CN105547236A - Biomimetic direction analyzer - Google Patents

Biomimetic direction analyzer Download PDF

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CN105547236A
CN105547236A CN201510897180.2A CN201510897180A CN105547236A CN 105547236 A CN105547236 A CN 105547236A CN 201510897180 A CN201510897180 A CN 201510897180A CN 105547236 A CN105547236 A CN 105547236A
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polarization
sensitive
function element
electric signal
bionical
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CN105547236B (en
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褚金奎
刘泽
张然
王志文
关乐
李彬
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Dalian University of Technology
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Dalian University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Investigating Or Analysing Biological Materials (AREA)

Abstract

The invention discloses a biomimetic direction analyzer. The biomimetic direction analyzer comprises a direction information acquisition device and a data processing module. The direction information acquisition device is used for detecting skylight polarization characteristics and converting an optical signal into an electric signal. The data processing module receives the electric signal transmitted through the direction information acquisition device and computes and processes the electric signal so that direction information is acquired. In the biomimetic direction analyzer, all nano-gratings and photosensitive pixel arrays which are located below the nano-gratings and are corresponding to the nano-gratings form a polarization-sensitive unit and the polarization-sensitive unit realizes incident skylight polarized detection and photoelectric conversion. Through use of a stable distribution way of a sky visible light polarization state in air, the direction information acquisition device and the data processing module, direction information is deduced and calculated.

