CN111504303B - A miniature two-channel polarization navigation sensor and using method - Google Patents

Abstract

The invention relates to a miniature two-channel polarization navigation sensor and a using method. The sensor is a two-channel polarization navigation sensor, and the four optical paths of the two channels share optical lenses such as quartz plates, filters, polarizers, etc. A special polarizer is selected, and four different polarization directions are integrated on a single polarizer, namely 0°, 45°, 90° and 135°, of which 0° and 90° form channel 1, 45° and 135°. °Consists of channel two. In order to avoid the mutual interference of polarized light of different channels, and to reduce stray light, light splitting channels are designed on the bottom of the quartz plate and the filter assembly carrier and on the pressed aluminum plate. The present invention effectively realizes the polarization navigation angle

It has high precision, compact design structure, stable and reliable navigation process, and realizes miniaturization and light weight. It has broad application prospects in navigation of various moving objects.

Description

A miniature two-channel polarization navigation sensor and using method

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.

Background technique

The light from the sun is natural light, and natural light is unpolarized. Natural light that hits the earth will be polarized due to atmospheric scattering. The direction and intensity of polarization depends on the direction of incidence of the sunlight and the orientation of the observer. Therefore, the polarized light distribution pattern generated by atmospheric scattering can provide the observer on the ground with the direction information of the sun, so that the attitude and position of the observer can be determined.

According to different principles, the sensors used for atmospheric polarization detection can be divided into two types: polarization imaging sensors and bionic polarization navigation sensors.

The polarization imaging sensor is an all-sky polarization mode measurement device. The Chinese patent with the patent application number "201310287238.2" designs an image-based real-time synchronous acquisition device for the polarized light distribution pattern of the sky. The device consists of three digital cameras and a computer processing system. The three digital cameras contain three different polarizations respectively. Polar angle linear polarizer. Due to the limitation of principle, it is difficult to miniaturize the polarization imaging sensor.

The bionic polarization navigation sensor is an orientation measurement device. The Chinese patent with the patent application number "201310380079.0" designs a three-channel polarization navigation sensor, which uses a polarizing cube beam splitter as the polarizer. Adjust the polarization direction during assembly. The sensor contains three polarized light detection channels, each channel is composed of a pair of orthogonal polarized light sensitive units configured with logarithmic amplifiers. The analysis direction of each channel is 0°, 60° and 120° respectively with respect to the reference direction of the sensor. For processing the signals of the three channels, the angle between the reference direction of the sensor and the solar meridian can be calculated to realize navigation.

However, due to the isolation between each channel, the currently designed three-channel polarization navigation sensor with patent application numbers of "201110280146.2" and "201310380079.0" inevitably wastes space in mechanical design, resulting in an insufficiently compact structure. Moreover, the solution of polarization navigation information can be realized by using two polarization channels with different polarization polar directions. Of course, the use of three channels provides redundant information, but it is not necessary in practical applications.

At the same time, the different optical path transmission characteristics between each channel is mainly manifested in that the transmittance of the optical lens will inevitably cause errors in the electrical signal after logarithmic amplification. This error is expressed as the proportional relationship between the actual value and the actual value, which is a Multiplicative errors, which will lead to errors in the final navigation solution.

The use of multiple independent channels leads to the relative installation error between each polarization direction, which is manifested in that the polarization direction between the channels is not the accurate initial design value such as 0°, 60° and 120°, and it is also manifested in the two The angle between the orthogonal polarized light sensitive elements is not exactly 90°. The above two installation errors will be directly reflected in the polarization detection results, which have a great influence on the calculation of the navigation azimuth angle. This is especially true for the scheme using a circular polarizer. The polarizer needs to be rotated for alignment before each experiment. This alignment method is difficult to ensure high precision and brings inconvenience to installation. In practical applications, it is often not allowed to periodically correct the installation error of the polarization direction of the polarization sensor, especially in the case of severe vibration, the installation error becomes unpredictable. In addition, when the angles of polarization polarities between channels are 0°, 60° and 120°, the solution formula is not concise enough, and there is a rounding error.

