CN106643704A - Solar azimuth acquisition method based on atmospheric polarization modes - Google Patents
Solar azimuth acquisition method based on atmospheric polarization modes Download PDFInfo
- Publication number
- CN106643704A CN106643704A CN201710027484.2A CN201710027484A CN106643704A CN 106643704 A CN106643704 A CN 106643704A CN 201710027484 A CN201710027484 A CN 201710027484A CN 106643704 A CN106643704 A CN 106643704A
- Authority
- CN
- China
- Prior art keywords
- polarization
- solar
- pattern
- solar azimuth
- degree
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Astronomy & Astrophysics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
The invention belongs to the field of bionic polarized light navigation, and discloses a solar azimuth acquisition method based on atmospheric polarization modes. Firstly, an image type polarized light sensor is utilized to measure the atmospheric polarization modes, including a polarization angle mode and a polarization degree mode; secondly, according to the polarization angle mode, an optimization equation for a solar direction vector is created, the optimal estimation of the solar direction vector is implemented by solving eigenvectors of a matrix , and a projection of the solar direction vector is a solar azimuth; meanwhile, a gradient is worked out after the polarization degree mode is smoothed, the solar meridian is estimated according to the probability density distribution of a gradient direction, and thereby a solar azimuth can be obtained; and finally, results of the two methods are comprehensively weighted, so that an optimal estimation of the solar azimuth is obtained. Under the condition of not adding hardware structures, the invention sufficiently utilizes information contained in the polarization angle mode and the polarization degree mode to estimate a solar azimuth, and has the advantages of simple principle, high estimation precision and good robustness.
Description
Technical field：
The present invention relates to a kind of solar azimuth acquisition methods, more particularly to a kind of solar azimuth based on atmospheric polarization type
Acquisition methods, belong to bionical polarotactic navigation field.
Background technology：
The navigation mode of animal is very peculiar, and its navigation mechanism also by the mankind is not understood completely and grasped, bionic navigation
The new focus of current field of navigation technology research is become.Many biology (husky ant, locust, honeybee, dorbeetle, part birds
Deng), the eye structure of their uniquenesses can be utilized, perceive and using the polarization phenomena of light, by observing atmospheric polarization type, from
It is middle to extract sunny azimuth information, realize navigator fix.Compared with classical airmanship, bionical polarotactic navigation is utilized to be possessed
The sky polarization mode of natural quality, does not accumulate, the advantage such as applied widely with strong interference immunity, error, is relatively adapted to multiple
During long boat under heterocycle border, remote independent navigation, before the application in the fields such as vehicle, ship, aircraft is had extensively
Scape.
Current polarized light sensor can be largely classified into two big class：Point measurement formula and image measurement formula.The former once adopts
Sample can only measure the polarization information on a direction, easily disturbed by environment, robustness it is not strong；The polarization of image measurement formula
Optical sensor, can simultaneously measure the polarization information of the whole region in angular field of view, and range of application is wider.It is inclined using image-type
The key issue that the optical sensor that shakes brings is how to obtain solar azimuth using the regularity of distribution of sky polarization mode,
And then calculating navigation direction angle.Existing method mainly uses angle of polarization pattern to estimate solar azimuth, and have ignored air
Another important information in polarization mode --- degree of polarization pattern, this will cause the utilization to atmosphere polarization information not enough to be filled
Point, there is no at present while obtaining the report of solar azimuth using atmospheric polarization angle mould formula and degree of polarization pattern.Therefore, one is found
The information for being included using both angle of polarization pattern and degree of polarization pattern kind simultaneously improves the sun estimating solar azimuth
The method tool of orientation estimated accuracy and robustness is of great significance.
The content of the invention：
The technical problem to be solved in the present invention is：During solar azimuth is obtained from atmospheric polarization type, how
The information that both angle of polarization pattern and degree of polarization pattern are included is made full use of to estimate solar azimuth, and then raising is estimated
Meter precision and robustness.
