CN1971246A - Atmospheric polarization mode detection device and detection method thereof - Google Patents

Abstract

A single chip microcomputer acquisition control system in the device is connected with a motion rotation control system, the motion rotation control system is controlled to be connected with a first two-dimensional rotation control platform to realize two-dimensional motion rotation, scanning of an all-sky area is completed, the first two-dimensional rotation control platform is connected with a light polarization information collector, and an atmospheric polarization mode of the whole sky area is obtained. The motion rotation control system is connected with the second two-dimensional rotation control platform to realize two-dimensional motion rotation and is connected with the image acquisition system, and the image acquisition system acquires cloud layer information of all sky areas; the detection method comprises the steps of receiving an analog quantity signal of the optical polarization information collector, outputting a digital quantity signal of the atmospheric polarization mode and image digital information of cloud layer information, sending the obtained sky polarization information and the obtained image information of the cloud layer to a computer by the single chip microcomputer collection control system, and carrying out statistics and analysis by the data and image analysis system to finally complete analysis of the sky polarization mode.

Description

Atmospheric polarization type pick-up unit and detection method thereof

Technical field the invention belongs to intelligent information and obtains and the bio-robot field of navigation technology, particularly the atmospheric polarization type detection method of bio-robot navigation.

The technical background sunshine is the orthogonal transverse electromagnetic wave of a kind of direction of vibration and the direction of propagation, by atmospheric scattering and absorption, can produce corresponding polarized light in transmission course.According to the Rayleigh theory, if scattering angle is a zero degree, just can not get polarized light so; But if by O ₂And N ₂Molecular scattering can obtain linearly polarized light.If scattering angle is 90 degree, can obtain degree of polarization so and be 100% polarized light; Other scattering angle can obtain the partial poolarized light of different polarization degree.These have the different polarization direction, different polarization intensity, and the sunshine of different polarization degree has just formed so-called atmospheric polarization type.Polarization mode and geographic position, position of sun, atmospheric environment, weather condition, even and ground environment close contact is arranged, its rule is very complicated.Though the human atmospheric polarization optical mode that can not directly experience sky but is very important for many insects.The photosensitive structure that it is special that they can utilize eye is experienced the sky polarization information, for compass provides reference direction.Sometimes or even the unique reliable navigate mode of some insects.This method that can finish complicated navigation task efficiently has far-reaching directive significance to the navigation of bio-robot, and especially the independent navigation under foreign environment has crucial application prospect.Thereby the attention of numerous scientific research institutions that also must go abroad.In addition, the spatial and temporal distributions information of atmospheric polarization characteristic for the optics and the physical parameter of inverting atmosphere, set up atmospheric scattering radiation polarization characteristic model requisite material be provided.Therefore, the measurement of atmosphere polarization information also has a wide range of applications in researchs such as atmospheric optics and polarization remote sensing detection.

Atmosphere polarization information mainly comprises parameters such as atmospheric polarization degree d, polarization direction.Under desirable atmospheric environment, the polarization mode of atmosphere can obtain by the theoretical directly calculation of Rayleigh scattering.But, present various nonidealities because the polarization mode of atmosphere is subjected to the influence of various situations such as weather, air-flow, ground return, cloud layer.And wherein degree of polarization is subjected to having the greatest impact of these factors, but polarization mode has intrinsic rule.Will realize utilizing polarization mode to finish independent navigation task or atmospheric sounding relevant information so, the measurement of atmosphere polarization information is absolutely necessary.

Generally adopt equipment such as polarization spectrum detector at present in the research atmospheric optics, this kind equipment volume is big, and complex structure is not suitable for being applied in the robot navigation field.Atmospheric polarization type method in this field mainly concentrates on based on photoelectricity model and polarization imaging two big classes.

