CN111854957A - Underwater polarization autonomous orientation method based on underwater light intensity interference model - Google Patents
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Abstract
The invention discloses an underwater polarization autonomous orientation method based on an underwater light intensity interference model, which is characterized in that aiming at the influence of the depth turbidity of a water body on the underwater light intensity, a mapping relation between the depth turbidity of the water body and an output equation of an underwater polarization sensor is established, then the optical path loss of the underwater polarization sensor, the optical path coupling of adjacent channels and the rotation error of an analyzer are considered, and a polarization output measurement equation based on an underwater multi-interference condition is established; aiming at the problems of strong interference of an underwater low signal-to-noise ratio environment, large uncertainty of light and the like, underwater polarization information is solved by using an antagonistic operation mode, an underwater carrier attitude measurement model is established, and the acquisition of course information of an underwater carrier is realized. The method fully considers the influence of the underwater low signal-to-noise ratio environment on polarization measurement, establishes a polarization output measurement equation based on the underwater multi-interference condition, solves underwater polarization information by using an antagonistic algorithm, effectively improves the extraction capability of the low signal-to-noise ratio underwater environment polarization signal, and realizes autonomous orientation of the underwater carrier based on underwater polarization.
Description
Technical Field
The invention relates to an underwater polarization autonomous orientation method based on an underwater light intensity interference model, which is characterized in that aiming at the special complexity of an underwater environment, the influence of the underwater low signal-to-noise ratio environment on polarization measurement is fully considered, a polarization output measurement equation based on an underwater multi-interference condition is established, an antagonism algorithm is used for resolving polarization information, the extraction capability of the low signal-to-noise ratio underwater environment polarization signal is effectively improved, and finally the autonomous orientation of an underwater carrier is realized based on the underwater polarization.
Background
Aquatic organisms can capture underwater polarized light information and treat the underwater polarized light information as a special orientation clue. The related research of the underwater polarization navigation technology mainly develops towards two directions, one is underwater navigation information acquisition based on a point source type polarization sensor, and the other is underwater navigation information acquisition based on an image type polarization sensor. The complicated underwater environment has great influence on the polarization measurement, the point source type polarization sensor is one of the main means for acquiring the underwater polarized light, the signal acquisition capability of the point source type polarization sensor in the underwater environment with low signal-to-noise ratio is still to be improved, and the orientation technology based on the underwater polarization is still to be researched.
A bionic polarization sensor multi-source error calibration method based on self-adaption UFK is disclosed in patent No. CN201811414147.X, multi-source errors are considered in a polarization model, and a measurement model containing a multi-source error output system is established, but the output measurement model mainly aims at atmospheric polarization, the underwater environment is complex, and the light intensity uncertainty is large, so that the output measurement model cannot be applied to underwater polarization acquisition. The granted chinese patent CN200810246233.4 "four-channel atmospheric polarization information detection sensor signal processing and compensation method" obtains polarization information by combining a plurality of independent polarization detection channels, so as to solve navigation information, but it does not consider the influence of an underwater low signal-to-noise ratio environment on polarization signal extraction, does not have the influence of an underwater multi-interference environment on polarization information solution precision, and cannot be applied to an underwater environment. Therefore, a polarization output measurement model with large uncertainty of underwater light intensity and strong environmental interference needs to be established, the underwater environment polarization signal extraction means with low signal-to-noise ratio needs to be improved, and the underwater polarization orientation technology is still to be researched.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method solves the problem that the interference of the existing underwater polarization acquisition in the low signal-to-noise ratio underwater environment is high in uncertainty, improves the extraction capability of the polarization signal in the multi-interference underwater environment, researches the underwater orientation technology based on polarization, and provides the underwater polarization autonomous orientation method based on the underwater light intensity interference model. Firstly, aiming at the influence of the water depth and the turbidity on the input light intensity of the point source type polarization sensor, the input light intensity of the polarization sensor under a certain water depth is represented by introducing a light intensity attenuation coefficient, and the mapping relation between the water depth turbidity and the output light intensity of the point source type polarization sensor is established. Then, the coupling effect of the optical paths of the adjacent channels is introduced, the coupling effect coefficient of the optical paths is introduced for error compensation, in addition, the optical path loss and the polarization installation angle error of the detection channel in the underwater environment are considered, the light intensity transmission coefficient and the polarization installation error are introduced, and a polarization output measurement equation based on the underwater multi-interference condition is established. And then, resolving underwater polarization information by using an antagonistic operation mode to obtain a polarization vector under the module system. And finally, establishing an attitude measurement model based on underwater polarization according to the vertical relation between the underwater polarization vector and the sun vector, and finally calculating the course of the underwater carrier.