Current polarization navigation sensors are bulky and heavy. The optical path transmission characteristics of each channel of the polarization navigation sensor using multiple independent channels are different, and there is a relative installation error between each polarization direction, which will lead to the error of the polarization navigation solution and affect the navigation effect in practical applications.

SUMMARY OF THE INVENTION

technical problem to be solved

In order to avoid the deficiencies of the prior art, the present invention proposes a miniature two-channel polarization navigation sensor and a method for using the same, which is a miniature polarization navigation sensor with light weight, small size and high precision, which can meet the requirements of vehicle, robot, It is used in the navigation of various moving objects such as unmanned aerial vehicles and spacecraft, especially in the application of moving objects that require miniaturized navigation systems. The designed miniature polarization sensor is simple and convenient to assemble, reliable and effective, and has high precision.

Technical solutions

A miniature two-channel polarization navigation sensor is characterized in that it comprises a mounting lens barrel 1, a polarizer carrier 2, a pressed aluminum sheet 3, a polarizer pressing ring 4, a quartz sheet and a filter pressing ring 5, an aluminum gasket 6, Filter carrier 7, outer pressure ring 8, quartz plate 10, filter 11, polarizer 15; In the inner cavity, the polarizer carrier 2 is located at the bottom of the installation lens barrel 1, and is fixed by the outer pressure ring 8; in the inner cavity formed by the polarizer carrier 2 and the filter carrier 7, a square rubber gasket 16 and a square polarizer are arranged in turn. 15. Polarizer rubber gasket 14, pressed aluminum plate 3, copper gasket 13, second quartz plate and filter rubber gasket 12, optical filter 11, aluminum gasket 6 and quartz plate 10; the polarizing plate The single polarizer adopted by the sheet 15 is provided with four different polarization directions, which are 0°, 45°, 90° and 135° respectively; the polarizer carrier 2, the filter carrier 7, the square rubber gasket 16, The polarizer rubber gasket 14, the pressed aluminum sheet 3, the copper gasket 13, the second quartz sheet and the filter rubber gasket 12 and the aluminum gasket 6 are provided with four different polarization directions on the single polarizer. through hole.

以及偏振度d的求解方程为：A method of using the miniature two-channel polarization navigation sensor, characterized in that: 0° and 90° form channel one, 45° and 135° form channel two, and the output end of each channel is connected to a logarithmic amplifier; The angle between the polarization directions of the two channels is selected to be 45°, so the navigation azimuth

And the solution equation for the degree of polarization d is:

p₁，p₂分别为通道一和通道二经过对数放大器之后的输出信号的直接测量量。in:

p ₁ , p ₂ are the direct measurement quantities of the output signals of channel 1 and channel 2 after the logarithmic amplifier is passed through, respectively.

beneficial effect

The invention provides a miniature two-channel polarization navigation sensor and its use method. The sensor is a two-channel polarization navigation sensor, and the four optical paths of the two channels share optical lenses such as quartz plates, filters and polarizers. A special polarizer is selected, and four different polarization directions are integrated on a single polarizer, namely 0°, 45°, 90° and 135°, of which 0° and 90° form channel 1, 45° and 135°. °Consists of channel two. In order to avoid mutual interference of polarized light of different channels, and to reduce stray light, light splitting channels are designed on the bottom of the quartz plate and the filter assembly carrier and on the pressed aluminum plate.

Each channel of the miniature polarization sensor designed by the invention shares the same optical lens, avoids the multiplicative error caused by the different optical path transmission characteristics among the channels, and also realizes the isolation of the optical channels among the channels.

The polarizer used in the miniature polarization sensor is a square polarizer with four different polarization directions integrated on a single lens. The angle between the polarization directions between the channels is fixed, and the polarization direction can be compensated by calibration. It avoids the influence of installation error on the calculation of the navigation azimuth angle, and makes the assembly simple and easy.

以及偏振度d的求解方程为：The miniature polarization sensor designed by the present invention is a two-channel polarization sensor. When the included angle between the polarization directions of the channels is 45°, and the included angle between the relative polarization directions is 60°, the formula for solving the polarization azimuth angle is concise. , to avoid the effects of rounding errors. Compared with the prior art, the angle between the polarization polar directions between the channels is 60°, and the angle is 60°.