One, photoelectricity model

The method has been imitated the living model in DRA zone in the biological ommatidiums such as husky ant.R ü diger professor Wehner of animal system of University of Zurich carries out deep research to this living model.He has proposed a kind of pick-up unit based on the photoelectricity model with the people's cooperations such as Thomas Labhart that are all department of computer science of University of Zurich, and the polarization information of atmosphere is studied.This method cardinal principle is: the optical information of local sky is by a pair of orthogonal analyzer (polaroid), shine on a pair of photoelectric commutator, the output of photoelectric commutator is input to behind logarithmic amplifier carries out corresponding computing in the computing machine, obtain certain regional polarization information at last.But this method can not detect the polarization information of atmosphere well, mainly contains the deficiency of the following aspects: only adopt a pair of orthogonal analyzer, can not accurately detect whole polarization informations; And existing method only can realize the rotation of one dimension, and that just can not realize omnibearing scanning to whole sky, only is the polarization information of certain belt-like zone of sky.

Two, polarization imaging is measured

People such as Wehner professor and the physical Kenneth J.Voss in Miami University have proposed the method based on polarization imaging.The method mainly contains two kinds of ways of realization.First kind is to adopt the camera lens of small angle clocklike the zones of different of sky to be taken local polarization image, and the polarization image of three different angles is taken in each zone.Then polarization image is handled, obtained corresponding atmosphere polarization information.Although this method has realized still can not realizing the continuous sweep to whole sky to observation, the statistics of bigger day dummy section; The acquisition of the polarization image of three different angles of the same area is also finished by artificial rotatory polarization sheet, and efficient is lower.And to finish whole measurement, and need to take earlier all polarization images, handle then.The time of finishing such one-shot measurement is longer, and in whole measuring process, because polarization information is affected by environment bigger, can make the precision of measurement result reduce greatly long measuring period.Second kind is overall polarization imaging method.The method adopts fish eye lens to replace common camera lens, once finishes the shooting of the polarization image of whole sky.Shorten the cycle of measuring greatly, improved the accuracy of measuring.But the interference that optical system and imaging system itself exists brings very big uncertainty to measurement.Owing to adopted fish eye lens, when the sky that the sun is arranged was taken polarization image, strong excessively sunshine can make the imaging system overexposure, even can not get needed polarization image.So just must add a device that can block the sun in addition before camera lens, from existing data, this method can not be eliminated the influence of this overexposure well.And, realize being quite complicated to blocking of sun position automatically, still there is not the report of this respect at present.In addition, because that overall imaging system exists is bigger non-linear, this brings bigger nonlinear system deviation to The ultimate results.

The summary of the invention goal of the invention is based on the prior art above shortcomings, can not satisfy to atmosphere polarization information automatically, obtain timely, be difficult to the independent navigation robot compass heading information accurately be provided synchronously.At this situation, the objective of the invention is: propose a kind of atmospheric polarization type pick-up unit and detection method thereof.

Technical scheme of the present invention is: a kind of atmospheric polarization type pick-up unit, comprise the light polarization information acquisition device, described light polarization information acquisition device is made of two pairs of polarization information detecting units, described polarization information detecting unit has imitated the polarization neuronal structure of husky ant compound eye, the polarization information detecting unit is made up of a pair of photoelectric tube Polarization Detection device and a logarithmic amplifier, the polarization direction of two polaroids that the photoelectric tube Polarization Detection in the described polarization information detecting unit is right is vertical mutually, it is characterized in that:

The atmospheric polarization type pick-up unit also comprises single-chip microcomputer acquisition control system, motion Rotable Control System, the first two-dimentional Spin Control platform, the second two-dimentional Spin Control platform, the image capturing system of mutual electrical connection, described polarization information detecting unit is installed corresponding interference filter above polaroid, can select the interference filter of different response wave lengths in the use according to the needs that detect, the unification of described polarization information detecting unit is installed in the dark sleeve, makes detecting unit be limited in the visual angle of 15 degree～30 degree the photosensitive region of sky;

Described single-chip microcomputer acquisition control system controlled motion Rotable Control System is realized the rotation of the first two-dimentional Spin Control platform, the data acquisition of control light polarization information acquisition device, the liquid crystal display of control data and to the data transmission of computing machine, the controlled motion Rotable Control System is realized the rotation of the second two-dimentional Spin Control platform simultaneously, and the image acquisition of control image capturing system;

Described motion Rotable Control System is set the step pitch of scanning and the speed of scanning, is used for realizing whole day dummy section carried out real time scan, realizes that the atmospheric polarization type in whole day territory detects;

The described first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform comprise horizontal and vertical turning axle, laterally turning axle is finished the scanning perpendicular to the in-plane of observation point and sun meridian formation, and longitudinal rotating shaft is finished along the scanning of sun meridian direction;

Polarization information detecting unit in the said light polarization information acquisition device comprises interference filter, polaroid and photodiode, and said image capturing system comprises optical filter, camera lens, CCD, image pick-up card.

