CN117870674A - Bionic orientation method of imaging type polarization sensor based on direct sunlight compensation - Google Patents
Bionic orientation method of imaging type polarization sensor based on direct sunlight compensation Download PDFInfo
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Abstract
The invention provides a bionic orientation method of an imaging type polarization sensor based on direct sunlight compensation, which comprises the following steps: step 1: acquiring an original polarized light intensity detection value, and step 2: acquiring transmission light intensity and polarization response intensity based on the original polarization light intensity detection value; step 3: constructing an improved imaging polarization sensor detection model based on the incident light intensity and the polarization response loudness; step 4: acquiring direct sunlight weight in unpolarized light based on the improved imaging polarization sensor detection model and the original polarized light intensity detection value; step 5: correcting the original polarized light intensity detection value based on the direct sunlight weight in the unpolarized light to obtain the polarized angle information after direct sunlight compensation; step 6: and acquiring the carrier course based on the polarization angle information after direct sunlight compensation. The invention can provide high-precision navigation information for the unmanned platform under the GNSS refusal environment, can obviously inhibit the interference of direct sunlight on the course measurement result and obviously improve the course measurement precision.
Description
Technical Field
The invention belongs to the technical field of integrated navigation, and particularly relates to a bionic orientation method of an imaging type polarization sensor based on direct sunlight compensation.
Background
Polarization is taken as vibration direction information of light waves, and together with light intensity information, a vector dimension space of the light information is formed. As sunlight passes through the earth's atmosphere, a stable polarization distribution pattern appears throughout the sky due to scattering effects of atmospheric molecules and aerosol particles. Biological researches show that the mantis shrimp, octopus, locust, desert ant and other organisms can sense the polarization mode of the whole sky by utilizing the unique visual structure of the mantis shrimp, octopus, locust, desert ant and other organisms and can perform self-positioning by utilizing the information. Inspired by a bionic navigation mechanism, polarization navigation has shown advanced performance in the navigation fields of unmanned aerial vehicles, unmanned ground vehicles and the like. The method has the advantages of no accumulated error, electromagnetic interference resistance, strong concealment and the like, and provides a novel solution for the complete autonomous orientation in the Global Navigation Satellite System (GNSS) refusing environment. However, research on the Polarization Sensor (PS) error mechanism is currently incomplete. Therefore, researching the error model of the polarization sensor in the complex environment has important significance for improving the bionic polarization orientation precision.
Currently, polarization sensor (polarization sensor) error models can be classified into a photodiode-based point source type and a CMOS chip-based imaging type. For the point source polarization sensor, lambrinos constructs a point source polarization sensor by utilizing six groups of photodiodes, realizes heading measurement and performs experiments on a mobile robot. Chu constructed three pairs of polarization countermeasure units (POLs) using polarization detectors and logarithmic amplifiers, and calibrated the sensor using an integrating sphere, resulting in a polarization angle measurement error of less than 0.2. The Ma proposes a polarization information calculation method based on a least square method, and calibrates the installation angle error and the polarization angle error of the sensor. Dupeyroux designed a UV polarization sensor, and performed outdoor experiments under various weather and environmental conditions, achieved a directional accuracy of less than 0.3 ° on sunny days. And the single measurement of the point source polarization sensor can only obtain polarization information along a certain observation direction, is easily influenced by environmental shielding, and has poor robustness. Therefore, the imaging polarization orientation method is getting more and more attention. Sturzl achieves geometric scaling of four-channel fisheye polarized cameras and estimates the measurement covariance of the polarized channels. Chu uses a one-time nanoimprint and metal deposition process to integrate a double layer nanowire polarizer with a photodetector, avoiding alignment errors associated with discrete polarizers. Fan considers the intensity response consistency error and the polarizer installation angle error of the polarization sensor, and Ren builds an imaging polarization sensor model based on the extinction ratio error, so that the accuracy of polarization Angle (AOP) detection is further improved. Li provides a field calibration method based on a Berry model, and the directional robustness under a severe multiple scattering scene is improved. wan when imaging the polarization sensor, further consider the distortion effect of the optical system, and construct the Mueller matrix of the optical system, and the heading accuracy is 0.667 °. However, the above method does not consider the effect of direct interference of sunlight in the environment on the polarization path. Liu develops a point source polarization sensor detection model under direct solar interference, and the adaptability of the sensor to different solar elevation angles is enhanced.
In summary, the prior art has the following drawbacks: (1) Direct interference of sunlight is not considered, and heading measurement accuracy is seriously affected; (2) The direct sunlight compensation method of the point source type polarization sensor is difficult to directly apply to the imaging type polarization sensor; (3) The effect of the carrier tilt state on the heading measurement is not considered.
Disclosure of Invention
The invention aims to provide a bionic orientation method of an imaging type polarization sensor based on direct sunlight compensation, and aims to solve the technical problem that high-precision full-automatic orientation cannot be realized in GNSS rejection and magnetic interference environments in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme: the bionic orientation method of the imaging type polarization sensor based on direct sunlight compensation comprises the following steps:
step 1: the original polarized light intensity detection value is obtained,
step 2: acquiring transmission light intensity and polarization response intensity based on the original polarization light intensity detection value;
step 3: constructing an improved imaging polarization sensor detection model based on the incident light intensity and the polarization response loudness;
step 4: acquiring direct sunlight weight in unpolarized light based on the improved imaging polarization sensor detection model and the original polarized light intensity detection value;
step 5: correcting the original polarized light intensity detection value based on the direct sunlight weight in the unpolarized light to obtain stokes vector and polarization angle information after direct sunlight compensation;
step 6: and acquiring the carrier course based on the polarization angle information after direct sunlight compensation.
