CN105606089A - Polarized light navigation sensor based on improved cataglyphis-imitated POL nerve cells and working method - Google Patents

Polarized light navigation sensor based on improved cataglyphis-imitated POL nerve cells and working method Download PDF

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Publication number
CN105606089A
CN105606089A CN201610076257.4A CN201610076257A CN105606089A CN 105606089 A CN105606089 A CN 105606089A CN 201610076257 A CN201610076257 A CN 201610076257A CN 105606089 A CN105606089 A CN 105606089A
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light
pol
neuronic
imitative
navigation sensor
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CN105606089B (en
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曹佃国
武玉强
王茂友
郭雷
陈威
王增圻
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Qufu Normal University
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Qufu Normal University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

Abstract

The invention discloses a polarized light navigation sensor based on improved cataglyphis-imitated POL nerve cells and a working method. The sensor comprises at least two polarized light receiving channels which comprise biconvex lenses, diaphragms, planoconvex lenses, filters and polarizing films which are arranged in sequence on the same optical axis along the direction of incident light, wherein incident light rays pass through the diagrams and the planoconvex lenses in sequence after being focused by the biconvex lenses to form vertically incident light rays; the vertically incident light rays are filtered by the filters to obtain single-color polarized light; the single-color polarized light enters the polarizing films and is divided into two standard orthogonal light rays; the two standard orthogonal light rays are transmitted to a photoelectric conversion module to obtain polarizing light electric signals.

