CN116222580B - Underwater polarization orientation method based on cross-medium refraction interference compensation correction - Google Patents
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Abstract
The invention discloses an underwater polarization orientation method based on cross-medium refraction interference compensation correction, which comprises the following steps: aiming at the problem of the hybrid optical coupling interference environment underwater polarized light field perception, establishing a contrast differential polarization measurement equation based on light intensity signals, and analyzing an underwater polarization vector; considering underwater polarized light field deviation caused by the refraction effect of the gas-liquid medium refractive index variation light, and establishing a direction correction matrix under the cross-medium refraction effect based on a spatial information mapping relation; inverting the polarization vector after the amplitude correction according to the law of conservation of energy of light; based on the space distribution rule of the underwater polarized light field, an underwater attitude measurement equation based on polarized refraction interference compensation correction is established, and the underwater autonomous orientation of the marine environment based on polarized refraction interference compensation correction is realized. The invention breaks through the bionic autonomous orientation technology based on the underwater polarization interference compensation correction in the cross-medium environment, and can effectively improve the reliability and the robustness of the underwater bionic polarization orientation in the ocean cross-medium environment.
Description
Technical Field
The invention belongs to the field of autonomous navigation of an underwater polarized light field, and particularly relates to an underwater polarization orientation method based on cross-medium refraction interference compensation correction.
Background
The marine environment is complex, no specific mark point exists, the reference object is deficient, and different limitations exist when the traditional navigation mode is applied to underwater, such as serious attenuation of underwater radio signals, accumulation of inertial navigation errors with time and the like, so that development of an underwater full-automatic navigation technology with the advantages of high reliability, strong autonomy, no error accumulation and the like is needed to be developed. The bionic navigation technology based on polarization fuses the observed polarization vector with the celestial vector, realizes autonomous orientation by establishing a three-dimensional attitude misalignment angle measurement equation, has the advantages of high reliability, strong autonomy, no error accumulation and the like, and provides a brand new solution for solving the problem in the field of underwater autonomous navigation. However, the cross-medium gas-liquid change of the marine environment brings great challenges to underwater polarization vector capture and estimation, atmospheric polarized light is transmitted into the water to form refractive light, the refractive light does not propagate along the original incident light direction due to the difference of the refractive indexes of the gas-liquid medium, and the refractive photoelectric vector also attenuates along with propagation due to reflection and scattering effects. Therefore, polarization vector interference errors caused by refraction effects of the gas-liquid medium change condition need to be further compensated and corrected, and polarization orientation strategies based on cross-medium refraction compensation and correction need to be mined.
The existing underwater navigation method based on polarized light field, published paper 'autonomous navigation method of underwater robot based on polarized light/DVL/SINS', provides an autonomous navigation method based on polarized light/Doppler velocity measurement/inertial navigation combination around the passive autonomous navigation problem of underwater robot in unknown sea area, and simulates and verifies the effectiveness, reliability and fault tolerance of the proposed method. Chinese patent application CN201911252040.4 'an autonomous underwater polarization orientation method based on an underwater light intensity interference model', proposes an antagonistic polarization sensing method for opposite division, establishes an underwater carrier posture measurement model and realizes acquisition of underwater carrier heading information. The Chinese patent application CN202210808542.6 'solar dynamic tracking method based on underwater polarization attitude and refraction coupling inversion', provides a solar dynamic tracking method based on attitude information and polarization angle image inversion coupling, and expands the application scene of the solar tracking method based on polarized light in an underwater Snell window.
However, the method does not consider dynamic interference caused by cross-medium refraction of the actual marine environment, and refraction optical effect coupling interference at the gas-liquid junction is ignored, so that the method is not suitable for the actual marine environment.