Description

A kind of bionical Orientation device
Technical field
The present invention relates to Orientation device field, particularly relate to a kind of bionical Orientation device.
Background technology
Biologist studies discovery, and through the evolution of billions of years, various insects was evolved out perception skylight polarization characteristic use it for the unusual ability of navigation, and it can be helped to complete behaviors such as looking for food, go back to the nest.Biological morphology experimental study shows, and has the insect of polarization homing capability, there are some special ommatidiums very responsive to polarized light in its compound eye back edge region (dorsalrimarea, DRA).These special ommatidium queueing disciplines, and in its neural sense bar, Microvillares space arrangement has certain features.Just these special ommatidiums can perception skylight polarization characteristic and for navigation.
Current Orientation system mainly comprise GPS, magnetic compass, inertial gyroscope etc.Wherein, gps system uses extensively, and is a kind of whole world, continuously real-time, high-precision air navigation aid, but its navigation information is under one's control, therefore signal is easily interfered, attacks and even destroy; Earth magnetism compass structure is simple, volume is little, lightweight, but its precision is lower; Inertial gyroscope is interference-free, disguised strong, but there are cumulative errors in long-time use.
Summary of the invention
The bionical Orientation device of one disclosed by the invention: comprise directional information acquisition device, data processing module;
Described directional information acquisition device for detect skylight polarization characteristic, light signal is converted to electric signal; The electric signal that described data processing module receive direction acquisition of information device transmits carries out computing to this electric signal and obtains directional information.
Described directional information acquisition device comprises Polarization-Sensitive function element and photoreception function element.
Described Polarization-Sensitive function element is multi-direction nanometer grating polarizer, described Polarization-Sensitive function element imitates the microvillus structure of ommatidium in Compound Eye of Insects back edge region: described Polarization-Sensitive function element comprises three pairs of nanometer gratings, its main polarization direction is respectively 0 °, 60 ° and 120 °, and the polarization principal axis of often pair of nanometer grating is mutually vertical.
Described photoreception function element is CMOS photosensitive pixel array light signal being converted to electric signal, and this device imitates the photoreceptor structure of Compound Eye of Insects back edge region ommatidium.
The polarized light signal that in photoreception function element, nanometer grating detects by photosensitive pixel array is converted to electric signal, and the intensity of described electric signal is relevant to incident intensity and polarization characteristic.
Described data processing module utilizes the polarization vision level of information Clustering Model set up to obtain directional information when carrying out processing calculate the electric signal with skylight polarization information collected.
Described data processing module imitates the process of the electric vector information that Polarization-Sensitive neuron process back edge area light receptor gathers in insect optic lobe, set up polarization vision level of information Clustering Model, with different demarcation three levels of operand, ground floor: with nanometer grating direction otherness in Polarization-Sensitive function element for criterion, photosensitive pixel array is divided into six bunches, i.e. six Polarization-Sensitive unit, statistics screening and mean filter are carried out to photosensitive pixels some in Polarization-Sensitive unit, obtains the output signal of this Polarization-Sensitive unit; The second layer: so that in Polarization-Sensitive unit, nanometer grating direction antagonism is for criterion, Polarization-Sensitive unit can be divided into three bunches, namely three to the Polarization-Sensitive unit of opposition; Third layer, with the Polarization-Sensitive element output signal otherness that opposes for criterion, the Polarization-Sensitive dividing elements that will oppose is seven bunches, obtains orientation angle information.
The processing technology of a kind of directional information acquisition device as above, comprise the following steps: adopt standard CMOS process to make photosensitive pixel array, side wall is formed after forming photosensitive area and source-drain area through isolation, trap engineering, channel engineering, gate oxidation process and ion implantation, and surface passivation is carried out after metal line, complete the making of photoreception function element; The Polarization-Sensitive function element of integrated making on the passivation layer of photoreception function element, manufacture craft adopts beamwriter lithography, extreme ultra-violet lithography, interference lithography or nano impression light, has finally gone between and has been electrically connected and encapsulates.
One disclosed by the invention bionical Orientation device cost is low, structure is simple, precision is high, even if at the part photosensitive pixel of photoreception function element under abnormal operating state, bionical Orientation device still can normally work, and bionical Orientation device strong robustness.The present invention utilizes the polarization state of sky visible ray metastable distribution pattern in an atmosphere, through directional information acquisition device and data processing module, derives and calculates directional information.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the application, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the microvillus array structure schematic diagram of the Polarization-Sensitive ommatidium of Compound Eye of Insects back of the body fringe region in the present invention;
Fig. 2 is the structural representation of the bionical Orientation device of the present invention;
Fig. 3 is the structural representation of the bionical Orientation device of the present invention;
Fig. 4 is the workflow diagram of Polarization-Sensitive function element in the present invention.
Embodiment
For making technical scheme of the present invention and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear complete description is carried out to the technical scheme in the embodiment of the present invention:
The bionical Orientation device of one as shown in Figure 1-Figure 3, comprises directional information acquisition device 1, data processing module 2.Described directional information acquisition device 1 for detect skylight polarization characteristic, light signal is converted to electric signal; The electric signal that described data processing module 2 receive direction acquisition of information device transmits carries out computing to this electric signal and obtains directional information.
Described directional information acquisition device 1 comprises Polarization-Sensitive function element 11 and photoreception function element 12.
Described Polarization-Sensitive function element 11 is multi-direction nanometer grating polarizer, described Polarization-Sensitive function element 11 imitates the microvillus structure of ommatidium in Compound Eye of Insects back edge region: described Polarization-Sensitive function element 11 comprises three pairs of nanometer gratings, its main polarization direction is respectively 0 °, 60 ° and 120 °, because the ommatidium in back edge (DRA) region of some Compound Eye of Insecties is to polarization sensitive, the microvillus of these ommatidiums is mutually vertical, therefore that the polarization principal axis of often pair of nanometer grating is mutually vertical.