Optionally, step 2 includes:
step 2.1: decomposing the electric field vector of direct solar radiation into E 1 And E is 2 A component;
step 2.2: calculation of E based on the incident light intensity of direct sunlight 1 Is a light intensity transmitted by the light source;
step 2.3: calculation of E based on basic transmission mechanism of polarized light and transmitted light intensity of polarized light sheet 2 Is a light intensity transmitted by the light source;
step 2.4: based on E 1 Transmitted light intensity and E of (2) 2 Calculating the polarization response intensity of the transmitted light intensity;
E 1 the transmitted light intensity of (2) is:
in the formula (1),for the incident light intensity of direct sunlight, < >>For E 1 Is E, and ψ is 1 Included angle with polarization direction of polarizer, +.>For E 1 Is transmitted through (a)The light intensity;
E 2 the transmitted light intensity of (2) is:
in the formula (2), gamma s Is the zenith angle of the solar vector, alpha is a first angle, beta is a second angle,is psi and gamma s Functional characteristics of->For E 2 Is a light intensity transmitted by the light source;
the polarization response intensity is:
in the formula (3), P is the polarization response coefficient of direct sunlight,for E 1 Is>For E 2 Is E, and ψ is 1 Included angle with the polarization direction of the polarizer.
Optionally, step 3 includes:
step 3.1: establishing a single-channel light intensity response model of the four-channel polarization unit based on the polarization response intensity;
step 3.2: single-channel light intensity response model acquisition E based on four-channel polarization unit 1 An angle between the azimuth angle and the polarizer mounting direction;
step 3.3: single-channel light intensity response model and E based on four-channel polarization unit 1 An improved imaging type polarization sensor detection model is obtained by the included angle between the azimuth angle and the installation direction of the polarizer;
the single-channel light intensity response model of the four-channel polarization unit is as follows:
in the formula (4) of the present invention,single channel light intensity, k, for four-channel polarizing element m Is the weight of direct sunlight under unpolarized light, P k The polarization response coefficient of direct sunlight in the kth channel, d is the polarization degree, eta k For non-uniform error parameters of extinction ratio coefficient, beta k Is the attenuation parameter of the incident light intensity of the kth polarized channel, and ζ is the polarization angle, I in For incident light intensity +.>A polarizer mounting angle;
E 1 the included angle between the azimuth angle and the polarizer installation direction is as follows:
P k ＝0.5cos 2 ψ k (5)
in the formulas (5) and (6), P k Is the polarization response coefficient of direct sunlight in the kth channel, ψ k For E 1 The angle between the azimuth and the polarizer mounting direction,for polarizer mounting angle +.>An azimuth angle of a sun vector under the carrier system;
the improved imaging polarization sensor detection model is as follows:
in the formula (7), beta k Is the kthPolarization channel incident light intensity attenuation parameter, I in For the intensity of the incident light,is the polarizer mounting angle, ζ is the polarization angle, d is the polarization degree, k m For the quality of direct sunlight, < >>For the intensity response value of direct sunlight transmitted to the CMOS chip through the polarizer, +.>Is the single channel light intensity of the four-channel polarization unit.
Optionally, step 4 includes:
step 4.1: calculating an initial polarization angle xi and a polarization degree d based on a traditional imaging polarization sensor model;
step 4.2: constructing an unfolded imaging type polarization sensor detection model based on the initial polarization angle xi, the polarization degree d and the improved imaging type polarization sensor detection model, and enabling the unfolded imaging type polarization sensor detection model to meet a polarization channel light intensity response objective function;
step 4.3: acquiring a final imaging type polarization sensor detection model based on the installation angle and the unfolded imaging type polarization sensor detection model;
step 4.4: acquiring direct sunlight weight in unpolarized light based on a final imaging type polarization sensor detection model;
the initial polarization angle ζ and the polarization degree d are:
in the formula (8) and the formula (9), s is Stokes vector, I in For the incident light intensity, ζ is the initial polarization angle, and d is the initial polarization degree;
the detection model of the unfolded imaging type polarization sensor is as follows:
in the formula (10) of the present invention,is the single-channel light intensity, k of the four-channel polarization unit under direct sunlight m Is the weight of direct sunlight under unpolarized light, eta k For error parameters with inconsistent extinction ratio coefficients, ζ is polarization angle, I in For incident light intensity +.>A polarizer mounting angle;
the light intensity response objective function of the polarized light channel is:
in the formula (11), the color of the sample is,for polarizer mounting angle, k m Is the weight of direct sunlight under unpolarized light, eta k For non-uniform error parameters of extinction ratio coefficient, beta k For the attenuation parameter of the incident light intensity of the kth polarization channel, < + >>Single channel light intensity for four channel polarizing element, +.>The incident light intensity is single channel;
the final imaging polarization sensor detection model is:
s＝[s 1 s 2 s 3 s 4 ] T
＝[I in I in d cos2ξ I in d sin2ξ I in k m ] T (12)
in the formulas (12) and (13), s is a Stokes vector, ζ is an initial polarization angle, d is an initial polarization degree, k m Is the weight of direct sunlight under unpolarized light, I in For the intensity of the incident light,for the polarization response coefficient of direct sunlight in the channel, +.>A polarizer mounting angle;
the direct sunlight weight in unpolarized light is:
in formula (14), k m Is the weight of direct sunlight under unpolarized light,is the polarization response coefficient of direct sunlight in the channel, I out Is the single channel light intensity of the four-channel polarization unit.