Disclosure of Invention
In order to solve the problem of polarized light field interference caused by cross-medium gas-liquid variation refraction effect, improve the underwater polarized refraction interference deviation inhibition and correction capability and realize the underwater polarization autonomous orientation of the ocean cross-medium optical refraction interference environment, the invention provides an underwater polarized orientation method based on cross-medium refraction interference compensation correction, and provides a polarized compensation and correction method based on a space vector conversion relation aiming at polarized vector interference caused by refractive index variation at a gas-liquid junction. The invention can effectively improve the reliability and the robustness of the underwater bionic polarization orientation in the ocean cross-medium environment.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an underwater polarization orientation method based on cross-medium refraction interference compensation correction comprises the following steps:
step (1) establishing an underwater polarization measurement equation based on light intensity antagonism difference aiming at random noise caused by hybrid optical coupling effect of dynamic refraction/scattering of marine environmentAnalyzing the polarization angle under water>Thereby obtaining the polarization vector of the underwater module system> ；
Step (2) establishing the incident angle of the incident lightRefraction angle with refracted light>Mapping relation of->Solving the polarization observation vector of the atmospheric navigation system>The method comprises the steps of carrying out a first treatment on the surface of the Thereby establishing the polarization observation vector of the atmospheric navigation system>Polarization observation vector of underwater navigation system>Inter-mapping equation, analyzing the direction correction matrix under the cross-medium refraction effect> ；
Step (3) Underwater module system polarization vector based on step (1)Incident angle of incident light in step (2)>Refraction angle with refracted light>Establishing underwater polarization angle->Angle of true polarization with incident light->The relation equation between the two to obtain the atmospheric module polarization vector after the amplitude correction> ；
Step (4) is combined with the direction correction matrix of step (2)And (3) modified atmospheric module system polarization vector +.>Based on underwater polarization information and sun vector +.>Establishing a three-dimensional attitude measurement equation based on polarized light field>The underwater polarization autonomous orientation of the marine environment based on cross-medium refraction interference compensation correction is realized.
Further, in the step (1), according to optical knowledge and optical interference coupling effect at the gas-liquid junction, a mantis shrimp antagonism opposite structure is learned, understood and simulated, and an underwater polarized light field sensor perception equation is established:
，
wherein,,measuring a value for a polarization detection channel; />Is the degree of polarization under water->Is the underwater polarization angle; />For detecting the light intensity coefficient of the channel for polarization, < >>For the initial illumination intensity of the incident light of the polarization detection channel, < + >>For the optical path coupling coefficient of the polarization detection channel, +.>An polarization detection azimuth angle is detected for the polarization detection channel; />Gaussian noise caused by the effect of hybrid optical coupling.
Combining six-channel bionic polarization sensor models to obtain a perception equation of the opposite polarization detection channels:
，
wherein,,the channels are numbered and correspond to each other one by one; and->The method comprises the steps of carrying out a first treatment on the surface of the Therefore, an underwater polarization measurement equation based on the light intensity opposite difference is established:
，
wherein,,the light intensity is output for the difference.
Analyzing the equation to obtain the underwater polarization angleAnd polarized light intensity->Thereby obtaining the polarization vector of the underwater module system> 。
Further, in the step (2), the polarization observation vector of the underwater module system is expressed asAssume that three-dimensional attitude angle of underwater polarization sensor is pitch angle +.>Roll angle->And heading angle->The polarization observation vector of the underwater navigation system is:
，
wherein,,is a polarized observation vector of the underwater navigation system, which is superposed with the refraction light vector; />A coordinate transformation matrix between the module system and the carrier system; />Is a coordinate transformation matrix between the carrier system and the navigation system.
Order the，/> ，Refraction angle of refracted light>The analytical equation of (2) is:
，
according to the optical path propagation theory, the incident angle is establishedAnd angle of refraction->Mapping relation:
，
wherein,,refractive index of atmosphere>Is water with refractive index, and has +.> 。
According to the cross-medium light propagation theory, incident light and refraction light vectors are on the same plane, and are combined with the underwater navigation polarization observation vectorAnalyzing the polarization observation vector corresponding to the atmospheric navigation system> ：
，
Wherein,,represents the polarization observation vector of the atmospheric navigation system, and analyzes the direction correction matrix based on the cross-medium refraction effect according to the relation> 。
Further, in the step (3), the incident light-refracted light is taken as a reference plane, and the underwater polarization angle obtained by analyzing in the step (1) is usedCombining the attitude angle information in the step (2) to obtain the incident angle of the incident light +.>Angle of refraction with refracted lightEstablish incident light and refractionRelationship between components of the vector of emitted light:
，
wherein,,representing the real polarization angle of the incident light, which is the underwater polarization angle +.>The corrected polarization angle; thus, the underwater polarization angle is established>Angle of true polarization with incident light->Mapping relation between:
，
thereby analyzing the real polarization angle of the incident lightObtaining the atmospheric module polarization vector after amplitude correction
。
Further, in the step (4), a space vector relation equation based on cross-medium refraction interference compensation correction is established:
。
wherein,,representing the sun vector under the navigation system. Establishing attitude measurement based on polarized light field through the space vector relation equationEquation-> ：
，
Wherein,,representing the measurement function->For three-dimensional platform misalignment angle->To measure noise.
