CN114894197B - Underwater polarization autonomous course calculation method based on zenith real-time tracking - Google Patents
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Abstract
The invention relates to an underwater polarization autonomous course calculation method based on zenith real-time tracking. Firstly, calculating a criterion of the traceability of a zenith point under a geographic coordinate system by utilizing a camera lens model, a pitch angle and a roll angle; for scenes meeting the criterion of the traceability of the zenith, solving an underwater polarization azimuth angle image and an underwater polarization degree image from the underwater polarization light intensity image; dynamically tracking the mapping point pixel coordinates of the zenith point in the underwater polarization azimuth image by using the pitch angle, the roll angle and the lens model; and then resolving the solar azimuth angle with ambiguity, eliminating the ambiguity according to the underwater polarization degree image, and solving the carrier course by combining the solar azimuth angle under the geographic coordinate system calculated by the solar calendar. The invention reduces the calculation error caused by refraction by utilizing the polarization information of the zenith, reduces the complexity of a calculation model and is beneficial to realizing the real-time determination of the underwater course.
Description
Technical Field
The invention belongs to the field of underwater polarized light navigation, and particularly relates to an underwater polarized autonomous course calculation method based on zenith real-time tracking.
Background
The insect can utilize the atmospheric polarized light to realize the determination of the self course, which brings inspiration to the research of the human autonomous navigation technology and develops the bionic polarized navigation. The bionic polarization navigation has the advantages of strong autonomy, no error accumulation and the like, and can be used as an effective navigation means in the scene of refusing the countermeasure and the electromagnetic interference. However, the research on underwater polarized navigation has not been paid extensive attention, but for the environmental characteristics that underwater navigation information is more limited, underwater polarized light navigation will be a powerful supplement to underwater navigation means.
Compared with atmospheric polarization navigation, the underwater polarization navigation model is more complex due to the optical effects of refraction of the water surface, water scattering and the like. How to extract navigation information from an underwater polarization distribution mode under the action of complex optics is a premise for realizing underwater polarized light navigation. An article "ant-amplified cellular complex applied to auto-nomous outdoor robot navigation" designs a point-source type underwater polarized light sensor which can be used for acquiring zenith polarization information, but the sensor can only be placed on a horizontal platform, and the sensor consumes a long time for one-time measurement and cannot eliminate polarization ambiguity; the invention patent CN201911252040.4 of China proposes a solar tracking method based on refraction polarized light in a Snell window, which inverts an obtained underwater polarization distribution mode by compensating the refraction effect of a water surface to obtain an atmospheric polarization distribution mode, but the method requires that a carrier is horizontally placed, has large calculation amount and is not beneficial to real-time solution, and utilizes a fisheye lens to have error sources such as nonlinear distortion.
Disclosure of Invention
In order to solve the technical problem, the invention provides an underwater polarization autonomous course calculation method based on zenith real-time tracking, which determines zenith vector imaging coordinates from an underwater polarization image by using a pitch angle and a roll angle so as to obtain a polarization azimuth angle of polarized light at the zenith, eliminates polarization ambiguity by using underwater polarization degree image information, and finally realizes real-time determination of course information by combining a solar azimuth angle under a geographic coordinate system calculated by solar calendar.
The technical scheme adopted by the invention for solving the technical problems is as follows: an underwater polarization autonomous course calculation method based on zenith real-time tracking comprises the following implementation steps:
(1) Utilize camera lens model xi and image type polarization sensor pitch angleθAnd roll angleγCalculating a criterion of trackability of zenith points of a geographic coordinate system, wherein the geographic coordinate system is a g system;
(2) For scenes meeting zenith traceability criteria, acquiring an underwater polarized light intensity image P by using an image type polarization sensor k Solving an underwater polarization azimuth angle image A and an underwater polarization degree imageDWhereinkdifferent polarization analysis directions;
(3) Using image-based polarization sensor pitch angleθAnd roll angleγDynamically tracking mapping point pixel coordinates of zenith point in underwater polarization azimuth angle image A under a geographic coordinate systemm z ,n z ]Determining a zenith area R by taking the pixel as a center, and acquiring a zenith polarization azimuth angle by using a pixel value in the zenith area R in the underwater polarization azimuth angle image Ap z ；
(4) Utilizing the zenith polarization azimuth determined in the step (3)p z Resolving solar azimuth with ambiguity
And according to the underwater polarization degree image obtained in the step (2)DDisambiguating to solar azimuth in horizontal coordinate system
Solar azimuth angle in geographical coordinate system calculated by combining solar calendar
Calculating the heading of the carrier
Wherein the horizontal coordinate system ishIs described.
