CN116222550A - Underwater polarized sun calculation method with depth adaptability - Google Patents
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Abstract
The invention relates to an underwater polarized sun calculation method with depth adaptability. Firstly, polarized light field information is acquired by using an image type underwater polarization sensor, and a reference sun position is obtained by carrying out Hough transformation on the polarized light intensity information; then, based on the Rayleigh scattering theory, the refraction law and the Fresnel theorem, obtaining the polarization azimuth angle of the atmospheric polarized light under water; further analyzing the polarization azimuth angle of the underwater scattered light by utilizing the Rayleigh scattering theory, and calculating the relative proportion parameter of the atmospheric polarized light and the underwater scattered light; and finally, establishing an equation set according to the relative proportion parameters, and calculating the sun position by using the underwater polarization information. The invention establishes an underwater polarized solar computing method with depth adaptability, which can be used for computing solar azimuth angle and altitude angle, realizes the depth self-adaption through the relative proportion parameters which are continuously updated, improves the environmental adaptability of the underwater polarized navigation method, and meets the autonomous navigation positioning requirement of the underwater vehicle.
Description
Technical Field
The invention belongs to the field of underwater polarized light navigation, and particularly relates to an underwater polarized sun calculation method with depth adaptability.
Background
The underwater submarine has the advantages of strong autonomy, good concealment, high efficiency-cost ratio and the like, is a sharp tool for developing ocean resources, and plays an important role in the fields of underwater exploration, emergency rescue, reconnaissance monitoring and the like. The navigation system is an 'eye' and an 'ear' of the underwater vehicle, and is a precondition for the normal task execution and safe return. However, the characteristics of electromagnetic signal rejection, no mark point and less available navigation information exist in the underwater environment, so that the application of the traditional navigation methods such as satellite, inertia, vision and the like is limited. The mantis shrimp, rainbow trout and other organisms can navigate by utilizing underwater polarized light, so that a new thought is provided for solving the problem of underwater navigation, and a polarized navigation technology is formed.
The key point of the polarization navigation technology is that the sun position is inverted through polarization information, although a polarization sun calculation method has been primarily developed in an atmospheric environment, for example, a solar azimuth acquisition method based on an atmospheric polarization mode is proposed in chinese patent No. ZL201710027484.2, a solar vector calculation method based on an imitation compound eye multichannel polarization sensor is proposed in chinese patent application No. CN201810592616.0, but the method is only applicable to an atmospheric environment, and a plurality of problems still exist in an underwater environment to be solved: firstly, various light sources are mixed, and the underwater polarized light field has not only the part of the atmospheric polarized light entering the water, but also the underwater scattered light formed by the direct sunlight scattered by the water body, and the polarized light of different sources are mutually mixed and fused; and secondly, coupling various optical effects, wherein polarized light is subjected to the mixed influence of various optical effects such as atmospheric Rayleigh scattering, water surface refraction, underwater scattering and the like in the process of generating and transmitting. All of the above factors limit the environmental flexibility of the underwater polarized solar computing method.
In the aspect of underwater sun inversion, chinese patent ZL201911252040.4 proposes a solar vector calculation method based on an underwater polarization distribution mode, and the influence of water surface refraction on a polarization azimuth angle is considered; the Chinese patent ZL202011307244.6 proposes a solar altitude calculating method based on underwater refraction and scattering coupling polarization degree, considers the influence of water surface refraction and underwater scattering on atmospheric polarized light, and realizes the calculation of a solar altitude angle by utilizing the polarization degree.
However, the patent only considers the influence of the water environment on the refraction of the atmospheric polarized light, and does not consider the influence of the scattering of the direct sunlight under water on the polarized light field; and the model parameters are fixed, so that the self-adaptive adjustment of the polarization navigation model along with the water depth cannot be realized.
Disclosure of Invention
Aiming at the problem of poor environmental adaptability of the underwater polarized navigation method, various polarized light sources such as atmospheric polarized light, underwater scattered light and various optical effects such as atmospheric scattering, water surface refraction, underwater scattering and the like are considered, and relative proportion parameters capable of being adaptively adjusted along with depth are set.