The technical scheme of the invention is as follows: an underwater polarization autonomous orientation method based on an underwater light intensity interference model comprises the following steps:
(1) establishing a mapping relation between the depth z and the turbidity T and the output light intensity of the underwater point source type polarization sensor; aiming at the influence of depth and turbidity on the underwater input light intensity of the point source type polarization sensor, representing the input light intensity of the point source type polarization sensor by establishing the relation between the depth and turbidity and the initial light intensity of the water surface, and establishing the mapping relation between the water depth turbidity and the output equation of the underwater polarization sensor;
(2) the method comprises the following steps that six detection channels are shared in an underwater point source type polarization sensor and are arranged in a circumferential mode, and an adjacent channel interference coupling equation is established on the basis of an adjacent channel light path interference transmission principle; on the basis of the step (1), aiming at the problems of uncertain factors of underwater complex environment and strong influence of stray light on the transmission of a channel light path, introducing detectionMeasuring stray light interference coefficient sigma of two adjacent channels of channel1And σ2Establishing an interference coupling equation of adjacent channels;
(3) introducing a sensor multi-interference condition coefficient, and establishing an underwater polarization output measurement equation; on the basis of the step (2), the light intensity transfer coefficient omega is introduced by considering the underwater light path loss, adjacent channel light path coupling and polarization installation angle error of the point source type polarization sensor iOptical path coupling coefficient betaiAnd polarization installation angle error coefficientiEstablishing a light path coupling coefficient beta based on the light intensity attenuation coefficient k, the depth z and the light pathiLight intensity transfer coefficient omegaiAnd polarization installation angle error coefficientiThe polarization output measurement equation based on the underwater multi-interference condition;
(4) resolving underwater polarization degree d by utilizing antagonistic operation modewAnd angle of polarization
Combining the polarization output measurement equation of the underwater multi-interference condition given in the step (3), establishing an antagonistic operation equation of the opposite polarization detection channel
In order to detect the output value of the channel measurement equation,
measuring an equation output value for the opposite channel of the detection channel, converting the equation into a linear equation, and obtaining the underwater polarization degree and the polarization angle by using least square to obtain the underwater polarization vector under a polarization sensor module system
(5) Polarizing vector under the polarization sensor module system obtained in the step (4)
Conversion to polarization vector under navigation
According to polarization vector
With the sun vector snAnd establishing a relation equation between a polarization vector and a sun vector under a navigation system according to the vertical relation between the vector and the sun vector, finally establishing a carrier attitude measurement model based on underwater polarization, and resolving the course information of the underwater carrier through inertial navigation strapdown.
Further, in the step (1), the depth and turbidity of the water body may affect the input light intensity of the underwater point source type polarization sensor, and the turbidity represents a light intensity attenuation coefficient, so that the input light intensity of the underwater point source type polarization sensor with the depth z and the turbidity T is represented as:
Iin＝I0e-k(T)z
Wherein, I0The initial illumination intensity of the water surface, and k (T) is the light intensity attenuation coefficient related to the depth;
according to the optical polarization correlation knowledge, the underwater polarization output equation based on the light intensity attenuation coefficient is expressed as follows:
wherein f isiFor the ith detection channel of the underwater polarization sensor to output light intensity I0Is the initial illumination intensity of the water surface, T is the turbidity of the water body, z is the depth of the water body, alphaiFor the ith detection channel, the direction angle is examined, dwAnd
respectively representing the degree of polarization and the angle of polarization under water.
