CN106651951A - Atmospheric polarization mode detection and course calculation system and method - Google Patents

Atmospheric polarization mode detection and course calculation system and method Download PDF

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CN106651951A
CN106651951A CN201611187816.5A CN201611187816A CN106651951A CN 106651951 A CN106651951 A CN 106651951A CN 201611187816 A CN201611187816 A CN 201611187816A CN 106651951 A CN106651951 A CN 106651951A
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polarization
image
module
course
atmospheric
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CN106651951B (en
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白宏阳
苏文杰
胡福东
李成美
梁华驹
郭宏伟
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Nanjing University of Science and Technology
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Nanjing University of Science and Technology
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
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  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

The invention discloses an atmospheric polarization mode detection and course calculation system and method. The system comprises two parts including a four-channel polarization image acquisition apparatus and a data processing computer, wherein the four-channel polarization image acquisition apparatus comprises a four-channel image acquisition module, an image monitoring module, a device driver and a data storage module; the four-channel image acquisition module is connected with the device driver and the data storage module through routes; and the device driver and the data storage module are connected with the image monitoring module and the data processing computer. The method comprises the steps that the data processing computer sends an instruction to the device driver and the data storage module to finish acquisition and storage work of an atmospheric polarization image; a polarization information detection module extracts a polarization degree and a polarization angle of each point from the shot atmospheric polarization image; and a course angle calculation module calculates a course angle of a carrier through the extracted polarization information. The system is simple in structure and low in cost, and processing process and result of image data are conveniently viewed.

Description

A kind of atmospheric polarization type detection and course resolving system and method
Technical field
The invention belongs to bionic navigation technical field, particularly a kind of atmospheric polarization type detection and course resolving system and Method.
Background technology
Scattering, radiation and the absorption produced due to the fine particle suspended in air, makes sunshine in the mistake of transmission Polarization phenomena is generated in journey, and atmospheric polarization type is referred to as by the polarization state distribution that polarised light is formed.Atmospheric polarization type It is relevant with the factor such as time, place, the characteristic with space and time continuous distribution, and this polarization mode distribution character is relatively steady It is fixed.
Traditional air navigation aid all has certain defect, conventional navigation method have evolved in itself it is ripe, it is difficult to have more Big breakthrough, therefore, the mankind must seek a kind of new method further to improve navigation performance.In the last few years, with bionical Rise and correlative study finds that for example husky ant of some biologies, locust etc. are biological and has special optic nerve system, can pass through Perceiving the aerial polarization information in day carries out navigator fix, i.e. polarotactic navigation.What is utilized due to polarotactic navigation is that sunshine exists Produced polarization characteristic is scattered in air, so, this is a kind of natural air navigation aid, and it is difficult to be done by human factor Disturb, and polarotactic navigation belongs to passive type navigation, good concealment, not by electromagnetic interference.Therefore, polarotactic navigation has very big grinding Study carefully value and application prospect.But current polarized light detection system architecture is complicated, more data is carried out using serial ports and USB port and led to Letter, real-time is limited, and can not display the details of the concrete operations for extracting each step during polarization information, and figure is checked in real time The processing procedure and result of picture data is more difficult.
The content of the invention
It is an object of the invention to provide a kind of simple four-channel atmosphere polarization mode detection of structural principle and course solution System and method is calculated, to complete the resolving of the extraction to atmosphere polarization information and course angle.
