CN107063170B - Course angle estimation method based on atmospheric polarization angle mould formula under complex environment - Google Patents
Course angle estimation method based on atmospheric polarization angle mould formula under complex environment Download PDFInfo
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Abstract
The invention belongs to bionical polarotactic navigation field, the course angle estimation method based on atmospheric polarization angle mould formula under complex environment is disclosed.Firstly, the angle of polarization mode of the polarized light sensor measurement atmosphere using image-type；Secondly, calculating solar zenith angle and solar azimuth according to astronomical yearbook；Again, according to single order Rayleigh scattering model, expression formula of the sun meridian direction about the angle of polarization and solar zenith angle is established under carrier system, and optimal sun meridian direction is estimated based on voting mechanism；Finally, solving carrier heading according to solar azimuth and optimal sun meridian direction.The present invention is not under conditions of increasing hardware configuration, take full advantage of angle of polarization mode, solar azimuth and solar zenith angle, on high by under the obstruction conditions such as cloud layer, building and leaf, the estimation problem that carrier heading is efficiently solved with voting mechanism has the advantages that principle is simple, estimated accuracy is high, robustness is good.
Description
Technical field:
The present invention relates to a kind of estimation method of carrier heading, in particular to atmospheric polarization is based under a kind of complex environment
The course angle estimation method of angle mould formula belongs to bionical polarotactic navigation field.
Background technique:
The modern times such as satellite navigation, inertial navigation airmanship occupies in the social activities of the mankind and military activity
Leading position, but satellite navigation signals are vulnerable to electromagnetic interference, and are difficult to cover the environment such as jungle, underwater and interior,
Inertial navigation system is most common independent navigation mode, has complete, strong real-time of strong interference immunity, navigation information etc. excellent
Gesture, but its at high cost, position error accumulates at any time, and these disadvantages constrain the application range of satellite navigation and inertial navigation,
The navigation needs of continuous development promote us to explore completely new independent navigation mode.Animal has homing capability outstanding, many
Animal (husky ant, honeybee, tarantula, part birds etc.) is all proved to possess the ability of perception polarised light, they utilize unique inclined
Vibration visual structure, perceives the natural polarization characteristic of atmosphere, extracts the azimuth information of the sun, to carry out navigator fix.Based on certainly
The bionical polarotactic navigation of right feature has been concerned by people, and it is highly sensitive that bionical polarized light sensor has used for reference animal
Visual perception system realizes sentencing for carrier course information based on the natural polarization characteristic and atmospheric polarization type of sunlight
It is disconnected, there are strong interference immunity, error not advantages such as accumulation, applied widely at any time.
The measurement method of current polarized light sensor is broadly divided into single-point type measurement and image measurement two major classes.The former one
The secondary polarization information that can only acquire an observed direction is extremely easy the interference by environment, once loss of data or sampling
Point tolerance is excessive, loses capacity of orientation；And the polarized light sensor based on image measurement, angular field of view can be extracted simultaneously
The angle of polarization and polarization degree information of interior entire sky areas.The increase of information content is it is possible to prevente effectively from single-point type measures poor robustness
The problem of, but the difficulty of data processing is also increased simultaneously.If sky is blocked by cloud layer, leaf and building, partially
Vibration degree and angle of polarization distribution character will be greatly affected.Domestic scholars (high meaningful etc., bionical polarotactic navigation method, section
Publishing house, 2014) the course angle acquisition methods based on atmospheric polarization type Symmetry Detection are proposed, this method is in local day
Carrier course can be effectively estimated in sky in the case where being blocked, but can not effectively solve under the conditions of a wide range of sky is blocked
Estimation problem.Therefore, one kind is found in the case where a wide range of sky is blocked by cloud layer, leaf and building, accurate,
Quickly, robustly estimate that the method for carrier heading has a very important significance.
Summary of the invention:
The technical problem to be solved in the present invention is that: it is blocked in a wide range of sky by cloud layer, building and leaf etc.
Under the conditions of, quick, robust, the course angle for accurately estimating carrier using sky angle of polarization mode.