Further, in the step (2), considering the influence of stray light of adjacent channels in the underwater environment on the optical path of the detection channel, and by integrating the interference transmission principle of the optical path of the adjacent channels, establishing an interference transmission equation of each adjacent channel as follows:
wherein the content of the first and second substances,
and
disturbing the light intensity for adjacent channels; sigma1And σ2And expressing the stray light interference coefficient of the adjacent channel of the detection channel, so that the adjacent channel interference is coupled with the equation:
combining the interference transmission equation and the interference coupling equation of the adjacent channels to obtain the following relation:
order:
obtaining an interference coupling equation:
further, in the step (3), the detection channel light beam has corresponding light intensity loss in the underwater transmission process, and at this time, the detection channel output measurement equation is as follows:
Wherein, ω isiThe light intensity transmission coefficient of the detection channel is detected; combining the interference coupling equation of the adjacent channels in the step (2), the underwater polarization output measurement equation under the condition of optical path coupling is expressed as follows:
namely, it is
Combining the trigonometric function related knowledge to obtain an underwater polarization output measurement equation under the condition of light path coupling:
wherein, betaiFor the optical path coupling coefficient, psi, of adjacent channelsiIs the polarization mount angle;
considering the rotation error of the analyzer, the light intensity attenuation coefficient k, the depth z and the optical path coupling coefficient beta are establishediLight intensity transfer coefficient omegaiAnd polarization installation angle error coefficientiThe underwater multi-interference condition polarization output measurement equation is as follows:
wherein v isiRepresenting the measured white gaussian noise of the i-th detection channel.
Furthermore, in the step (4), after the parameters of the coefficients are identified, aiming at the problems of strong interference of an underwater low signal-to-noise ratio environment and uncertainty of light, a mantis shrimp polarization antagonism operation method is simulated to solve the underwater polarization degree and the polarization angle:
wherein i 1,3,5 and j 2,4,6 denote vertical opponent detection channels; the point source type polarization sensor measurement equation is as follows:
wherein the content of the first and second substances,
obtaining underwater polarization degree d by using least square methodwAnd angle of polarization phiwThen the module has the following polarization vectors:
further, in the step (5), the module system obtained in the step (4) is subjected to polarization vector reduction 
Conversion to a navigation system lower polarization vector
Wherein the content of the first and second substances,
for the transformation matrix between the module system and the carrier system, it is assumed that the two coordinate systems coincide
Converting a coordinate matrix between the carrier system and the navigation system; according to polarization vector
With the sun vector SnThe vertical relation between the two sets of the vector-based navigation system establishes a relation equation between the polarization vector and the sun vector under the navigation system:
finally, obtaining an underwater polarization measurement model according to the relation:
wherein the attitude transformation matrix
For practical measurement of underwater polarization measurements, phi is the misalignment angle of the platform, vpolMeasuring noise for the system; and obtaining course information of the underwater carrier after inertial navigation strapdown resolving and Kalman filtering.
Compared with the prior art, the invention has the advantages that:
(1) the influence of an underwater complex environment on polarization measurement is comprehensively considered, a polarization output measurement equation based on an underwater multi-interference condition is established, and the resolving precision of underwater polarization information can be effectively improved;
(2) the underwater environment interference factors are many, the uncertainty of light intensity is large, the underwater polarization information is solved by applying an antagonistic operation mode, and the amplitude and the contrast of the underwater environment polarization signal with low signal-to-noise ratio can be improved;
(3) an underwater carrier attitude measurement model is established according to the relation between the underwater polarization vector and the sun vector, and autonomous orientation based on underwater polarization is realized.
Drawings
FIG. 1 is a flow chart of an underwater polarization autonomous orientation method based on an underwater light intensity interference model.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
As shown in fig. 1, the underwater polarization autonomous orientation method based on the underwater light intensity interference model of the present invention comprises the following specific implementation steps:
(1) establishing a mapping relation between the depth z and the turbidity T and the output light intensity of the underwater point source type polarization sensor; aiming at the influence of depth and turbidity on the underwater input light intensity of the point source type polarization sensor, representing the input light intensity of the point source type polarization sensor by establishing the relation between the depth and turbidity and the initial light intensity of the water surface, and establishing the mapping relation between the water depth turbidity and the output equation of the underwater polarization sensor;
(2) the method comprises the following steps that six detection channels are shared in an underwater point source type polarization sensor and are arranged in a circumferential mode, and an adjacent channel interference coupling equation is established on the basis of an adjacent channel light path interference transmission principle; on the basis of the step (1), aiming at the problems of uncertain factors of underwater complex environment and strong influence of stray light on channel light path transmission, introducing a stray light interference coefficient sigma of two adjacent channels of a detection channel 1And σ2And establishing an adjacent channel interference coupling equation.