Realizing the technical solution of the object of the invention is：A kind of atmospheric polarization type detection and course resolving system, bag Include four-way polarization image harvester and data handling machine two parts, described four-way polarization image harvester bag Include four-way image capture module, picture control module, device drives and data memory module, wherein four-way IMAQ mould Block is connected by route with device drives and data memory module, device drives and data memory module respectively with picture control Module, data handling machine connection；
Described four-way image capture module includes video camera, camera installation rack, the camera lens that four tunnels are installed side by side, its Blue color filter and polarization unit are provided with before middle camera lens, and polarization unit is arranged between camera lens and blue color filter；Shooting Installing hole is arranged on machine installing rack to be used to fix video camera and winding displacement；
The device drives and data memory module, for driving four-way image capture module to shoot atmospheric polarization figure Picture, and the view data for collecting is saved；
Described image monitoring module includes video display and video-frequency signal converter, and described video-frequency signal converter will The VGA signals read from device drives and data memory module are converted to AV signals, and the video display is used for monitoring camera The image that machine is photographed, and receive above-mentioned AV signals；
The data handling machine includes that polarization information detection module, course angle resolve module, data handling machine Instruction is sent to the device drives and data memory module, the collection and storage work of atmospheric polarization image is completed；Described Polarization information detection module extracts the degree of polarization and partially of every bit using Stokes vector methods from the atmospheric polarization image for shooting Shake azimuth；Described course angle resolves polarization information of the module by extracting and resolves carrier heading.
A kind of atmospheric polarization type detection and course calculation method, comprise the following steps：
Step 1, data handling machine to device drives and data memory module send instruction, complete atmospheric polarization image Collection with storage work；
Step 2, polarization information detection module extracts each using Stokes vector methods from the atmospheric polarization image for shooting The degree of polarization and polarization azimuth of point, specially：
(2.1) four big gas polarization images that four-way polarization image harvester is obtained are read；
(2.2) gray processing process is carried out to atmospheric polarization image, gray value is calculated, that is, obtains the brightness letter in shooting area Breath；
(2.3) each parameters of Stokes of every bit in shooting area are calculated；
(2.4) polarization information of shooting area is extracted；
Step 3, course angle resolves polarization information of the module by extracting and resolves carrier heading.
Compared with prior art, its remarkable advantage is the present invention：(1) system architecture is simple, and cost is relatively low, it is easy to build； (2) operating process is succinct, after the completion of equipment is built, it is only necessary to which just operable video camera is continuously shot sky image for simple instruction, And store；(3) image real time transfer is convenient, and systems soft ware shows the operation for extracting each step during polarization information Out, the processing procedure and result of view data are conveniently checked；(4) system can resolve the boat of carrier according to Polarization Detection information To angle, especially navigation stage provides initial heading angle before the penetrating of Missile Launching Process.
Description of the drawings
Fig. 1 is the structured flowchart of atmospheric polarization type detection of the present invention and course resolving system.
Fig. 2 is four-way image collecting device structural representation.
Fig. 3 is single-pass configuration schematic diagram.
Fig. 4 is the flow chart of atmospheric polarization type detection of the present invention and course calculation method.
Fig. 5 is the software interface figure of the present invention.
Fig. 6 is polarization information testing result figure, wherein the degree of polarization image of (a) for fine day, is (b) the polarization side of fine day Xiang Tu, is (c) the degree of polarization image of cloudy weather, is (d) the polarization direction figure of cloudy weather.
Specific embodiment
With reference to Fig. 1～3, atmospheric polarization type of the present invention is detected and course resolving system, and atmospheric polarization type is detected and navigated To resolving system, it is characterised in that described including four-way polarization image harvester and data handling machine two parts Four-way polarization image harvester includes four-way image capture module, picture control module, device drives and data storage Module, wherein four-way image capture module by route be connected with device drives and data memory module, device drives and Data memory module is connected respectively with picture control module, data handling machine；
Described four-way image capture module includes video camera, camera installation rack, the camera lens that four tunnels are installed side by side, its Blue color filter and polarization unit are provided with before middle camera lens, and polarization unit is arranged between camera lens and blue color filter；Shooting Installing hole is arranged on machine installing rack to be used to fix video camera and winding displacement；
The device drives and data memory module, for driving four-way image capture module to shoot atmospheric polarization figure Picture, and the view data for collecting is saved；
Described image monitoring module includes video display and video-frequency signal converter, and described video-frequency signal converter will The VGA signals read from device drives and data memory module are converted to AV signals, and the video display is used for monitoring camera The image that machine is photographed, and receive above-mentioned AV signals；
The data handling machine includes that polarization information detection module, course angle resolve module, data handling machine Instruction is sent to the device drives and data memory module, the collection and storage work of atmospheric polarization image is completed；Described Polarization information detection module extracts the degree of polarization and partially of every bit using Stokes vector methods from the atmospheric polarization image for shooting Shake azimuth；Described course angle resolves polarization information of the module by extracting and resolves carrier heading.
