), severe jamming measures process, causes certainty of measurement to decline.
Latter has been designed a model, the most feasible, use integrated circuit processing technique the easiest
In realizing miniaturization, but there is the problem that certainty of measurement, sensitivity are the highest.This is primarily due to it and uses
Integrated wire grating is as polariser, and polarizing properties is more weak, and extinction ratio is typically only capable to reach 10-2, it is a class
It is applicable to the polariser of long-wave band (near-infrared, infrared, far infrared), at shortwave (such as blue light, purple light)
In the case of polarization extinction performance worse.And sky scattering light is the most aobvious at the polarization characteristic of short-wave band (royal purple light)
Writing, short-wave band is most suitable as the service band of polarisation navigation sensing.On the other hand, ultraprecise, highly integrated
The lithography process technique of degree is sufficiently complex, and cost puts into huge.Additionally, because using 2 × 2 pixel detection modes,
It is divided into four parts, each pixel to separately detect different polarized components same incident light wave spatially position,
The efficiency of light energy utilization is the highest, and the scattering being easily caused between neighbor/reflection light disturbance, reduces and measures essence
Degree and sensitivity.
Based on above-mentioned situation, the present invention proposes a point amplitude polarization navigation angle sensitive design method and device, its
Utilize a point amplitude approach to realize the multi-channel synchronous of polarized component is efficiently detected, utilize Stokes vector
Realize principle analysis with matrix theory, optimize design and azimuth parsing, utilize small field of view telescope to realize
Light harvesting and orientation survey ability such that it is able to solve the problems referred to above.
Summary of the invention
It is an object of the invention to the deficiency for overcoming above-mentioned prior art, it is provided that the polarization navigation of a kind of point of amplitude
Angle sensor method for designing and device.It is an object of the invention to be achieved through the following technical solutions.
The polarization navigation angle sensitive design method of a kind of point of amplitude of the present invention is:
A) take a point amplitude multi-channel synchronous detection mode that incident light polarization state is detected；
B) Stokes vector and matrix-analysis method is taked to resolve line polarized light electric field intensity vibration azimuth angle；
C) take instrument Matrix condition number be evaluation points to sensing device internal component index, debug state
Carry out Optimized System Design；
D) take benchmark polarization state generator that sensing device instrument matrix is carried out Accurate Calibration, and to sensing
Device carries out calibrating and accuracy test.
Described point of amplitude includes that prism divides amplitude, grating to divide amplitude, plate glass to divide amplitude, diffraction optics unit
Part divides amplitude and acousto-optical device to divide amplitude；Number of channels includes triple channel and above number of channels.
The evaluation points carrying out Optimized System Design can be the conditional number of instrument matrix, or other type of use
Mathematical measure with trip current Degree of Ill Condition.
Use optical phase delay device that light polarization is converted.
The one of the present invention divide amplitude polarize navigation angle sensing device, including collecting lens, bandpass filter,
Manipulator, spectroscope, first phase delayer, second phase delayer, the first polarization spectroscope, second
Polarization spectroscope, the first collecting lens, the second collecting lens, the 3rd collecting lens, the 4th collecting lens,
First aperture, second orifice diaphragm, the 3rd aperture, the 4th aperture, the first photodetector
Device, the second light-sensitive detector, the 3rd light-sensitive detector, the 4th light-sensitive detector, data acquisition unit, meter
Calculate and information display output unit；Wherein: collecting lens, bandpass filter are positioned at foremost, its mutual alignment
Adjustable；After manipulator is positioned at collecting lens, bandpass filter；Collecting lens, bandpass filter, manipulator structure
Become sensing device public enter optical channel；Incident beam is divided into two by spectroscope；First phase delayer,
And then second phase delayer is positioned in the two-beam road after spectroscope；First polarization spectroscope, second
After polarization spectroscope lays respectively at first phase delayer, second phase delayer, its position can intermodulation；
Before condenser lens is positioned over light-sensitive detector, both are positioned over the end of four path channels jointly；Aperture light
Door screen position is adjustable；Four signals of telecommunication of four light-sensitive detector extractions pass to data acquisition unit, data acquisition
The data that collection unit produces pass to calculate and information display output unit.