Optionally, step 5 includes:
step 5.1: compensating the direct sunlight weight in the unpolarized light based on a least square method to obtain a light intensity value corresponding to the polarized channel after direct sunlight compensation;
step 5.2: acquiring stokes vector and polarization angle information after direct sunlight compensation based on the light intensity value corresponding to the polarization channel after direct sunlight compensation;
the light intensity value corresponding to the polarized channel after direct sunlight compensation is as follows:
in formula (15)，Compensating the polarization channel for direct sunlight with a corresponding light intensity value,/->Intensity of incident light, k, for single channel m Is the weight of direct sunlight under unpolarized light, I in Is the intensity of the incident light;
the stokes vector after direct sunlight compensation is as follows:
in the formula (16) of the present invention,stokes vector after direct sunlight compensation, I in Is the intensity of the incident light;
the polarization angle information after direct sunlight compensation is as follows:
in the formula (17), xi is the polarization angle information after direct sunlight compensation,and (5) a stokes vector after direct sunlight compensation.
Optionally, step 6 includes:
step 6.1: acquiring polarization information based on the stokes vector and the polarization angle information after direct sunlight compensation;
step 6.2: the carrier heading is calculated based on the polarization information.
Optionally, step 6.2 includes:
step 6.2.1: obtaining observation vector under carrier system based on polarization information
And 6, step 6.2.2: observation vector based on carrier systemAcquiring vector +.>
Step 6.2.3: vector based on l systemConstructing a transformation matrix from an l coordinate system to a c coordinate system;
step 6.2.4: acquiring zenith angle and azimuth angle of the l coordinate system after inclination angle compensation based on a transformation matrix from the l coordinate system to the c coordinate system;
step 6.2.5: acquiring a conversion relation of the zenith angle and the azimuth angle based on the zenith angle and the azimuth angle of the l coordinate system after inclination angle compensation;
step 6.2.6: acquiring a polarization vector in an n coordinate system based on a conversion relation of zenith angle and azimuth angle;
step 6.2.7: acquiring a polarization vector of an l coordinate system after compensating the inclination angle error based on the polarization vector in the n coordinate system;
step 6.2.8: acquiring a measurement value of the l coordinate system based on the polarization vector of the l coordinate system after the inclination angle error is compensated;
step 6.2.9: determining zenith angle gamma of sun in navigation coordinate system based on local time and position S And azimuth angle alpha S Based on the measured value of the l coordinate system and the azimuth angle alpha of the sun in the navigation coordinate system S Acquiring a carrier course;
vector in l coordinate systemThe method comprises the following steps:
in the formula (18), the number of the symbols,is carried byObservation vector under body system
The transformation matrix of the l coordinate system to the c coordinate system is:
in the formula (19), ro is the roll angle of the camera, pi is the pitch angle of the camera,a transformation matrix for transforming from the horizontal coordinate system l to the sensor coordinate system c;
the zenith angle and azimuth angle of the l coordinate system after inclination angle compensation are as follows:
in the formula (20) of the present invention,is the vector in the l coordinate system, gamma l Zenith angle, alpha, of the angle-compensated l coordinate system l The azimuth angle of the l coordinate system after inclination angle compensation;
the conversion relation between zenith angle and azimuth angle is as follows:
in the formula (21), phi is an included angle between the E vector and the plane of the observation meridian, and phi is an included angle between E and the polar direction of the polarizer;
the polarization vectors in the n coordinate system are:
in the formula (22) and the formula (23),for the coordinate basis vector of the y-axis in the w-coordinate system, +>Is the coordinate base vector of the x-axis in the w-coordinate system, phi is the included angle between the E vector and the observation meridian plane, and gamma l Zenith angle, alpha, of the angle-compensated l coordinate system l Azimuth angle of l coordinate system after inclination angle compensation, e l Is a polarization vector;
the measured values of the l coordinate system are:
in the formula (24) of the present invention,for the measurement value of the l coordinate system, λ (1) is the first element, and λ (2) is the second element;
the carrier course is as follows:
in equation (25), heading is heading,for the measurement of the l coordinate system, α s Is the theoretical azimuth in the n-series.
The bionic orientation method and system of the imaging type polarization sensor based on direct sunlight compensation provided by the invention have the beneficial effects that: the invention analyzes the influence mechanism of direct sunlight on the detection of the polarization sensor under the complex environmental condition. The direct sunlight interference factors are introduced into the imaging polarization detection intensity response model, so that the accuracy of the model is improved; the invention constructs a polarization state information analytic solution model based on direct sunlight compensation. The four-channel polarization response light intensity redundant information is utilized to establish an equation set, so that the accuracy and the instantaneity of solving the polarization state information are improved; the invention designs a polarized course measuring method based on least square fitting, builds an imaging polarized sensor bionic orientation device based on direct sunlight compensation, and verifies the advancement of the method by using a simulation and outdoor dynamic transposition experiment platform; the heading measurement method provided by the invention is a fully autonomous heading measurement method, can provide high-precision navigation information for an unmanned platform in a GNSS refused environment, can obviously inhibit the interference of direct sunlight on a heading measurement result, and obviously improves the heading measurement precision.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a bionic orientation method of an imaging polarization sensor based on direct sunlight compensation provided by an embodiment of the invention;
FIG. 2 is a diagram of a polarization mechanism of direct sunlight through a polarizer provided by an embodiment of the present invention;
FIG. 3 is a diagram of a polarization mechanism of direct sunlight through a polarizer provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a method for measuring polarization heading in an inclined state according to an embodiment of the present invention;
FIG. 5 is a graph of simulation results for a polarized light tunnel under direct solar radiation provided by an embodiment of the present invention;
FIG. 6 is a graph of course measurements for different models of a simulation test provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a bionic orientation device of an imaging polarized light sensor based on direct sunlight compensation according to an embodiment of the present invention;
FIG. 8 is a graph of course measurements of different models of an outdoor test provided by an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The present embodiment is described with reference to fig. 1-8, where for polarized navigation, the accuracy of the polarized sensor model directly affects the accuracy of heading measurements. The conventional imaging polarization sensor model considers the influence of error factors such as light intensity consistency error, polarizer installation angle error, extinction ratio error and the like on AOP measurement, and is defined as a model 1 and expressed as
Wherein beta is k Is the attenuation parameter of the incident light intensity of the kth polarized channel,is the polarizer mounting angle eta with error k Is an extinction ratio coefficient inconsistency error parameter. ζ is the polarization angle and d is the polarization degree. />Is I in And the output light intensity after passing through the polarizer.