Further, the specific steps of the step (1) are as follows:
before the image type polarization sensor is used, a camera lens model xi is calibrated, and each pixel point in the image is determined through the camera lens modelm,n]Incident light propagation vector under camera coordinate systemv w I.e. byv w =Ξ([m,n]) (ii) a Or incident light propagation vector according to camera coordinate systemv w The calculation imaging pixel coordinate [ 2 ]m,n]I.e., [ 2 ]m,n]=round(Ξ -1 (v w ) Therein), whereinround() Means rounding off all elements in parentheses;
meanwhile, the visual angle of the lens is obtained through calibration of the camera lensα(ii) a Wherein the camera coordinate system iswIs a step of;
zenith traceability criterion is
If the condition is satisfied, the inclination of the zenith can be determinedOrientation is realized by the vibration azimuth angle.
Further, the specific steps of the step (2) are as follows:
the number of the polarization detection directions is not less than three, and more than three underwater polarized light intensity images P are obtained k Resolving underwater polarization azimuth angle image A and underwater polarization degree imageD(ii) a Wherein each pixel value of the underwater polarization azimuth angle image A is an underwater light field polarization azimuth angle and an underwater polarization degree imageDThe pixel value of (2) is the polarization degree of the underwater light field; wherein,kin different polarization directions.
Further, the specific steps of the step (3) are as follows:
zenith vector under geographic coordinate system
Expressed in a carrier coordinate system as:
defining the coincidence of the camera coordinate system and the carrier coordinate system, and expressing the transmission vector of the incident ray at the zenith as
(ii) a Wherein, the geographic coordinate system is g system, the carrier coordinate system is g systembIs a step of;
the pixel of the projection point A of the zenith underwater polarization azimuth angle image dynamically changes along with the attitude of the carrier, and the pixel coordinate of the pointm z ,n z ]Comprises the following steps:
in the term ofm z ,n z ]As a center, a certain pixel radius is selectedrIs the zenith region R, the pixel coordinate [ 2 ] in the zenith region Rm R ,n R ]The conditions of (A) are as follows:
for each pixel value in the underwater polarization azimuth angle image A, the polarization azimuth angle of the incident light corresponding to the pixel point is set, wherein for all pixel values in the zenith area RpAnd (4) averaging to obtain the zenith polarization azimuth angle:
wherein
And representing the polarization azimuth angle value of each pixel point in the zenith area R of the underwater polarization azimuth angle image A.
Further, the specific steps of the step (4) are as follows:
the sun meridian is perpendicular to the zenith polarization E vector, so the zenith polarization azimuth angle obtained in the step (3)p z Calculating the solar azimuth angle with ambiguity under the horizontal coordinate system
Comprises the following steps:
wherein, the horizontal coordinate system is expressed as an h system; in the underwater polarization degree image D obtained in the step (2), in terms of pixels [ 2 ]m z ,n z ]As the center of circle, are respectively atp z +90 ° andp z at an angle of-90 DEG in two directionsαIs a central angle, sodDetermining a sector area for a radiusS Ⅰ AndS Ⅱ the decision criteria are as follows:
for two sector areas in DS Ⅰ AndS Ⅱ the degree of polarization of (c) is averaged to give:
wherein,D Ⅰ ，D Ⅱ representing two sector-shaped regions in an underwater polarization degree image DS Ⅰ AndS Ⅱ the average value of the degrees of polarization of (a),N Ⅰ ，N Ⅱ representing two sector-shaped areasS Ⅰ AndS Ⅱ the number of the middle pixel points is increased,D m n(,) the pixel coordinate of the image D representing the degree of polarization under water is [ 2 ]m,n]The degree of polarization of the spot of (a);
the solar azimuth angle under the horizontal coordinate system is obtained by comparing and eliminating ambiguity through the polarization degree mean values of the two regions
：
The solar azimuth angle under the geographic coordinate system can be obtained according to the time, longitude and latitude information by the solar calendar
And obtaining the course of the carrier as follows:
compared with the prior art, the invention has the following advantages:
the method effectively utilizes the polarization information at the zenith, and has the following advantages compared with the prior art. 1) The calculation amount is smaller, and real-time calculation is realized more conveniently; 2) The incident polarized light at the zenith is vertical to the horizontal, is not influenced by refraction, has simple principle and further reduces the complexity of a calculation model; 3) The lens distortion is often introduced by utilizing the full-view information, and in the method, the imaging position of the zenith point under the geographic coordinate system in the image does not deviate from the imaging center pixel greatly, so that the error caused by the lens distortion is reduced. The invention effectively extracts and utilizes the polarization E vector of the polarized light incident vertically to the water surface from the underwater polarized image, and the polarization E vector is used for real-time determination of the course of the underwater moving body.
