CN111504303A - Miniature two-channel polarization navigation sensor and use method thereof - Google Patents
Miniature two-channel polarization navigation sensor and use method thereof Download PDFInfo
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- CN111504303A CN111504303A CN202010308066.2A CN202010308066A CN111504303A CN 111504303 A CN111504303 A CN 111504303A CN 202010308066 A CN202010308066 A CN 202010308066A CN 111504303 A CN111504303 A CN 111504303A
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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
- 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
Abstract
The invention relates to a miniature two-channel polarization navigation sensor and a use method thereof. A specially-made polarizing film is selected, four different polarization directions are integrated on a single polarizing film, wherein the four different polarization directions are respectively 0 degrees, 45 degrees, 90 degrees and 135 degrees, the 0 degrees and the 90 degrees form a first channel, and the 45 degrees and the 135 degrees form a second channel. In order to avoid mutual interference of polarized lights of different channels and reduce stray light, light splitting channels are designed at the bottoms of the quartz plate and the filter component carrier and on the pressed aluminum plate. The invention effectively realizes the polarization navigation angle
The solution has higher precision, compact design structure, stable and reliable navigation process, realizes miniaturization and light weight, is easy and feasible to assemble the polarization sensor, is convenient to install, and can be applied to vehicles, robots and unmanned planesThe navigation system has wide application prospect in navigation of various moving objects such as a vehicle, a spacecraft and the like.
Description
Technical Field
The invention belongs to a navigation sensor and an atmospheric polarization detection sensor, and relates to a miniature two-channel polarization navigation sensor and a using method thereof.
Background
The light emitted by the sun is natural light, which is unpolarized. Natural light striking the earth will be polarized due to the scattering effect of the atmosphere. The direction and intensity of the polarization depends on the direction of incidence of the sunlight and the orientation of the observer. Therefore, the polarized light distribution mode generated by atmospheric scattering can provide the direction information of the sun for the ground observer, so that the posture and the position of the observer can be determined.
According to different principles, sensors for atmospheric polarization detection can be divided into two types: a polarization imaging sensor and a bionic polarization navigation sensor.
The polarization imaging sensor is a measuring device of all-sky polarization mode. The chinese patent with patent application number "201310287238.2" designs an image-type sky polarized light distribution mode real-time synchronous acquisition device, which comprises three digital cameras and a computer processing system, wherein the three digital cameras respectively comprise three linear polarizers with different polarization angles. Due to principle limitations, it is difficult to miniaturize the polarization imaging sensor.
The bionic polarization navigation sensor is an orientation measuring device. The Chinese patent with the patent application number of '201310380079.0' designs a three-channel polarization navigation sensor, which adopts a polarization cube beam splitter as a polarizing plate, and compared with the design scheme of the polarization navigation sensor adopting a circular polarizing plate, the sensor avoids the adjustment of the polarization direction during assembly. The sensor comprises three polarized light detection channels, and each channel consists of a pair of orthogonal polarized light sensing units and a logarithmic amplifier. The polarization detection direction of each channel forms 0 degree, 60 degrees and 120 degrees respectively in the sensor reference direction, and the included angle between the sensor reference direction and the solar meridian can be calculated for processing signals of the three channels, so that navigation is realized.
However, because the channels are isolated from each other, the currently designed chinese patents with the patent application numbers "201110280146.2" and "201310380079.0" for three-channel polarization navigation sensors inevitably waste space in mechanical design, resulting in a structure that is not compact enough. And the calculation of the polarization navigation information can be realized by using two polarization channels with different polarization polarity directions, redundant information is provided by adopting three channels, and the method is not necessary in practical application.
Meanwhile, different optical path transmission characteristics among the channels are mainly shown in that the transmittance of the optical lens inevitably causes an error in the electric signal after logarithmic amplification, the error is shown as a proportional relation between a real value and an actual value, and is a multiplicative error, which leads to an error of final navigation calculation.
The use of multiple independent channels results in relative mounting errors between the polarization directions, which is manifested by inaccurate initial design values of polarization polarity directions between the channels, such as 0 °, 60 ° and 120 °, and also by inaccurate 90 ° of the included angle between two orthogonal polarization photosensitive units in a single channel. The two installation errors are directly reflected in the polarization detection result, and the calculation influence on the navigation azimuth angle is great. This is particularly true for the circular polarizer, which requires rotation of the polarizer for alignment before each experiment, which makes it difficult to ensure high accuracy and also makes installation inconvenient. In practical applications, it is often not allowed to correct the mounting error of the polarization direction of the polarization sensor periodically, especially in case of severe vibrations, the mounting error becomes unpredictable. And under the condition that polarization polar included angles among channels are 0 degrees, 60 degrees and 120 degrees, the solving formula form is not simple enough, and rounding errors exist.