Further, described four-way video camera model HIKVISION 2,000,000 1/3 " CMOS ICR day and night type rifles Type web camera, highest resolution is up to 1920 × 1080@30fps, exportable realtime graphic；Described camera lens adopts visible ray The optical lens of wave band.
Further, the polarization of to be one piece the carry mounting structure of the polarization unit in the four-way image capture module Piece, can be fixed on the front end of camera lens, and the polarizer equipped with scale wheel disc, the scale on wheel disc and polarizer The measured one-to-one corresponding of the number of degrees, rotating scale wheel disc drives polarizer to rotate together, and then changes polarizer relative measurement base Accurate degree of polarization.
Further, in the data handling machine polarization information detection module, course angle resolve module, are employing The MFC interfaces that C++ writes, whole interface includes that polarization mode detects that functional areas and course information resolve area；
4 buttons are had on described polarization mode detection functional areas, respectively：Read image, gray processing, polarization special Property, image storage；Described reads four big gas polarization images that image button obtains four-way polarization image harvester Read and be displayed on interface；Described gray processing button carries out gray processing process to four big gas polarization images, and by gray scale Figure is displayed on interface；Described polarization characteristic button extracts the atmosphere polarization information of shooting area, and the degree of polarization that will be generated Image and polarization direction image are sequentially displayed on interface；
Described course information to be resolved and have 1 attitude algorithm button in area, by clicking on, can be to the course of carrier Angle is resolved, and result is included on interface.
With reference to Fig. 4, atmospheric polarization type of the present invention is detected and course calculation method, is comprised the following steps：
Step 1, data handling machine to device drives and data memory module send instruction, complete atmospheric polarization image Collection with storage work；
Step 2, polarization information detection module extracts each using Stokes vector methods from the atmospheric polarization image for shooting The degree of polarization and polarization azimuth of point, described Stokes vector methods are a kind of polarization measurement methods, for characterizing the polarization of light State, Stokes vectors are typically expressed as S=(I, Q, U, V)T, wherein, I represents total light intensity, and Q and U represents respectively both direction Linear polarization component, V is circular component；Degree of polarization d and polarization azimuthIt is by Stokes vector representations：
Comprise the following steps that：
(2.1) four big gas polarization images that four-way polarization image harvester is obtained are read；
The big gas polarization image of described four is corresponded to respectively before four kinds of different polarization degree, i.e. rotary four-way road camera lens Polarization unit, make four polarizers be respectively placed in 0 °, 45 °, 90 ° and 135 °, the corresponding monochrome information gray scale of four width pictures Value I (0 °), I (45 °), (135 °) expressions of I (90 °) and I, then described Stokes parameters are expressed as below：
Wherein, I represents total light intensity, and Q and U represents respectively the linear polarization component of both direction.