(3) Introducing a sensor multi-interference condition coefficient, and establishing an underwater polarization output measurement equation; on the basis of the step (2), the underwater optical path loss, adjacent channel optical path coupling and polarization installation angle error of the point source type polarization sensor are consideredStrong transmission coefficient of incident light omegaiOptical path coupling coefficient betaiAnd polarization installation angle error coefficientiEstablishing a light path coupling coefficient beta based on the light intensity attenuation coefficient k, the depth z and the light pathiLight intensity transfer coefficient omegaiAnd polarization installation angle error coefficientiThe polarization output measurement equation based on the underwater multi-interference condition;
(4) resolving underwater polarization degree d by utilizing antagonistic operation modewAnd angle of polarization
Combining the polarization output measurement equation of the underwater multi-interference condition given in the step (3), establishing an antagonistic operation equation of the opposite polarization detection channel
In order to detect the output value of the channel measurement equation,
measuring an equation output value for the opposite channel of the detection channel, converting the equation into a linear equation, and obtaining the underwater polarization degree and the polarization angle by using least square to obtain the underwater polarization vector under a polarization sensor module system
(5) Polarizing vector under the polarization sensor module system obtained in the step (4) 
Conversion to polarization vector under navigation
According to polarization vector
With the sun vector snThe vertical relationship between themAnd (3) establishing a relation equation of the polarization vector and the sun vector under the navigation system, finally establishing a carrier attitude measurement model based on underwater polarization, and resolving the course information of the underwater carrier through inertial navigation strapdown.
The step (1) is specifically realized as follows:
the water depth and the turbidity can influence the input light intensity of the underwater point source type polarization sensor, the turbidity is expressed as a light intensity attenuation coefficient, and the input light intensity of the underwater point source type polarization sensor with the depth of z and the turbidity of T is expressed as follows:
Iin＝I0e-k(T)z
wherein, I0The initial illumination intensity of the water surface, and k (T) is the light intensity attenuation coefficient related to the depth;
according to the optical polarization correlation knowledge, the underwater polarization output equation based on the light intensity attenuation coefficient is expressed as follows:
wherein f isiFor the ith detection channel of the underwater polarization sensor to output light intensity I0Is the initial illumination intensity of the water surface, T is the turbidity of the water body, z is the depth of the water body, alphaiFor the ith detection channel, the direction angle is examined, dwAnd
respectively representing the degree of polarization and the angle of polarization under water.
The step (2) is specifically realized as follows:
considering the influence of stray light of adjacent channels on the light path of the detection channel in the underwater environment, and integrating the interference transmission principle of the light path of the adjacent channels, establishing the interference transmission equation of each adjacent channel as follows:
Wherein the content of the first and second substances,
and
disturbing the light intensity for adjacent channels; sigma1And σ2And expressing the stray light interference coefficient of the adjacent channel of the detection channel, so that the adjacent channel interference is coupled with the equation:
combining the interference transmission equation and the interference coupling equation of the adjacent channels to obtain the following relation:
order:
obtaining an interference coupling equation:
the step (3) is specifically realized as follows:
the detection channel light beam has corresponding light intensity loss in the underwater transmission process, and the detection channel output measurement equation at the moment is as follows:
wherein, ω isiThe light intensity transmission coefficient of the detection channel is detected; combining the interference coupling of adjacent channels in step (2)The resultant equation, the underwater polarization output measurement equation under the condition of optical path coupling is expressed as:
namely, it is
Combining the trigonometric function related knowledge to obtain an underwater polarization output measurement equation under the condition of light path coupling:
wherein, betaiFor the optical path coupling coefficient, psi, of adjacent channelsiIs the polarization mount angle;
considering the rotation error of the analyzer, the light intensity attenuation coefficient k, the depth z and the optical path coupling coefficient beta are establishediLight intensity transfer coefficient omegaiAnd polarization installation angle error coefficientiThe underwater multi-interference condition polarization output measurement equation is as follows:
wherein v isiRepresenting the measured white gaussian noise of the i-th detection channel.