The existing polarization navigation sensor has large volume and heavy mass. The transmission characteristics of the light paths of the channels of the polarization navigation sensor adopting a plurality of mutually independent channels are different, and relative installation errors exist among the polarization detection directions, so that the polarization navigation calculation result errors are caused, and the navigation effect is influenced in practical application.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a miniature two-channel polarization navigation sensor and a use method thereof, the miniature two-channel polarization navigation sensor is light in weight, small in size and high in precision, and can be applied to navigation of various moving objects such as vehicles, robots, unmanned aircrafts, spacecrafts and the like, particularly applied to the moving objects which have requirements on miniaturized navigation systems. The designed miniature polarization sensor is simple and convenient to assemble, reliable and effective and high in precision.
Technical scheme
A miniature two-channel polarization navigation sensor is characterized by comprising an installation lens cone 1, a polaroid carrier 2, a pressed aluminum sheet 3, a polaroid press ring 4, a quartz sheet and optical filter press ring 5, an aluminum gasket 6, an optical filter carrier 7, an outer press ring 8, a quartz sheet 10, an optical filter 11 and a polaroid 15; the polaroid carrier 2 and the optical filter carrier 7 are of circular groove structures, the notches are oppositely arranged in the inner cavity of the installation lens cone 1, and the polaroid carrier 2 is positioned at the bottom of the installation lens cone 1 and is fixed by an outer pressure ring 8; a square rubber gasket 16, a square polarizing film 15, a polarizing film rubber gasket 14, a pressed aluminum sheet 3, a copper gasket 13, a second quartz sheet and optical filter rubber gasket 12, an optical filter 11, an aluminum gasket 6 and a quartz sheet 10 are sequentially arranged in an inner cavity formed by the polarizing film carrier 2 and the optical filter carrier 7; the single polarizing plate adopted by the polarizing plate 15 is provided with four different polarization directions which are respectively 0 degree, 45 degrees, 90 degrees and 135 degrees; through holes are formed in the polarizing plate carrier 2, the optical filter carrier 7, the square rubber gasket 16, the polarizing plate rubber gasket 14, the pressed aluminum sheet 3, the copper gasket 13, the second quartz sheet and optical filter rubber gasket 12, and the aluminum gasket 6 and the single polarizing sheet in four different polarization directions.
The use method of the miniature two-channel polarization navigation sensor is characterized in that: forming a first channel by 0 degrees and 90 degrees, forming a second channel by 45 degrees and 135 degrees, and connecting the output end of each channel with a logarithmic amplifier; the included angle of the polarization polarity directions of the two channels is 45 degrees, so that the navigation azimuth angle
And the solution equation of the degree of polarization d is:
wherein:
p1，p2which are direct measurements of the output signal after channel one and channel two, respectively, have passed through a logarithmic amplifier.
Advantageous effects
The sensor is a two-channel polarization navigation sensor, and four optical paths of two channels share optical lenses such as a quartz plate, an optical filter, a polarizing plate and the like. A specially-made polarizing film is selected, four different polarization directions are integrated on a single polarizing film, wherein the four different polarization directions are respectively 0 degrees, 45 degrees, 90 degrees and 135 degrees, the 0 degrees and the 90 degrees form a first channel, and the 45 degrees and the 135 degrees form a second channel. In order to avoid mutual interference of polarized lights of different channels and reduce stray light, light splitting channels are designed at the bottoms of the quartz plate and the filter component carrier and on the pressed aluminum plate.
The micro polarization sensor designed by the invention shares the same optical lens among the channels, avoids multiplicative errors caused by different optical path transmission characteristics among the channels, and simultaneously realizes the isolation of the optical channels among the channels.
The polaroid adopted by the miniature polarization sensor is a square polaroid integrating four different polarization directions on a single lens, the included angle between the polarization directions of channels is fixed, the polarization direction error can be compensated through calibration, the influence of installation error on navigation azimuth calculation is avoided, and the assembly is simple and easy.