Although the model 1 improves the detection accuracy of polarized light formed by natural light scattering, it does not consider the influence of coupling between direct sunlight and polarized light on the detection result of a polarized channel, and severely reduces the accuracy of polarized heading calculation. As shown in fig. 2 a), when sunlight is incident into the atmosphere, a portion of the light is scattered by the atmosphere to form an all-sky polarization mode, while another portion is direct sunlight directly incident on the sensor without polarization effects. The detection process of direct sunlight does not conform to the traditional polarization sensor model 1, and the electric vector of the direct sunlight is decomposed into E 1 On the sensor plane E 2 Perpendicular to its direction as shown in fig. 2 b). Thus (2)Model errors are introduced in the calculation process of the polarization state, and the accuracy of the polarization course is seriously affected.
In order to solve the problems, the invention provides a polarization orientation method based on direct sunlight compensation. The method mainly comprises three parts, namely, constructing an improved imaging type polarization sensor model with direct sunlight compensation, calculating polarization state information and measuring polarization heading.
An improved imaging polarization sensor model is first constructed. Fig. 3 illustrates the detection mechanism of direct sunlight tilted by a polarizer. Let OS be the solar vector direction and OP be the observation vector direction. The electric field vector of direct solar radiation can be decomposed into E 1 And E is 2 A component. E (E) 1 Is positioned on the surface of the polarizer, E 2 Perpendicular to E 1 And a plane formed by OS. When E is 1 When passing through the polarizer, the transmitted light intensity can be expressed as:
in the formula (2),for the incident light intensity of direct sunlight, < >>For E 1 Is E, and ψ is 1 Included angle with polarization direction of polarizer, +.>For E 1 Is a light intensity transmitted by the light source;
the transmitted light intensity through the polarizer is relative to the electric field vector E according to the basic transmission mechanism of polarized light\ci { RN10} 2 Can be expressed as:
in the formula (3), gamma s Is the zenith angle of the solar vector, alpha is a first angle, beta is a second angle,is psi and gamma s Functional characteristics of->For E 2 Is a light intensity transmitted by the light source;
alpha and beta are both equal to E 1 Azimuth angle psi and solar vector zenith angle gamma s Related to the following. Thus, the square terms in equation (3) can be expressed as ψ and γ s Is characterized in thatWhen gamma is s Towards 0, function ∈>Also tending toward 0.
According to the fig. 3, the point source polarization sensor model directly detects polarization information in the normal direction of the CMOS chip. Unlike imaging polarization sensors, the direct sunlight passes through a wide angle lens, and the light transmission path changes. The direct sunlight then passes through the lens housing and impinges on the polarizer array and the CMOS chip in a nearly vertical direction. At this point, the zenith angle gamma of the direct solar radiation s Close to zero. Therefore, E can be ignored 2 Derives the expression of the polarization response intensity in direct sunlight:
in the formula (4), P is the polarization response coefficient of direct sunlight,for E 1 Is>For E 2 Is E, and ψ is 1 Included angle with the polarization direction of the polarizer.
According to formula (4), we can build a single-channel light intensity response model of the four-channel polarization unit:
in the formula (5) of the present invention,single channel light intensity, k, for four-channel polarizing element m Is the weight of direct sunlight under unpolarized light, P k The polarization response coefficient of direct sunlight in the kth channel, d is the polarization degree, eta k For non-uniform error parameters of extinction ratio coefficient, beta k Is the attenuation parameter of the incident light intensity of the kth polarized channel, and ζ is the polarization angle, I in For incident light intensity +.>Is the polarizer mounting angle.
And (3) withThe corresponding polarizer error-free mounting angles are respectively 0 degree, 45 degrees, 90 degrees and 135 degrees; k (k) m Is the weight of direct sunlight under unpolarized light; p (P) k Representing the polarization response coefficient of direct sunlight in the kth channel, can be represented by an electric field vector E 1 Included angle psi with polarizer k And (3) calculating to obtain:
P k ＝0.5cos 2 ψ k (6)
in the formula (6), ψ k For E 1 An angle between the azimuth angle and the polarizer mounting direction;
E 1 azimuth angle of sun vector under carrier systemDiffering by pi/2. Thus, defining the counterclockwise direction as positive, we can obtain ψ k The expression of (2) is:
in the formula (7), P k Is the polarization response coefficient of the direct sunlight in the kth channel,for polarizer mounting angle +.>An azimuth angle of a sun vector under the carrier system;
after new formulation (5), an improved imaging polarization sensor detection model can be obtained:
beta in formula (8) k Is the attenuation parameter of the incident light intensity of the kth polarized channel, I in For the intensity of the incident light,is the polarizer mounting angle, ζ is the polarization angle, d is the polarization degree, k m For the quality of direct sunlight, < >>For the intensity response value of direct sunlight transmitted to the CMOS chip through the polarizer, +.>Is the single channel light intensity of the four-channel polarization unit.