According to the invention, polarized light field information is acquired by using an image type underwater polarization sensor, a reference sun position is obtained by carrying out Hough transformation on a polarized light intensity image, evaluation parameters are set, the relative proportion parameters of atmospheric polarized light polarization azimuth angle, underwater scattered light polarization azimuth angle and atmospheric polarized light and underwater scattered light entering the image type underwater polarization sensor are respectively inverted based on physical principles such as Rayleigh scattering theory, refraction law, fresnel theorem and the like, the sun position is inverted by using the polarized information based on the relative proportion parameters, and the depth self-adaptive adjustment of a polarized navigation model is realized by using the adjustable relative proportion parameters. In practical cases, the underwater polarized light field information not only comprises the part of atmospheric polarized light entering the water through refraction, but also comprises underwater scattered light formed by direct sunlight scattered by water; the problems of mixing various light sources and coupling various optical effects exist under the influence of atmospheric scattering and water surface refraction and underwater scattering. According to the method, by setting the relative proportion parameters of the atmospheric polarized light and the underwater scattered light and considering various optical sources and optical effects, the depth self-adaptive adjustment of the polarized navigation model can be realized, and the environmental adaptability of the polarized navigation method in an underwater complex environment is improved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an underwater polarized sun calculating method with depth adaptability comprises the following implementation steps:
step (1), acquiring polarized light field information through an image type underwater polarization sensor, processing a polarized light intensity image by using Hough transformation, extracting a highlight region in the polarized light intensity image, and setting evaluation parameters
And threshold->
When (when)
When the central position of the highlight area is taken as the reference sun position, the zenith angle of the reference sun is obtained according to the geometric model of the image type underwater polarization sensor>
Reference sun azimuth->
；
Step (2) of obtaining the reference solar zenith angle by using the step (1)
Reference sun azimuth/>
Based on Rayleigh scattering theory, refraction law and Fresnel law, calculating the polarization azimuth angle of atmospheric polarized light incident to the image underwater polarization sensor>
；
Step (3) of obtaining the reference solar zenith angle by using the step (1)
Reference sun azimuth->
Based on Rayleigh scattering theory, calculating the polarization azimuth angle of underwater scattered light incident to the image type underwater polarization sensor>
And the relative proportion parameter of the atmospheric scattered light and the underwater scattered light in the polarized light field is obtained>
Wherein the relative proportion parameter->
The method can correct and update in real time through the step (1), the step (2) and the step (3) under different depths, so that the depth adaptability adjustment of the polarized light field model is realized;
step (4) of utilizing the relative proportion parameter of the atmospheric polarized light and the underwater scattered light in the underwater polarized light field obtained in the step (3)
In the polarized image measured by the image type underwater polarization sensor, the +.>
Each pixel point has the observation zenith angle and azimuth angle of +.>
，/>
The measured azimuth angle of polarization under water is +.>
, wherein 
Calculating a solar azimuth angle and a solar elevation angle; repeating the step (1), when ∈>
When step (2), step (3) and step (4) are performed, when +.>
And (3) directly executing the step (4). />
Further, the step (1) uses the image type underwater polarization sensor to obtain the zenith angle of the reference sun
Reference sun azimuth->
The specific requirements of (2) are as follows:
polarized light field information is acquired through an image type underwater polarization sensor, polarized light intensity images are processed through Hough transformation, highlight areas in the polarized light intensity images are extracted, and evaluation parameters are set
：
wherein ,
for the area of the highlight region in the polarized light intensity image, is->
Is the highlighting area perimeter.
Because polarized light intensity images are easily interfered by factors such as cloud layer shielding, wave refraction, lens distortion and the like, evaluation parameters are required to be set to distinguish the position accuracy of the sun extracted from polarized light intensity, and when
When the polarized light intensity image is in a perfect circle, the sun position precision is highest; setting an evaluation parameter threshold +.>
When->
When the central position of the highlight area is taken as the reference sun position, the zenith angle of the reference sun is obtained according to the geometric model of the image type underwater polarization sensor>
Reference sun azimuth->
。
Further, the step (2) calculates the polarization azimuth angle of the atmospheric polarized light incident to the image type underwater polarization sensor based on the Rayleigh scattering theory, the refraction law and the Fresnel law
The method is concretely realized as follows:
according to refraction law, observing solar zenith angle on water
And the zenith angle of the reference sun->
The relation of (2) is:
wherein ,
refractive index of water body>
Is the refractive index of air.