A kind of detection method of atmospheric polarization type pick-up unit comprises it is characterized in that the numerical information of the image of the digital quantity signal of the analog signals that receives the light polarization information acquisition device and output atmospheric polarization type and cloud layer information:

The model of interference filter in the selective light polarization information collector makes photodiode respond to the light of fixed band, so that the situation of studying different-waveband polarisation of light pattern and influenced by cloud layer;

Select scan mode, the scanning step and the sweep velocity of the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform in the setting motion Rotable Control System;

By the rotation of the longitudinal axis in the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform, finish subarea-scanning to the sky dummy section; By the rotation of transverse axis in the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform, finish quick scanning again to each zone;

Single-chip microcomputer acquisition control system controlled motion Rotable Control System realizes that the first two-dimentional Spin Control platform scans the sky of being observed according to the motor pattern of setting, the light polarization information acquisition device is finished the collection of space polarization information, and deliver to the single-chip microcomputer acquisition control system, the formula of the data processing method of obtaining according to a polarization information calculates, and obtains the polarization information of respective regions;

The first two-dimentional Spin Control platform is finished after certain regional polarization information obtains, realize the motion of the second two-dimentional Spin Control platform by single-chip microcomputer acquisition control system controlled motion Rotable Control System, and control the image acquisition that image capturing system is finished this regional cloud layer information;

After the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform are finished the scanning in whole regulations zone, the single-chip microcomputer acquisition control system is delivered to computing machine with its sky polarization information that obtains and the image information of cloud layer, carry out unified statistics and analysis by data, image analysis system, finish the analysis of sky polarization mode.

The detection method of said a kind of atmospheric polarization type pick-up unit, it is characterized in that the step pitch of said motion Rotable Control System and the speed of scanning adopt the horizontal step pitch of the first two-dimentional Spin Control platform from 5 degree～15 degree, vertically step pitch is from 10 degree～30 degree, and the speed of scanning is per second 18 degree～36 degree; The horizontal step pitch of the second two-dimentional Spin Control platform is from 15 degree～45 degree, and vertically step pitch is from 10 degree～30 degree, and the speed of scanning is per second 18 degree～36 degree;

The detection method of said a kind of atmospheric polarization type pick-up unit is characterized in that the model of the interference filter in the said selective light polarization information collector, is the interference filter from ruddiness～ultraviolet light wave band.

The detection method of said a kind of atmospheric polarization type pick-up unit is characterized in that the formula of the data processing method that said some polarization information obtains is:

$\mathrm{\φ}=\frac{1}{2}\arctan \left(\frac{{\stackrel{\‾}{P}}_1\left(\mathrm{\φ}\right)+2{\stackrel{\‾}{P}}_2\left(\mathrm{\φ}\right)-\frac{3}{2}}{\sqrt{3}({\stackrel{\‾}{P}}_1\left(\mathrm{\φ}\right)-\frac{1}{2})}\right)$

The beneficial effect of the invention is:

One, prior art can not satisfy in time the obtaining of atmosphere polarization information, and being difficult to be implemented in provides accurate directional information in time in the robot autonomous navigation.Among the present invention, the atmospheric polarization type pick-up unit comprises single-chip microcomputer acquisition control system, motion Rotable Control System, the first two-dimentional Spin Control platform, the second two-dimentional Spin Control platform, light polarization information acquisition device, the image capturing system of mutual electrical connection.Wherein the single-chip microcomputer acquisition control system connects the motion Rotable Control System, the controlled motion Rotable Control System connects the motion rotation of the first two-dimentional Spin Control Platform Implementation two dimension, finish the scanning in all-sky zone, the first two-dimentional Spin Control platform connects the light polarization information acquisition device, and this has just guaranteed the acquisition of the atmospheric polarization type of whole day dummy section.The motion Rotable Control System connects the two dimensional motion rotation of the second two-dimentional Spin Control platform simultaneously, and the second two-dimentional Spin Control platform connects image capturing system, makes image capturing system can obtain all cloud layer information of day dummy section; The scanning platform of the bidimensional of the present invention design is realized continual scanning to whole day dummy section, has avoided the uncontinuity in existing photoelectricity model and the local polarization imaging model sky measured, has improved the measuring accuracy of polarization information greatly.