In order to solve the above technical problems, solution proposed by the present invention are as follows:
Course angle estimation method based on atmospheric polarization angle mould formula under complex environment, method includes the following steps:
Step 1 calculates sky angle of polarization mode:
Using a kind of polarized light sensor being made of polyphaser, optical axis direction points into the sky, and simultaneously and dynamically measures day
The angle of polarization mode of empty region；The polarized light sensor is made of four CCD (Charge-Coupled Device) camera, often
One polarizing film is housed, according to the light passing axis direction of polarizing film according to 0 °, 45 °, 90 °, 135 ° of angle installations on a camera；By outer
Portion triggers the acquisition time of synchronous four cameras, and for the incident light in some direction, the response of four cameras be can be described as:
In formula, fjFor the brightness value of j-th of camera, KjFor the gain coefficient of j-th of camera, I is unit matrix, and d is incidence
The degree of polarization of light, φ are the angle in incident light polarization direction and reference direction, βjIt is the optical axis direction and reference of j-th of polarizing film
The angle in direction；
According to CCD camera output information, using Least Square Method sky angle of polarization mode, angle of polarization φ is given by following formula
Out:
WhereinFor the least-squares estimation of vector X, x1And x2Respectively vectorFirst and second elements, D, X and
F is defined as follows:
Step 2 calculates solar zenith angle and solar azimuth according to astronomical yearbook:
According to astronomical yearbook, input time and location information can be in the hope of solar zenith angle γ under navigational coordinate systemSToo
Positive azimuthProcess require that the precision of input information meets following indexs: time precision is better than 1s, and position precision is better than
10km；
Step 3 is based on sky angle of polarization mode and solar zenith angle, estimates sun meridian direction with voting mechanism:
1) according to single order Rayleigh scattering model, the angle of polarization of the sun meridian direction about observation point is established under carrier system
With the expression formula of solar zenith angle:
Wherein, αSFor azimuth of the sun under carrier coordinate system, the angle in φ incident light polarization direction and reference direction,
Each of image pixel (xp,yp) all corresponding with the aerial a certain observation point P in day, γ and α are respectively carrier coordinate system
The zenith angle of lower observation point P and azimuth, the focal length of camera are fc, the coordinate value that optical axis projects in the picture is (xc,yc)；
2) sun meridian direction for calculating all pixels point, then carries out statistics with histogram, histogram to calculated result
The sun meridian direction of the peak value of distribution, that is, optimal
Step 4 solves carrier heading according to solar azimuth and optimal sun meridian direction:
Wherein,For azimuth of the carrier under navigational coordinate system,For azimuth of the sun under carrier system,For too
Azimuth of the sun under navigational coordinate system.
By above step, the course angle estimation based on atmospheric polarization angle mould formula under complex environment is realized.
Compared with prior art, the invention has the following advantages that
1) sky areas, time and location information are comprehensively utilized, sun meridian direction is estimated using voting mechanism, and ask
Carrier heading is solved, blocking for cloud layer, building, leaf etc., robustness and accuracy with higher are effectively overcome；
2) algorithm flow is simple, it is easy to accomplish, arithmetic speed is fast.
Detailed description of the invention:
1. the flow diagram that Fig. 1 is the method for the present invention；
2. Fig. 2 is the actual measurement image for polarizing camera；
3. Fig. 3 is sky angle of polarization modal measurements；
4. Fig. 4 is single order Rayleigh scattering modular concept figure；
5. Fig. 5 is the sun meridian direction obtained according to angle of polarization mode computation；
6. the statistics with histogram that Fig. 6 is sun meridian direction；
7. the optimal estimation that Fig. 7 is sun meridian direction under carrier system.
Specific embodiment:
Below with reference to Figure of description and specific embodiment, invention is further described in detail.
As shown in Figure 1, for the flow chart of the course angle estimation method based on atmospheric polarization angle mould formula under complex environment, specifically
Include the following steps:
Step 1 calculates sky angle of polarization mode:
Atmospheric polarization type is a variety of different polarization degree and polarization after unbiased natural light and particle, dust scatter
The polarised light at angle on high in formed metastable distribution pattern.Utilize a kind of polarization light sensing being made of polyphaser
Device is installed in move vehicle, and optical axis direction points into the sky, and simultaneously and dynamically measures the angle of polarization mode of sky areas；
The polarized light sensor is mainly made of four CCD (Charge-Coupled Device) camera, and one is equipped on each camera
Polarizing film, according to the light passing axis direction of polarizing film according to 0 °, 45 °, 90 °, 135 ° of angle installations；By synchronous four phases of external trigger
The acquisition time of machine, for the incident light in some direction, the response of four cameras be can be described as:
In formula, fjFor the brightness value of j-th of camera, KjFor the gain coefficient of j-th of camera, I is unit matrix, and d is incidence
The degree of polarization of light, φ are the angle in incident light polarization direction and reference direction, βjIt is the optical axis direction and reference of j-th of polarizing film
The angle in direction；Fig. 2 illustrates the actual measurement image of polarization camera；
According to CCD camera output information, using Least Square Method sky angle of polarization mode, angle of polarization φ is given by following formula
Out:
WhereinFor the least-squares estimation of vector X, x1And x2Respectively vectorFirst and second elements, D, X and
F is defined as follows:
Fig. 3 is the sky angle of polarization mode being calculated by formula (7).