The improved imaging polarization sensor detection model additionally takes into account the effects of direct sunlight compared to model 1.The intensity response value of direct sunlight transmitted through the polarizer to the CMOS chip is represented. Thus, the environmental suitability of the improved model can be improved. In addition, when the direct sunlight quality k m When it is zero, the improved polarization sensor model is degraded into model 1 as shown in formula (8). Notably, the sun azimuth angle in the carrier system in equation (7)>The approximate heading of the carrier and solar azimuth in the navigational coordinate system can be obtained by:
the method is obtained by inputting the geographic position and time of the carrier into solar ephemeris; head-end n May be provided by other navigation systems, such as inertial navigation systems.
And then carrying out resolution type solution on the polarization state information. After the detection model of the imaging polarization sensor is established, the polarization state needs to be solved by further combining the response light intensity of the measured polarization channel. Therefore, it is necessary to establish a detection valueAnd Stokes vector s. The traditional polarization state calculation method based on the model 1 comprises the following steps:
in equation 9Is a measurement of the intensity of the single channel polarization response light. From this, the initial polarization angle ζ and the polarization degree d can be calculated:
in the formula (10), s is Stokes vector, I in For the incident light intensity, ζ is the initial polarization angle, and d is the initial polarization degree;
although this method does not take into account the effect of direct sunlight, we can use the calculated degree of polarization d and the incident light intensity I in As a priori information for the algorithm. For the polarization sensor model under direct sunlight, the expansion of equation (8) can be obtained:
in the formula (11), the color of the sample is,is the single-channel light intensity, k of the four-channel polarization unit under direct sunlight m Is the weight of direct sunlight under unpolarized light, eta k For error parameters with inconsistent extinction ratio coefficients, ζ is polarization angle, I in For incident light intensity +.>A polarizer mounting angle;
wherein the method comprises the steps ofAnd->The solving process of the polarization state is that the parameters are determinedAnd makes it meet the following polarized channel light intensity response objective function:
in the formula (12) of the present invention,for polarizer mounting angle, k m Is the weight of direct sunlight under unpolarized light, eta k For non-uniform error parameters of extinction ratio coefficient, beta k For the attenuation parameter of the incident light intensity of the kth polarization channel, < + >>Single channel light intensity for four channel polarizing element, +.>Incident light of a single channelStrong;
can be obtained by calibration in advance, and k m Mainly determined by the interference of direct sunlight, is closely related to the carrier environment and needs to be solved in real time. Thus, k is derived in detail m And a solution process for the polarization state. The stokes vector s is extended and equation (11) is rewritten as a linear matrix.
s＝[s 1 s 2 s 3 s 4 ] T
＝[I in I in d cos2ξ I in d sin2ξ I in k m ] T (13)
Equations (13) and (14) satisfy ds=f. Therefore, equation (12) can be solved by least squares to obtain the optimal Stokes vector as
Equation (15) is used to solve for the Stokes vector for a single polarized channel based on direct sunlight interference. However, for polarization sensor imaging with millions of polarized channels, the matrix inversion operation in equation (15) will consume a significant amount of time. Therefore, it is necessary to deduceIs a solution method of (1). Ignoring polarizer mounting angle error delta alpha k And extinction ratio error eta k Is to be mounted at an angle +.>Substituting formula (11) to obtain the equation set:
in the formula (16), s is Stokes vector, ζ is initial polarization angle, d is initial polarization degree, k m Is the weight of direct sunlight under unpolarized light, I in For the intensity of the incident light,for the polarization response coefficient of direct sunlight in the channel, +.>A polarizer mounting angle;
the weight k of the direct sunlight of the unpolarized light can be calculated m :
In the formula (17), k m Is the weight of direct sunlight under unpolarized light,is the polarization response coefficient of direct sunlight in the channel, I out Is the single channel light intensity of the four-channel polarization unit.
k c Is a constant, and the physical meaning of the constant is used for compensating the theoretical error of the analysis method relative to the least square method. The empirical value was taken herein as 20. The corresponding light intensity value of the polarized channel after direct sunlight compensation can be obtained:
in the formula (18), the number of the symbols,compensating the polarization channel for direct sunlight with a corresponding light intensity value,/->Intensity of incident light, k, for single channel m Is the weight of direct sunlight under unpolarized light, I in Is the intensity of the incident light;
finally, we can obtain stokes vectors after direct sunlight compensation as shown in formula (19).
In the formula (19), the expression "a",stokes vector after direct sunlight compensation, I in Is the intensity of the incident light; />
From (10) the direct sunlight compensated AOP measurement, i.e. the direct sunlight compensated polarization angle information, can be obtainedWherein, xi is the polarization angle information after direct sunlight compensation, ++>And (5) a stokes vector after direct sunlight compensation.
And finally, measuring the course. AOP value to compensate direct sunlight in obtaining sensor coordinate systemThe carrier heading is then further calculated using the polarization information. We describe the polarization mode of the whole sky with the rayleigh model, where the polarization E vector direction is perpendicular to the scattering plane. Furthermore, we consider the effect of carrier tilt on heading measurements. A specific measurement of heading under oblique conditions is shown in fig. 1.