Its two, the polarization imaging method of the camera lens of small angle can not realize continuous scanning in the prior art, and needs to take earlier all necessary polarization images, handles then, it is longer to finish such one-shot measurement time.In addition, influenced by the sun bigger for overall polarization imaging method in the prior art, makes imaging system produce the overexposure phenomenon easily, and have bigger nonlinearity erron, brings bigger nonlinear system deviation to The ultimate results.Among the present invention, adopt two pairs mutually vertical and have a detection method of the Calibrator of different polarization angle, finish moment collection to the polarization information of sky regional area, remedy the wheel measuring of existing photoelectricity model to the same area, make and originally want the measurement of a few minutes can finish in the very short time, shorten the cycle of one-shot measurement greatly, reduced the influence of time factor measurement result.In addition, because the inventive method is based on the method for photoelectricity model, and do not adopt the method for polarization imaging, overcome fully in the method for overall polarization imaging because the overexposure that the sun causes, make that the measurement to whole sky arbitrary region all is accurately, also avoided the non-linear deviation in the method for overall polarization imaging simultaneously.

Its three, relative prior art, the invention of atmospheric polarization type pick-up unit and detection method thereof fully off-line working this make measuring equipment simple, cost is low, volume is little.

Its four since the polarization direction in the atmosphere polarization information influenced by weather, cloud layer etc. less, robustness is better, polarization direction can be used for the direction location of the independent navigation of robot.By test to the sky polarization information of the same area, the horizontal step pitch that we select the first two-dimentional Spin Control platform is 5 degree, actual detected to the anglec of rotation substantially also be 5 degree, the average that the test tour obtains 73 sampled point results is 4.985405 degree, standard deviation is 0.449118.Can provide reliable compass information for the independent navigation robot from experimental result fully by the polarization direction that apparatus of the present invention and method obtained, with the existing robots autonomous navigation technology good complementarity is arranged, and existing other airmanships of polarization airmanship are unattainable under special circumstances.

The present invention is further illustrated below in conjunction with accompanying drawing for description of drawings.

Fig. 1 is atmospheric polarization type pick-up unit circuit theory diagrams;

Fig. 2 is the first two-dimentional Spin Control platform and light polarization information acquisition synoptic diagram;

Fig. 3 is second two-dimentional Spin Control platform and the image capturing system synoptic diagram;

Fig. 4 is the atmospheric polarization type synoptic diagram;

Fig. 5 is the polarization neuron models in the husky ant compound eye;

Fig. 6 is a polarization information detecting unit synoptic diagram;

Fig. 7 is an atmospheric polarization type detection method process flow diagram;

Fig. 8 is a polarization direction part testing result;

Fig. 9 is a degree of polarization part testing result.

Embodiment

Referring to Fig. 1, a kind of atmospheric polarization type pick-up unit, this device comprises that 1 is the light polarization information acquisition device, and 2 is that single-chip microcomputer acquisition control system, 3 is that motion Rotable Control System, 4 is that the first two-dimentional Spin Control platform, 5 is the second two-dimentional Spin Control platform, image capturing system 6 etc.

Single-chip microcomputer acquisition control system 2 is electrically connected the rotation that controlled motion Rotable Control System 3 is realized the first two-dimentional Spin Control platform 4; The data of the sky polarization information that light polarization information acquisition device 1 obtains are processed and displayed by single-chip microcomputer acquisition control system 2.Simultaneously single-chip microcomputer acquisition control system 2 connects the rotation that controlled motion Rotable Control Systems 3 are realized the second two-dimentional Spin Control platform 5, and finishes image acquisition to sky cloud layer information by image capturing system 6.

Wherein, motion Rotable Control System 3 is realized step pitch and the speed of scanning and the control of scan mode of scanning, is used to realize whole sky dummy section is carried out the real time scan of different modes, realizes that the atmospheric polarization type in whole day territory detects.