And integrating the multi-physical-field information of the accelerometer and the gyroscope by an information fusion method to realize autonomous underwater orientation based on cross-medium polarization refraction interference compensation correction. The invention breaks through the bionic autonomous orientation technology based on cross-medium polarized light field interference compensation correction, and can effectively improve the reliability and robustness of the underwater bionic polarization orientation in the marine cross-medium environment.
The invention provides an underwater polarization orientation method based on cross-medium refraction interference compensation correction, which establishes a polarization vector mapping relation before and after cross-gas-liquid medium refraction, completes the dynamic coupling interference suppression of an underwater polarized light field caused by the refraction effect of the ocean environment, and realizes the cross-medium dynamic optical environment interference compensation and correction.
Compared with the prior art, the invention has the advantages that:
(1) Aiming at the polarization vector direction deviation caused by the change of the refractive index of the gas-liquid boundary, a space vector conversion-based polarization vector correction method is provided, and the effective correction of the polarization vector direction is realized.
(2) The energy conservation of the cross-medium optical path propagation refraction-reflection light is considered, an incident photoelectric vector and refraction photoelectric vector mapping equation is established, compensation and correction of the underwater polarization angle are realized, and a polarization orientation technology based on cross-medium refraction interference compensation and correction is broken through.
Drawings
FIG. 1 is a flow chart of an underwater polarization orientation method based on cross-medium refractive interference compensation correction according to the present invention.
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.
As shown in fig. 1, the underwater polarization orientation method based on cross-medium refraction interference compensation correction of the invention comprises the following steps:
step (1) establishing an underwater polarization measurement equation based on light intensity antagonism difference aiming at random noise caused by hybrid optical coupling effect of dynamic refraction/scattering of marine environmentAnalyzing the polarization angle under water>Thereby obtaining the polarization vector of the underwater module system> ；
Step (2) establishing the incident angle of the incident lightRefraction angle with refracted light>Mapping relation of->Solving the polarization observation vector of the atmospheric navigation system>The method comprises the steps of carrying out a first treatment on the surface of the Thereby establishing the polarization observation vector of the atmospheric navigation system>Polarization observation vector of underwater navigation system>Inter-mapping equation, analyzing the direction correction matrix under the cross-medium refraction effect>；
Step (3) Underwater module system polarization vector based on step (1)Incident angle of incident light in step (2)>Refraction angle with refracted light>Establishing underwater polarization angle->Angle of true polarization with incident light->The relation equation between the two to obtain the atmospheric module polarization vector after the amplitude correction> ；
Step (4) is combined with the direction correction matrix of step (2)And (3) modified atmospheric module system polarization vector +.>Based on underwater polarization information and sun vector +.>Establishing a three-dimensional attitude measurement equation based on polarized light field>The underwater polarization autonomous orientation of the marine environment based on cross-medium refraction interference compensation correction is realized.
The step (1) is specifically implemented as follows:
according to optical knowledge and optical interference coupling effect at the gas-liquid junction, learning, understanding and simulating a mantis shrimp antagonism opposite structure, and establishing an underwater polarized light field sensor perception equation:
，
wherein,,measuring a value for a polarization detection channel; />Is the degree of polarization under water->Is the underwater polarization angle; />For detecting the light intensity coefficient of the channel for polarization, < >>For the initial illumination intensity of the incident light of the polarization detection channel, < + >>For the optical path coupling coefficient of the polarization detection channel, +.>An polarization detection azimuth angle is detected for the polarization detection channel; />Gaussian noise caused by the effect of hybrid optical coupling.