The photosensitive pixel array that in Polarization-Sensitive function element 11, each nanometer grating is corresponding with below it constitutes Polarization-Sensitive unit, realizes polarization state detection and the opto-electronic conversion of incident skylight.In Polarization-Sensitive unit of the present invention, photosensitive pixel export electric signal after signal transacting (noise signal filtering and least square method are averaged) as the output signal of this Polarization-Sensitive unit; Even if the respective pixel of photosensitive pixel array is in abnormal operating state (as fault or blocked) in this Polarization-Sensitive unit, the output electric signal of other photosensitive pixels of this Polarization-Sensitive unit can be utilized to calculate the output signal of this Polarization-Sensitive unit, bionical Orientation device still can normally work, and bionical Orientation device robustness is good.
Described photoreception function element 12 is CMOS photosensitive pixel array light signal being converted to electric signal, and this device imitates the photoreceptor structure of Compound Eye of Insects DRA region ommatidium.
The polarized light signal that in photoreception function element 12, nanometer grating detects by photosensitive pixel array is converted to electric signal, and the intensity of described electric signal is relevant to incident intensity and polarization characteristic.
Electric signal I (θ)=kI [1+dcos (2 θ-2 α)], wherein I is incident intensity, and polarization characteristic is represented by α.
Described data processing module 2 utilizes the polarization vision level of information Clustering Model set up to obtain directional information when carrying out processing calculate the electric signal with skylight polarization information collected.Data processing module 2 can adopt RS232 Serial Port Line to communicate with the external world, sends polarization direction information.
Described data processing module 2 utilizes the polarization vision level of information Clustering Model set up to obtain directional information when carrying out processing calculate the electric signal with skylight polarization information collected:
Data processing module 2 functionally imitates the process of the electric vector information that Polarization-Sensitive neuron process DRA area light receptor gathers in insect optic lobe, set up polarization vision level of information Clustering Model, with the different demarcation level of operand, according to specific clustering criteria, operand is divided into some bunches in each level, hierarchical clustering flow process as shown in Figure 4.
Ground floor: with nanometer grating direction otherness in Polarization-Sensitive function element 11 for criterion, photosensitive pixel array can be divided into six bunches (i.e. six Polarization-Sensitive unit).Statistics screening and mean filter are carried out to photosensitive pixels some in Polarization-Sensitive unit.First statistics screening is carried out to photosensitive pixels some in Polarization-Sensitive unit, remove the singular values such as noise; Then, mean filter is carried out to effective feeling light pixel, obtain the output signal of this Polarization-Sensitive unit.
When incident skylight intensity is I, degree of polarization is d, 0 ° of reference direction and the sun meridian angle of bionical Orientation device are θ, angle α in Polarization-Sensitive unit between nanometer grating polarization principal axis and bionical Orientation device 0 ° of reference direction, k is a constant, and this Polarization-Sensitive element output signal can be expressed as:
I(θ)＝kI[1+dcos(2θ-2α)](1)
The second layer: so that in Polarization-Sensitive unit, nanometer grating direction antagonism is for criterion, Polarization-Sensitive unit can be divided into three bunches.The nanometer grating polarization principal axis of a pair Polarization-Sensitive unit vertically forms the Polarization-Sensitive unit of opposition mutually.
The output signal of Polarization-Sensitive unit of opposing is:
s i = 1 + d c o s ( 2 θ - 2 α ) 1 - d c o s ( 2 θ - 2 α ) , i = 1 , 2 , 3 , α = 0 , π / 3 , 2 π / 3 - - - ( 2 )
For convenience of calculating, do following equivalent transformation:
p i = s i - 1 s i + 1 , i = 1 , 2 , 3 - - - ( 3 )
Third layer: with the Polarization-Sensitive element output signal otherness that opposes for criterion, the Polarization-Sensitive dividing elements that will oppose is 7 tuftlets, and its basis for estimation is as shown in the table:
For certain Polarization-Sensitive unit, its output signal is that cosine is relevant to the polarization azimuth of skylight; When its output signal is close to peak value, this Polarization-Sensitive unit reduces the susceptibility of polarization azimuth, if this Polarization-Sensitive unit participate in polarization azimuth and degree of polarization resolve the accuracy of detection that can reduce Orientation device.Therefore as basis for estimation, solve polarization azimuth and the degree of polarization of skylight.
Orientation angle information is obtained, the angle namely between bionical Orientation device 0 ° of reference direction and sun meridian by above polarization vision level of information Clustering Model.
A kind of technological method for processing of directional information acquisition device, comprise the following steps: adopt standard CMOS process to make photosensitive pixel array, side wall is formed after forming photosensitive area and source-drain area through isolation, trap engineering, channel engineering, gate oxidation process and ion implantation, and surface passivation is carried out after metal line, complete the making of photoreception function element 12; The Polarization-Sensitive function element 11 of integrated making on the passivation layer of photoreception function element 12, manufacture craft adopts beamwriter lithography, extreme ultra-violet lithography, interference lithography or nano impression light, has finally gone between and has been electrically connected and encapsulates.
At photoreception function element 12 with the integrated technique of Polarization-Sensitive function element 11, require multiple nanometer gratings of Polarization-Sensitive function element 11 in photoreception function element 12 in photosensitive pixel array region, do not require pixel scale alignment precision, reduce the requirement of technique alignment precision, enhance applicability.
The photosensitive pixel array that in bionical Orientation device of the present invention, each nanometer grating is corresponding with below it constitutes Polarization-Sensitive unit, realizes polarization state detection and the opto-electronic conversion of incident skylight.In Polarization-Sensitive unit, photosensitive pixel export electric signal after signal transacting (noise signal filtering and least square method optimization) as the output signal of this Polarization-Sensitive unit; Even if the respective pixel of photosensitive pixel array is in abnormal operating state (as fault or blocked) in this Polarization-Sensitive unit, the output electric signal of other photosensitive pixels of this Polarization-Sensitive unit can be utilized to calculate the output signal of this Polarization-Sensitive unit, bionical Orientation device still can normally work, and bionical Orientation device robustness is good.
The above; be only the present invention's preferably embodiment; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.