(2.2) gray processing process is carried out to atmospheric polarization image, gray value is calculated, that is, obtains the brightness letter in shooting area Breath；
(2.3) each parameters of Stokes of every bit in shooting area are calculated；
(2.4) polarization information of shooting area is extracted；
Step 3, course angle resolves polarization information of the module by extracting and resolves carrier heading, concretely comprises the following steps：
(3.1) position of sun is determined；
Described position of sun includes solar azimuth AsWith sun altitude hs, the computational methods such as following formula of position of sun：
sin hs=sin δ sin φ+cos δ cos φ cos t (3)
Wherein, δ is declination angle, and φ is observed latitude, and t is solar hour angle, and δ computational methods are as follows：
σ=2 π (D-D0)/365.2422 (6)
D0=79.6764+0.2422 × (Y-1985)-INT [(Y-1985)/4] (7)
Wherein, σ is day angle, and D is day of year, and Y is the time, and t computational methods are as follows：
Sd=So+{Fo-[120°-(JD+JF/60)]×4}/60 (8)
Et=0.0028-1.9857sin σ+9.9059sin2 σ -7.0924cos σ -0.6882cos2 σ (9)
St=Sd+Et/60 (10)
T=(St-12)×15° (11)
Wherein, SdFor place when, So、FoRespectively Beijing of observation station when and point, JD、JFFor the longitude and Jing of observation station Point, EtFor the time difference, StFor the true solar time；
(3.2) carrier body axle and the meridianal angle ψ of the sun are calculatedSM, it is specific as follows：
1) along the meridianal E- direction vectors level of the sun, i.e. polarization azimuth χ=90 °；Polarization Detection module is extracted Polarization azimuth χjIn meet condition χc＜ | χj| the point of 90 ° of ＜ is extracted, χcFor given threshold, new point set χ is constitutedj′ =(hj′,Aj'), wherein hj' be elevation angle, Aj' it is azimuth；
2) to elevation angle h of extraction pointi' and azimuth Ai' carry out cluster and ask for class center, curve is carried out to required result Fitting, determines the corner of projection of the class center on two dimensional surface and reference coordinate, the sun meridian line position for as being detected；
Elevation angle h for extracting pointi' and azimuth Ai' carry out cluster and ask for class center, wherein clustering method adopts mould Paste C- mean clusters, using any point for extracting as initial point, by the method for alternative optimization result are determined, degree of membership and poly- The iterative formula at class center is as follows：
Degree of membership uij：
Cluster centre vi：
Wherein, uijThe degree of membership of j-th object and the i-th class is represented, m represents FUZZY WEIGHTED parameter, viFor cluster centre, xj For sample point, wherein, sample point xjWith cluster centre viDistance be expressed as dij=| | xj-vi| |, dkjThen represent sample point xkWith xjBetween distance.
(3.3) carrier heading ψ is asked for, formula is as follows：
ψ=ψSM-As (12)
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention.
Embodiment 1
As shown in figure 1, being embodiment of the present invention system schematic.The present invention includes hardware platform and software section, hardware Platform is made up of four-way polarization image harvester and data handling machine two parts, wherein, four-way polarization image is adopted Acquisition means are made up of four-way image capture module, picture control module, device drives and data memory module；Software section exists Run in data handling machine.
Four-way image capture module is as shown in Fig. 2 video camera, camera installation rack, the mirror installed side by side including four tunnels Head.Wherein, video camera adopts high-definition digital video camera, and HIKVISION 2,000,000 1/3 is selected in the present embodiment " CMOS ICR days Night type gun shaped web camera, transfer rate is fast, and highest resolution is up to 1920 × 1080@30fps, exportable realtime graphic.Mirror Head adopts the camera lens of visible light wave range.Blue color filter and polarization unit are sequentially installed with before camera lens.Described blue color filter Wave band outside for filtering blue light, because blue light wavelength is short, scattering strength is big, therefore, it is more beneficial for using blue color filter The extraction of polarization information.Polarization unit is one piece carries the polarizer of mounting structure, is fixed on the front end of camera lens, blue The rear end of optical filter, and equipped with scale wheel disc, the scale on wheel disc and the measured one-to-one corresponding of the number of degrees of polarizer, rotate Degrees wheel disk drives polarizer to rotate together, and then changes the degree of polarization of polarizer relative measurement benchmark, and its range ability is 0 ° ～360 °, precision is 1 °.Single channel video camera is as shown in Figure 3.Camera installation rack adopts aluminum alloy materials, and leaves substantial amounts of Installing hole, in addition to being used to fix video camera and winding displacement, can also mitigate equipment quality；Four polarization images are gathered using front Video camera is fixed on the inner side of rectangle installing rack；