Combining six-channel bionic polarization sensor models to obtain a perception equation of the opposite polarization detection channels:，
wherein,,the channels are numbered and correspond to each other one by one; and->The method comprises the steps of carrying out a first treatment on the surface of the Therefore, an underwater polarization measurement equation based on the light intensity opposite difference is established:
，
wherein,,the light intensity is output for the difference.
Analyzing the equation to obtain the underwater polarization angleAnd polarized light intensity->Thereby obtaining the polarization vector of the underwater module system>。
The step (2) is specifically implemented as follows:
the underwater module system polarization observation vector is expressed asAssume that three-dimensional attitude angle of underwater polarization sensor is pitch angle +.>Roll angle->And heading angle->The polarization observation vector of the underwater navigation system is:
，
wherein,,is a polarized observation vector of the underwater navigation system, which is superposed with the refraction light vector; />A coordinate transformation matrix between the module system and the carrier system; />Is a coordinate transformation matrix between the carrier system and the navigation system.
Order the，/> ，Refraction angle of refracted light>The analytical equation of (2) is:
，
according to the optical path propagation theory, the incident angle is establishedAnd angle of refraction->Mapping relation:
，
wherein,,refractive index of atmosphere>Is water with refractive index, and has +.>。
According to the cross-medium light propagation theory, incident light and refraction light vectors are on the same plane, and are combined with the underwater navigation polarization observation vectorAnalyzing the polarization observation vector corresponding to the atmospheric navigation system> ：
，
Represents the polarization observation vector of the atmospheric navigation system, and analyzes the direction correction matrix based on the cross-medium refraction effect according to the relation>。
The step (3) is specifically realized as follows:
using incident light-refraction light as a reference surface, analyzing the obtained underwater polarization angle according to the step (1)Combining the attitude angle information in the step (2) to obtain the incident angle of the incident light +.>Refraction angle with refracted light>The relationship between the vector components of the incident light and the refracted light is established:
，
wherein,,representing the real polarization angle of the incident light, which is the underwater polarization angle +.>The corrected polarization angle; thus, the underwater polarization angle is established>Angle of true polarization with incident light->Mapping relation between:
，
thereby analyzing the real polarization angle of the incident lightObtaining the atmospheric module polarization vector after amplitude correction
。
The step (4) is specifically implemented as follows:
establishing a space vector relation equation based on cross-medium refraction interference compensation correction:
，
wherein,,representing the sun vector under the navigation system. Establishing a polarized light field-based attitude measurement equation by the space vector relation equation> ：
，
Wherein,,representing the measurement function->For three-dimensional platform misalignment angle->To measure noise.
And integrating the multi-physical-field information of the accelerometer and the gyroscope by an information fusion method to realize autonomous underwater orientation based on cross-medium polarization refraction interference compensation correction. The invention breaks through the bionic autonomous orientation technology based on cross-medium polarized light field interference compensation correction, and can effectively improve the reliability and robustness of the underwater bionic polarization orientation in the marine cross-medium environment.
While the foregoing describes illustrative embodiments of the present invention to facilitate an 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 protected by the accompanying claims insofar as various changes are within the spirit and scope of the present invention as defined and defined by the appended claims.