The keplerian telescope of the described collecting lens field stop that can be built-in, it is possible to for the tool of other form
There are light harvesting and the telescope of orientation observing capacity；
Described manipulator kind includes optical chopper, electrooptic modulator, light ball modulator, acousto-optic modulator.
Described first phase delayer, the position of second phase delayer can exchange；Phase delay device kind
Including wave plate, rib body, compensator, liquid crystal device；Phase delay device quantity is not limited to two.
Described spectroscope, the first polarization spectroscope, the kind of the second polarization spectroscope include prism, diffraction light
Grid, parallel glass plates, diffraction optical element, acousto-optical device；Spectroscope, the first polarization spectroscope,
Two polarization spectroscopes can be device of the same race, it is possible to for different devices, also can merge into a device；First
The position of aperture is not limited between the first collecting lens and the first light-sensitive detector；Second orifice diaphragm
Position is not limited between the second collecting lens and the second light-sensitive detector；The position of the 3rd aperture is not limited to
Between 3rd collecting lens and the 3rd light-sensitive detector；It is saturating that the position of the 4th aperture is not limited to the 4th optically focused
Between mirror and the 4th light-sensitive detector；The quantity of aperture is not limited to number of channels.
Described light-sensitive detector kind includes Si-based photodetectors, gallium phosphide photodetector, photomultiplier transit
Pipe, avalanche photodetector and position sensing detector；Data acquisition unit can be external independent collection
Device, it is also possible to be integrated in sensing device internal circuit；Calculate and information display output unit can be to calculate
Machine and TT&C software, it is also possible to the embedded software hardware function being integrated with in sensing device.
Described multichannel light path layout form can be to be plane figure form, it is also possible to is space multistory layout
Form；Each channel light also can arrange other optical element, including linear polarizer, lens, prism, anti-
Light microscopic, protection glass.
Described position sensing detector, for lateral drift and the beam alignment of perception luminous point.
Beneficial effect
Contrast prior art, the present invention has following methods and innovates:
1, amplitude Stokes vector multi-channel synchronous measuring principle is divided.Sky is achieved inclined with a point amplitude principle
The multi-channel synchronous of light Stokes vector of shaking is measured, and solves the wave-front division polarization navigation currently already proposed
The problems such as the sensing accuracy that sensor model exists is not high enough, veiling glare is more serious, the efficiency of light energy utilization is low.With
Polarized light Stokes vector method is designed so that matrix theory obtains in systematic analysis, optimization design
With effectively application so that the optimization with instrument Matrix condition number as evaluation points is designed to possibility.This is district
Do not navigate one of innovative point of sensing technology in existing wave-front division type polarization.
2, the Optimization Design with instrument Matrix condition number as evaluation points, can significantly reduce mounting and adjusting
While difficulty, reduction equipment technical requirement, improve sensitivity and the precision of sensing device.Can use
The mathematical methods such as method of least square, neural metwork training method, coordinate benchmark polarization state generator, it is achieved to instrument
The Accurate Calibration of device matrix, then using instrument Matrix condition number as evaluation points, to sensing device inside unit device
The parameter configuration of part and debug location and be optimized design, can be substantially reduced certainty of measurement to sensing device inside
Components and parts performance indications, debug the dependency of precision, improve measurement sensitivity and the precision of sensing device.This
It is the two of the innovative point being different from existing wave-front division type polarization navigation sensing technology.
The inventive method and device have a following distinguishing feature:
1, sensing accuracy, highly sensitive.Preferably there is the crystal-type polarization splitting prism conduct of high polarization property
Polarization element, compares the linear polarizer that the wave-front division sensing device currently already proposed is used, extinction capability
About two orders of magnitude, and theta alignment error when avoiding linear polarizer to splice can be improved, be effectively improved measurement
Precision and susceptiveness.The optimization debuging location is designed and ensures that sensing device reaches optimum sensing capabilities.