Description

Based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL and method of work
Technical field
The invention belongs to navigation sensor field, relate in particular to a kind of based on improving the neuronic polarotactic navigation biography of imitative husky ant POLSensor and method of work.
Background technology
Navigation mainly comprises satellite navigation system (GNSS), inertial navigation system (INS), celestial navigation system (CNS), numberAccording to storehouse or scene with reference to navigation system and radio navigation system etc. Inertial navigation system (InenialNavigation), applicationNewton mechanics law is the navigation system of an Integration Solving. It mainly by accelerometer, navigational computer, gyroscope andThe compositions such as INS Platform, navigation and backoff algorithm. By being installed on the accelerometer of carrier inside and gyroscope (normally by threeAccelerometer and three gyroscopes composition Inertial Measurement Units) measure specific force and the angular speed of carrier inertial space, to the speed of carrierDegree, three-dimensional position and attitude information calculate. Measure the acceleration of carrier movement with accelerometer; Simulation gyroscope and platform structureMake a single file coordinate system, measurement coordinate basis is provided, and obtain attitude of carrier and azimuth information; By navigation algorithm, completeThe computing of parameter and command value; Desired parameters is analyzed, demonstrated navigation data. The not outside emittance of this system, andDo not rely on outside information and hardware; Good concealment, strong interference immunity; Navigation data has continuous, complete feature, extensivelyBe applied to the field such as Aeronautics and Astronautics, navigation. Inertial navigation is a kind of dead reckoning navigation system, due to gyroscopic drift with addSpeedometer error, the error of this system will increase in time.
20 beginnings of the century, scientists constantly finds that the biologies such as husky ant, locust, honeybee, cricket all have perception polarised light and leadThe ability of boat. Some biology, as African dorbeetle, even can utilize moonlight to carry out polarotactic navigation at night. Constantly findThese biological secrets attracted deeply numerous scientists to study biological polarization vision, thereby constantly promoting the mankindDevelopment.
According to bionics principle, domestic and international many scholars have proposed bionical polarotactic navigation sensor model, wherein, more famousBe the neuronic polarotactic navigation sensor model of imitative husky ant POL-that the people such as DimitriosLambrinos proposes, special both at home and abroadThe scholar of family imitates one after another, and has done a large amount of experimental studies, and result proves, makes bionical polarotactic navigation sensor and utilizes partiallyIt is feasible that the light that shakes navigates, and can be applied in assisting navigation aspect, has huge Research Prospects.
Meanwhile, the imitative neuronic polarotactic navigation sensor model of husky ant POL-is inevitable some shortcoming also, is mainly manifested in:
1) in order to ensure certain light intensity, it is too little that polarized light detection lens barrel can not do, and is unfavorable for miniaturization; 2) polarization photoconductionWhat in boat sensor model, photodetector received is not pure directional light, and the degree of polarization of the polarised light of process polarizer can be subject toTo very large impact; 3) can not obtain the output quantity of each photodetector, computational methods are comparatively complicated.
Summary of the invention
In order to solve the shortcoming of prior art, the invention provides a kind of based on improving the neuronic polarotactic navigation biography of imitative husky ant POLSensor and method of work. The present invention is by being set in turn in biconvex lens, diaphragm and the planoconvex spotlight on incident ray major axes orientation,Incident ray is dispersed for directional light, and for ensureing that the light that photodetector receives is directional light, and light is purer, reachesArrive the object of the resolution ratio that improves sensor.
For achieving the above object, the present invention is by the following technical solutions:
A kind of based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, comprising: at least two polarised light receive paths,Described polarised light receive path comprise along incident ray direction with the biconvex lens setting gradually on optical axis, diaphragm, planoconvex spotlight,Optical filter and polarizer; Incident ray, after described biconvex lens converges, forms vertical incidence through diaphragm and planoconvex spotlight successivelyLight, the light of vertical incidence through optical filter filter after obtain monochromatic polarised light, monochromatic polarised light enters polarizer and is divided into twoThe quasi-orthogonal light of road sign, the orthonormal light of two-way is all sent to photoelectric conversion module and obtains the polarised light signal of telecommunication.
Described optical filter is interferometric filter.
Described polarizer is polarization splitting prism.
Described diaphragm is aperture diaphragm.
Photoelectric conversion module is photodetector.
On the main shaft of the orthonormal light of two-way being divided into along described polarizer, be also provided with convex lens, the orthonormal light of two-wayAll planoconvex lens is sent to photoelectric conversion module after converging.
Described convex lens are planoconvex spotlight.
Based on a method of work of improving the imitative neuronic polarotactic navigation sensor of husky ant POL, comprising:
Step (1): incident ray is sent to biconvex lens and converges, the light after converging passes through diaphragm and planoconvex spotlight successivelyForm the light of vertical incidence, the light of vertical incidence obtains monochromatic polarised light after optical filter filters;
Step (2): monochromatic polarised light enters polarizer and is divided into the orthonormal light of two-way, and the orthonormal light of two-way is equalBe sent to photoelectric conversion module and obtain the polarised light signal of telecommunication.
In described step (2), the expression formula of the polarised light signal of telecommunication is: Dij＝KIi(1+pcos2(φ-φij)), wherein, DijRepresent the signal of telecommunication of the j road optical signal conversion of i polarizer; K is gain multiple and is constant; IiRepresent i polarizationThe light intensity coefficient that sheet sees through and for constant; P is the degree of polarization in atmospheric polarization; φ is the angle of polarization in atmospheric polarization; φijRepresentThe initial phase of the j road optical signal of i polarizer; I=1,2; J=1,2.
The initial phase of default any two polarizers output Si road optical signal, the signal of telecommunication of Dui Zhe tetra-road optical signal conversions carries outProcess the degree of polarization in acquisition atmospheric polarization and the polarization azimuth navigation information in atmospheric polarization.
Beneficial effect of the present invention is:
(1) the present invention mainly improves aspect the obtaining of polarised light, and first light converge at a bit by biconvex lens, soAfter disperse for directional light by diaphragm and planoconvex spotlight successively, the use of these three kinds of devices can ensure to receive only directional light, makes lightThe light that electric explorer receives is purer, has improved the resolution ratio of sensor;
(2) below planoconvex spotlight, be optical filter, its effect and the imitative neuronic polarotactic navigation sensor die of husky ant POL-In type, the effect of optical filter is the same, is polarizer below planoconvex spotlight, and wherein, polarizer is selected polarization splitting prism, polarizationAmici prism can be divided into orthogonal two-way light incident light, and this polarization splitting prism is just equivalent to two polarizations under ideal stateSheet, compared with the imitative neuronic polarised light model of husky ant POL-, can eliminate the error that polarizer produces when mounted;