And the solution equation for the degree of polarization d is:

项引入的舍入误差。The solution form is simpler, and there is no

rounding error introduced by the term.

的求解，而且精度较高，设计结构紧凑，导航过程稳定可靠，实现了小型化、轻型化，偏振敏感器组装简单易行，安装方便，可以应用在在车辆、机器人、无人飞行器、航天器等各类运动物体导航中，具有广阔的应用前景。The present invention effectively realizes the polarization navigation angle

It has high precision, compact design structure, stable and reliable navigation process, and realizes miniaturization and light weight. The polarization sensor is simple and easy to assemble and install. It has broad application prospects in navigation of various moving objects.

Description of drawings

Figure 1 is a top view of a miniature polarization sensor.

FIG. 2 is a P-P cross-sectional view of a miniature polarization sensor.

FIG. 3 is a schematic diagram of the polarization direction of the polarizer.

Figure 4 shows the quartz plate and filter assembly

Figure 5 is a cross-sectional view of the quartz plate and filter assembly

Figure 6 is a polarizer assembly

Figure 7 is a cross-sectional view of the polarizer assembly

In Figure 2, 1-Mounted lens barrel, 2-Polarizer carrier, 3-Pressed aluminum plate, 4-Polarizer pressure ring, 5-Quartz plate and filter pressure ring, 6-Aluminum spacer, 7-Quartz plate with filter carrier, 8-outer pressure ring, 9-first quartz plate and filter rubber gasket, 10-quartz plate, 11-filter, 12-second quartz plate and filter rubber gasket , 13-copper gasket, 14-polarizer rubber gasket, 15-polarizer, 16-square rubber gasket, 17-set screw.

Detailed ways

The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

Referring to Figures 1-3, the present invention includes 1-installation lens barrel, 2-polarizer carrier, 3-pressed aluminum sheet, 4-polarizer press ring, 5-quartz sheet and filter press ring, 6-aluminum gasket , 7- Quartz plate and filter carrier, 8- Outer pressure ring, 9- Quartz plate and filter rubber gasket 1, 10- Quartz plate, 11- Filter, 12- Quartz plate and filter rubber Gasket two, 13-copper gasket, 14-polarizer rubber gasket, 15-polarizer, 16-square rubber gasket, 17-set screw.

Assembly of quartz discs and filter assemblies. There is a circular lens groove in the quartz plate 10 and the filter carrier 7, first put the quartz plate and the filter rubber gasket-9, and then place the quartz plate 10 in the quartz plate and the filter rubber gasket-9 On the quartz plate 10, place the aluminum gasket 6, then place the filter 11 on the aluminum gasket 6, place the quartz plate and the filter rubber gasket 12 on the filter 11, and place the quartz plate and the filter rubber gasket 2 on the filter 11. The copper gasket 13 is placed on the second filter rubber gasket 12, and the quartz plate and the filter pressing ring 5 are screwed tightly to complete the assembly of the polarizer assembly.

Assembly of the polarizer assembly. The polarizer carrier 2 is provided with a square groove for placing a square polarizer, a square rubber gasket 16 is placed in the groove, the polarizer 15 is placed on the square rubber gasket 16, and then the polarizer rubber gasket 14 is placed, and the Press the aluminum sheet 3, screw two set screws 17 from the bottom of the polarizer carrier 2 to limit the position of the polarizer rubber gasket 14 and the pressed aluminum sheet 3, prevent the pressed aluminum sheet 3 from rotating and cause light shading, tighten the polarizer The plate pressing ring 4 completes the assembly of the polarizer assembly.

Put the polarizer assembly into the mounting lens barrel 1, and pay attention to align the set screw 17 at the bottom of the polarizer assembly with the limiting hole inside the mounting lens barrel 1 to limit the polarizer assembly. Put the bottom of the quartz plate and the filter assembly into the installation barrel 1 in an upward direction, and the quartz plate, the filter assembly and the polarizer assembly are limited by the bosses and grooves to prevent the quartz plate and the filter assembly. The rotation of the carrier 7 results in shading. At this time, tighten the outer pressure ring 8 to complete the assembly of the satellite polarization sensor.