Device drives and data memory module adopt in the present embodiment EM3500ARM development boards, and journey will be driven when using In the burned development board of sequence, drive four-way image capture module to shoot atmospheric polarization image, and the view data for collecting is protected Store away；
Picture number is transmitted by network interface between described four-way image capture module and device drives and data memory module According to that is, four-way video camera is connected on a small-sized router by four netting twines, then a netting twine is drawn from router It is connected on the network interface of the EM3500ARM development boards, thus achieves device drives and data memory module to four video cameras While operate；
Picture control module includes video display and video-frequency signal converter.Wherein, video display is taken the photograph for monitoring The image that camera is photographed, and AV vision signals are received, and the vision signal read from device drives and data memory module is VGA forms, during work between video display and EM3500ARM development boards incoming video signal converter, with complete VGA letter Number to AV signals conversion work；
Data handling machine is a common notebook computer, and it mainly performs three tasks in detection process, Include respectively：The programming program toward EM3500ARM development boards；Instruction is sent to device drives and data memory module, figure is completed The collection of picture and storage work；The detection of operation atmospheric polarization type and the software section of course resolving system, extract atmospheric polarization Information, and calculate carrier heading；
As shown in figure 4, for the workflow diagram of the embodiment of the present invention, the test of whole Polarization Detection and course resolving system The course of work is as follows：
1) to the program of programming actuated camera in EM3500ARM development boards；
2) with reference to shown in Fig. 1, build polarized light detection system platform, will each equipment connect after the completion of be placed in shielding status compared with It is few
Opening；
3) startup power supply；
4) diagonal of the rectangle installing rack of four-way image capture module is elected to be the benchmark of polarization unit, rotating scale Wheel disc
With change four-way polarizer relative datum degree of polarization, select respectively in the present embodiment 0 °, 45 °, 90 ° and 135°.After adjustment, four-way image capture module is directed at into the aerial detection zone in day；
5) notebook computer, runs software putty and WinSCP are opened.Wherein, by software putty to EM3500ARM
Development board sends order, runs the program in development board, and development board is clapped further according to order-driven four-way video camera Sky picture is taken the photograph, and picture is stored.Software WinSCP can be used to check the image data being stored in development board；
6) after the completion of IMAQ, the polarization information detection module of detecting system software section is run, opens software interface Afterwards,
As shown in figure 5, click on reading after image button, polarization information detection module includes the picture for collecting on boundary Left side of face, then clicks on again gray processing button, and the polarization image to collecting carries out gray proces, and by the gray-scale map after process Piece is displayed in the right side of artwork, then clicks on polarization characteristic button, and polarization information, i.e. degree of polarization and partially are extracted from polarization image Shake azimuth, and the degree of polarization image and polarization direction image of generation are sequentially displayed in into gray-scale map right side, finally clicks on figure As store button, result is saved；
7) after the completion of polarization information is extracted, start course angle and resolve module, the course information at interface shown in Fig. 5 resolves area
On, to click on course and resolve button, the course for completing whole system carrier resolves.
Polarization mode test experience is carried out using the system platform, experiment porch is placed in into opening, and keep level, Adjust four-way video camera alignment sky and gather polarization image.Experiment number amounts to 2 times, and place is chosen at north latitude 32 ° 1 ' 45 ", 118 ° 51 ' 20 of east longitude " is located.
Experiment one：Experimental period be on December 9th, 2016,11:04；Experiment weather condition is that fine day is cloudy.Experimental result As shown in fig. 6, wherein, Fig. 6 (a) is degree of polarization image, and Fig. 6 (b) is polarization direction figure.
Experiment two：Experimental period be on December 9th, 2016,16:30；Experiment weather condition is that fine day is cloudy.Experimental result As shown in fig. 6, wherein, Fig. 6 (c) is degree of polarization image, and Fig. 6 (d) is polarization direction figure.