(3) in the signal processing module of the neuronic polarized light sensor of improved imitative husky ant POL of the present invention, adopt double-logAmplifier, can adopt simple algorithm to calculate the output voltage of the photodetector on each road.
Brief description of the drawings
Fig. 1 is embodiment mono-structure chart based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL of the present invention;
Fig. 2 is embodiment bis-structure charts based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL of the present invention;
Fig. 3 is filter performance curve map of the present invention;
Fig. 4 is the method for work flow chart based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:
As shown in Figure 1, the wherein a kind of structure based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL of the present invention:
This polarotactic navigation sensor comprises: at least two polarised light receive paths, described polarised light receive path comprises along incidentRadiation direction is with the biconvex lens setting gradually on optical axis, diaphragm, planoconvex spotlight, optical filter and polarizer; Incident ray is through instituteAfter stating biconvex lens and converging, form successively the light of vertical incidence through diaphragm and planoconvex spotlight, the light of vertical incidence is through filteringAfter sheet filters, obtain monochromatic polarised light, monochromatic polarised light enters polarizer and is divided into the orthonormal light of two-way, and two-way standard justThe light of handing over is all sent to photoelectric conversion module and obtains the polarised light signal of telecommunication.
The intensity of illumination and the further error of obtaining polarization navigation information that reduces that receive in order to strengthen signal processing module, thisInvention gives the another kind of structure based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, as shown in Figure 2.
Polarotactic navigation sensor in Fig. 2 comprises: at least two polarised light receive paths, described polarised light receive path comprisesAlong incident ray direction with the biconvex lens setting gradually on optical axis, diaphragm, planoconvex spotlight, optical filter and polarizer; Incident lightLine is after described biconvex lens converges, and process diaphragm and planoconvex spotlight form the light of vertical incidence, the light of vertical incidence successivelyAfter optical filter filters, obtain monochromatic polarised light, monochromatic polarised light enters polarizer and is divided into the orthonormal light of two-way;
Polarizer and signal processing module between, a planoconvex spotlight is set on the emergent ray main shaft of polarizer again, this is flatConvex lens, for directional light is pooled a bit, expose to signal processing module, can make to be irradiated to the illumination in signal processing moduleIntensity strengthens greatly, further reduces error, makes sensor normally work in the situation that light is more weak simultaneously.
Optical filter of the present invention is interferometric filter. In the present embodiment, interferometric filter is taking blue filter as example:
The material of blue filter is float glass, and centre wavelength is 450nm, and peak transmittance is greater than 88%, the property of optical filterEnergy curve as shown in Figure 3.
By finding out as Fig. 3, the polarised light after filtration wavelength after mating plate is limited within the scope of 400nm-500nm, therefore shouldSelect the photodetector to this wave band sensitivity. Photoelectricity two utmost points that the photodetector of the present embodiment selects Japanese Bin Song company to producePipe S1087:
S1087 is a ceramic package photodiode, has extremely low dark current. Ceramic package due to what take, sealingProperty relatively good, can effectively stop veiling glare to enter photosurface, well solved and disturbed the impact of light on system. S1087Spectral response range be 320-730nm, peak wavelength is 560nm, sensitivity is 0.3A/W, dark current is only for 10pA is suitableClose the design in sensor of the present invention.
Wherein, polarizer is polarization splitting prism. It is inclined to one side that polarization splitting prism can be divided into the line that two bundles are vertical the non-polarized light of incidentLight. Wherein P polarisation passes through completely, and S polarisation is reflected with miter angle, and exit direction becomes an angle of 90 degrees with P light. Polarization dividesLight prism is formed by a pair of high accuracy right-angle prism gummed, is coated with polarization spectro deielectric-coating on the hypotenuse of one of them prism.
Wherein, diaphragm is aperture diaphragm. Aperture diaphragm filters non-perpendicular direction polarised light, can the most effectively control light beam luminous energyAmount.
As shown in Figure 4, the method for work based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL of the present invention, bagDraw together:
Step (1): incident ray is sent to biconvex lens and converges, the light after converging passes through diaphragm and planoconvex spotlight successivelyForm the light of vertical incidence, the light of vertical incidence obtains monochromatic polarised light after optical filter filters;
Step (2): monochromatic polarised light enters polarizer and is divided into the orthonormal light of two-way, and the orthonormal light of two-way is equalBe sent to photoelectric conversion module and obtain the polarised light signal of telecommunication.
In step (2), the expression formula of the polarised light signal of telecommunication is: Dij＝KIi(1+pcos2(φ-φij)), wherein, DijRepresentThe signal of telecommunication of the j road optical signal conversion of i polarizer; K is gain multiple and is constant; IiRepresent that i polarizer is saturatingThe light intensity coefficient of crossing and for constant; P is the degree of polarization in atmospheric polarization; φ is the angle of polarization in atmospheric polarization; φijRepresent iThe initial phase of the j road optical signal of individual polarizer; I=1,2; J=1,2.
The initial phase of default any two polarizers output Si road optical signal, the signal of telecommunication of Dui Zhe tetra-road optical signal conversions carries outProcess the degree of polarization in acquisition atmospheric polarization and the polarization azimuth navigation information in atmospheric polarization.
For the above neuronic polarized light sensor of improved imitative husky ant POL, the circular of navigation information is as follows:
Use photodetector D11、D12、D21、D22Detecting polarization Amici prism P respectively1、P2The P light of institute's outgoing, S light.The output signal of detector is respectively:
{ D 11 = KI 1 ( 1 + p cos 2 ( φ - φ 11 ) ) D 12 = KI 1 ( 1 + p cos 2 ( φ - φ 12 ) ) D 21 = KI 2 ( 1 + p cos 2 ( φ - φ 21 ) ) D 22 = KI 2 ( 1 + p cos 2 ( φ - φ 22 ) ) - - - ( 1 )
Wherein, DijRepresent the signal of telecommunication of the j road optical signal conversion of i polarizer; K is gain multiple and is constant; IiTableShow light intensity coefficient that i polarizer sees through and be constant; P is the degree of polarization in atmospheric polarization; φ be in atmospheric polarization partiallyAngle shakes; φijRepresent the initial phase of the j road optical signal of i polarizer; I=1,2; J=1,2.
Set φ11＝0，φ12＝90°，φ21＝45°，φ22=135 °, formula (1) can be expressed as:
{ D 11 = KI 1 ( 1 + p cos 2 φ ) D 12 = KI 1 ( 1 - p cos 2 φ ) D 21 = KI 2 ( 1 + p sin 2 φ ) D 22 = KI 2 ( 1 - p sin 2 φ ) - - - ( 2 )
In order to offset the impact of gain multiple, to these four signals of telecommunication do poor except and signal processing, obtain:
S 1 = D 11 - D 12 D 11 + D 12 - - - ( 3 )
S 2 = D 21 - D 22 D 21 + D 22 - - - ( 4 )
Wherein, S1、S2Be respectively the intermediate parameters in calculating process;
S1＝pcos2φ(5)
S2＝psin2φ(6)
Degree of polarization p is expressed as:
p 2 = S 1 2 + S 2 2 - - - ( 7 )
Polarization azimuth φ can be expressed as:
φ = 1 2 a r c c o s ( S 1 / p ) = 1 2 a r c s i n ( S 2 / p ) - - - ( 8 )
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned, not the limit to protection domain of the present inventionSystem, one of ordinary skill in the art should be understood that on the basis of technical scheme of the present invention, those skilled in the art do not need to payGo out various amendments that creative work can make or distortion still in protection scope of the present invention.