The zenith angle in the image-taking type underwater polarization sensor is
Azimuth angle is->
According to Rayleigh scattering theory, the azimuth angle of polarization of atmospheric polarized light before being refracted by water surface +.>
The method comprises the following steps:
wherein ,
for the angle of incidence of the observation direction in the atmosphere, +.>
。
According to Fresnel's law, the polarization azimuth angle of atmospheric polarized light incident to the image type underwater polarization sensor after being refracted by the water surface can be obtained
The method comprises the following steps:
namely:
wherein ,
representation->
And->
A functional relationship between them.
Further, the step (3) calculates the azimuth angle of polarization of the underwater scattered light incident to the image-type underwater polarization sensor based on the Rayleigh scattering theory
And the relative proportion parameter of the atmospheric scattered light and the underwater scattered light in the polarized light field is obtained>
The method is concretely realized as follows:
the zenith angle in the image-taking type underwater polarization sensor is
Azimuth angle is->
According to Rayleigh scattering theory, the polarization azimuth angle of the underwater scattered light formed by the underwater scattering of the direct solar light is as follows:
wherein ,
representation->
And->
A functional relationship between them.
The polarization vector formed by superposition of atmospheric polarized light and underwater scattered light
The method comprises the following steps:
wherein ,
polarization vector of light for atmospheric polarization,>
is the polarization vector of the light of the underwater scattered light,
the underwater polarization azimuth angle formed by superposition of the atmospheric polarized light and the underwater scattered light can be measured by an image type underwater polarization sensor, and can be obtained by the following steps:
wherein the relative proportion parameter
The method can correct and update in real time through the step (1), the step (2) and the step (3) under different depths, so that the depth adaptability adjustment of the polarized light field model is realized;
further, the step (4) uses the relative proportion parameter of the atmospheric polarized light and the underwater scattered light in the underwater polarized light field obtained in the step (3)
In the polarized image measured by the image type underwater polarization sensor, the +.>
Each pixel point, and the zenith angle and square of each pixel point are observedThe azimuth angles are respectively->
，/>
The measured underwater polarization azimuth angle is
, wherein />
The solar azimuth angle and the solar altitude angle are calculated, and the specific implementation is as follows:
according to the underwater polarization azimuth angle formed by superposition of the atmospheric polarized light and the underwater scattered light in the step (3)
Is +.>
Height angle->
The relation between them can be found as follows:
by using a nonlinear least square method, the optimal solution of the equation set can be obtained
，/>
The method comprises the steps of carrying out a first treatment on the surface of the Repeating the step (1), when ∈>
When step (2), step (3) and step (4) are performed, when +.>
When it is time, directly execute step (4)。
Compared with the prior art, the invention has the following advantages:
the existing underwater polarization navigation method has the defects that the considered light source and optical effect are single, and the underwater polarization navigation method is difficult to adapt to complex and changeable environments. The invention considers various polarized light sources such as atmospheric polarized light, underwater scattered light and various optical effects such as atmospheric scattering, water surface refraction, underwater scattering and the like, sets relative proportion parameters capable of being adaptively adjusted along with depth, and improves the environmental adaptability of the underwater polarized navigation method.
Drawings
FIG. 1 is a flow chart of an underwater polarized sun calculation method with depth adaptability of the present invention;
FIG. 2 is a schematic illustration of the propagation process of atmospheric polarized light and underwater scattered light;
fig. 3 is a schematic diagram of the superposition of polarized light.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without the inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
According to one embodiment of the present invention, as shown in fig. 1, the method for calculating the underwater polarized sun with depth adaptability specifically comprises the following steps:
step (1), acquiring polarized light field information through an image type underwater polarization sensor, processing a polarized light intensity image by using Hough transformation, extracting a highlight region in the polarized light intensity image, and setting evaluation parameters
：
wherein ,
for the area of the highlight region in the polarized light intensity image,/->
Is the highlighting area perimeter.