The analyzer is shown in Figure 3. The selected polarizer integrates four different polarization directions on a single polarizer, which are 0°, 45°, 90° and 135°, of which 0° and 90° form the first channel. , 45° and 135° form the second channel, the polarizer is placed in the square lens slot, and the polarization direction can be guaranteed to be 0°, 45°, 90° and 135° respectively with the reference direction of the sensor without adjusting the polarization direction.

以及偏振度d的求解方程为：When in use, 0° and 90° form the first channel, 45° and 135° form the second channel, and the output end of each channel is connected to a logarithmic amplifier; Azimuth

And the solution equation for the degree of polarization d is:

p₁，p₂分别为通道一和通道二经过对数放大器之后的输出信号的直接测量量。in:

p ₁ , p ₂ are the direct measurement quantities of the output signals of channel 1 and channel 2 after the logarithmic amplifier is passed through, respectively.

以及偏振度d的求解方程为：Compared with the prior art, the angle between the polarization polar directions between the channels is 60°, and the angle is 60°.

And the solution equation for the degree of polarization d is:

p₁，p₂分别为通道一和通道二经过对数放大器之后的输出信号，为直接测量量。in,

p ₁ and p ₂ are the output signals of channel 1 and channel 2 after the logarithmic amplifier, respectively, which are directly measured quantities.

项引入的舍入误差。Comparing the two, it can be found that solving formulas 1 and 2 is simpler than formulas 3 and 4, and there is no

rounding error introduced by the term.

The present invention solves the current situation that the polarization navigation sensor is large in size and heavy in mass. For the polarization navigation sensor using a plurality of mutually independent channels, the optical path transmission characteristics between the channels are different, and there is a relative installation error between the polarization directions, which will lead to To solve problems such as the error of polarization navigation solution results, a miniature polarization navigation sensor is proposed. The polarization sensor is a two-channel polarization sensor, and the two channels share the same optical lens, thereby avoiding errors caused by different optical path transmission characteristics between the channels. The polarization sensor uses a polarizer integrated with four different polarization directions as the polarization analyzer, 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, high precision, simple and compact structure, simple and convenient processing and assembly.

Claims (2)

1. A miniature two-channel polarization navigation sensor, characterized in that it comprises an installation lens barrel (1), a polarizer carrier (2), a pressed aluminum sheet (3), a polarizer pressing ring (4), a quartz sheet and a filter Plate pressure ring (5), aluminum gasket (6), quartz plate and filter carrier (7), outer pressure ring (8), quartz plate (10), optical filter (11), polarizer (15) ; The polarizer carrier (2) and the quartz plate and the filter carrier (7) are circular groove structures, the notch is positioned opposite to the inner cavity of the installation lens barrel (1), and the polarizer carrier (2) is located in the installation lens barrel (1). 1) The bottom is fixed with an outer pressure ring (8); in the inner cavity formed by the polarizer carrier (2), the quartz plate and the filter carrier (7), a square rubber gasket (16), a square polarizer sheet (15), polarizer rubber gasket (14), pressed aluminum sheet (3), copper gasket (13), second quartz plate and filter rubber gasket (12), optical filter (11), The aluminum spacer (6) and the quartz plate (10); the single-piece polarizer adopted by the polarizer (15) is provided with four different polarization directions, which are 0°, 45°, 90° and 135° respectively; The polarizer carrier (2), the quartz plate and the filter carrier (7), the square rubber gasket (16), the polarizer rubber gasket (14), the pressed aluminum sheet (3), the copper gasket (13), Through holes are provided on the second quartz plate, the filter rubber gasket (12), the aluminum gasket (6) and the four different polarization directions on the single polarizer. 2. the using method of the described miniature two-channel polarization navigation sensor of claim 1, is characterized in that: 0 ° and 90 ° are formed channel one, 45 ° and 135 ° are formed channel two, and the output end of each channel is connected A logarithmic amplifier; the angle between the polarization directions of the two channels is selected to be 45°, so the navigation azimuth

And the solution equation for the degree of polarization d is:

in:

p ₁ , p ₂ are the direct measurement quantities of the output signals of channel 1 and channel 2 after the logarithmic amplifier is passed through, respectively.

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