Step 2 calculates solar zenith angle and solar azimuth according to astronomical yearbook
According to astronomical yearbook, input time and location information can be in the hope of solar zenith angle γ under navigational coordinate systemSToo
Positive azimuthProcess require that the precision of input information meets following indexs: time precision is better than 1s, and position precision is better than
10km。
Step 3 is based on sky angle of polarization mode and solar zenith angle, estimates sun meridian direction with voting mechanism:
1) according to single order Rayleigh scattering model, the angle of polarization of the sun meridian direction about observation point is established under carrier system
With the expression formula of solar zenith angle；
As shown in figure 4, being defined as follows right hand rectangular coordinate system first:
Navigational coordinate system (ONED): wherein N axis is geographical geographical north, and E is east orientation, and D is vertical downward direction, and E axis and D axis are not
It is marked in figure；
Carrier coordinate system (OlXlYlZl): select No. 1 camera as reference data, OlFor the center of image, XlAxis and YlAxis
Respectively along the horizontal and vertical of ccd sensor, ZlAxis is the optical axis of carrier, and system is after leveling, ZlAxis is directed toward zenith direction；
Incident light coordinate system (OiXiYiZi): its ZiAxis is directed toward observed direction, XiAxle position is in vertical flat where observed direction
In face (OPP '), YiAxis and XiAxis and ZiAxis constitutes right hand rectangular coordinate system (YiAxis does not mark)；
Assuming that observer is in position O, position of the sun on celestial sphere is S, and the aerial observation point in day is P, sun zenith
Angle is γS, solar azimuth is under navigational coordinate systemSolar azimuth α under carrier coordinate systemS, observation point P is in carrier coordinate
Zenith angle and azimuth under system are respectively γ and α, and the angle of polarization of incident light is φ；
Bright day is aerial, and scattering particles is mainly made of atmospheric molecule, and size is much smaller than the wavelength of light, therefore can be with
Atmospheric scattering process under fair weather is described with single order Rayleigh scattering model；As shown in figure 4, the E direction vector of scattering light
Perpendicular to scattering plane POS；VectorWith E direction vectorExpression in carrier coordinate system l are as follows:
Direction cosine matrix from carrier coordinate system l to incident light coordinate system i isE direction vectorIt is sat in incident light
Expression under mark system i are as follows:
According to formula (10), azimuth angle alpha of the sun in carrier system l is derivedsWith the relationship of angle of polarization φ, such as following formula:
In formula (11), the zenith angle γ of observation point P and azimuth angle alpha can be calculated by following formula under carrier coordinate system:
Wherein, the focal length of camera is fc, the coordinate value that optical axis projects in the picture is (xc,yc), each of image picture
Vegetarian refreshments (xp,yp) all corresponding with the aerial a certain observation point P in day；The polarization of each pixel is calculated by step 1 and step 2
Angle φ and solar zenith angle γS, the α of all pixels point is calculated by formula (11) and formula (12)S, calculated result is as shown in Figure 5；
2) sun meridian direction for calculating all pixels point, then carries out statistics with histogram, histogram to calculated result
The sun meridian direction of the peak value of distribution, that is, optimal
Fig. 6 is to αSCarry out statistics with histogram as a result, α corresponding with the peak value of histogram distributionSAs under carrier system
The optimal estimation of solar azimuthFig. 7 is the measured result of sky angle of polarization mode, the X of carrier coordinate systemlAxis and YlAxis is
It is marked in figure, XlOptimal estimation for the principal direction of carrier, sun meridian direction is as shown in the figure.
Step 4 solves carrier heading according to solar azimuth and optimal sun meridian direction:
WhereinFor azimuth of the carrier under navigational coordinate system,For azimuth of the sun under carrier system,It is too
Azimuth of the sun under navigational coordinate system.