Claims (9)

1. a kind of atmospheric polarization type is detected and course resolving system, it is characterised in that filled including the collection of four-way polarization image Put and data handling machine two parts, described four-way polarization image harvester include four-way image capture module, Picture control module, device drives and data memory module, wherein four-way image capture module are driven by route with equipment The connection of dynamic and data memory module, device drives and data memory module respectively with picture control module, data handling machine Connection；
Described four-way image capture module includes video camera, camera installation rack, the camera lens that four tunnels are installed side by side, wherein mirror Blue color filter and polarization unit are provided with before head, and polarization unit is arranged between camera lens and blue color filter；Video camera is pacified Shelving setting installing hole is used to fix video camera and winding displacement；
The device drives and data memory module, for driving four-way image capture module to shoot atmospheric polarization image, and The view data for collecting is saved；
Described image monitoring module includes video display and video-frequency signal converter, and described video-frequency signal converter will be from setting The VGA signals that standby driving and data memory module read are converted to AV signals, and the video display is for CCTV camera bat The image taken the photograph, and receive above-mentioned AV signals；
The data handling machine includes that polarization information detection module, course angle resolve module, and data handling machine is to institute State device drives and data memory module sends instruction, complete the collection and storage work of atmospheric polarization image；Described polarization Information detecting module extracts degree of polarization and the polarization side of every bit using Stokes vector methods from the atmospheric polarization image for shooting Parallactic angle；Described course angle resolves polarization information of the module by extracting and resolves carrier heading.
2. atmospheric polarization type according to claim 1 is detected and course resolving system, it is characterised in that described four-way Road video camera model HIKVISION 2,000,000 1/3 " CMOS ICR day and night type gun shaped web cameras, highest resolution reaches 1920 × 1080@30fps, exportable realtime graphic；Described camera lens adopts the optical lens of visible light wave range.
3. atmospheric polarization type according to claim 1 is detected and course resolving system, it is characterised in that the four-way Polarization unit in image capture module is one piece carries the polarizer of mounting structure, can be fixed on before camera lens End, and the polarizer rotates quarter equipped with scale wheel disc, the scale on wheel disc and the measured one-to-one corresponding of the number of degrees of polarizer Degree wheel disc drives polarizer to rotate together, and then changes the degree of polarization of polarizer relative measurement benchmark.
4. atmospheric polarization type according to claim 1 is detected and course resolving system, it is characterised in that at the data Polarization information detection module, course angle in reason computer resolves module, is the MFC interfaces write using C++, whole interface bag Include polarization mode detection functional areas and course information resolves area；
4 buttons are had on described polarization mode detection functional areas, respectively：Read image, gray processing, polarization characteristic, figure As storage；The described image button that reads reads four big gas polarization images that four-way polarization image harvester is obtained simultaneously It is displayed on interface；Described gray processing button carries out gray processing process to four big gas polarization images, and gray-scale map is shown On interface；Described polarization characteristic button extracts the atmosphere polarization information of shooting area, and by the degree of polarization image for generating and Polarization direction image is sequentially displayed on interface；
Described course information to be resolved and have 1 attitude algorithm button in area, by clicking on, the course angle of carrier can be entered Row is resolved, and result is included on interface.
5. a kind of atmospheric polarization type is detected and course calculation method, it is characterised in that comprised the following steps：
Step 1, data handling machine to device drives and data memory module send instruction, complete adopting for atmospheric polarization image Collection and storage work；
Step 2, polarization information detection module extracts every bit using Stokes vector methods from the atmospheric polarization image for shooting Degree of polarization and polarization azimuth, specially：
(2.1) four big gas polarization images that four-way polarization image harvester is obtained are read；
(2.2) gray processing process is carried out to atmospheric polarization image, gray value is calculated, that is, obtains the monochrome information in shooting area；
(2.3) each parameters of Stokes of every bit in shooting area are calculated；
(2.4) polarization information of shooting area is extracted；
Step 3, course angle resolves polarization information of the module by extracting and resolves carrier heading.