Referring to Fig. 2, Fig. 3 and Fig. 4, the first two-dimentional Spin Control platform 4 and the second two-dimentional Spin Control platform 5 are by laterally turning axle and longitudinal rotating shaft are formed mutually, lateral shaft is responsible for finishing the scanning perpendicular to the in-plane of observation point and sun meridian formation, and longitudinal rotating shaft is responsible for finishing the scanning along sun meridian direction.Wherein, image capturing system 6 comprises optical filter, camera lens, CCD, image pick-up card.

Referring to Fig. 5 and Fig. 6, light polarization information acquisition device 1 mainly is made of two pairs of polarization information detecting units.The polarization information detecting unit has imitated the polarization neuronal structure of husky ant compound eye, and the polarization information detecting unit is made up of a pair of photoelectric tube Polarization Detection device and a logarithmic amplifier.The polarization information detecting unit comprises two the orthogonal polaroids of polarization direction, photodiode and interference filters.The polarisation of light pattern situation that influenced by cloud layer for the research different-waveband, corresponding interference filter is installed above polaroid, can select the interference filter of different response wave lengths in the use according to the needs that detect, make photodiode respond to the light of fixed band.Wherein, the model of interference filter is from ruddiness～ultraviolet light wave band.The polarization information detecting unit is installed in the sleeve of a black by unified, makes detecting unit be limited in the visual angle of one 15 degree～30 degree the photosensitive region of sky.

Referring to Fig. 7, a kind of detection method of atmospheric polarization type pick-up unit, start-up system (step 100) at first, total system is carried out corresponding initialization (step 110), and select scan mode (step 120), the scanning step and the sweep velocity of the first two-dimentional Spin Control platform 4 and the second two-dimentional Spin Control platform 5 in the setting motion Rotable Control System 3.Wherein, the horizontal step pitch of the first two-dimentional Spin Control platform 4 is from 5 degree～15 degree, and vertically step pitch is from 10 degree～30 degree, and the speed of scanning is per second 18 degree～36 degree; The horizontal step pitch of the second two-dimentional Spin Control platform 5 is from 15 degree～45 degree, and vertically step pitch is from 10 degree～30 degree, and the speed of scanning is per second 18 degree～36 degree.

Then, the rotation that single-chip microcomputer acquisition control system 2 controlled motion Rotable Control Systems 3 are realized the longitudinal axis in the first two-dimentional Spin Control platform 4 and the second two-dimentional Spin Control platform 5 realizes the subarea-scanning (step 130) to the sky dummy section; By the rotation of transverse axis in the first two-dimentional Spin Control platform 4 and the second two-dimentional Spin Control platform 5, finish quick scanning (step 140) again to each zone.In the process that the first two-dimentional Spin Control platform 4 scans the sky of being observed according to the motor pattern of setting, light polarization information acquisition device 1 is finished the space polarization information and is detected and conversion (step 150), and deliver to single-chip microcomputer acquisition control system 2 and carry out data computation (step 160) according to the data processing method that a polarization information obtains, obtain the polarization information of respective regions, the result delivers to liquid crystal display displays (step 170).If sector scanning does not finish (step 180), continue fast area scanning (step 140), if finish, then single-chip microcomputer acquisition control system 2 controlled motion Rotable Control Systems 3 are realized the motion of the second two-dimentional Spin Control platform 5, and control image capturing system 6 is finished this area image and gathered (step 190).

If subarea-scanning does not finish (step 200), continue subarea-scanning (step 130), if finish, after promptly the first two-dimentional Spin Control platform 4 and the second two-dimentional Spin Control platform 5 are finished the scanning in whole regulations zone, single-chip microcomputer acquisition control system 2 is delivered to computing machine with its sky polarization information that obtains and the image information of cloud layer, carry out data and Flame Image Process (step 210) by data, image analysis system, the polarization information in a whole day territory is measured and is finished (step 220), finally finishes the analysis of sky polarization mode.