Drawings
FIG. 1 is a flow chart of an underwater polarization autonomous course calculation method based on zenith real-time tracking according to the present invention;
FIG. 2 is a spatial coordinate system and a transmission process of polarized light at a zenith according to the present invention;
fig. 3 is a schematic diagram of the relationship between the polarization degree distribution and the position of the sun according to the present invention.
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.
The method is inspired by the action that mantis shrimps are oriented by using zenith polarized light, the zenith polarization azimuth angle is acquired from the image type underwater polarization sensor by using attitude information, and the polarization ambiguity is eliminated by combining light intensity information in an image, so that the heading angle of the mantis shrimps is obtained. The polarized light incident at the zenith point is polarized light transmitted in the zenith direction and is not influenced by refraction, and the refraction can be omitted by utilizing the polarized light incident at the zenith point, so that the complexity of a calculation model is reduced. Meanwhile, the invention only utilizes the zenith polarization azimuth angle to reduce the calculated data amount and can improve the underwater course calculation speed.
According to an embodiment of the present invention, as shown in fig. 1, the method for calculating the underwater polarization autonomous heading based on zenith real-time tracking according to the present invention includes the following steps:
step 1, utilizing a camera lens model xi and an image type polarization sensor pitching angleθAnd roll angleγCalculating a criterion of traceability of zenith points of a geographic coordinate system, wherein the geographic coordinate system is an g system. The method comprises the following specific steps:
before the image type polarization sensor is used, a camera lens model xi needs to be calibrated, and each pixel point in the image can be determined through the camera lens modelm,n]Incident light propagation vector under camera coordinate system (w system)v w I.e. byv w =Ξ([m,n]) (ii) a Can also transmit the vector according to the incident light under the camera coordinate systemv w The calculation imaging pixel coordinate [ 2 ]m,n]I.e., [ 2 ]m,n]=round(Ξ -1 (v w ) Therein), whereinround() Indicating rounding of all elements in parentheses. Meanwhile, the visual angle of the lens is obtained through calibration of the camera lensα。
Vector coordinate system (bSystem) selects the "right front up" right hand coordinate system as shown in fig. 2. Establishing a horizontal coordinate system (hSystem), the pitch angle and roll angle of the image-based polarization sensor are respectivelyθAndγthen, the relationship between the horizontal coordinate system and the carrier coordinate system is:
the z-axis in the carrier coordinate system can be expressed as:
and level withZenith vector under coordinate system
Angle of (2)
The following relationships exist:
when in use
When the image is shot, the zenith incident ray is in the visual field of the lens under the horizontal coordinate system, otherwise, the mapping point of the zenith in the image cannot be tracked, so the criterion of the zenith traceability is
If the condition is met, the orientation can be automatically determined through the zenith polarization azimuth angle.
Step 2, acquiring an underwater polarized light intensity image P by an image type polarization sensor for a scene conforming to the criterion of the traceability of the zenith k （kFor different polarization analysis directions), solving an underwater polarization azimuth angle image A and an underwater polarization degree imageD. The method comprises the following specific steps:
the number of the polarization detection directions is not less than three, and in this embodiment, a polarization sensor of a split-focal-plane image type is taken as an example for illustration. The sub-focal plane image type polarized light sensor usually has four phase polarization detection channels which are respectively 0 degrees, 45 degrees, 90 degrees and 135 degrees, so that the underwater polarized light intensity image is obtainedP 0 ,P 45 ,P 90 ,P 135 And then the underwater polarization azimuth angle image A is as follows:
underwater polarization degree imageDComprises the following steps:
step 3, utilizing the pitch angle of the image type polarization sensorθAnd roll angleγDynamically tracking mapping point pixel coordinates of zenith in underwater polarization azimuth angle image A under a geographic coordinate systemm z ,n z ]Determining a zenith area R by taking the pixel as a center, and acquiring a zenith polarization azimuth angle by using a pixel value in the zenith area R in the underwater polarization azimuth angle image Ap z . The method comprises the following specific steps:
the geographical coordinate system (the g system) is parallel to the z axis of the horizontal coordinate system, and the propagation direction of the incident polarized light at the zenith point of the geographical coordinate system is parallel to and opposite to the zenith vector of the horizontal coordinate system, namely the z axis. Zenith vector under horizontal coordinate system and zenith vector under geographic system