Because polarized light intensity images are easily interfered by factors such as cloud layer shielding, wave refraction, lens distortion and the like, evaluation parameters are required to be set to distinguish the position accuracy of the sun extracted from polarized light intensity, and when
When the polarized light intensity image is in a perfect circle, the sun position precision is highest; setting an evaluation parameter threshold +.>
When->
When the central position of the highlight area is taken as the reference sun position, the zenith angle of the reference sun is obtained according to the geometric model of the image type underwater polarization sensor>
Reference sun azimuth->
；
Step (2) of obtaining the reference solar zenith angle by using the step (1)
Reference sun azimuth->
Based on Rayleigh scattering theory, refraction law and Fresnel law, calculating the polarization azimuth angle of atmospheric polarized light incident to the image underwater polarization sensor>
。
The light propagation diagram is shown in figure 2, and the zenith angle of the sun is observed on water according to the law of refraction
And the zenith angle of the reference sun->
The relation of (2) is:
wherein ,
refractive index of water body>
Is the refractive index of air.
The method can be characterized by comprising the following steps:
the zenith angle in the image-taking type underwater polarization sensor is
Azimuth angle is->
According to Rayleigh scattering theory, the azimuth angle of polarization of atmospheric polarized light before being refracted by water surface +.>
The method comprises the following steps:
wherein ,
in the atmosphere for the direction of observationIncident angle of>
。
Polarized light amplitude parallel to the refractive surface before and after refraction according to fresnel's law
The following relationship exists:
amplitude of polarized light perpendicular to the plane of refraction
The following relationship exists:
definition of polarization azimuth angle:
the change of the polarization azimuth before and after the refraction on the water surface can be obtained as follows:
wherein ,
the atmospheric polarized light is incident to the image type underwater polarization sensor after being refracted by the water surface. The simultaneous preparation method comprises the following steps:
wherein ,
representation->
And->
A functional relationship between them.
Step (3) of obtaining the reference solar zenith angle by using the step (1)
Reference sun azimuth->
Based on Rayleigh scattering theory, calculating the polarization azimuth angle of underwater scattered light incident to the image type underwater polarization sensor>
And the relative proportion parameter of the atmospheric scattered light and the underwater scattered light in the polarized light field is obtained>
。
The zenith angle in the image-taking type underwater polarization sensor is
Azimuth angle is->
According to Rayleigh scattering theory, the polarization azimuth angle of the underwater scattered light formed by the underwater scattering of the direct solar light is as follows:
wherein ,
representation->
And->
A functional relationship between them.
A schematic diagram of superposition of atmospheric polarized light and underwater scattered light under water is shown in FIG. 3, wherein the polarization vector of the atmospheric polarized light is
The polarization vector of the underwater scattered light is +.>
The definition is as follows:
the polarization vector formed by superposition of atmospheric polarized light and underwater scattered light
The method comprises the following steps:
wherein ,
the underwater polarization azimuth angle formed by superposition of the atmospheric polarized light and the underwater scattered light can be measured by an image type underwater polarization sensor, and can be obtained by the following steps:
wherein the relative proportion parameter
And (3) carrying out real-time correction and updating through the step (1), the step (2) and the step (3) under different depths, so as to realize the depth adaptive adjustment of the polarized light field model.
Step (4) of utilizing the relative proportion parameter of the atmospheric polarized light and the underwater scattered light in the underwater polarized light field obtained in the step (3)
In the polarized image measured by the image type underwater polarization sensor, the +.>
Each pixel point has the observation zenith angle and azimuth angle of +.>
，/>
The measured polarization azimuth angle is +.>
, wherein 
And calculating the solar azimuth angle and the solar altitude angle.
According to the underwater polarization azimuth angle formed by superposition of the atmospheric polarized light and the underwater scattered light in the step (3)
Is +.>
Height angle->
The relation between them can be obtained:
the following set of equations can be obtained:
by using a nonlinear least square method, the optimal solution of the equation set can be obtained
，/>
The method comprises the steps of carrying out a first treatment on the surface of the Repeating the step (1), when ∈>
When step (2), step (3) and step (4) are performed, when +.>
And (3) directly executing the step (4).
While the foregoing has been described in relation to illustrative embodiments thereof, so as 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 is to be construed as limited to the spirit and scope of the invention as defined and defined by the appended claims, as long as various changes are apparent to those skilled in the art, all within the scope of which the invention is defined by the appended claims.
