CN105606089B - Based on the polarotactic navigation sensor and working method for improving imitative husky ant POL neuron - Google Patents
Based on the polarotactic navigation sensor and working method for improving imitative husky ant POL neuron Download PDFInfo
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- CN105606089B CN105606089B CN201610076257.4A CN201610076257A CN105606089B CN 105606089 B CN105606089 B CN 105606089B CN 201610076257 A CN201610076257 A CN 201610076257A CN 105606089 B CN105606089 B CN 105606089B
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- 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 kind of based on the polarotactic navigation sensor and working method that improve imitative husky ant POL neuron, wherein, the sensor includes: at least two polarised light receiving channels, and the polarised light receiving channel includes along incident ray direction with biconvex lens, diaphragm, plano-convex lens, optical filter and the polarizing film set gradually on optical axis；Incident ray is after biconvex lens convergence, successively by diaphragm peace convex lens shape at the light of vertical incidence, the light of vertical incidence obtains monochromatic polarised light after optical filter filters, monochromatic polarised light enters polarizing film and is divided into the light of two-way normal orthogonal, and the light of two-way normal orthogonal is sent to photoelectric conversion module to obtain polarization photosignal.
Description
Technical field
The invention belongs to navigation sensor field more particularly to a kind of polarised lights based on the imitative husky ant POL neuron of improvement
Navigation sensor and working method.
Background technique
Navigation mainly includes satellite navigation system (GNSS), inertial navigation system (INS), celestial navigation system (CNS), number
According to library or scene with reference to navigation system and radio navigation system etc..Inertial navigation system (Inenial Navigation),
It is the positioning system of an Integration Solving using Newton mechanics law.It is mainly by accelerometer, navigational computer, gyroscope
And the composition such as INS Platform, navigation and backoff algorithm.By be installed on carrier inside accelerometer and gyroscope (usually by
Three accelerometers and three gyroscopes form Inertial Measurement Units) specific force and angular speed of measurement carrier inertial space, to load
Speed, three-dimensional position and the posture information of body calculate.The acceleration of carrier movement is measured with accelerometer；Simulate gyroscope with
One uniline coordinate system of platform architecture, provides measurement coordinate basis, and obtain attitude of carrier and azimuth information；It is calculated by navigation
Method completes the operation of parameter and instruction value；Required parameter is analyzed, shows navigation data.The system is not to external radiation
Energy, and do not depend on external information and hardware；Good concealment, strong interference immunity；Navigation data has continuous, complete special
Point is widely used in the fields such as Aeronautics and Astronautics, navigation.Inertial navigation is a kind of dead reckoning navigation system, since gyroscope floats
It moves and accelerometer error, the error of this system will increase at any time.
Early 20th century, scientists constantly discover husky ant, locust, honeybee, cricket etc. biology all have perception polarised light into
The ability of row navigation.Some biologies, such as African dorbeetle, it might even be possible to carry out polarotactic navigation using moonlight at night.Constantly
It was found that these biological secrets deeply attracted numerous scientists to study the polarization vision of biology, to constantly push
The development of the mankind.
According to bionics principle, many scholars at home and abroad propose bionical polarotactic navigation sensor model, wherein compare
Famous is the polarotactic navigation sensor model for the imitative husky ant POL- neuron that Dimitrios Lambrinos et al. is proposed,
Domestic and international experts and scholars imitate one after another, and have done a large amount of experimental study, the results show that making bionical polarotactic navigation sensor
And using polarised light carry out navigation be it is feasible, can apply in terms of assisting navigation, have huge Research Prospects.
Meanwhile the polarotactic navigation sensor model of imitative husky ant POL- neuron also inevitable some disadvantages, mainly
It shows:
1) in order to guarantee certain light intensity, polarized light detection lens barrel cannot be done too small, be unfavorable for minimizing；2) polarised light
What photodetector received in navigation sensor model is not pure directional light, by the degree of polarization of the polarised light of polarizing film
It will receive very big influence；3) output quantity of each photodetector cannot be found out, calculation method is complex.