To solve above-mentioned technical problem, solution proposed by the present invention is：
Based on the solar azimuth acquisition methods of atmospheric polarization type, the method is comprised the following steps：
Step one, atmospheric polarization type measurement：
Using a kind of polarized light sensor based on polyphaser, the polarization mode of a piece of sky areas is measured in real time, obtain
Polarization mode include angle of polarization pattern and degree of polarization pattern；The polarized light sensor is mainly by four CCD (Charge-
Coupled Device) camera, four wide-angle lens, four polarizer groups into, polarizer thang-kng direction of principal axis according to 0 °, 45 °,
90 °, 135 ° of angle installation；Four cameras are sampled by isochronous controller external trigger, and the data of collected by camera send computer to
Polarization state resolving is carried out, to obtain the angle of polarization pattern and degree of polarization pattern of sky；
Step 2, the solar azimuth based on angle of polarization pattern is obtained：
According to Rayleigh scattering model, the E direction vectors of scattered light are perpendicular to scattering surface, i.e. E vectors and solar direction vector s
It is mutually perpendicular to, i.e.,
eTS=0 (1)
Therefore, solar direction vector can be estimated to obtain by two not conllinear E vectors；In fact, polarization state has
Effect pixel number is determined that under normal circumstances valid pixel points are more than 300,000, and their corresponding E vectors by the resolution ratio of image
Great majority are incoherent；
Define E=[e1 … eN]3×N, wherein N is the number of effective pixel points, can be obtained
ETS=0N×1 (2)
In actual measurement, due to the presence of error, the optimization that the optimal estimation of solar direction vector s can be expressed as
Problem,
That is the optimal estimation of solar direction vector is matrix (EET) minimal eigenvalue corresponding to characteristic vector, the sun
Direction vector is the orientation of the sun in the projection of horizontal plane；
Step 3, the solar azimuth based on degree of polarization pattern is obtained：
Atmospheric polarization degree pattern is axisymmetricly distributed along sun meridian, and maximum degree of polarization occurs apart from the sun
90 ° of region, and minimum towards the degree of polarization in the sun (or away from sun) direction, presents such as the zonal distribution in Fig. 3, brighter
Region degree of polarization it is bigger；
In order to extract sunny meridian from atmospheric polarization degree pattern, the symmetry axis of the pattern need to be only detected,
Using following steps：
1) degree of polarization pattern is smoothed, the step is pre-processed for following gradient procedure of asking, its effect is suppression
System seeks the noise introduced during gradient, can be realized using median filter or Wiener filter；
2) to smooth after degree of polarization pattern seek gradient, the gradient direction of all available points is counted, obtain its general
Rate Density Distribution (shown in Fig. 4), the Maximum-likelihood estimation of gradient direction is the meridianal estimated result of the sun, according to sun
The direction of noon line can obtain the orientation of the sun；
Step 4, according to actual application background and priori, by the result of both approaches aggregative weighted is carried out, from
And obtain the optimal estimation of solar azimuth.
In the present invention, four steps by more than, just can realize the acquisition of solar azimuth.
Compared with prior art, the present invention has advantages below：
1) polarization mode of a piece of sky areas is comprehensively utilized, interference is not easily susceptible to, with more preferable environmental suitability.
2) while the information included using both angle of polarization pattern and degree of polarization pattern is estimating solar azimuth, can be with
Obtain higher estimated accuracy.
Description of the drawings：
Fig. 1 is the schematic flow sheet of the inventive method；
Fig. 2 is single order Rayleigh scattering modular concept figure；
Fig. 3 is the atmospheric polarization degree pattern (after smooth) and its gradient direction schematic diagram of actual measurement；
Fig. 4 is the probability density distribution figure of gradient direction.
Specific embodiment：
The present invention is described in further detail below with reference to Figure of description and specific embodiment.
As shown in figure 1, the solar azimuth acquisition methods based on atmospheric polarization type of the present invention, specifically include following step
Suddenly：
Step one, atmospheric polarization type measurement：
Atmospheric polarization type be sunshine after KPT Scatter, special point of the middle formation on high of produced polarised light
Cloth pattern, it has the significant regularity of distribution.Using a kind of polarized light sensor based on polyphaser, a piece of sky is measured in real time
The polarization mode in region, the polarization mode of acquisition includes angle of polarization pattern and degree of polarization pattern；The polarized light sensor mainly by
Four CCD (Charge-Coupled Device) cameras, four wide-angle lens, four polarizer groups into, wherein, polarizer
Thang-kng direction of principal axis is installed according to 0 °, 45 °, 90 °, 135 ° of angle；Four cameras are sampled by isochronous controller external trigger, and camera is adopted
The data of collection send computer to and carry out polarization state resolving, obtain the angle of polarization pattern and degree of polarization pattern of sky.
Step 2, the solar azimuth based on angle of polarization pattern is obtained：
Under the conditions of bright day gas, scattering particles is mainly made up of atmospheric molecule, and its size is much smaller than the wavelength of light, therefore
Can with single order Rayleigh scattering model to describe fair weather under atmospheric scattering process, i.e. scattered light the E vectors (electricity in light wave
Vibration vector) direction perpendicular to scattering surface, as shown in Figure 2.