The micro polarization sensor designed by the invention is a two-channel polarization sensor, the included angle of the polarization directions between the channels is 45 degrees, and the included angle of the polarization directions is 60 degrees, so that the solving formula of the polarization azimuth angle is simple, and the influence of rounding errors is avoided. Compared with the prior art, the included angle of polarization polarity directions between channels is 60 degrees
And biasThe solving equation of the vibration degree d is as follows:
the solution form is simpler and does not exist
Rounding errors introduced by the terms.
The invention effectively realizes the polarization navigation angle
The solution has the advantages of high precision, compact design structure, stable and reliable navigation process, miniaturization and light weight, simple and easy assembly of the polarization sensor, convenient installation, wide application prospect, and the like, can be applied to navigation of various moving objects such as vehicles, robots, unmanned aircrafts, spacecrafts and the like.
Drawings
Fig. 1 is a top view of a micro-polarization sensor.
Fig. 2 is a cross-sectional view of the micro-polarization sensor taken along line P-P.
Fig. 3 is a schematic view showing polarization directions of polarizing plates.
FIG. 4 shows a quartz plate and optical filter assembly
FIG. 5 is a cross-sectional view of a quartz plate and optical filter assembly
FIG. 6 shows a polarizer assembly
FIG. 7 is a cross-sectional view of a polarizer assembly
In FIG. 2, 1-mount lens barrel, 2-polarizer carrier, 3-pressed aluminum sheet, 4-polarizer press ring, 5-quartz sheet and filter press ring, 6-aluminum spacer, 7-quartz sheet and filter carrier, 8-outer press ring, 9-first quartz sheet and filter rubber spacer, 10-quartz sheet, 11-filter, 12-second quartz sheet and filter rubber spacer, 13-copper spacer, 14-polarizer rubber spacer, 15-polarizer, 16-square rubber spacer, 17-set screw.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
referring to fig. 1 to 3, the present invention includes 1-mounting a lens barrel, 2-polarizer carrier, 3-pressing an aluminum sheet, 4-polarizer press ring, 5-quartz sheet and filter press ring, 6-aluminum spacer, 7-quartz sheet and filter carrier, 8-outer press ring, 9-quartz sheet and filter rubber spacer one, 10-quartz sheet, 11-filter, 12-quartz sheet and filter rubber spacer two, 13-copper spacer, 14-polarizer rubber spacer, 15-polarizer, 16-square rubber spacer, and 17-set screw.
And assembling the quartz plate and the optical filter component. A circular lens groove is formed in the quartz plate 10 and the optical filter carrier 7, a first quartz plate and an optical filter rubber gasket 9 are placed firstly, the quartz plate 10 is placed on the first quartz plate and the first optical filter rubber gasket 9, an aluminum gasket 6 is placed on the quartz plate 10, the optical filter 11 is placed on the aluminum gasket 6, a second quartz plate and an optical filter rubber gasket 12 are placed on the optical filter 11, a copper gasket 13 is placed on the second quartz plate and the second optical filter rubber gasket 12, the quartz plate and the optical filter pressing ring 5 are screwed, and the assembly of the polarizer assembly is completed.
And assembling the polarizer component. The polarizing plate carrier 2 is provided with a square groove for placing a square polarizing plate, a square rubber gasket 16 is placed in the groove, a polarizing plate 15 is placed on the square rubber gasket 16, a polarizing plate rubber gasket 14 is placed, a pressing aluminum sheet 3 is placed, two set screws 17 are screwed in from the bottom of the polarizing plate carrier 2 and used for limiting the polarizing plate rubber gasket 14 and the pressing aluminum sheet 3, the pressing aluminum sheet 3 is prevented from being shaded due to rotation, a polarizing plate pressing ring 4 is screwed, and the assembly of the polarizing plate assembly is completed.
The polarizer component is placed into the installation lens cone 1, and the fastening screw 17 at the bottom of the polarizer component is aligned to the limit hole in the installation lens cone 1, so that the polarizer component is limited. The quartz plate and the bottom of the optical filter component are placed into the lens barrel 1 in an upward mode, and the quartz plate, the optical filter component and the polarizer component are limited through the boss and the groove, so that the quartz plate and the optical filter carrier 7 are prevented from rotating to cause shading. At this time, the outer ring 8 is screwed to complete the assembly of the satellite polarization sensor.