Summary of the invention
In order to solve the disadvantage that the prior art, the present invention provide a kind of based on the polarised light for improving imitative husky ant POL neuron
Navigation sensor and working method.The present invention by the biconvex lens that is set in turn on incident ray major axes orientation, diaphragm and
Plano-convex lens dissipate incident ray for directional light, for guaranteeing that light that photodetector receives is directional light, and light
It is purer, achieve the purpose that the resolution ratio for improving sensor.
To achieve the above object, the invention adopts the following technical scheme:
A kind of polarotactic navigation sensor based on the imitative husky ant POL neuron of improvement, comprising: at least two polarization light-receivings
Channel, the polarised light receiving channel include along incident ray direction with the biconvex lens, diaphragm, plano-convex set gradually on optical axis
Lens, optical filter and polarizing film；Incident ray is after biconvex lens convergence, successively by diaphragm peace convex lens shape at vertical
Straight incident light, the light of vertical incidence obtain monochromatic polarised light after optical filter filters, and monochromatic polarised light enters polarizing film
And it is divided into the light of two-way normal orthogonal, the light of two-way normal orthogonal is sent to photoelectric conversion module to obtain polarization photoelectricity
Signal.
The optical filter is interferometric filter.
The polarizing film is polarization splitting prism.
The diaphragm is aperture diaphragm.
Photoelectric conversion module is photodetector.
Convex lens, two-way normal orthogonal are additionally provided with along the main shaft of the light for the two-way normal orthogonal that the polarizing film is divided into
Light equal planoconvex lens convergence after be sent to photoelectric conversion module.
The convex lens is plano-convex lens.
A kind of working method based on the polarotactic navigation sensor for improving imitative husky ant POL neuron, comprising:
Step (1): incident ray is sent to biconvex lens and is converged, and the light after convergence successively passes through diaphragm and plano-convex
The light of lens forming vertical incidence, the light of vertical incidence obtain monochromatic polarised light after optical filter filters；
Step (2): monochromatic polarised light enters polarizing film and is divided into the light of two-way normal orthogonal, the light of two-way normal orthogonal
Line is sent to photoelectric conversion module to obtain polarization photosignal.
In the step (2), the expression formula of photosignal is polarized are as follows: Dij=KIi(1+pcos2(φ-φij)), wherein
DijIndicate the electric signal of the jth road optical signal conversion of i-th of polarizing film；K is gain factor and is constant；IiI-th of expression inclined
Shake piece penetrate light intensity coefficient and be constant；P is the degree of polarization in atmospheric polarization；φ is the angle of polarization in atmospheric polarization；φijTable
Show the initial phase of the jth road optical signal of i-th of polarizing film；I=1,2；J=1,2.
The initial phase of four road optical signals of default any two polarizing film output, the telecommunications of tetra- road optical signal of Dui Zhe conversion
It number is handled, obtains the polarization azimuth navigation information in the degree of polarization and atmospheric polarization in atmospheric polarization.
The invention has the benefit that
(1) present invention mainly improves in terms of the acquisition of polarised light, and light passes through biconvex lens first and converges at one
Point, then passes sequentially through diaphragm and plano-convex lens diverging is directional light, and the use of this three kinds of devices can guarantee only to receive parallel
Light, the light for receiving photodetector is purer, improves the resolution ratio of sensor；
It (2) is optical filter, the polarotactic navigation sensing of effect and imitative husky ant POL- neuron below plano-convex lens
It is polarizing film below plano-convex lens in device model as the effect of optical filter, wherein polarizing film selects polarization splitting prism,
Polarization splitting prism can be divided into incident light orthogonal two-way light, this polarization splitting prism is equivalent to two ideally
Polarizing film can eliminate the error that polarizing film generates during installation compared with the polarization light model of imitative husky ant POL- neuron；
(3) using double in the signal processing module of the polarized light sensor of improved imitative husky ant POL neuron of the invention
Logafier can calculate the output voltage per photodetector all the way using simple algorithm.