Claims (4)
1. An underwater polarization orientation method based on cross-medium refraction interference compensation correction is characterized by comprising the following steps:
step (1) establishing an underwater polarization measurement equation based on light intensity antagonism difference aiming at random noise caused by hybrid optical coupling effect of dynamic refraction/scattering of marine environmentAnalyzing the polarization angle under water>Thereby obtaining the polarization vector of the underwater module system>Comprising:
according to optical knowledge and optical interference coupling effect at the gas-liquid junction, learning, understanding and simulating a mantis shrimp antagonism opposite structure, and establishing an underwater polarized light field sensor perception equation:
，
wherein,,measuring a value for a polarization detection channel; />Is the degree of polarization under water->Is the underwater polarization angle; />For detecting the light intensity coefficient of the channel for polarization, < >>For the initial illumination intensity of the incident light of the polarization detection channel, < + >>For the optical path coupling coefficient of the polarization detection channel, +.>An polarization detection azimuth angle is detected for the polarization detection channel; />Gaussian noise caused by hybrid optical coupling effects;
combining six-channel bionic polarization sensor models to obtain a perception equation of the opposite polarization detection channels:
，
wherein,,the channels are numbered and correspond to each other one by one; and->The method comprises the steps of carrying out a first treatment on the surface of the Therefore, an underwater polarization measurement equation based on light intensity antagonism difference is established:
，
wherein,,the light intensity is output for difference;
analyzing the equation to obtain the underwater polarization angleAnd polarized light intensity->Thereby obtaining the polarization vector of the underwater module system>；
Step (2) establishing the incident angle of the incident lightRefraction angle with refracted light>Mapping relation of->Solving the polarization observation vector of the atmospheric navigation system>The method comprises the steps of carrying out a first treatment on the surface of the Thereby establishing the polarization observation vector of the atmospheric navigation system>Polarization observation vector of underwater navigation systemInter-mapping equation, analyzing the direction correction matrix under the cross-medium refraction effect>；
Step (3) Underwater module system polarization vector based on step (1)Incident angle of incident light in step (2)>Refraction angle with refracted light>Establishing underwater polarization angle->Angle of true polarization with incident light->The relation equation between the two to obtain the atmospheric module polarization vector after the amplitude correction>；
Step (4) is combined with the direction correction matrix of step (2)And (3) the atmospheric module polarization vector after correctionBased on underwater polarization information and sun vector +.>Establishing a three-dimensional attitude measurement equation based on polarized light field>The underwater polarization autonomous orientation of the marine environment based on cross-medium refraction interference compensation correction is realized.
2. The method for underwater polarization orientation based on cross-medium refraction interference compensation correction according to claim 1, wherein the method comprises the following steps:
in the step (2), the polarization observation vector of the underwater module system is expressed asAssume that three-dimensional attitude angle of underwater polarization sensor is pitch angle +.>Roll angle->And heading angle->The polarization observation vector of the underwater navigation system is:
，
wherein,,is a polarized observation vector of the underwater navigation system, which is superposed with the refraction light vector; />A coordinate transformation matrix between the module system and the carrier system; />A coordinate transformation matrix between the carrier system and the navigation system;
order the，/> ，Refraction angle of refracted light>The analytical equation of (2) is:
，
according to the optical path propagation theory, the incident angle is establishedAnd angle of refraction->Mapping relation:
，
wherein,,refractive index of atmosphere>Is water with refractive index, and has +.>；
According to the cross-medium light propagation theory, incident light and refraction light vectors are on the same plane, and are combined with the underwater navigation polarization observation vectorAnalyzing the polarization observation vector corresponding to the atmospheric navigation system>：
，
Wherein,,represents the polarization observation vector of the atmospheric navigation system, and analyzes the direction correction matrix based on the cross-medium refraction effect according to the relation>。
3. The method for underwater polarization orientation based on cross-medium refraction interference compensation correction according to claim 2, wherein the method comprises the following steps:
in the step (3), the incident light-refraction light is taken as a reference surface, and the underwater polarization angle obtained by analysis in the step (1) is taken as a reference surfaceCombining the attitude angle information in the step (2) to obtain the incident angle of the incident light +.>Refraction angle with refracted light>The relationship between the vector components of the incident light and the refracted light is established:
，
wherein,,representing the real polarization angle of the incident light, which is the underwater polarization angle +.>The corrected polarization angle; thus, the underwater polarization angle is established>Angle of true polarization with incident light->Mapping relation between:
，
thereby analyzing the real polarization angle of the incident lightObtaining the atmospheric module polarization vector after amplitude correction
。
4. A cross-medium refractive interference compensation correction-based underwater polarization orientation method according to claim 3, wherein:
in the step (4), a space vector relation equation based on cross-medium refraction interference compensation correction is established:
，
wherein,,representing a solar vector under a navigation system; establishing a three-dimensional attitude measurement equation based on a polarized light field through the space vector relation equation>：
，
Wherein,,representing the measurement function->For three-dimensional platform misalignment angle->To measure noise.
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| CN111623771A (en) * | 2020-06-08 | 2020-09-04 | 青岛智融领航科技有限公司 | Polarization inertial navigation tight combination navigation method based on light intensity |
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