Claims (5)
1. The underwater polarized sun calculating method with the depth adaptability is characterized by comprising the following steps of:
step (1), acquiring polarized light field information through an image type underwater polarization sensor, processing a polarized light intensity image by using Hough transformation, extracting a highlight region in the polarized light intensity image, and setting evaluation parameters
And threshold->
When->
When the central position of the highlight area is taken as the reference sun position, the zenith angle of the reference sun is obtained according to the geometric model of the image type underwater polarization sensor>
Reference sun azimuth->
；
Step (2) of obtaining the reference solar zenith angle by using the step (1)
Reference sun azimuth->
Based on Rayleigh scattering theory, refraction law and Fresnel law, calculating the polarization azimuth angle of atmospheric scattered light incident to the image underwater polarization sensor>
；
Step (3) of obtaining the reference solar zenith angle by using the step (1)
Reference sun azimuth->
Based on Rayleigh scattering theory, calculating the polarization azimuth angle of underwater scattered light incident to the image type underwater polarization sensor>
And the relative proportion parameter of the atmospheric scattered light and the underwater scattered light in the polarized light field is obtained>
Wherein the relative proportion parameter->
Carrying out real-time correction and updating through the step (1), the step (2) and the step (3) under different depths, and realizing the depth adaptability adjustment of the polarized light field model;
step (4) of utilizing the relative proportion parameter of the atmospheric polarized light and the underwater scattered light in the underwater polarized light field obtained in the step (3)
In the polarized image measured by the image type underwater polarization sensor, the +.>
Each pixel point has the observation zenith angle and azimuth angle of +.>
，/>
The measured azimuth angle of polarization under water is +.>
, wherein />
Calculating a solar azimuth angle and a solar elevation angle; repeating the step (1), when ∈>
When step (2), step (3) and step (4) are performed, when +.>
And (3) directly executing the step (4).
2. The method for calculating the underwater polarized sun with depth adaptability according to claim 1, wherein the method comprises the following steps:
in the step (1), the evaluation parameter
The method comprises the following steps:
wherein ,
for the area of the highlight region in the polarized light intensity image, is->
Is the highlighting area perimeter.
3. The method for calculating the underwater polarized sun with depth adaptability according to claim 2, wherein the method comprises the following steps:
the specific implementation of the step (2) is as follows:
according to refraction law, observing solar zenith angle on water
And the zenith angle of the reference sun->
The relation of (2) is:
wherein ,
refractive index of water body>
Is the refractive index of air;
the zenith angle in the image-taking type underwater polarization sensor is
Azimuth angle is->
According to Rayleigh scattering theory, the azimuth angle of polarization of atmospheric polarized light before being refracted by water surface +.>
The method comprises the following steps:
wherein ,
for the angle of incidence of the observation direction in the atmosphere, +.>
；
According to Fresnel's law, the polarization azimuth angle of atmospheric polarized light incident to the image type underwater polarization sensor after being refracted by the water surface is obtained
The method comprises the following steps:
namely:
wherein ,
representation->
And->
A functional relationship between them.
4. A method for computing underwater polarized sun with depth adaptability according to claim 3, wherein:
the specific implementation of the step (3) is as follows:
the zenith angle in the image-taking type underwater polarization sensor is
Azimuth angle is->
According to Rayleigh scattering theory, the polarization azimuth angle of the underwater scattered light formed by the underwater scattering of the direct solar light is as follows:
wherein ,
representation->
And->
A functional relationship between;
then the atmospheric polarized light and the underwater scattered light are overlapped to formPolarization vector
The method comprises the following steps:
wherein ,
polarization vector of light for atmospheric polarization,>
is the polarization vector of the underwater scattered light, ">
The underwater polarization azimuth angle formed by superposition of the atmospheric polarized light and the underwater scattered light is measured by an image type underwater polarization sensor, and is obtained by the following steps:
5. the method for calculating the underwater polarized sun with depth adaptability according to claim 4, wherein the method comprises the following steps: the specific implementation of the step (4) is as follows:
according to the underwater polarization azimuth angle formed by superposition of the atmospheric polarized light and the underwater scattered light in the step (3)
Is +.>
Height angle->
The relation between the two is obtained as follows: />
Using nonlinear least square method to obtain solar azimuth angle in the above equation set
Height angle->
Is a solution to the optimization of (3). />
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