Detailed description of the invention
Fig. 1 is embodiment one structure of the invention based on the polarotactic navigation sensor for improving imitative husky ant POL neuron
Figure；
Fig. 2 is embodiment two structure of the invention based on the polarotactic navigation sensor for improving imitative husky ant POL neuron
Figure；
Fig. 3 is filter performance curve graph of the invention；
Fig. 4 is the working method process of the invention based on the polarotactic navigation sensor for improving imitative husky ant POL neuron
Figure.
Specific embodiment
The present invention will be further described with embodiment with reference to the accompanying drawing:
As shown in Figure 1, the one of which of the invention based on the polarotactic navigation sensor for improving imitative husky ant POL neuron
Structure:
The polarotactic navigation sensor includes: at least two polarised light receiving channels, and the polarised light receiving channel includes
Along incident ray direction with biconvex lens, diaphragm, plano-convex lens, optical filter and the polarizing film set gradually on optical axis；Incident light
Line successively passes through light of the diaphragm peace convex lens shape at vertical incidence, the light of vertical incidence after biconvex lens convergence
Line obtains monochromatic polarised light after optical filter filters, and monochromatic polarised light enters polarizing film and is divided into the light of two-way normal orthogonal,
The light of two-way normal orthogonal is sent to photoelectric conversion module to obtain polarization photosignal.
In order to enhance the intensity of illumination and be further reduced acquisition polarization navigation information that signal processing module receives
Error, the present invention give another structure based on the polarotactic navigation sensor for improving imitative husky ant POL neuron, such as Fig. 2
It is shown.
Polarotactic navigation sensor in Fig. 2 includes: at least two polarised light receiving channels, the polarised light receiving channel
Including along incident ray direction with biconvex lens, diaphragm, plano-convex lens, optical filter and the polarizing film set gradually on optical axis；Enter
Light is penetrated after biconvex lens convergence, successively passes through light of the diaphragm peace convex lens shape at vertical incidence, vertical incidence
Light monochromatic polarised light is obtained after optical filter filters, monochromatic polarised light enters polarizing film and is divided into the light of two-way normal orthogonal
Line；
In polarizing film between signal processing module, it is saturating that a plano-convex is set again on the emergent ray main shaft of polarizing film
Mirror, the plano-convex lens expose to signal processing module, can make to be irradiated to signal processing module for directional light to be pooled a bit
In intensity of illumination greatly enhance, further decrease error, while work normally sensor in the weaker situation of light.
Optical filter of the invention is interferometric filter.In the present embodiment, interferometric filter is by taking blue filter as an example:
The material of blue filter is float glass, and central wavelength 450nm, peak transmittance is greater than 88%, optical filter
Performance curve it is as shown in Figure 3.
Wavelength of the polarised light after optical filter is limited within the scope of 400nm-500nm it can be seen from such as Fig. 3, because
This should select the photodetector sensitive to the wave band.The photodetector of the present embodiment selects the light of Bin Song company of Japan production
Electric diode S1087:
S1087 is a ceramic package photodiode, has extremely low dark current.Since what is taken is ceramic package,
Closure is relatively good, stray light can effectively be prevented to enter photosurface, very good solution influence of the interference light to system.
The spectral response range of S1087 is 320-730nm, and peak wavelength 560nm, sensitivity 0.3A/W, dark current is only 10pA
It is suitable for the design of sensor of the invention.
Wherein, polarizing film is polarization splitting prism.It is vertical that incident non-polarized light can be divided into two beams by polarization splitting prism
Line polarisation.Wherein P polarisation passes through completely, and S polarisation is reflected with 45 degree of angles, and exit direction and P light are at an angle of 90 degrees.Polarization point
Light prism is formed by a pair of of high-precision right-angle prism gluing, and polarization spectro deielectric-coating is coated on the bevel edge of one of prism.