Equal, expressed in the carrier coordinate system as:
defining the coincidence of the camera coordinate system and the carrier coordinate system, and expressing the incident ray propagation vector at the zenith point as
. The imaging pixel coordinate of the zenith vector in the underwater polarization azimuth angle image Am z ,n z ]Comprises the following steps:
because the incident light in the zenith vector direction enters the water and is vertical incidence, the vertical incident light does not generate refraction effect, and the light raysThe propagation scheme is shown in fig. 2. Thus zenith polarization azimuthp z Refraction may not be considered for direct use in heading determination. Is expressed by pixel [ 2 ]m z ,n z ]As a center, a certain pixel radius is selectedrIs the zenith region R. Since the zenith region R is a small region of the zenith and is used for calculating an approximate value of the polarization azimuth angle of the polarized light in the zenith direction, the range cannot be selected to be too large. In this embodiment of the present invention,rthe selected standard is that the maximum included angle between the pixels in the zenith region R and the zenith vector does not exceed 1 degree, namely the following conditions are met:
the pixel coordinate in the zenith region R [ deg. ]m R ,n R ]The conditions of (a) are as follows:
for each pixel value in the underwater polarization azimuth angle image A, the polarization azimuth angle of the incident light corresponding to the pixel point is set, wherein for all pixel values in the zenith area RpAveraging zenith polarization azimuth angles:
wherein
And representing the polarization azimuth value of each pixel point in the zenith area R of the underwater polarization azimuth image A.
Step 4, utilizing the zenith polarization azimuth angle determined in the step 3p z Resolving solar azimuth with ambiguity
And according to the underwater polarization degree image obtained in the step (2)DDisambiguating to solar azimuth in horizontal coordinate system
Solar azimuth angle in geographical coordinate system calculated by combining solar calendar
To find the heading of the carrier
. The method comprises the following specific steps:
the sun meridian is perpendicular to the zenith polarization E vector, so the zenith polarization azimuth angle obtained in the step (2)p z Calculating the solar azimuth angle with ambiguity under the horizontal coordinate system
Comprises the following steps:
in the underwater polarization degree image D obtained in the step (2), in terms of pixels [ 2 ]m z ,n z ]As the center of circle, are respectively atp z +90 ° andp z at an angle of-90 DEG in two directionsαIs a central angle, ofdDetermining a sector area for a radiusS Ⅰ AndS Ⅱ the decision criteria are as follows:
for two sector areas in DS Ⅰ AndS Ⅱ the degree of polarization of (c) is averaged to give:
wherein,D Ⅰ ，D Ⅱ representing two sector-shaped regions in an underwater polarization degree image DS Ⅰ AndS Ⅱ the average value of the degrees of polarization of (a),N Ⅰ ，N Ⅱ representing two sector-shaped areasS Ⅰ AndS Ⅱ the number of the middle pixel points is increased,D m n(,) the pixel coordinate of the image D representing the degree of polarization under water is [ 2 ]m,n]The degree of polarization of the spot of (a);
the solar azimuth angle under the horizontal coordinate system is obtained by comparing and eliminating ambiguity through the polarization degree mean values of the two regions
：
The solar azimuth angle under the geographic coordinate system can be obtained according to the time and longitude and latitude information by the solar calendar
And obtaining the course of the carrier as follows:
it will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (5)
1. An underwater polarization autonomous course calculation method based on zenith real-time tracking is characterized by comprising the following steps:
(1) Using camera lens modelsXi and image type polarization sensor pitch angleθAnd roll angleγCalculating a criterion of traceability of zenith of a geographic coordinate system, wherein the geographic coordinate system is a g system;
(2) For scenes meeting the criterion of tracking zenith, acquiring an underwater polarized light intensity image P by using an image type polarization sensor k Solving an underwater polarization azimuth angle image A and an underwater polarization degree imageDWhereinkdifferent polarization detection directions;
(3) Using image-based polarization sensor pitch angleθAnd roll angleγDynamically tracking mapping point pixel coordinates of zenith in underwater polarization azimuth angle image A under a geographic coordinate systemm z ,n z ]Determining a zenith area R by taking the pixel as a center, and acquiring a zenith polarization azimuth angle by using a pixel value in the zenith area R in the underwater polarization azimuth angle image Ap z ；
(4) Utilizing the zenith polarization azimuth determined in the step (3)p z Resolving solar azimuth with ambiguity
And according to the underwater polarization degree image obtained in the step (2)DDisambiguating the solar azimuth in a horizontal coordinate system
Solar azimuth angle in geographical coordinate system calculated by combining solar calendar
Calculating the heading of the carrier
Wherein the horizontal coordinate system ishIs described.