Claims (7)

1. a bionical Orientation device, is characterized in that: comprise directional information acquisition device, data processing module;
Described directional information acquisition device for detect skylight polarization characteristic, light signal is converted to electric signal; The electric signal that described data processing module receive direction acquisition of information device transmits carries out computing to this electric signal and obtains directional information.
2. the bionical Orientation device of one according to claim 1, is further characterized in that: described directional information acquisition device comprises Polarization-Sensitive function element and photoreception function element.
3. the bionical Orientation device of one according to claim 2, be further characterized in that: described Polarization-Sensitive function element is multi-direction nanometer grating polarizer, described Polarization-Sensitive function element imitates the microvillus structure of ommatidium in Compound Eye of Insects back edge region, described Polarization-Sensitive function element comprises three pairs of nanometer gratings, its main polarization direction is respectively 0 °, 60 ° and 120 °, and the polarization principal axis of often pair of nanometer grating is mutually vertical.
4. the bionical Orientation device of one according to claim 2, be further characterized in that: described photoreception function element is CMOS photosensitive pixel array light signal being converted to electric signal, this device imitates the photoreceptor structure of Compound Eye of Insects back edge region ommatidium.
5. the bionical Orientation device of one according to claim 2, be further characterized in that: the polarized light signal that in photoreception function element, nanometer grating detects by photosensitive pixel array is converted to electric signal, the intensity of described electric signal is relevant to incident intensity and polarization characteristic.
6. the bionical Orientation device of one according to claim 2, is further characterized in that: utilize the polarization vision level of information Clustering Model set up to obtain directional information when described data processing module carries out processing calculate the electric signal with skylight polarization information collected:
Described data processing module imitates the process of the electric vector information that Polarization-Sensitive neuron process back edge area light receptor gathers in insect optic lobe, set up polarization vision level of information Clustering Model, with different demarcation three levels of operand, ground floor: with nanometer grating direction otherness in Polarization-Sensitive function element for criterion, photosensitive pixel array is divided into six bunches, i.e. six Polarization-Sensitive unit, statistics screening and mean filter are carried out to photosensitive pixels some in Polarization-Sensitive unit, obtains the output signal of this Polarization-Sensitive unit; The second layer: so that in Polarization-Sensitive unit, nanometer grating direction antagonism is for criterion, Polarization-Sensitive unit can be divided into three bunches, namely three to the Polarization-Sensitive unit of opposition; Third layer, with the Polarization-Sensitive element output signal otherness that opposes for criterion, the Polarization-Sensitive dividing elements that will oppose is seven bunches, obtains orientation angle information.
7. the processing technology of a directional information acquisition device as claimed in claim 2, it is characterized in that: comprise the following steps: adopt standard CMOS process to make photosensitive pixel array, side wall is formed after forming photosensitive area and source-drain area through isolation, trap engineering, channel engineering, gate oxidation process and ion implantation, and surface passivation is carried out after metal line, complete the making of photoreception function element; The Polarization-Sensitive function element of integrated making on the passivation layer of photoreception function element, manufacture craft adopts beamwriter lithography, extreme ultra-violet lithography, interference lithography or nano impression light, has finally gone between and has been electrically connected and encapsulates.
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CN107449415A (en) * 2017-08-28 2017-12-08 中北大学 Nanometer grating micromechanical gyro
CN108225335A (en) * 2018-01-23 2018-06-29 中国人民解放军国防科技大学 Course angle solving method for multi-view polarized vision

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Publication number Priority date Publication date Assignee Title
CN106679645A (en) * 2016-08-24 2017-05-17 大连理工大学 Multi-directional polarized light-based real-time navigation device
CN107449415A (en) * 2017-08-28 2017-12-08 中北大学 Nanometer grating micromechanical gyro
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