Claims (10)

1. based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, it is characterized in that, comprising: at least twoIndividual polarised light receive path, described polarised light receive path comprise along incident ray direction with the biconvex lens setting gradually on optical axis,Diaphragm, planoconvex spotlight, optical filter and polarizer; Incident ray, after described biconvex lens converges, passes through diaphragm and plano-convex successivelyLens form the light of vertical incidence, and the light of vertical incidence obtains monochromatic polarised light after optical filter filters, and monochromatic polarised light entersEnter polarizer and be divided into the orthonormal light of two-way, the orthonormal light of two-way is all sent to photoelectric conversion module and obtains partiallyPhotosignal shakes.
2. one as claimed in claim 1 is based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, its featureBe, described optical filter is interferometric filter.
3. one as claimed in claim 1 is based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, its featureBe, described polarizer is polarization splitting prism.
4. one as claimed in claim 1 is based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, its featureBe, described diaphragm is aperture diaphragm.
5. one as claimed in claim 1 is based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, its featureBe, photoelectric conversion module is photodetector.
6. one as claimed in claim 1 is based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, its featureBe, on the main shaft of the orthonormal light of two-way being divided into along described polarizer, be also provided with convex lens, the orthonormal light of two-wayAfter converging, the equal planoconvex lens of line is sent to photoelectric conversion module.
7. one as claimed in claim 6 is based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL, its featureBe, described convex lens are planoconvex spotlight.
One kind as described in as arbitrary in claim 1-7 based on improving the imitative neuronic polarotactic navigation sensor of husky ant POLMethod of work, is characterized in that, comprising:
Step (1): incident ray is sent to biconvex lens and converges, the light after converging passes through diaphragm and planoconvex spotlight successivelyForm the light of vertical incidence, the light of vertical incidence obtains monochromatic polarised light after optical filter filters;
Step (2): monochromatic polarised light enters polarizer and is divided into the orthonormal light of two-way, and the orthonormal light of two-way is equalBe sent to photoelectric conversion module and obtain the polarised light signal of telecommunication.
9. the method for work based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL as claimed in claim 8,It is characterized in that, in described step (2), the expression formula of the polarised light signal of telecommunication is: Dij＝KIi(1+pcos2(φ-φij))，Wherein, DijRepresent the signal of telecommunication of the j road optical signal conversion of i polarizer; K is gain multiple and is constant; IiRepresentThe light intensity coefficient that i polarizer sees through and be constant; P is the degree of polarization in atmospheric polarization; φ is the polarization in atmospheric polarizationAngle; φijRepresent the initial phase of the j road optical signal of i polarizer; I=1,2; J=1,2.
10. the method for work based on improving the imitative neuronic polarotactic navigation sensor of husky ant POL as claimed in claim 8,It is characterized in that the initial phase of default any two polarizers output Si road optical signal, the electricity of Dui Zhe tetra-road optical signal conversionsSignal is processed, the degree of polarization in acquisition atmospheric polarization and the polarization azimuth navigation information in atmospheric polarization.
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