2, the efficiency of light energy utilization is high, and anti-veiling glare ability is strong.Amplitude multi-channel synchronous measuring method is divided to can reach intimate
The efficiency of light energy utilization completely, the interference veiling glare of generation is minimum, is conducive to improving and measures signal to noise ratio and sensitivity,
It is also beneficial to sensing device work under low light environment.
3, light collecting light ability and orientation survey ability are strong.Using small field of view telescope as common light path collecting lens, light harvesting
Ability interference veiling glare strong, that introduce is few, can be suitably used for more weak photoenvironment；Look in the distance thing by optimizing design
Mirror, eyepiece are on axle and the aberration of blue wave band, and it is the most fixed also can to possess while improving light collecting light ability
To measurement capability, be conducive to improving and measure signal to noise ratio and sensitivity.
4, sensor fast response time.Multi-channel synchronous measurement pattern, up to response speed quickly, mainly
Depend on the subsequent analysis processing speed of photodetector response speed and signal.
Accompanying drawing explanation
Fig. 1 is the floor map of one of current existing polarization navigation angle sensing device；
Fig. 2 is the schematic perspective view of one of current existing polarization navigation angle sensing device；
Fig. 3 is the minimum function cell schematics of the two of current existing polarization navigation angle sensing device；
Fig. 4 is the angle of visual field and the veiling glare schematic diagram of sleeve light collective mechanism；
Fig. 5 is a point principle schematic for amplitude polarization navigation angle sensitive design method and apparatus；
Fig. 6 is embodiment 1 schematic diagram；
Fig. 7 is the actual measurement response curve of four light-sensitive detectors in embodiment 1；
Fig. 8 is theoretical value and the measured value contrast of embodiment 1 center line polarization azimuth；
Fig. 9 is the measurement error of embodiment 1 center line polarization azimuth；
Figure 10 is embodiment 2 schematic diagram；
Figure 11 is a kind of zoned format of parallel glass plates upper surface in embodiment 2.
Wherein, 1-polaroid, 2-polaroid principal direction, 3-light-sensitive detector, 4-lens barrel, 5-incident ray,
The common pixel of 6-, the pixel of 7-collection wiregrating in 90 °, the pixel of the integrated 0 ° of wiregrating of 8-, the picture of 9-collection wiregrating at 45 °
Unit, 10-light-sensitive detector, 11-sleeve, 12-the first light, 13-the second light, 14-the 3rd light, 15-
Collecting lens, 16-bandpass filter, 17-manipulator, 18-spectroscope, 19-first phase delayer, 20-second
Phase delay device, 21-the first polarization spectroscope, 22-the second polarization spectroscope, 23-the first collecting lens, 24-
Second collecting lens, 25-the 3rd collecting lens, 26-the 4th collecting lens, 27-the first aperture, 28-
Two apertures, 29-the 3rd aperture, 30-the 4th aperture, 31-the first light-sensitive detector, 32-
Two light-sensitive detectors, 33-the 3rd light-sensitive detector, 34-the 4th light-sensitive detector, 35-data acquisition unit,
36-calculate and information display output unit, 37-benchmark polarization state generator, 38-the first wollaston prism,
39-the second wollaston prism, 40-parallel glass plates, 41-First Line polariser, 42-the second linear polarizer,
43-the 3rd linear polarizer, 44-the 4th linear polarizer, 45-first area, 46-second area, 47-the 3rd region,
48-the 4th region.
Detailed description of the invention
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
The essence of the present invention is that the Stokes using point amplitude multi-channel measurement mode to measure incident light wave is vowed
Amount, the Stokes vector parameter calculation that then basis records goes out " advantage " of incident light wave electric field vector and shakes
Dynamic direction, relative to the azimuth of reference direction, is subsequently used in polarization navigation purpose.