2. The underwater polarization autonomous heading calculation method based on zenith real-time tracking as claimed in claim 1, characterized in that: the specific steps of the step (1) are as follows:
the image type polarization sensor calibrates a camera lens model xi before use, and each pixel point in the image is determined through the camera lens modelm,n]Incident light propagation vector under camera coordinate systemv w I.e. byv w =Ξ([m,n]) (ii) a Or incident light propagation vector according to camera coordinate systemv w The calculation imaging pixel coordinate [ 2 ]m,n]I.e., [ 2 ]m,n]=round(Ξ -1 (v w ) Therein), whereinround() Means rounding off all elements in parentheses;
meanwhile, the visual angle of the lens is obtained through calibration of the camera lensα(ii) a Wherein the camera coordinate system iswIs to be prepared;
criterion of zenith traceability is
If the condition is met, orientation can be realized through the zenith polarization azimuth angle.
3. The underwater polarization autonomous heading calculation method based on zenith real-time tracking according to claim 2, characterized in that: the specific steps of the step (2) are as follows:
the number of the polarization detection directions is not less than three, and more than three underwater polarized light intensity images P are obtained k Resolving underwater polarization azimuth angle image A and underwater polarization degree imageD(ii) a Wherein each pixel value of the underwater polarization azimuth angle image A is an underwater light field polarization azimuth angle, and an underwater polarization degree imageDThe pixel value of (2) is the polarization degree of the underwater light field; wherein,kin different polarization directions.
4. The underwater polarization autonomous heading calculation method based on zenith real-time tracking according to claim 3, characterized in that: the specific steps of the step (3) are as follows:
zenith of geographic coordinate systemVector
The representation in the carrier coordinate system is:
defining the coincidence of the camera coordinate system and the carrier coordinate system, and expressing the incident ray propagation vector at the zenith point as
(ii) a Wherein, the geographic coordinate system is g system, the carrier coordinate system is g systembIs a step of;
the pixel of the projection point A of the zenith underwater polarization azimuth angle image dynamically changes along with the attitude of the carrier, and the pixel coordinate of the pointm z ,n z ]Comprises the following steps:
in the term ofm z ,n z ]As a center, a certain pixel radius is selectedrIs the zenith region R, the pixel coordinate [ 2 ] in the zenith region Rm R ,n R ]The conditions of (a) are as follows:
the pixel value of each pixel point in the underwater polarization azimuth angle image A is the polarization azimuth angle of the incident light corresponding to the pixel point, wherein all the pixel values in the zenith area R are subjected topAveraging zenith polarization azimuth angles:
wherein
And representing the polarization azimuth angle value of each pixel point in the zenith area R of the underwater polarization azimuth angle image A.
5. The underwater polarization autonomous heading calculation method based on zenith real-time tracking according to claim 4, characterized in that: the specific steps of the step (4) are as follows:
the sun meridian is perpendicular to the zenith polarization E vector, so the zenith polarization azimuth angle obtained in the step (3)p z Calculating the solar azimuth angle with ambiguity under the horizontal coordinate system
Comprises the following steps:
wherein the horizontal coordinate system is represented as an h system; in the underwater polarization degree image D obtained in the step (2), in terms of pixels [ 2 ]m z ,n z ]As the center of circle, are respectively atp z +90 ° andp z at an angle of-90 DEG in two directionsαIs a central angle, sodDetermining a sector area for a radiusS Ⅰ AndS Ⅱ the decision criteria are as follows:
for two sector areas in DS Ⅰ AndS Ⅱ the degree of polarization of (c) is averaged to give:
wherein,D Ⅰ ，D Ⅱ representing two sector-shaped regions in an underwater polarization degree image DS Ⅰ AndS Ⅱ the average value of the degrees of polarization of (a),N Ⅰ ，N Ⅱ representing two sector-shaped areasS Ⅰ AndS Ⅱ the number of the middle pixel points is increased,D m n(,) the coordinate of the D pixel of the image representing the degree of polarization under water is [ 2 ]m,n]The degree of polarization of the spot of (a);
the solar azimuth angle under the horizontal coordinate system is obtained by comparing and eliminating ambiguity through the polarization degree mean values of the two regions
：
The solar azimuth angle under the geographic coordinate system can be obtained according to the time and longitude and latitude information by the solar calendar
And obtaining the course of the carrier as follows:
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