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 (1)
1. the course angle estimation method based on atmospheric polarization angle mould formula under complex environment, it is characterised in that the following steps are included:
Step 1 calculates sky angle of polarization mode:
Using a kind of polarized light sensor being made of polyphaser, optical axis direction points into the sky, and simultaneously and dynamically measures day dead zone
The angle of polarization mode in domain；The polarized light sensor is made of four CCD (Charge-Coupled Device) camera, Mei Gexiang
One polarizing film is housed, according to the light passing axis direction of polarizing film according to 0 °, 45 °, 90 °, 135 ° of angle installations on machine；It is touched by outside
The acquisition time of synchronous four cameras is sent out, for the incident light in some direction, the response of four cameras be can be described as:
In formula, fjFor the brightness value of j-th of camera, KjFor the gain coefficient of j-th of camera, I is unit matrix, and d is incident light
Degree of polarization, φ are the angle in incident light polarization direction and reference direction, βjIt is the optical axis direction and reference direction of j-th of polarizing film
Angle；
According to CCD camera output information, using Least Square Method sky angle of polarization mode, angle of polarization φ is given by:
WhereinFor the least-squares estimation of vector X, x1And x2Respectively vectorFirst and second elements, D, X and F are fixed
Justice is as follows:
Step 2 calculates solar zenith angle and solar azimuth according to astronomical yearbook:
According to astronomical yearbook, input time and location information can be in the hope of solar zenith angle γ under navigational coordinate systemSAnd solar azimuth
AngleProcess require that the precision of input time and location information meets following indexs: time precision is better than 1s, and position precision is excellent
In 10km；
Step 3 is based on sky angle of polarization mode and solar zenith angle, estimates sun meridian direction with voting mechanism:
1) according to single order Rayleigh scattering model, the angle of polarization and too of the sun meridian direction about observation point is established under carrier system
The expression formula of positive zenith angle:
Wherein, αSFor azimuth of the sun under carrier coordinate system, the angle in φ incident light polarization direction and reference direction, image
Each of pixel (xp,yp) all corresponding with the aerial a certain observation point P in day, γ and α are respectively to see under carrier coordinate system
The zenith angle of measuring point P and azimuth, the focal length of camera are fc, the coordinate value that optical axis projects in the picture is (xc,yc)；
2) sun meridian direction for calculating all pixels point, then carries out statistics with histogram, histogram distribution to calculated result
Peak value, that is, optimal sun meridian direction
Step 4 solves carrier heading according to solar azimuth and optimal sun meridian direction:
Wherein,For azimuth of the carrier under navigational coordinate system,For azimuth of the sun under carrier system,Exist for the sun
Azimuth under navigational coordinate system.
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| CN108225336B (en) * | 2018-01-24 | 2021-06-25 | 北京航空航天大学 | Polarization autonomous combined navigation method based on confidence |
| CN108286966B (en) * | 2018-01-24 | 2021-11-19 | 北京航空航天大学 | Self-adaptive multispectral polarization navigation sensor and orientation method thereof |
| CN109668567B (en) * | 2019-01-02 | 2021-09-24 | 中国人民解放军国防科技大学 | Polarized light orientation method and system under multi-cloud condition of unmanned aerial vehicle and polarized light sensor |
| CN110231025B (en) * | 2019-07-04 | 2021-04-09 | 中国人民解放军国防科技大学 | Dynamic orientation method and system based on strapdown polarized light compass |
| CN110887475B (en) * | 2019-12-09 | 2021-12-10 | 北京航空航天大学 | Static base rough alignment method based on north polarization pole and polarized solar vector |
| CN111536931A (en) * | 2020-04-21 | 2020-08-14 | 汉腾汽车有限公司 | Method for calculating sun illumination intensity, direction and angle based on EPS, TBOX and camera |
| CN111307140B (en) * | 2020-05-11 | 2020-08-07 | 中国人民解放军国防科技大学 | Atmospheric polarized light orientation method used under cloudy weather condition |
| CN112053402B (en) * | 2020-07-30 | 2022-10-04 | 大连理工大学 | Method for obtaining course angle by using polarized geographic information database |
| CN112284366B (en) * | 2020-10-26 | 2022-04-12 | 中北大学 | Method for correcting course angle error of polarized light compass based on TG-LSTM neural network |
| CN113432611B (en) * | 2021-06-16 | 2023-04-28 | 北京理工大学 | Orientation device and method based on all-sky-domain atmospheric polarization mode imaging |
| CN114894197B (en) * | 2022-07-08 | 2022-10-21 | 北京航空航天大学 | Underwater polarization autonomous course calculation method based on zenith real-time tracking |
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| CN102052914B (en) * | 2010-11-12 | 2012-07-25 | 合肥工业大学 | Method calculating navigation direction angle by using sky polarization mode distribution rule |
| CN102538783A (en) * | 2012-02-14 | 2012-07-04 | 北京大学 | Bionic navigation method and navigation positioning system based on remote sensing sky polarization mode patterns |
| CN103759727B (en) * | 2014-01-10 | 2017-05-24 | 大连理工大学 | Navigation and positioning method based on sky polarized light distribution mode |
| CN103822629B (en) * | 2014-03-11 | 2017-02-22 | 大连理工大学 | Positioning system based on multi-directional polarized light navigation sensor and positioning method of positioning system |
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