As it is shown in figure 5, collecting lens 15 is keplerian telescope, for collecting the scattering from distant place sky
Light, and beam size is reduced, improve light beam radiation intensity.Increase the aperture of objective lens of collecting lens, can improve
Light collecting light ability.A field stop is placed in the focal plane of lens of collecting lens 15, in order to limit field angle of object,
Realize orientation survey function.Bandpass filter 16 selects operating wavelength range, its operation wavelength be usually ultraviolet,
The short-wave band such as purple light, blue light (≤500nm), but it is not limited to short-wave band；Under conditions of light intensity is enough, can
Suitably reduce the bandwidth of optical filter；The placement location of bandpass filter is more flexible, but should be placed in spectroscope 18
Before, the most public enter in optical channel.Incident light wave is carried out intensity modulated by manipulator 17, in order to reduce environment
The impact of veiling glare etc., also can filter the direct current background signal of electronic circuit by this kind of mode；If environment veiling glare,
Circuit dark current etc. are the least and negligible, then manipulator 17 can not use.Spectroscope 18 is common
Amici prism, is divided into two bundles by incident beam, a branch of towards first phase delayer 19, and another bundle leads to the
Two phase delayer 20.First phase delayer 19, second phase delayer 20 be respectively quarter wave plate, 1/2
Wave plate.The phase retardation of first phase delayer 19 is 45 °, the fast axis direction of second phase delayer 20
Angle is 22.5 °, and the position of phase delay device 19,20 can exchange.Polarization spectroscope 21,22 is prism,
Each p, s polarized component in two-beam ripple is separated, forms four bunch polarized light, by collecting lens and
After aperture, focus on and be incident upon on four detectors, produce four analog electrical signals being directly proportional to light intensity.
Analog electrical signal passes to data acquisition unit 35, and data acquisition unit 35 completes the A/D of analog electrical signal
Conversion, the data of generation pass to calculate again and information display output unit 36 carries out processing, calculates, analyzes,
And show and output result.X-y-z coordinate system in Fig. 5 is the reference direction of this device.
The enforcement step dividing amplitude polarization navigation angle sensitive design method is as follows:
The first step, carries out instrumental constant demarcation.Sensing device is built, by benchmark polarization state generator by Fig. 5
Producing N number of orthogonal polarization state is Sk=[sk0sk1sk2sk3]TIncident light wave (k=1,2,3 ... N,
N >=4), and import sensing device successively.Four detectors (31～34) are detected signal and are respectively
Ik0=a00sk0+a01sk1+a02sk2+a03sk3
Ik1=a10sk0+a11sk1+a12sk2+a13sk3
Ik2=a20sk0+a21sk1+a22sk2+a23sk3
Ik3=a30sk0+a31sk1+a32sk2+a33sk3
This system of linear equations is also referred to as matrix form Ik=ASk, wherein Ik=[Ik0Ik1Ik2Ik3]T, aij(
I=0 ... 3, j=0 ... 3) it is the matrix element of instrumental constant matrix A.Join according to known polarization state Stokes
Amount data SkAnd the light intensity data I that detector recordsk, i.e. can use method of least square to calibrate instrument matrix parameter
aij.Conditional number K (A) of computing equipment matrix.
Second step, adjusts the inner parameter configuration of sensing device, debugs state, and such as splitting ratio, phase place prolongs
Chi Liang, angle position alignment, lateral attitude alignment, electronic device amplification etc., and repeat the first step, sentence
Whether conditional number K (A) of disconnected instrument matrix reduces.
3rd step, is optimized sensing device.Repeat the first step, second step so that the bar of instrument matrix
Number of packages K (A) reduces as far as possible, in order to make sensing device reach optimized detection performance.Record instrument now
Matrix numerical value, is used as the 4th step Actual measurement.