It is assumed that the carrier coordinate system coincides with the sensor coordinate system, where c-frame represents the sensor coordinate system, l-frame represents the tilt corrected horizontal reference coordinate system, and n-frame represents the "east-north-up" geographic coordinate system. Fig. 1 is an AOP measurement process in a celestial sphere tilt state observed from the local meridian. Gamma ray l And alpha l The zenith angle and the azimuth angle of the observation point under the horizontal reference system. Under the L systemThe expression is
In the formula (20) of the present invention,the observation vector under the carrier system can be obtained by calibrating internal parameters and distortion parameters through a camera. The transformation matrix from the l-coordinate system to the c-coordinate system is
In the formula (21), ro is the roll angle of the camera, pi is the pitch angle of the camera,a transformation matrix for transforming from the horizontal coordinate system l to the sensor coordinate system c;
ro and pi represent the roll angle and pitch angle of the camera. Thus, zenith angle and azimuth angle of the l coordinate system after inclination angle compensation can be obtained.
In the formula (22) of the present invention,is the vector in the l coordinate system, gamma l Zenith angle, alpha, of the angle-compensated l coordinate system l The azimuth angle of the l coordinate system after inclination angle compensation;
phi represents the angle between the E vector and the observation meridian plane. The relationship between phi and xi is expressed as
In the formula (23), phi is an included angle between the E vector and the plane of the observation meridian, and phi is an included angle between E and the polar direction of the polarizer;
furthermore, in order to calculate the solar vector e using the rayleigh scattering model, it is necessary to calculate the expression of the polarization vector in the n coordinate system:
in equation (24)And->Is a coordinate basis vector of the y-axis and the x-axis in a w-coordinate system, and can be expressed as
/>
In the formula (25) of the present invention,for the coordinate basis vector of the y-axis in the w-coordinate system, +>Is the coordinate base vector of the x-axis in the w-coordinate system, phi is the included angle between the E vector and the observation meridian plane, and gamma l Zenith angle, alpha, of the angle-compensated l coordinate system l Azimuth angle of l coordinate system after inclination angle compensation, e l Is a polarization vector;
by substituting equation (25) into (24), polarization vector e l Compensating for tilt errors in the l-coordinate system. Furthermore, according to the single Rayleigh scattering model, the vector E of the scattered light is perpendicular to the scattering plane, and likewise the vector E is perpendicular to the sun vectorIs marked asThus, define->Where N represents the number of effective pixels, thus E T s l =0. Solving the sun vector in the l-coordinate system can be expressed as an optimization problem as follows
min s ((s l ) T EE T s l ),s.t.(s l ) T s l ＝1 (26)
Matrix EE T The eigenvector lambda corresponding to the minimum eigenvalue of (c) is the best estimate of the solar vector and can be obtained by Singular Value Decomposition (SVD). The solar meridian direction in the l-coordinate system isWherein (1)>For the measurement of the l coordinate system, λ (1) is the first element and λ (2) is the second element.
From ephemeris, the zenith angle gamma of the sun in the navigational coordinate system can be determined from the local time and position S And azimuth angle alpha S . Based on the theoretical azimuth in n-series and the measured value in l-seriesIs calculated according to the difference value of the formula (I):
wherein, the heading is the heading,for the measurement of the l coordinate system, α s Is the theoretical azimuth in n series.
The 180 degree ambiguity exists in the course angle solution, which can be determined by the integrated navigation system.
The effectiveness of the polarization orientation method based on direct sunlight compensation, which is proposed herein, is verified through simulation and outdoor experiments. We use the final heading measurement accuracy as an evaluation index. The rotation angle of the polarization sensor within 100 seconds is set to 720 degrees, so that the light intensity output of a plurality of polarization channels under direct interference of sunlight can be obtained.
The output of the center region unipolar channel is shown in fig. 5. It can be seen that the amplitude and phase of the polarization sensor imaging is significantly disturbed at different polarization directions.
And then adopting different polarization sensor models to calculate polarization course. Model 1 is a conventional model that does not take into account the direct influence of sunlight. Model 2 is the model based on direct sunlight compensation that this patent proposed. In model 2, normal distributed random noise with a mean of 0 ° and a variance of 0.5 ° is applied to the heading reference value as a priori heading. In simulation experiments.
The heading measurements for the different models are shown in fig. 6. It can be seen that the polarization sensor model taking into account the direct sunlight compensation effectively suppresses the influence of direct sunlight on the detection intensity of the polarized channels. The heading measurement of the model is closer to the true heading than the traditional model.
Further, the course measurement performance of the model under the interference of the actual direct sunlight is verified through an outdoor experiment. The bionic orientation device of the imaging polarized light sensor based on direct sunlight compensation for outdoor experiments is shown in fig. 7. The imaging type polarization sensor system consists of a polarization camera and a fisheye lens. Heading measurements are made using a fiber optic inertial navigation system (pins) as a reference. During the experiment, the fines are initially aligned, and then the turntable is controlled to rotate, so that all-day polarized images are shot at different directions at different time intervals in one day.