The step (4) is specifically realized as follows:
After the parameters are identified, aiming at the problems of strong interference of underwater low signal-to-noise ratio environment and uncertainty of light, the mantis shrimp polarization antagonism operation method is simulated to solve the underwater polarization degree and polarization angle:
wherein i 1,3,5 and j 2,4,6 denote vertical opponent detection channels; the point source type polarization sensor measurement equation is as follows:
wherein the content of the first and second substances,
obtaining underwater polarization degree d by using least square methodwAnd angle of polarization phiwAnd then the polarization vector under the underwater polarization sensor module is:
the step (5) is specifically realized as follows:
the module system lower polarization vector obtained in the step (4)
Conversion to a navigation system lower polarization vector
Wherein the content of the first and second substances,
for the transformation matrix between the module system and the carrier system, it is assumed that the two coordinate systems coincide
Converting a coordinate matrix between the carrier system and the navigation system; according to polarization vector
With the sun vector SnThe vertical relation between the two sets of the vector-based navigation system establishes a relation equation between the polarization vector and the sun vector under the navigation system:
finally, obtaining an underwater polarization measurement model according to the relation:
wherein the attitude transformation matrix
For practical measurement of underwater polarization measurements, phi is the misalignment angle of the platform, vpolMeasuring noise for the system; and obtaining course information of the underwater carrier after inertial navigation strapdown resolving and Kalman filtering.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, but various changes may be apparent to those skilled in the art, and it is intended that all inventive concepts utilizing the inventive concepts set forth herein be protected without departing from the spirit and scope of the present invention as defined and limited by the appended claims.
Claims (6)
1. An underwater polarization autonomous orientation method based on an underwater light intensity interference model is characterized by comprising the following steps:
(1) establishing a mapping relation between the depth z and the turbidity T and the output light intensity of the underwater point source type polarization sensor; aiming at the influence of depth and turbidity on the underwater input light intensity of the point source type polarization sensor, representing the input light intensity of the point source type polarization sensor by establishing the relation between the depth and turbidity and the initial light intensity of the water surface, and establishing the mapping relation between the water depth turbidity and the output equation of the underwater polarization sensor;
(2) the method comprises the following steps that six detection channels are shared in an underwater point source type polarization sensor and are arranged in a circumferential mode, and an adjacent channel interference coupling equation is established on the basis of an adjacent channel light path interference transmission principle; on the basis of the step (1), aiming at the problems of uncertain factors of underwater complex environment and strong influence of stray light on channel light path transmission, introducing a stray light interference coefficient sigma of two adjacent channels of a detection channel 1And σ2Establishing an interference coupling equation of adjacent channels;
(3) introducing a sensor multi-interference condition coefficient, and establishing an underwater polarization output measurement equation; on the basis of the step (2), the light intensity transfer coefficient omega is introduced by considering the underwater light path loss, adjacent channel light path coupling and polarization installation angle error of the point source type polarization sensoriOptical path coupling coefficient betaiAnd polarization installation angle error coefficientiEstablishing a light path coupling coefficient beta based on the light intensity attenuation coefficient k, the depth z and the light pathiLight intensity transfer coefficient omegaiAnd polarization installation angle error coefficientiThe polarization output measurement equation based on the underwater multi-interference condition;
(4) resolving underwater polarization degree d by utilizing antagonistic operation modewAnd angle of polarization
Combining the polarization output measurement equation of the underwater multi-interference condition given in the step (3), establishing an antagonistic operation equation of the opposite polarization detection channel
In order to detect the output value of the channel measurement equation,
measuring an equation output value for the opposite channel of the detection channel, converting the equation into a linear equation, and obtaining the underwater polarization degree and the polarization angle by using least square to obtain the underwater polarization vector under a polarization sensor module system
(5) Polarizing vector under the polarization sensor module system obtained in the step (4) 
Conversion to polarization vector under navigation
According to polarization vector
With the sun vector snAnd establishing a relation equation between a polarization vector and a sun vector under a navigation system according to the vertical relation between the vector and the sun vector, finally establishing a carrier attitude measurement model based on underwater polarization, and resolving the course information of the underwater carrier through inertial navigation strapdown.
2. The underwater polarization autonomous orientation method based on the underwater light intensity interference model according to claim 1, characterized in that:
in the step (1), the depth and the turbidity of the water body can influence the input light intensity of the underwater point source type polarization sensor, and the turbidity represents a light intensity attenuation coefficient, so that the input light intensity of the underwater point source type polarization sensor with the depth of z and the turbidity of T is represented as follows:
Iin＝I0e-k(T)z
wherein, I0The initial illumination intensity of the water surface, and k (T) is the light intensity attenuation coefficient related to the depth;
according to the optical polarization correlation knowledge, the underwater polarization output equation based on the light intensity attenuation coefficient is expressed as follows:
wherein f isiFor the ith detection channel of the underwater polarization sensor to output light intensity I0Is the initial illumination intensity of the water surface, T is the turbidity of the water body, z is the depth of the water body, alphaiFor the ith detection channel, the direction angle is examined, dwAnd
respectively representing the degree of polarization and the angle of polarization under water.