4th step, actual measurement.The sensing device optimizing, debuging is used for sky scattering photo measure,
The signal data recorded according to light-sensitive detector, calculates as the following formula by the Stokes vector of light-metering
Then bySensing device reference direction can be calculated " excellent relative to tested light wave electric field vector
Gesture " azimuth angle alpha between direction of vibration.
Embodiment 1
As shown in Figure 6, a kind of point of amplitude polarization navigation angle sensing device.The present embodiment device does not comprises
Second phase delayer, first phase delayer 19 used uses half-wave plate, and phase retardation adjusts and is about
22.5°；Benchmark polarization state generator 37 is for producing the reference polarized light of known polarization state；Bandpass filter 16
Centered by wavelength 633nm, the dielectric coating filter of halfwidth (FWHM) 10nm；Manipulator 17 is cut for optics
Ripple device, modulating frequency is arranged on 120Hz；Spectroscope 18 is plain edition Amici prism, and splitting ratio is about 50:50；
First polarization spectroscope the 38, second polarization spectroscope 39 is all wollaston prism；Light-sensitive detector 31～
34 is all silica-based amplification detector, and the analog voltage signal of generation passes to data acquisition unit 35, data acquisition
Integrating the unit 35 A/D data acquisition unit as 16bit precision, analog voltage signal is passed to by after digitized again
Computer 36, equipped with custom-designed TT&C software in computer.
First, benchmark polarization state generator 37 produces 21 datum line polarization state (i.e. orientation with 5 ° for interval
0 ° of angle, 5 °, 10 ° ... 100 °), for demarcate the present embodiment device instrument matrix and optimize design.By surveying
Control software is automatically performed the controlling angle of automatically controlled turntable, the collection of four detectable signals, the analysis of data, place
Reason.Adjusting the parameter configuration of the internal component of embodiment device, debug state etc., calibrating instrument matrix is also
Instrument Matrix condition number is made to reach smaller value.Finally, demarcating the instrument matrix drawn is
Owing to the present embodiment being demarcated only with linear polarization, therefore the 4th column element of instrument matrix can not be drawn
Numerical value, but this has no effect on the detection of line polarized light polarization azimuth.
Then, measured test is carried out.Benchmark polarization state generator 37 is allowed to be sequentially generated 31 kinds of known azimuths
The line polarized light to be measured of (with 6 ° for interval, 0 °, 6 °, 12 ° ... 180 °).With this enforcement demarcated
Example device removes to detect this 31 kinds of line polarized lights to be measured, data recorded according to four light-sensitive detectors and calibrating
Instrument matrix A resolve successively, obtain the azimuth determination value of 31 polarized light to be measured.
During Fig. 7 is measured test, light intensity signal size that four light-sensitive detectors 31～34 sense (point
Dui Yingyu curve D1～D4 in figure).
Fig. 8 is the azimuthal theoretical curve of tested line polarized light and measured value, it is seen that theoretical curve and measured value weight
Right the highest, illustrate that the certainty of measurement of the present embodiment is fine.
Fig. 9 is the azimuth measurement error of tested line polarized light, and measurement error value is better than ± 0.2 °.Visible, this
Embodiment has good polarization azimuth certainty of measurement and sensitivity.