With reference to Fig. 2, illustrate how from the angle of polarization pattern acquiring solar azimuth for measuring.
Right hand rectangular coordinate system is defined as follows first：
Camera coordinates system (OcXcYcZc)：No. 1 camera is selected as reference data, XcAxle and YcAxle is respectively along ccd sensor
Horizontal and vertical, ZcAxle is the optical axis of camera.System after leveling, ZcAxle will point to zenith direction.
Incident light coordinate system (OiXiYiZi)：Its ZiAxle points to observed direction, XiAxle position is vertically put down in what observed direction was located
In face (OPP '), YiAxle and XiAxle and ZiAxle constitutes right hand rectangular coordinate system (YiAxle is not marked).
The position of observer is in O, and position of the sun on celestial sphere is S, uses zenith angle γSAnd azimuth angle alphaSTo describe, day
Drift angle and elevation angle complementary angle each other.
Each pixel (x in imagep,yp) all aerial with day a certain observed direction P is corresponding, its zenith angle and
Azimuth is respectively γ and α, and for the image after correction, its corresponding relation can be expressed as：
In formula, f is focal length, (cx,cy)TFor the coordinate value of optical axis projection in the picture.
E direction vectors can be expressed as in camera coordinates system：
In formula, φ is the angle of polarization of the incident light, and it can be obtained by image-type polarized light sensor direct measurement,For
From coordinate system c to the direction cosine matrix of coordinate system i, it is
According to Rayleigh scattering model, the E direction vectors of scattered light are perpendicular to scattering surface, i.e. E vectors and solar direction vector s
It is mutually perpendicular to, i.e.,：
eTS=0 (7)
Therefore, solar direction vector can be estimated to obtain by two not conllinear E vectors.In fact, polarization state has
Effect pixel number is determined that under normal circumstances valid pixel points are more than 300,000, and their corresponding E vectors by the resolution ratio of image
Great majority are incoherent.Define E=[e1 … eN]3×N, wherein N is the number of effective pixel points, can be obtained：
ETS=0N×1 (8)
In actual measurement, due to the presence of error, the optimization that the optimal estimation of solar direction vector s can be expressed as
Problem：
That is the optimal estimation of solar direction vector is matrix (EET) minimal eigenvalue corresponding to characteristic vector, the sun
Direction vector is the orientation of the sun in the projection of horizontal plane.
Step 3, the solar azimuth based on degree of polarization pattern is obtained
According to Rayleigh scattering model, atmospheric polarization degree pattern is axisymmetricly distributed along sun meridian, maximum polarization
Degree occurs apart from the region of 90 ° of the sun, and minimum towards the degree of polarization in the sun (or away from sun) direction, presents such as Fig. 3
In zonal distribution, brighter Regional Representative's degree of polarization is bigger.
In order to extract sunny meridian from atmospheric polarization degree pattern, the symmetry axis of the pattern need to be only detected,
Detailed step is illustrated with reference to Fig. 3, Fig. 4：
1) degree of polarization pattern is smoothed, the step is pre-processed for following gradient procedure of asking, its effect is suppression
System seeks the noise introduced during gradient, and median filter or Wiener filter can be adopted to realize that (Fig. 3 gives the polarization after smoothing
Degree model results).
2) to smooth after degree of polarization pattern seek gradient, (the arrow in Fig. 3 is counted to the gradient direction of all available points
Head direction is gradient direction, and the length of arrow represents the size of gradient), obtain its probability density distribution (as shown in Figure 4).Gradient
The Maximum-likelihood estimation in direction is the meridianal estimated result of the sun, and according to the meridianal direction of the sun sun can be obtained
Orientation.