Wherein, diaphragm is aperture diaphragm.Aperture diaphragm filters non-vertical direction polarised light, being capable of most effective control light beam
Light energy.
As shown in figure 4, the work side of the invention based on the polarotactic navigation sensor for improving imitative husky ant POL neuron
Method, comprising:
Step (1): incident ray is sent to biconvex lens and is converged, and the light after convergence successively passes through diaphragm and plano-convex
The light of lens forming vertical incidence, the light of vertical incidence obtain monochromatic polarised light after optical filter filters；
Step (2): monochromatic polarised light enters polarizing film and is divided into the light of two-way normal orthogonal, the light of two-way normal orthogonal
Line is sent to photoelectric conversion module to obtain polarization photosignal.
In step (2), the expression formula of photosignal is polarized are as follows: Dij=KIi(1+pcos2(φ-φij)), wherein Dij
Indicate the electric signal of the jth road optical signal conversion of i-th of polarizing film；K is gain factor and is constant；IiIndicate i-th of polarization
Piece penetrate light intensity coefficient and be constant；P is the degree of polarization in atmospheric polarization；φ is the angle of polarization in atmospheric polarization；φijIt indicates
The initial phase of the jth road optical signal of i-th of polarizing film；I=1,2；J=1,2.
The initial phase of four road optical signals of default any two polarizing film output, the telecommunications of tetra- road optical signal of Dui Zhe conversion
It number is handled, obtains the polarization azimuth navigation information in the degree of polarization and atmospheric polarization in atmospheric polarization.
For the polarized light sensor of the above improved imitative husky ant POL neuron, the circular of navigation information is such as
Under:
With photodetector D11、D12、D21、D22Separately detect polarization splitting prism P1、P2P light, the S light being emitted.Detection
The output signal of device is respectively as follows:
Wherein, DijIndicate the electric signal of the jth road optical signal conversion of i-th of polarizing film；K is gain factor and is constant；
IiIt indicates the light intensity coefficient that i-th of polarizing film penetrates and is constant；P is the degree of polarization in atmospheric polarization；φ is in atmospheric polarization
The angle of polarization；φijIndicate the initial phase of the jth road optical signal of i-th of polarizing film；I=1,2；J=1,2.
Set φ11=0, φ12=90 °, φ21=45 °, φ22=135 °, then formula (1) may be expressed as:
In order to offset the influence of gain factor, this four electric signals are made the difference with the signal processing for removing sum, is obtained:
Wherein, S1、S2Intermediate parameters respectively in calculating process；
S1=pcos2 φ (5)
S2=psin2 φ (6)
Degree of polarization p is indicated are as follows:
Polarization azimuth φ may be expressed as:
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (7)
1. a kind of based on the polarotactic navigation sensor for improving imitative husky ant POL neuron characterized by comprising at least two
Polarised light receiving channel, the polarised light receiving channel include along incident ray direction with the lenticular set gradually on optical axis
Mirror, diaphragm, plano-convex lens, optical filter and polarizing film；Incident ray is after biconvex lens convergence, successively by diaphragm peace
For convex lens shape at the light of vertical incidence, the light of vertical incidence obtains monochromatic polarised light after optical filter filters, monochromatic to polarize
Light enters polarizing film and is divided into the light of two-way normal orthogonal, and the light of two-way normal orthogonal is sent to photoelectric conversion module
Obtain polarization photosignal；The polarizing film is polarization splitting prism；Photoelectric conversion module is photodetector；
The expression formula of the polarization photosignal are as follows: Dij=KIi(1+pcos2(φ-φij)),
With photodetector D11、D12、D21、D22Separately detect polarization splitting prism P1、P2P light, the S light being emitted, detector
Output signal is respectively as follows:
Wherein, DijIndicate the electric signal of the jth road optical signal conversion of i-th of polarizing film；K is gain factor and is constant；IiTable
Show the light intensity coefficient that i-th of polarizing film penetrates and is constant；P is the degree of polarization in atmospheric polarization；φ is inclined in atmospheric polarization
Shake angle；φijIndicate the initial phase of the jth road optical signal of i-th of polarizing film；I=1,2；J=1,2；
Set φ11=0, φ12=90 °, φ21=45 °, φ22=135 °, then formula (1) may be expressed as:
In order to offset the influence of gain factor, this four electric signals are made the difference with the signal processing for removing sum, is obtained:
Wherein, S1、S2Intermediate parameters respectively in calculating process；
S1=pcos2 φ (5)
S2=psin2 φ (6)
Degree of polarization p is indicated are as follows:
Polarization azimuth φ may be expressed as:
2. as described in claim 1 a kind of based on the polarotactic navigation sensor for improving imitative husky ant POL neuron, feature exists
In the optical filter is interferometric filter.