Embodiment 2
As shown in Figure 10, in the present embodiment, one piece of parallel glass plates 40 is used to replace in embodiment 1
Spectroscope the 18, first polarization splitting prism 38 and the second polarization splitting prism 39 carry out a point amplitude light splitting, and
Do not comprise phase delay device.The upper surface plating deielectric-coating of parallel glass plates 40, lower surface plating high reflectance gold
Belong to film.The parallel light pencil come with manipulator 17 from bandpass filter 16 enters parallel in oblique incidence mode
, in parallel glass plates 40, there is repeatedly internal reflection in glass plate 40, and at parallel glass plates 40
Upper surface there is repeatedly fractional transmission, thus produce multi beam reflection light beam parallel, equally spaced.This enforcement
Example utilizes the front four bundle reflection light beams produced to detect.The upper surface of parallel glass plates 40 can be by Figure 11
Mode is divided into four regions: first area 45, second area the 46, the 3rd region 47 and the 4th region 48,
The deielectric-coating of each region plating different reflectivity, in order to optimize each bundle the reflection reflection coefficient of light, light intensity proportioning
Deng, anti-reflection film can be plated with fully utilized residue light wave in the 4th region 48.The present embodiment parallel glass plates 40
In four light beams that reflection produces, it is respectively provided with First Line polariser the 41, second linear polarizer the 42, the 3rd line
Polariser the 43, the 4th linear polarizer 44, its principal direction relative to the azimuth of reflecting surface can be respectively 0 °, 45 °,
90°、135°.The demarcation of the present embodiment, accuracy test technical step are same as in Example 1.Flat by adjusting
The reflectance in each district of oozy glass flat board 40 upper surface, can make the present embodiment reach the high efficiency of light energy utilization；Pass through
Demarcate and Design of Performance, the present embodiment can be made to reach high measurement accuracy and sensitivity.
Above in association with accompanying drawing, the detailed description of the invention of the present invention is described, but these explanations do not make sense
For limiting the scope of the present invention, protection scope of the present invention is limited by appended claims, Ren He
The change carried out on the basis of the claims in the present invention is all protection scope of the present invention.
Claims (6)
1. a point amplitude polarization navigation angle sensitive design method, concretely comprises the following steps:
A) take a point amplitude multi-channel synchronous detection mode that incident light polarization state is detected；
B) Stokes vector and matrix-analysis method is taked to resolve line polarized light electric field intensity vibration azimuth angle；
C) take instrument Matrix condition number be evaluation points to sensing device internal component index, debug state
Carry out Optimized System Design；
D) take benchmark polarization state generator that sensing device instrument matrix is carried out Accurate Calibration, and to sensing
Device carries out calibrating and accuracy test；
It is characterized in that, it is achieved a point amplitude polarization navigation angle sensing device for this method for designing includes: light harvesting
Mirror (15), bandpass filter (16), manipulator (17), spectroscope (18), first phase delayer (19),
Second phase delayer (20), the first polarization spectroscope (21), the second polarization spectroscope (22), the first optically focused
Lens (23), the second collecting lens (24), the 3rd collecting lens (25), the 4th collecting lens (26), first
Aperture (27), second orifice diaphragm (28), the 3rd aperture (29), the 4th aperture (30),
First light-sensitive detector (31), the second light-sensitive detector (32), the 3rd light-sensitive detector (33), the 4th photosensitive
Detector (34), data acquisition unit (35), calculating and information display output unit (36)；Wherein: light harvesting
Mirror (15), bandpass filter (16) are positioned at foremost, and its mutual alignment is adjustable；Manipulator (17) is positioned at light harvesting
After mirror (15), bandpass filter (16)；Collecting lens (15), bandpass filter (16), manipulator (17) structure
Become sensing device public enter optical channel；Incident beam is divided into two by spectroscope (18)；First phase postpones
Device (19), second phase delayer (20) are and then positioned in the two-beam road after spectroscope (18)；First
Polarization spectroscope (21), the second polarization spectroscope (22) lay respectively at first phase delayer (19), the second phase
After position delayer (20), its position can intermodulation；Before collecting lens is positioned over light-sensitive detector, both are altogether
With the end being positioned over four path channels；Aperture position is adjustable；The four of four light-sensitive detector extractions
The individual signal of telecommunication passes to data acquisition unit (35), and the data that data acquisition unit (35) produces pass to calculate
And information display output unit (36).
Point amplitude of a kind of point of amplitude polarization navigation angle sensitive design method the most according to claim 1
Polarization navigation angle sensing device, it is characterised in that: opening of collecting lens (15) field stop that can be built-in is general
Le formula telescope, it is possible to there is light harvesting and orient the telescope of observing capacity for other form；Manipulator (17)
Kind is optical chopper, or electrooptic modulator, or light ball modulator, or acousto-optic modulator.