The heading measurements of the various models in the outdoor experiments are shown in fig. 8. Both model 1 and model 2 exhibit a skilled ability to calculate carrier heading information. However, since the influence of direct sunlight is taken into account, model 2 is closer to the reference heading than the conventional model even in the actual dataset.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. The bionic orientation method of the imaging type polarization sensor based on direct sunlight compensation is characterized by comprising the following steps of:
step 1: the original polarized light intensity detection value is obtained,
step 2: acquiring transmission light intensity and polarization response intensity based on the original polarization light intensity detection value;
step 3: constructing an improved imaging polarization sensor detection model based on the incident light intensity and the polarization response loudness;
step 4: acquiring direct sunlight weight in unpolarized light based on the improved imaging polarization sensor detection model and the original polarized light intensity detection value;
step 5: correcting the original polarized light intensity detection value based on the direct sunlight weight in the unpolarized light to obtain stokes vector and polarization angle information after direct sunlight compensation;
step 6: and acquiring the carrier course based on the polarization angle information after direct sunlight compensation.
2. The method for biomimetic orientation of an imaging polarization sensor based on direct sunlight compensation according to claim 1, wherein the step of obtaining the transmitted light intensity and the polarization response intensity in step 2 comprises:
step 2.1: decomposing the electric field vector of the direct solar radiation into E 1 And E is 2 A component;
step 2.2: calculation of E based on the incident light intensity of direct sunlight 1 Is a light intensity transmitted by the light source;
step 2.3: calculation of E based on basic transmission mechanism of polarized light and transmitted light intensity of polarized light sheet 2 Is a light intensity transmitted by the light source;
step 2.4: based on the E 1 Transmitted light intensity and E of (2) 2 Calculating the polarization response intensity of the transmitted light intensity;
E 1 the transmitted light intensity of (2) is:
in the formula (1),for the incident light intensity of direct sunlight, < >>For E 1 Is E, and ψ is 1 Included angle with polarization direction of polarizer, +.>For E 1 Is a light intensity transmitted by the light source;
E 2 the transmitted light intensity of (2) is:
in the formula (2), gamma s Is the zenith angle of the solar vector, alpha is a first angle, beta is a second angle,is psi and gamma s Functional characteristics of->For E 2 Is a light intensity transmitted by the light source;
the polarization response intensity is:
in the formula (3), P is the polarization response coefficient of direct sunlight,for E 1 Is>For E 2 Is E, and ψ is 1 Included angle with the polarization direction of the polarizer.
3. The bionic orientation method of an imaging polarization sensor based on direct sunlight compensation according to claim 2, wherein the construction of the improved detection model of the imaging polarization sensor in the step 3 is realized by the following steps:
step 3.1: establishing a single-channel light intensity response model of the four-channel polarizing unit based on the polarization response intensity;
step 3.2: e is obtained based on a single-channel light intensity response model of the four-channel polarizing unit 1 An angle between the azimuth angle and the polarizer mounting direction;
step 3.3: single-channel light intensity response model and E based on four-channel polarization units 1 An improved imaging type polarization sensor detection model is obtained by the included angle between the azimuth angle and the installation direction of the polarizer;
the single-channel light intensity response model of the four-channel polarization unit is as follows:
in the formula (4) of the present invention,single channel light intensity, k, for four-channel polarizing element m Is the weight of direct sunlight under unpolarized light, P k The polarization response coefficient of direct sunlight in the kth channel, d is the polarization degree, eta k For non-uniform error parameters of extinction ratio coefficient, beta k Is the attenuation parameter of the incident light intensity of the kth polarized channel, and ζ is the polarization angle, I in For incident light intensity +.>A polarizer mounting angle;
E 1 the included angle between the azimuth angle and the polarizer installation direction is as follows:
P k ＝0.5cos 2 ψ k (5)
in the formulas (5) and (6), P k Is the polarization response coefficient of direct sunlight in the kth channel, ψ k For E 1 The angle between the azimuth and the polarizer mounting direction,for polarizer mounting angle +.>An azimuth angle of a sun vector under the carrier system;
the improved imaging polarization sensor detection model is as follows:
in the formula (7), beta k Is the attenuation parameter of the incident light intensity of the kth polarized channel, I in For the intensity of the incident light,is the polarizer mounting angle, ζ is the polarization angle, d is the polarization degree, k m For the quality of direct sunlight, < >>For the intensity response value of direct sunlight transmitted to the CMOS chip through the polarizer, +.>Is the single channel light intensity of the four-channel polarization unit.
4. A direct sunlight compensation-based imaging polarization sensor bionic orientation method according to claim 3, wherein the step of obtaining the direct sunlight weight in the unpolarized light in the step 4 comprises:
step 4.1: calculating an initial polarization angle xi and a polarization degree d based on a traditional imaging polarization sensor model;
step 4.2: constructing an unfolded imaging type polarization sensor detection model based on the initial polarization angle xi, the polarization degree d and the improved imaging type polarization sensor detection model, and enabling the unfolded imaging type polarization sensor detection model to meet a polarization channel light intensity response objective function;
step 4.3: acquiring a final imaging type polarization sensor detection model based on the installation angle and the unfolded imaging type polarization sensor detection model;
step 4.4: acquiring direct sunlight weight in unpolarized light based on the final imaging polarization sensor detection model;
the initial polarization angle ζ and the polarization degree d are:
in the formula (8) and the formula (9), s is Stokes vector, I in For the incident light intensity, ζ is the initial polarization angle, and d is the initial polarization degree;
the detection model of the unfolded imaging type polarization sensor is as follows:
in the formula (10) of the present invention,is the single-channel light intensity, k of the four-channel polarization unit under direct sunlight m Is the weight of direct sunlight under unpolarized light, eta k For error parameters with inconsistent extinction ratio coefficients, ζ is polarization angle, I in For incident light intensity +.>A polarizer mounting angle;
the light intensity response objective function of the polarized light channel is:
in the formula (11), the color of the sample is,for polarizer mounting angle, k m Is the weight of direct sunlight under unpolarized light, eta k For non-uniform error parameters of extinction ratio coefficient, beta k For the attenuation parameter of the incident light intensity of the kth polarization channel, < + >>Is the single-channel light intensity of the four-channel polarization unit,the incident light intensity is single channel;
the final imaging polarization sensor detection model is:
s＝[s 1 s 2 s 3 s 4 ] T
＝[I in I in dcos2ξ I in dsin2ξ I in k m ] T (12)
in the formulas (12) and (13), s is a Stokes vector, ζ is an initial polarization angle, d is an initial polarization degree, k m Is the weight of direct sunlight under unpolarized light, I in For the intensity of the incident light,for the polarization response coefficient of direct sunlight in the channel, +.>A polarizer mounting angle;
the direct sunlight weight in unpolarized light is:
in formula (14), k m Is the weight of direct sunlight under unpolarized light,is the polarization response coefficient of direct sunlight in the channel, I out Is the single channel light intensity of the four-channel polarization unit.