Step 4, according to actual application background, carries out aggregative weighted, so as to obtain the sun by the result of both approaches
Azimuthal optimal estimation.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned enforcement
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (1)
1. the solar azimuth acquisition methods of atmospheric polarization type are based on, it is characterised in that comprised the following steps：
Step one, atmospheric polarization type measurement：
Using a kind of polarized light sensor based on polyphaser, measure the polarization mode of a piece of sky areas in real time, acquisition it is inclined
Pattern of shaking includes angle of polarization pattern and degree of polarization pattern；
Step 2, the solar azimuth based on angle of polarization pattern is obtained：
According to Rayleigh scattering model, the E direction vectors of scattered light are mutual with solar direction vector s perpendicular to scattering surface, i.e. E vectors
Vertically, i.e.,
eTS=0 (1)
Therefore, solar direction vector can be estimated to obtain by two not conllinear E vectors；In fact, effective picture of polarization state
Vegetarian refreshments number is determined that under normal circumstances valid pixel points are more than 300,000, and their corresponding E vectors are most by the resolution ratio of image
Number is incoherent；
Define E=[e1 … eN]3×N, wherein N is the number of effective pixel points, can be obtained
ETS=0N×1 (2)
In actual measurement, due to the presence of error, the optimization that the optimal estimation of solar direction vector s can be expressed as is asked
Topic,
That is the optimal estimation of solar direction vector is matrix (EET) minimal eigenvalue corresponding to characteristic vector, solar direction arrow
Measure the orientation of the projection as sun in horizontal plane；
Step 3, the solar azimuth based on degree of polarization pattern is obtained：
In order to extract sunny meridian from atmospheric polarization degree pattern, the symmetry axis of the pattern need to be only detected, be adopted
Following steps：
1) degree of polarization pattern is smoothed, the step is pre-processed for following gradient procedure of asking, its effect is to suppress to ask
The noise introduced during gradient, can be realized using median filter or Wiener filter；
2) to smooth after degree of polarization pattern seek gradient, the gradient direction of all available points is counted, obtain its probability close
Degree distribution；The Maximum-likelihood estimation of gradient direction is the meridianal estimated result of the sun, is according to the meridianal direction of the sun
The orientation of the sun can be obtained；
Step 4, according to actual application background and priori, by the result of both approaches aggregative weighted is carried out, so as to
To the optimal estimation of solar azimuth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710027484.2A CN106643704B (en) | 2017-01-16 | 2017-01-16 | Solar azimuth acquisition methods based on atmospheric polarization type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710027484.2A CN106643704B (en) | 2017-01-16 | 2017-01-16 | Solar azimuth acquisition methods based on atmospheric polarization type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106643704A true CN106643704A (en) | 2017-05-10 |
| CN106643704B CN106643704B (en) | 2019-07-30 |
Family
ID=58843327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710027484.2A Active CN106643704B (en) | 2017-01-16 | 2017-01-16 | Solar azimuth acquisition methods based on atmospheric polarization type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106643704B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270888A (en) * | 2017-06-20 | 2017-10-20 | 歌尔科技有限公司 | A kind of method, device and camera for measuring longitude and latitude |
| CN107728106A (en) * | 2017-09-30 | 2018-02-23 | 中国人民解放军国防科技大学 | Orientation method of micro-array polarized light compass |
| 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 |
| CN108759820A (en) * | 2018-06-11 | 2018-11-06 | 北京航空航天大学 | A kind of solar vector calculation method based on imitative compound eye multichannel polarization sensor |
| CN108917749A (en) * | 2018-07-11 | 2018-11-30 | 大连理工大学 | One kind extracting the meridianal method of the sun based on polarization imaging |
| CN108955625A (en) * | 2018-02-05 | 2018-12-07 | 合肥工业大学 | A kind of method and system obtaining position of sun information |
| CN111220150A (en) * | 2019-12-09 | 2020-06-02 | 北京航空航天大学 | Sun vector calculation method based on underwater polarization distribution mode |
| CN111307140A (en) * | 2020-05-11 | 2020-06-19 | 中国人民解放军国防科技大学 | Atmospheric polarized light orientation method used under cloudy weather condition |