6. atmospheric polarization type according to claim 5 is detected and course calculation method, it is characterised in that described in step 2 Stokes vector methods be a kind of polarization measurement method, for characterizing the polarization state of light, Stokes vectors are typically expressed as S= (I,Q,U,V)T, wherein, I represents total light intensity, and Q and U represents respectively the linear polarization component of both direction, and V is circular component；Partially Degree of shaking d and polarization azimuthIt is by Stokes vector representations：
7. atmospheric polarization type according to claim 5 is detected and course calculation method, it is characterised in that step (2.1) The big gas polarization image of described four corresponds to respectively the polarization list before four kinds of different polarization degree, i.e. rotary four-way road camera lens Unit, makes four polarizers be respectively placed in 0 °, 45 °, 90 ° and 135 °, four width pictures corresponding monochrome information gray value I (0 °), I (45 °), I (90 °) and (135 °) expressions of I, then described Stokes parameters are expressed as below：
Wherein, I represents total light intensity, and Q and U represents respectively the linear polarization component of both direction.
8. atmospheric polarization type according to claim 5 is detected and course calculation method, it is characterised in that described in step 3 Course angle resolves polarization information of the module by extracting and resolves carrier heading, concretely comprises the following steps：
(3.1) position of sun is determined；
Described position of sun includes solar azimuth AsWith sun altitude hs, the computational methods such as following formula of position of sun：
sin hs=sin δ sin φ+cos δ cos φ cos t (3)
cos A s = s i n δ - sin h s s i n φ cos h s cos φ - - - ( 4 )
Wherein, δ is declination angle, and φ is observed latitude, and t is solar hour angle, and δ computational methods are as follows：
δ = 0.3723 + 23.2567 sin σ + 0.1149 sin 2 σ - 0.1712 sin 3 σ - 0.785 cos σ + 0.3656 cos 2 σ + 0.0201 cos 3 σ - - - ( 5 )
σ=2 π (D-D0)/365.2422 (6)
D0=79.6764+0.2422 × (Y-1985)-INT [(Y-1985)/4] (7)
Wherein, σ is day angle, and D is day of year, and Y is the time, and t computational methods are as follows：
Sd=So+{Fo-[120°-(JD+JF/60)]×4}/60 (8)
Et=0.0028-1.9857sin σ+9.9059sin2 σ -7.0924cos σ -0.6882cos2 σ (9)
St=Sd+Et/60 (10)
T=(St-12)×15° (11)
Wherein, SdFor place when, So、FoRespectively Beijing of observation station when and point, JD、JFFor the longitude and Jing point of observation station, Et For the time difference, StFor the true solar time；
(3.2) carrier body axle and the meridianal angle ψ of the sun are calculatedSM, it is specific as follows：
1) along the meridianal E- direction vectors level of the sun, i.e. polarization azimuth χ=90 °；By the inclined of Polarization Detection module extraction Shake azimuth χjIn meet condition χc＜ | χj| the point of 90 ° of ＜ is extracted, χcFor given threshold, new point set χ ' is constitutedj= (h′j,A′j), wherein h 'jFor elevation angle, A 'jFor azimuth；
2) to the elevation angle h ' of extraction pointiWith azimuth A 'iCarry out cluster and ask for class center, required result is carried out curve fitting, Determine the corner of projection of the class center on two dimensional surface and reference coordinate, the sun meridian line position for as being detected；
(3.3) carrier heading ψ is asked for, formula is as follows：
ψ=ψSM-As (12)。
9. atmospheric polarization type according to claim 8 is detected and course calculation method, it is characterised in that step (3.2) The elevation angle h ' for extracting pointiWith azimuth A 'iCarry out cluster and ask for class center, wherein clustering method adopts FCM Cluster, using any point for extracting as initial point, by the method for alternative optimization result, degree of membership and cluster centre is determined Iterative formula is as follows：
Degree of membership uij：
u i j = 1 Σ k = 1 c ( d i j 2 d k j 2 ) 1 m - 1
Cluster centre vi：
v i = Σ j = 1 n u i j m x j Σ j = 1 n u i j m
Wherein, uijThe degree of membership of j-th object and the i-th class is represented, m represents FUZZY WEIGHTED parameter, viFor cluster centre, xjFor sample This point, wherein, sample point xjWith cluster centre viDistance be expressed as dij=| | xj-vi| |, dkjThen represent sample point xkWith xjBetween Distance.
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