The polarization detection device is characterized in that the polarization detection device refers to FIG. 3, a selected polarizing plate integrates four different polarization directions of 0 degree, 45 degrees, 90 degrees and 135 degrees on a single polarizing plate, wherein the 0 degree and 90 degrees form a first channel, the 45 degrees and 135 degrees form a second channel, the polarizing plate is placed in a square lens groove, and the polarization directions can be ensured to form 0 degrees, 45 degrees, 90 degrees and 135 degrees with the reference direction of the sensor respectively without adjusting the polarization directions.
When the device is used, a first channel is formed by 0 degrees and 90 degrees, a second channel is formed by 45 degrees and 135 degrees, and the output end of each channel is connected with a logarithmic amplifier; the included angle of the polarization polarity directions of the two channels is 45 degrees, so that the navigation azimuth angle
And the solution equation of the degree of polarization d is:
wherein:
p1，p2which are direct measurements of the output signal after channel one and channel two, respectively, have passed through a logarithmic amplifier.
Compared with the prior art that the included angle of polarization polarity directions between channels is 60 degrees
And the solution equation of the degree of polarization d is:
wherein the content of the first and second substances,
p1，p2the output signals of the channel I and the channel II after passing through the logarithmic amplifier are directly measured.
Comparing the two results, it can be seen that solving equations 1 and 2 is simpler than the equations 3 and 4, and there is no difference between them
Rounding errors introduced by the terms.
The invention solves the current situation that the existing polarization navigation sensor has large volume and heavy weight, and provides the miniature polarization navigation sensor aiming at the problems that the polarization navigation resolving result error and the like are caused by different optical path transmission characteristics and relative installation errors among all polarization directions of the polarization navigation sensor adopting a plurality of mutually independent channels. The polarization sensor is a two-channel polarization sensor, and the two channels share the same optical lens, so that errors caused by different optical path transmission characteristics between the channels are avoided. The polarization sensor selects the polaroids integrated with four different polarization directions as the polarization analyzing device, so that the relative installation error is fixed and can be compensated. The miniature polarization navigation sensor is reliable and effective, has the advantages of light weight, small volume and high precision, and has simple and compact structure and simple and convenient processing and assembly.
Claims (2)
1. A miniature two-channel polarization navigation sensor is characterized by comprising a mounting lens barrel (1), a polaroid carrier (2), a pressing aluminum sheet (3), a polaroid press ring (4), a quartz sheet and optical filter press ring (5), an aluminum gasket (6), an optical filter carrier (7), an outer press ring (8), a quartz sheet (10), an optical filter (11) and a polaroid (15); the polarizing plate carrier (2) and the optical filter carrier (7) are of circular groove structures, notches are oppositely arranged in an inner cavity of the installation lens barrel (1), the polarizing plate carrier (2) is located at the bottom of the installation lens barrel (1) and fixed through an outer pressing ring (8), a square rubber gasket (16), a square polarizing plate (15), a polarizing plate rubber gasket (14), a pressed aluminum sheet (3), a copper gasket (13), a second quartz sheet, an optical filter rubber gasket (12), an optical filter (11), an aluminum gasket (6) and a quartz sheet (10) are sequentially arranged in the inner cavity formed by the polarizing plate carrier (2) and the optical filter carrier (7), four different polarization directions are arranged on a single polarizing plate adopted by the polarizing plate (15) and are respectively 0 degree, 45 degrees, 90 degrees and 135 degrees, and the polarizing plate carrier (2), the optical filter carrier (7), the square rubber gasket (16) and the quartz sheet (, Through holes are arranged at the positions of four different polarization directions on the polaroid rubber gasket (14), the pressed aluminum sheet (3), the copper gasket (13), the second quartz sheet and the optical filter rubber gasket (12) and the aluminum gasket (6) and the single polaroid.
2. A method for using the miniature two-channel polarization navigation sensor of claim 1, wherein: forming a first channel by 0 degrees and 90 degrees, forming a second channel by 45 degrees and 135 degrees, and connecting the output end of each channel with a logarithmic amplifier; the included angle of the polarization polarity directions of the two channels is 45 degrees, so that the navigation azimuth angle
And the solution equation of the degree of polarization d is:
wherein:
p1，p2which are direct measurements of the output signal after channel one and channel two, respectively, have passed through a logarithmic amplifier.
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