| CN111595330A (en) * | 2020-05-29 | 2020-08-28 | 北京航空航天大学 | Night polarization course calculation method based on probability density function estimation |
| CN113280785A (en) * | 2021-07-22 | 2021-08-20 | 中国人民解放军国防科技大学 | Sky polarized light orientation method based on polarization mode consistency |
| CN114993295A (en) * | 2022-08-08 | 2022-09-02 | 中国人民解放军国防科技大学 | Autonomous navigation method based on polarization orientation error compensation |
| CN115014311A (en) * | 2022-08-08 | 2022-09-06 | 中国人民解放军国防科技大学 | Atmospheric polarization information-based light compass orientation method for eliminating sky occlusion |
| CN115062770A (en) * | 2022-08-04 | 2022-09-16 | 中国人民解放军国防科技大学 | Navigation method based on generalized bionic polarized light navigation model and solution |
| CN116222550A (en) * | 2023-05-08 | 2023-06-06 | 北京航空航天大学 | Underwater polarized sun calculation method with depth adaptability |
| CN116972857A (en) * | 2023-09-25 | 2023-10-31 | 北京航空航天大学 | Night heading determining method for sector area fitting in moonlight polarized light field |
| CN117109594A (en) * | 2023-10-23 | 2023-11-24 | 北京航空航天大学 | Autonomous orientation method based on underwater light intensity gradient |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102589544A (en) * | 2012-01-10 | 2012-07-18 | 合肥工业大学 | Three-dimensional attitude acquisition method based on space characteristics of atmospheric polarization mode |
| CN102967311A (en) * | 2012-11-30 | 2013-03-13 | 中国科学院合肥物质科学研究院 | Navigational positioning method based on sky polarization distribution model matching |
| CN104359454A (en) * | 2014-11-17 | 2015-02-18 | 中北大学 | Atmospheric polarized light-based solar space position acquisition method |
| CN105139367A (en) * | 2015-07-27 | 2015-12-09 | 中国科学院光电技术研究所 | Visible-light polarization image fusion method based on non-subsampled shearlets |
-
2017
- 2017-01-16 CN CN201710027484.2A patent/CN106643704B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102589544A (en) * | 2012-01-10 | 2012-07-18 | 合肥工业大学 | Three-dimensional attitude acquisition method based on space characteristics of atmospheric polarization mode |
| CN102967311A (en) * | 2012-11-30 | 2013-03-13 | 中国科学院合肥物质科学研究院 | Navigational positioning method based on sky polarization distribution model matching |
| CN104359454A (en) * | 2014-11-17 | 2015-02-18 | 中北大学 | Atmospheric polarized light-based solar space position acquisition method |
| CN105139367A (en) * | 2015-07-27 | 2015-12-09 | 中国科学院光电技术研究所 | Visible-light polarization image fusion method based on non-subsampled shearlets |
Non-Patent Citations (5)
| Title |
|---|
| AARON K.SHACKELFORD等: "A combined fuzzy pixel-based and object-based approach for classification of high-resolution multispectral data over urban areas", 《IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING》 * |
| 任建斌等: "利用大气偏振模式确定太阳和太阳子午线空间位置法", 《光子学报》 * |
| 杨中光等: "基于多偏振敏感器的太阳矢量测量方法", 《光子学报》 * |
| 王晨光等: "基于大气偏振光学的太阳跟踪方法", 《科学技术与工程》 * |
| 王玉杰等: "仿生偏振视觉定位定向机理与实验", 《光学 精密工程》 * |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270888B (en) * | 2017-06-20 | 2020-11-17 | 歌尔科技有限公司 | Method and device for measuring longitude and latitude and camera |
| CN107270888A (en) * | 2017-06-20 | 2017-10-20 | 歌尔科技有限公司 | A kind of method, device and camera for measuring longitude and latitude |
| CN107728106A (en) * | 2017-09-30 | 2018-02-23 | 中国人民解放军国防科技大学 | Orientation method of micro-array polarized light compass |
| CN107728106B (en) * | 2017-09-30 | 2019-08-20 | 中国人民解放军国防科技大学 | Orientation method of micro-array polarized light compass |
| 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 |
| 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 |
| CN108955625A (en) * | 2018-02-05 | 2018-12-07 | 合肥工业大学 | A kind of method and system obtaining position of sun information |
| CN108759820A (en) * | 2018-06-11 | 2018-11-06 | 北京航空航天大学 | A kind of solar vector calculation method based on imitative compound eye multichannel polarization sensor |
| CN108759820B (en) * | 2018-06-11 | 2021-07-02 | 北京航空航天大学 | Compound eye-imitating multichannel polarization sensor-based sun vector calculation method |
| CN108917749B (en) * | 2018-07-11 | 2021-05-11 | 大连理工大学 | Method for extracting solar meridian based on polarization imaging |
| CN108917749A (en) * | 2018-07-11 | 2018-11-30 | 大连理工大学 | One kind extracting the meridianal method of the sun based on polarization imaging |
| CN111220150A (en) * | 2019-12-09 | 2020-06-02 | 北京航空航天大学 | Sun vector calculation method based on underwater polarization distribution mode |
| CN111220150B (en) * | 2019-12-09 | 2021-09-14 | 北京航空航天大学 | Sun vector calculation method based on underwater polarization distribution mode |
| CN111307140A (en) * | 2020-05-11 | 2020-06-19 | 中国人民解放军国防科技大学 | Atmospheric polarized light orientation method used under cloudy weather condition |