3. as described in claim 1 a kind of based on the polarotactic navigation sensor for improving imitative husky ant POL neuron, feature exists
In the diaphragm is aperture diaphragm.
4. as described in claim 1 a kind of based on the polarotactic navigation sensor for improving imitative husky ant POL neuron, feature exists
In being additionally provided with convex lens, the light of two-way normal orthogonal along the main shaft of the light for the two-way normal orthogonal that the polarizing film is divided into
Photoelectric conversion module is sent to after the equal planoconvex lens convergence of line.
5. as claimed in claim 4 a kind of based on the polarotactic navigation sensor for improving imitative husky ant POL neuron, feature exists
In the convex lens is plano-convex lens.
6. a kind of polarotactic navigation sensor a method as claimed in any one of claims 1 to 5 based on the imitative husky ant POL neuron of improvement
Working method characterized by comprising
Step (1): incident ray is sent to biconvex lens and is converged, and the light after convergence successively passes through diaphragm and plano-convex lens
The light of vertical incidence is formed, the light of vertical incidence obtains monochromatic polarised light after optical filter filters；
Step (2): monochromatic polarised light enters polarizing film and is divided into the light of two-way normal orthogonal, and the light of two-way normal orthogonal is equal
Photoelectric conversion module is sent to obtain polarization photosignal；
The expression formula of the polarization photosignal is Dij=KIi(1+pcos2(φ-φij)), wherein DijIndicate i-th of polarizing film
Jth road optical signal conversion electric signal；K is gain factor and is constant；IiIndicate the light intensity coefficient that i-th of polarizing film penetrates
It and is constant；P is the degree of polarization in atmospheric polarization；φ is the angle of polarization in atmospheric polarization；φijIndicate the jth of i-th of polarizing film
The initial phase of road optical signal；I=1,2；J=1,2.
7. the working method as claimed in claim 6 based on the polarotactic navigation sensor for improving imitative husky ant POL neuron,
It is characterized in that, presets the initial phase of four road optical signals of any two polarizing film output, the electricity of tetra- road optical signal of Dui Zhe conversion
Signal is handled, and the polarization azimuth navigation information in the degree of polarization and atmospheric polarization in atmospheric polarization is obtained.
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| CN106767751B (en) * | 2016-11-25 | 2019-12-03 | 北京航空航天大学 | Array polarization navigation sensor |
| CN106651951B (en) * | 2016-12-20 | 2020-04-17 | 南京理工大学 | Atmospheric polarization mode detection and course calculation system and method |
| CN109239971A (en) * | 2018-11-14 | 2019-01-18 | 济南维康安防电子有限公司 | A kind of no color differnece liquid crystal display device |
| CN111565074A (en) * | 2020-04-17 | 2020-08-21 | 西北工业大学 | Photoelectric conversion circuit based on miniature polarization sensor |
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| CN102095387B (en) * | 2010-12-07 | 2013-06-19 | 南京航空航天大学 | Optical rotation angle field detection device based on polarized beam splitting imaging and measurement method thereof |
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