5. The method for biomimetic orientation of an imaging polarization sensor based on direct sunlight compensation according to claim 4, wherein the step of obtaining stokes vector and polarization angle information after direct sunlight compensation in step 5 comprises:
step 5.1: compensating the direct sunlight weight in the unpolarized light based on a least square method to obtain a light intensity value corresponding to the polarized channel after direct sunlight compensation;
step 5.2: acquiring stokes vector and polarization angle information after direct sunlight compensation based on the light intensity value corresponding to the polarization channel after direct sunlight compensation;
the light intensity value corresponding to the polarized channel after direct sunlight compensation is as follows:
in the formula (15) of the present invention,compensating the polarization channel for direct sunlight with a corresponding light intensity value,/->Intensity of incident light, k, for single channel m Is the weight of direct sunlight under unpolarized light, I in Is the intensity of the incident light;
the stokes vector after direct sunlight compensation is as follows:
in the formula (16) of the present invention,stokes vector after direct sunlight compensation, I in Is the intensity of the incident light;
the polarization angle information after direct sunlight compensation is as follows:
in the formula (17), xi is the polarization angle information after direct sunlight compensation,and (5) a stokes vector after direct sunlight compensation.
6. The method for biomimetic orientation of an imaging polarization sensor based on direct sunlight compensation according to claim 5, wherein the step of obtaining the carrier heading in step 6 comprises:
step 6.1: acquiring polarization information based on the stokes vector and the polarization angle information after direct sunlight compensation;
step 6.2: and calculating the carrier heading based on the polarization information.
7. The direct sunlight compensation-based imaging polarization sensor biomimetic orientation method according to claim 6, wherein the step of calculating the carrier heading in step 6.2 comprises:
step 6.2.1: obtaining an observation vector under a carrier system based on the polarization information
Step 6.2.2: based on the observation vector under the carrier systemAcquiring vector +.>
Step 6.2.3: based on the vector under the l systemConstructing a transformation matrix from an l coordinate system to a c coordinate system;
step 6.2.4: acquiring zenith angle and azimuth angle of the inclination angle compensated l coordinate system based on the transformation matrix from the l coordinate system to the c coordinate system;
step 6.2.5: acquiring a conversion relation between the zenith angle and the azimuth angle based on the zenith angle and the azimuth angle of the l coordinate system after the inclination angle compensation;
step 6.2.6: acquiring a polarization vector in an n coordinate system based on the conversion relation of the zenith angle and the azimuth angle;
step 6.2.7: acquiring a polarization vector of an l coordinate system after the inclination angle error is compensated based on the polarization vector in the n coordinate system;
step 6.2.8: acquiring a measurement value of the l coordinate system based on the polarization vector of the l coordinate system after the inclination angle error compensation;
step 6.2.9: determining zenith angle gamma of sun in navigation coordinate system based on local time and position S And azimuth angle alpha S Based on the measured value of the l coordinate system and the azimuth angle alpha of the sun in the navigation coordinate system S Acquiring a carrier course;
vector in l coordinate systemThe method comprises the following steps:
in the formula (18), the number of the symbols,is the observation vector under the carrier system
The transformation matrix of the l coordinate system to the c coordinate system is:
in the formula (19), ro is the roll angle of the camera, pi is the pitch angle of the camera,a transformation matrix for transforming from the horizontal coordinate system l to the sensor coordinate system c;
the zenith angle and azimuth angle of the l coordinate system after inclination angle compensation are as follows:
in the formula (20) of the present invention,is the vector in the l coordinate system, gamma l Zenith angle, alpha, of the angle-compensated l coordinate system l The azimuth angle of the l coordinate system after inclination angle compensation;
the conversion relation between zenith angle and azimuth angle is as follows:
in the formula (21), phi is an included angle between the E vector and the plane of the observation meridian, and phi is an included angle between E and the polar direction of the polarizer;
the polarization vectors in the n coordinate system are:
in the formula (22) and the formula (23),for the coordinate basis vector of the y-axis in the w-coordinate system, +>Is the coordinate base vector of the x-axis in the w-coordinate system, phi is the included angle between the E vector and the observation meridian plane, and gamma l Zenith angle, alpha, of the angle-compensated l coordinate system l Azimuth angle of l coordinate system after inclination angle compensation, e l Is a polarization vector;
the measured values of the l coordinate system are:
in the formula (24) of the present invention,for the measurement value of the l coordinate system, λ (1) is the first element, and λ (2) is the second element;
the carrier course is as follows:
in equation (25), heading is heading,for the measurement of the l coordinate system, α s Is the theoretical azimuth in the n-series.
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