| CN111595330A (en) * | 2020-05-29 | 2020-08-28 | 北京航空航天大学 | Night polarization course calculation method based on probability density function estimation |
| CN113280785A (en) * | 2021-07-22 | 2021-08-20 | 中国人民解放军国防科技大学 | Sky polarized light orientation method based on polarization mode consistency |
| CN115062770A (en) * | 2022-08-04 | 2022-09-16 | 中国人民解放军国防科技大学 | Navigation method based on generalized bionic polarized light navigation model and solution |
| CN114993295A (en) * | 2022-08-08 | 2022-09-02 | 中国人民解放军国防科技大学 | Autonomous navigation method based on polarization orientation error compensation |
| CN115014311A (en) * | 2022-08-08 | 2022-09-06 | 中国人民解放军国防科技大学 | Atmospheric polarization information-based light compass orientation method for eliminating sky occlusion |
| CN115014311B (en) * | 2022-08-08 | 2022-11-01 | 中国人民解放军国防科技大学 | Atmospheric polarization information-based light compass orientation method for eliminating sky occlusion |
| CN116222550A (en) * | 2023-05-08 | 2023-06-06 | 北京航空航天大学 | Underwater polarized sun calculation method with depth adaptability |
| CN116972857A (en) * | 2023-09-25 | 2023-10-31 | 北京航空航天大学 | Night heading determining method for sector area fitting in moonlight polarized light field |
| CN116972857B (en) * | 2023-09-25 | 2023-12-08 | 北京航空航天大学 | Night heading determining method for sector area fitting in moonlight polarized light field |
| CN117109594A (en) * | 2023-10-23 | 2023-11-24 | 北京航空航天大学 | Autonomous orientation method based on underwater light intensity gradient |
| CN117109594B (en) * | 2023-10-23 | 2024-01-05 | 北京航空航天大学 | Autonomous orientation method based on underwater light intensity gradient |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106643704B (en) | 2019-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106643704A (en) | Solar azimuth acquisition method based on atmospheric polarization modes | |
| CN108759820B (en) | Compound eye-imitating multichannel polarization sensor-based sun vector calculation method | |
| CN101281142B (en) | Method for measuring atmosphere visibility | |
| CN107728106B (en) | Orientation method of micro-array polarized light compass | |
| CN111220150B (en) | Sun vector calculation method based on underwater polarization distribution mode | |
| CN110231025B (en) | Dynamic orientation method and system based on strapdown polarized light compass | |
| CN106679676B (en) | A kind of monoscopic multifunctional optical sensor and implementation method | |
| CN102915470A (en) | Cloud cluster movement estimation method facing to photovoltaic power prediction | |
| CN104154919A (en) | Method for autonomous measurement of pose of tripod structure of solar panel on non-cooperative spacecraft | |
| CN111536970B (en) | Infrared inertial integrated navigation method for low-visibility large-scale scene | |
| CN106651951A (en) | Atmospheric polarization mode detection and course calculation system and method | |
| CN112461191B (en) | Sun height calculating method based on underwater refraction and scattering coupling polarization degree | |
| CN108225335A (en) | Course angle solving method for multi-view polarized vision | |
| Wang et al. | Vehicle-road environment perception under low-visibility condition based on polarization features via deep learning | |
| CN107402010A (en) | A kind of polarization low-light enhancing harvester and the full polarization information bionic navigation method based on Stokes vector light stream and phase | |
| CN114877898B (en) | Sun dynamic tracking method based on underwater polarization attitude and refraction coupling inversion | |
| CN112444245A (en) | Insect-imitated vision integrated navigation method based on polarized light, optical flow vector and binocular vision sensor | |
| CN115014354A (en) | Compass calculation method for self-adaptive fusion of underwater solar facula and polarization field | |
| CN106441310B (en) | A kind of solar azimuth calculation method based on CMOS | |
| CN106018402B (en) | A kind of the visibility detection system and method for UAV system refractive and reflective panorama stereoscopic camera | |
| CN109509368A (en) | A kind of parking behavior algorithm based on roof model | |
| CN116182855B (en) | Combined navigation method of compound eye-simulated polarized vision unmanned aerial vehicle under weak light and strong environment | |
| CN114937075B (en) | Underwater polarized light field autonomous orientation method based on three-dimensional solar meridian plane fitting | |
| CN111539413B (en) | Bionic polarized light course resolving method of soft edge support vector machine | |
| CN103017768B (en) | A kind of three-dimensional attitude determination for aircraft system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |