CN105698819B - A kind of scaling method for polyphaser polarized light sensor - Google Patents
A kind of scaling method for polyphaser polarized light sensor Download PDFInfo
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- CN105698819B CN105698819B CN201610030919.4A CN201610030919A CN105698819B CN 105698819 B CN105698819 B CN 105698819B CN 201610030919 A CN201610030919 A CN 201610030919A CN 105698819 B CN105698819 B CN 105698819B
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Abstract
The invention discloses a kind of scaling methods for polyphaser polarized light sensor, the present invention passes through: 1, establish the measuring error equation 2 of polyphaser polarized light sensor, establish the equation of linear regression 3 of each camera, solve the linear dimensions 4 that equation obtains each camera, establish the objective optimization function 5 of polarizing film fix error angle, the step of iteratively solving the fix error angle of polarizing film based on Gauss-Newton, complete the calibration of polyphaser polarized light sensor, compensate for the nonuniformity error and polarizing film error of fixed angles of polyphaser polarized light sensor, the measurement accuracy of polarized light sensor can be effectively improved, it is simple with principle, it is easy to operate, the advantages that applied widely, for realizing that the direction and location of bionical polarised light has broad application prospects.
Description
Technical field
The present invention relates to polarized light sensor fields of measurement, in particular to a kind of mark for polyphaser polarized light sensor
Determine method.
Background technique
Currently, although the classical airmanship such as inertial navigation, satellite navigation, geomagnetic matching navigation achieves considerable hair
Exhibition plays great function in respectively suitable application field；But low cost, high-precision, strongly disturbing particular surroundings are faced,
Classical airmanship cannot still fully meet the autonomous navigation, intelligent operation and the demand maked a return voyage safely of motion platform.Nothing
Have in mind by from the trend of airmanship itself high speed development, or from urgent demand, requires to expand new thinking, research
New method seeks new, strong environmental adaptability airmanship, to adapt to the new demand being constantly progressive.
The bionical cognition technology of simulation based on the Nature biosystem provides enlightenment for the new development of airmanship.From
Many insects and birds perceive the polarization optical information of sky by special physiological structure in right boundary, to carry out navigation activity.
For example, desert ant determines azimuth information by the polarization mode in detection atmosphere, it can be from the place apart from hundreds of meters of nest
It is accurately returned along straight line, the insects such as honeybee, butterfly can also realize navigator fix by the intensity and direction for perceiving sky polarised light.
Compared with classical airmanship, bionical polarotactic navigation utilizes the sky polarization mode with natural quality, strong interference immunity, mistake
Difference such as does not accumulate, is applied widely at the advantages, is relatively suitble to long endurance under complex environment, remote independent navigation, for vehicle
, the application in the fields such as ship, aircraft there is extensive prospect.
Accurate measurement sky polarization optical mode distribution is the basis for realizing bionical polarotactic navigation.It is polarized according to measurement means
Optical sensor can be divided into two kinds, and one is the polarization luminous point measuring devices based on photodiode, and sensors with auxiliary electrode structure is simple,
The influence that light intensity can be overcome to change is conducive to measure for a long time, but detection zone is limited, and measurement result is vulnerable to factors such as weather
Influence, be for second the polarized light sensor based on polyphaser, sensors with auxiliary electrode has the advantage of multichannel, more pixels,
It can be realized the fine polarization mode measurement of omnimax, closer to the polarized light detection organ of Compound Eye of Insects from mechanism.Partially
The calibration of vibration optical sensor is to realize the necessary means accurately measured.In terms of document published at present, rarely have document to inclined
The calibration of vibration optical sensor is furtherd investigate.Therefore it is necessary for deep theory and application study being carried out to it.
To sum up, the effect in terms of research and utilization polarised light is navigated is far from reaching biological using polarization at present
The level of light guide, it is more abundant for the organ and its receiving research of biology perception polarised light, it has been able to real in engineering
Now imitate the sensor of the polarized light detection brake of insect.But it is very few for the calibration of polarized light sensor research, greatly
Influence the measurement accuracy of sensor, it is therefore desirable to study the calibration of bionical polarized light sensor.
Summary of the invention
The technical problem to be solved in the present invention is that the nonuniformity error for how realizing polyphaser polarized light sensor
With the compensation of polarizing film error of fixed angles.
In order to solve the above technical problems, solution proposed by the present invention are as follows:
A kind of scaling method for polyphaser polarized light sensor, it is characterised in that the following steps are included:
(1) measuring error equation of polyphaser polarized light sensor is established；
(2) equation of linear regression of each camera is established；
(3) linear dimensions that equation obtains each camera is solved；
(4) the objective optimization function of polarizing film fix error angle is established；
(5) fix error angle based on Gauss-Newton iterative solution polarizing film.
As a further improvement of the present invention, measuring error equation includes pixel in each camera in above-mentioned steps (1)
Measuring error equation, each camera channel contain the measurement equation of polarizing film fix error angle and the output equation of sensor；
The measuring error equation of each pixel in each camera are as follows:
In formula, j=1,2,3,4 indicate the number of camera, kj、bjIndicate linear dimensions, respectively scale factor and constant value zero
Partially, IcjFor the response of pixel, njTo measure white noise；
Each camera channel contains the measurement equation of polarizing film fix error angle are as follows:
In formula, j indicates camera channel number, and I is incident polarization luminous intensity, and d is degree of polarization, and φ is the angle of polarization, εjFor jth
The fix error angle of polarizing film, α in a channeljFor the established angle of polarizing film, υjTo measure white noise；
The measurement output of polyphaser polarized light sensor are as follows:
In formula,α1=0 °, α2=45 °, α3=
90°,α4=135 °
Then the angle of polarization of sensor measurement and degree of polarization are respectively as follows:
In formula,WithForComponent.
As a further improvement of the present invention, in above-mentioned steps (2), the equation of linear regression of each camera are as follows:
In formula, i indicates pendulous frequency,The intensity of input light,For the response of corresponding camera pixel point, kj、bjTo need
The linear dimensions of each pixel to be demarcated.
As a further improvement of the present invention, in above-mentioned steps (4), the optimization object function of polarizing film fix error angle
Are as follows:
In formula,Respectively indicate polarizing film fix error angle and the initial angle of polarization
Measurement error, n are pendulous frequency, and r (x) is rotation error vector.
As a further improvement of the present invention, in above-mentioned steps (5), error is carried out more using Gauss-Newton iterative method
New equation is
In formula,For the Jacobi matrix of error vector.
Compared with the prior art, the advantages of the present invention are as follows:
(1) present invention for the first time systematically demarcates polyphaser polarized light sensor, effective compensation camera
Nonuniformity error and polarizing film error of fixed angles provide theoretical direction and realization side to improve the measurement accuracy of sensor
Method；
(2) present invention demarcates the linear dimensions of camera using linear regression, is asked based on Gauss-Newton iteration
The fix error angle of depolarization piece has and calculates the advantage simple, easy to operate, accuracy rate is high.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is the specific demarcation flow figure of the method for the present invention；
Fig. 3 is the experimental provision of the method for the present invention calibration for cameras linear dimensions；
Fig. 4 is the experimental provision that the method for the present invention demarcates polarizing film fix error angle.
Specific embodiment
Below with reference to Figure of description and specific embodiment, invention is further described in detail.
As depicted in figs. 1 and 2, a kind of scaling method for polyphaser polarized light sensor of the present invention, are as follows: it should
Method according to the special construction of polyphaser polarized light sensor, establishes measuring error equation first；Then according to each camera not
Pixel response under penetrating with intensity illumination, the equation of linear regression for solving each camera obtain the linear dimensions of each pixel；Again
According to the angle of polarization variable quantity that polarized light sensor measures, the optimization object function of polarizing film fix error angle is established, is used
Gauss-Newton iteratively solves the fix error angle of polarizing film, to complete the calibration of polyphaser polarized light sensor.
In conjunction with specific application example, detailed process of the invention are as follows:
1. establishing the measuring error equation of polyphaser polarized light sensor, the measurement error side comprising pixel in each camera
Journey, each camera channel contain the measurement equation of polarizing film fix error angle and the output equation of sensor；
The measuring error equation of each pixel in each camera are as follows:
In formula, j=1,2,3,4 indicate the number of camera, kj、bjIndicate linear dimensions, respectively scale factor and constant value zero
Partially, IcjFor the response of pixel, njTo measure white noise；
Each camera channel contains the measurement equation of polarizing film fix error angle are as follows:
In formula, j indicates camera channel number, and I is incident polarization luminous intensity, and d is degree of polarization, and φ is the angle of polarization, εjFor jth
The fix error angle of polarizing film, α in a channeljFor the established angle of polarizing film, υjTo measure white noise；
The measurement of polyphaser polarized light sensor exports are as follows:
In formula,α1=0 °, α2=45 °, α3=
90°,α4=135°
Then the angle of polarization of sensor measurement and degree of polarization are respectively as follows:
In formula,ForComponent.
2. establishing the equation of linear regression of each camera；
Output nonuniformity error caused by the linear dimensions of each camera is used to compensate camera due to optical characteristics difference, tool
It is as shown in Figure 3 that body demarcates example experiment.For the influence for avoiding external light source, experiment carries out in closed darkroom.By polarised light
Sensor is placed under uniform integration ball light source, in the largest light intensity that camera allows to input, gradually increases the big of input light intensity
It is small, while the pixel response of each camera is recorded, according to the response of different input light intensity magnitude Yu camera pixel point, establish every
The equation of linear regression of a each pixel of camera:
In formula, i indicates pendulous frequency,The intensity of input light,For the response of corresponding camera pixel point, kj、bjTo need
The linear dimensions of each pixel to be demarcated.
3. solving the linear dimensions that equation obtains each camera；
Formula (6) are solved according to error sum of squares the smallest principle, can be obtained corresponding linear dimensions.
Since the nonuniformity error useable linear parameter of each camera goes to compensate, then the linearity of calibrating parameters can measure mark
Determine result.After calibration, the linearly dependent coefficient of each pixel in each camera are as follows:
In formula,For the measurement vector after pixel each in j-th of camera fitting, I0For input light dominant vector, λjIt is linear
Related coefficient.
When measuring the linear dimensions calibration result of camera, if linearly dependent coefficient λjCloser to 1, then show the linearity
Stronger, calibration result is more accurate.Since each camera contains multiple pixels, the index measurement that pixel percentage can be used is whole
The calibration result of body, such as in this example experiment, calibration result are as follows: the linearly dependent coefficient of 99% pixel in each camera
It is all larger than 0.999, it is seen that the method can realize smart highly linear parameter calibration.
4. establishing the objective optimization function of polarizing film fix error angle；
The calibration example experiment of polarizing film fix error angle is as shown in Figure 4.Polarized light sensor is fixed on precision first
On multiteeth indexing table, place it under the standard polarized light source being made of polarizing film and uniform integration ball light source, by multiple
The different angle of rotary indexing table, reads the rotational angle of circular dividing table, as reference rotational angle；Then according to different rotary position
The measurement result of sensor when setting calculates corresponding angle of polarization angle changing according to formula (3)~(4), then reference rotational angle with
Error between the angle changing of sensor measurement are as follows:
In formula, k represents kth time rotation,For polarization sensor measurement the angle of polarization,WithRespectively initial measurement is inclined
Vibration angle and its error, ΔkFor reference rotational angle, can be obtained by accurate multiteeth indexing table.