Point amplitude of a kind of point of amplitude polarization navigation angle sensitive design method the most according to claim 1
Polarization navigation angle sensing device, it is characterised in that: first phase delayer (19), second phase delayer
(20) location swap or do not exchange；Phase delay device is wave plate or rib body, or compensator, or
Liquid crystal device；Phase delay device quantity is not limited to two.
Point amplitude of a kind of point of amplitude polarization navigation angle sensitive design method the most according to claim 1
Polarization navigation angle sensing device, it is characterised in that: spectroscope (18), the first polarization spectroscope (21), the
Two polarization spectroscopes (22) are prism or diffraction grating, or parallel glass plates；Spectroscope (18),
One polarization spectroscope (21), the second polarization spectroscope (22) can be device of the same race, it is possible to for different devices,
Also can merge into a device；The position of the first aperture (27) is not limited to the first collecting lens (23) and
Between one light-sensitive detector (31)；The position of second orifice diaphragm (28) be not limited to the second collecting lens (24) and
Between second light-sensitive detector (32)；The position of the 3rd aperture (29) is not limited to the 3rd collecting lens (25)
With the 3rd between light-sensitive detector (33)；The position of the 4th aperture (30) is not limited to the 4th collecting lens (26)
With the 4th between light-sensitive detector (34)；The quantity of aperture is not limited to number of channels.
Point amplitude of a kind of point of amplitude polarization navigation angle sensitive design method the most according to claim 1
Polarization navigation angle sensing device, it is characterised in that: light-sensitive detector is Si-based photodetectors or phosphatization
Gallium photodetector, or photomultiplier tube, or avalanche photodetector, or position sensing detector；
Data acquisition unit (35) can be external independent harvester, it is also possible to be integrated into sensing device internal circuit
In；Calculate and information display output unit (36) can be computer and TT&C software, it is also possible to be integrated with
Embedded software hardware function in sensing device.
Point amplitude of a kind of point of amplitude polarization navigation angle sensitive design method the most according to claim 1
Polarization navigation angle sensing device, it is characterised in that: multichannel light path layout form is plane figure form
Or space multistory distribution form；Each channel light arranges other optical element, for polariser or lens,
Or prism, or illuminator, or protection glass.
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| CN105698819B (en) * | 2016-01-18 | 2019-01-22 | 中国人民解放军国防科学技术大学 | A kind of scaling method for polyphaser polarized light sensor |
| CN105737818B (en) * | 2016-02-03 | 2019-04-05 | 曲阜师范大学 | The bionical polarized light navigating instrument in two channels and its method based on polarization splitting prism |
| CN105606089B (en) * | 2016-02-03 | 2019-02-22 | 曲阜师范大学 | Based on the polarotactic navigation sensor and working method for improving imitative husky ant POL neuron |
| CN107870041A (en) * | 2017-11-28 | 2018-04-03 | 中国科学院合肥物质科学研究院 | It is a kind of to divide amplitude polarized imaging system simultaneously without wave plate and polarizer |
| CN108318890A (en) * | 2018-01-04 | 2018-07-24 | 西安理工大学 | A kind of aerosol detection radar system for making light source using white light LEDs |
| CN108375381B (en) * | 2018-02-08 | 2021-12-21 | 北方工业大学 | Bionic polarization sensor multi-source error calibration method based on extended Kalman filtering |
| CN108693634B (en) * | 2018-04-27 | 2020-02-28 | 中国科学院西安光学精密机械研究所 | Wide-spectrum common-aperture television, infrared zooming imaging and laser tracking guiding optical system |
| CN109990736B (en) * | 2019-03-28 | 2020-09-08 | 华中科技大学 | Method and device for measuring roll angle based on Stokes vector |
| CN111504303B (en) * | 2020-04-17 | 2022-09-13 | 西北工业大学 | Miniature two-channel polarization navigation sensor and use method thereof |
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