3. The underwater polarization autonomous orientation method based on the underwater light intensity interference model according to claim 1, characterized in that:
in the step (2), considering the influence of stray light of adjacent channels in the underwater environment on the light path of the detection channel, and integrating the interference transmission principle of the light path of the adjacent channels, establishing an interference transmission equation of each adjacent channel as follows:
wherein the content of the first and second substances,
and
disturbing the light intensity for adjacent channels; sigma1And σ2And expressing the stray light interference coefficient of the adjacent channel of the detection channel, so that the adjacent channel interference is coupled with the equation:
combining the interference transmission equation and the interference coupling equation of the adjacent channels to obtain the following relation:
order:
G1＝(σ1+σ2)/2,
obtaining an interference coupling equation:
4. the underwater polarization autonomous orientation method based on the underwater light intensity interference model according to claim 1, characterized in that:
in the step (3), the detection channel light beam has corresponding light intensity loss in the underwater transmission process, and the detection channel output measurement equation at this time is as follows:
wherein, ω isiThe light intensity transmission coefficient of the detection channel is detected; combining the interference coupling equation of the adjacent channels in the step (2), the underwater polarization output measurement equation under the condition of optical path coupling is expressed as follows:
namely, it is
Combining the trigonometric function related knowledge to obtain an underwater polarization output measurement equation under the condition of light path coupling:
Wherein, betaiFor the optical path coupling coefficient, psi, of adjacent channelsiIs the polarization mount angle;
considering the rotation error of the analyzer, the light intensity attenuation coefficient k, the depth z and the optical path coupling coefficient beta are establishediLight intensity transfer coefficient omegaiAnd polarization installation angle error coefficientiThe underwater multi-interference condition polarization output measurement equation is as follows:
wherein v isiRepresenting the measured white gaussian noise of the i-th detection channel.
5. The underwater polarization autonomous orientation method based on the underwater light intensity interference model according to claim 1, characterized in that:
in the step (4), after the parameters of the coefficients are identified, aiming at the problems of strong interference of an underwater low signal-to-noise ratio environment and uncertainty of light, a mantis shrimp polarization antagonism operation method is simulated to solve the underwater polarization degree and the polarization angle:
wherein i 1,3,5 and j 2,4,6 denote vertical opponent detection channels; the point source type polarization sensor measurement equation is as follows:
wherein the content of the first and second substances,
obtaining underwater polarization degree d by using least square methodwAnd angle of polarization phiwIf the polarization vector of the sensor module is:
6. the underwater polarization autonomous orientation method based on the underwater light intensity interference model according to claim 1, characterized in that:
in the step (5), the lower polarization vector of the sensor module system obtained in the step (4) is used 
Conversion to a navigation system lower polarization vector
Wherein the content of the first and second substances,
for the transformation matrix between the module system and the carrier system, it is assumed that the two coordinate systems coincide
Converting a coordinate matrix between the carrier system and the navigation system; according to polarization vector
With the sun vector SnThe vertical relation between the two sets of the vector-based navigation system establishes a relation equation between the polarization vector and the sun vector under the navigation system:
finally, obtaining an underwater polarization measurement model according to the relation:
wherein the attitude transformation matrix
For practical measurement of underwater polarization measurements, phi is the misalignment angle of the platform, vpolMeasuring noise for the system; and obtaining course information of the underwater carrier after inertial navigation strapdown resolving and Kalman filtering.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113487504A (en) * | 2021-07-01 | 2021-10-08 | 天津大学 | Underwater gray level polarization image restoration method based on generation countermeasure network |
| CN113834570A (en) * | 2021-11-25 | 2021-12-24 | 北京航空航天大学 | Underwater polarization sensor multi-parameter optimization calibration method considering dark current |
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| CN116222550A (en) * | 2023-05-08 | 2023-06-06 | 北京航空航天大学 | Underwater polarized sun calculation method with depth adaptability |
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| CN114877898A (en) * | 2022-07-11 | 2022-08-09 | 北京航空航天大学 | Sun dynamic tracking method based on underwater polarization attitude and refraction coupling inversion |
| CN114877898B (en) * | 2022-07-11 | 2022-10-18 | 北京航空航天大学 | Sun dynamic tracking method based on underwater polarization attitude and refraction coupling inversion |
| CN116222550A (en) * | 2023-05-08 | 2023-06-06 | 北京航空航天大学 | Underwater polarized sun calculation method with depth adaptability |
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