The fix error angle and initial measurement polarization angle error for defining each polarizing film are evaluated error vector x, in example reality
In testing, contain 4 cameras containing sensor, then evaluated error vector may be expressed as:
It can be obtained according to above formula, the optimization object function of polarizing film fix error angle are as follows:
In formula, n is pendulous frequency, and r (x) is rotation error vector.
5. the fix error angle based on Gauss-Newton iterative solution polarizing film；
By formula (8)~(10) it is found that the optimization object function of polarizing film fix error angle has non-linear, elder generation's line when solution
Propertyization processing, carries out first order Taylor expansion:
Then optimization object function is writeable are as follows:
Above-mentioned optimization problem neutralizing is converted into unconfined Linear least squares minimization problem, and classical Gauss- can be used
Newton iterative method is solved.According to optimum theory it is found that formula (12) has solution to must satisfy equation:
It can be obtained the iterative equation of optimal solution by solving to above formula:
In short, the detailed process of above-mentioned calibration can be obtained by Fig. 2.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of scaling method for polyphaser polarized light sensor, it is characterised in that including the following steps:
(1) measuring error equation of polyphaser polarized light sensor is established, measuring error equation includes pixel in each camera
Measuring error equation, each camera channel contain the measurement equation of polarizing film fix error angle and the output equation of sensor；
The measuring error equation of each pixel in each camera are as follows:
In formula, j=1,2,3,4 indicate the number of camera, kj、bjIndicate linear dimensions, respectively scale factor and constant value zero bias,
IcjFor the response of pixel, njTo measure white noise；
Each camera channel contains the measurement equation of polarizing film fix error angle are as follows:
In formula, j indicates camera channel number, and I is incident polarization luminous intensity, and d is degree of polarization, and φ is the angle of polarization, εjIt is logical for j-th
The fix error angle of polarizing film, α in roadjFor the established angle of polarizing film, υjTo measure white noise；
The measurement of polyphaser polarized light sensor exports are as follows:
In formula,α1=0 °, α2=45 °, α3=90 °, α4
=135 °
Then the angle of polarization of sensor measurement and degree of polarization are respectively as follows:
In formula,WithForComponent；
(2) equation of linear regression of each camera is established；
(3) linear dimensions that equation obtains each camera is solved；
(4) the objective optimization function of polarizing film fix error angle is established；
(5) fix error angle based on Gauss-Newton iterative solution polarizing film.
2. a kind of scaling method for polyphaser polarized light sensor according to claim 1, it is characterised in that: described
In step (2), the equation of linear regression of each camera are as follows:
In formula, i indicates pendulous frequency,The intensity of input light, kj、bjLinear dimensions for each pixel for needing to demarcate.
3. a kind of scaling method for polyphaser polarized light sensor according to claim 1, it is characterised in that: described
In step (4), the optimization object function of polarizing film fix error angle are as follows:
In formula,Respectively indicate the fix error angle and initial polarization test of polarizing film
Error, n are pendulous frequency, and r (x) is rotation error vector.
4. a kind of scaling method for polyphaser polarized light sensor according to claim 3, it is characterised in that: described
In step (5), it is using the equation that Gauss-Newton iterative method carries out error update
xm+1=xm-(▽r(xm)T▽r(xm))-1▽r(xm)Tr(xm)
In formula, ▽ r is the Jacobi matrix of error vector.
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| CN108225335B (en) * | 2018-01-23 | 2020-06-19 | 中国人民解放军国防科技大学 | Course angle solving method for multi-view polarized vision |
| 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 |
| CN109297910B (en) * | 2018-09-25 | 2021-05-18 | 中国人民解放军海军航空大学 | Polarization angle error correction method for time-sharing imaging polarization image |
| CN111207773B (en) * | 2020-01-16 | 2023-04-11 | 大连理工大学 | Attitude unconstrained optimization solving method for bionic polarized light navigation |
| CN111457911B (en) * | 2020-05-29 | 2022-02-01 | 北京航空航天大学 | Bionic polarization compass calibration method based on polarization two-dimensional residual error information |
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