Referring to Fig. 6, the computing formula of the data processing method that described some polarization information of step 160 obtains is:

The output of photoelectric tube Polarization Detection device 1:

S(φ)＝KI(1+dcos(2φ-2φ _max)) (1)

I=I wherein _Max+ I _Min, I _Max, I _MinThe maximin of representing light intensity respectively; D is a degree of polarization; φ is a solar azimuth; φ _MaxBe the φ that makes the S maximum; K is a constant.The output of photoelectric tube Polarization Detection device gets the output of polarization information detecting unit behind logarithmic amplifier:

$P_1\left(\mathrm{\φ}\right)=\log \left(\frac{1+d\cos \left(2\mathrm{\φ}\right)}{1-d\cos \left(2\mathrm{\φ}\right)}\right)---\left(2\right)$

Make polarization direction (is reference with one of them) and first group of corresponding polarization direction of detecting unit of another polaroid to the polarization information detecting unit (analyzer) be 60 degree angles, so, this group polarization information detecting unit is output as:

$P_2\left(\mathrm{\φ}\right)=\log \left(\frac{1+d\cos (2\mathrm{\φ}-\frac{2\mathrm{\π}}{3})}{1-d\cos (2\mathrm{\φ}-\frac{2\mathrm{\π}}{3})}\right)---\left(3\right)$

Go logarithm to handle by the S type function to (2), (3) formula again, that is: $\stackrel{\‾}{P}\left(\mathrm{\φ}\right)=\frac{1}{{10}^{P\left(\mathrm{\φ}\right)}+1},$ So, (2), (3) formula become:

$1-2\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="1"\; label="P"\; filenames="A20061004046700201.png"\; state="\{\{state\}\}">P</figure-callout>}}_1}\left(\mathrm{\&phi;}\right)=d\cos \left(2\mathrm{\&phi;}\right)---\left(4\right)$

$1-2\stackrel{\&OverBar;}{{\mathrm{<figure-callout\; id="2"\; label="P"\; filenames="A20061004046700201.png"\; state="\{\{state\}\}">P</figure-callout>}}_2}\left(\mathrm{\&phi;}\right)=d\cos (2\mathrm{\&phi;}-\frac{2\mathrm{\&pi;}}{3})---\left(5\right)$

Get by (4) formula:

$d=\frac{1-2{\stackrel{\&OverBar;}{P}}_1\left(\mathrm{\&phi;}\right)}{\cos \left(2\mathrm{\&phi;}\right)}---\left(6\right)$

(5) formula of bringing into gets with (6) formula again:

$\mathrm{\&phi;}=\frac{1}{2}\arctan \left(\frac{{\stackrel{\&OverBar;}{P}}_1\left(\mathrm{\&phi;}\right)+2{\stackrel{\&OverBar;}{P}}_2\left(\mathrm{\&phi;}\right)-\frac{3}{2}}{\sqrt{3}({\stackrel{\&OverBar;}{P}}_1\left(\mathrm{\&phi;}\right)-\frac{1}{2})}\right)---\left(7\right)$

In like manner can get:

$d=$ $\sqrt{\frac{4}{3}{(2{\stackrel{\&OverBar;}{P}}_2\left(\mathrm{\&phi;}\right)+{\stackrel{\&OverBar;}{P}}_1\left(\mathrm{\&phi;}\right)-\frac{3}{2})}^2+{(1-2{\stackrel{\&OverBar;}{P}}_1\left(\mathrm{\&phi;}\right))}^2}---\left(8\right)$

Just can realize that by two groups of polarization information detecting units the polarization information of concrete local zonule obtains in the atmosphere.

Referring to Fig. 8 since the polarization direction in the atmosphere polarization information influenced by weather, cloud layer etc. less, robustness is better, polarization direction can be used for the direction location of the independent navigation of robot.In test process, the place is chosen in HeFei University of Technology's ease husband building 13 building roofs, and longitude is 117.27, and latitude is 31.86; Selection of time is 17: 30 on the 29th March in 2006; Weather condition is fine and a small amount of floating clouds is arranged.Light polarization information acquisition device 1 is aimed at certain zone of sky, promptly select a fixing sky dummy section by the longitudinal rotating shaft of the first two-dimentional Spin Control platform 4; The step pitch of setting first two-dimentional Spin Control platform 4 lateral shafts is 5 degree, i.e. light polarization information acquisition device 1 every rotation 5 degree once sampling.The reference direction of single-chip microcomputer acquisition control system 2 detected light polarization information acquisition devices 1 and the angle of solar azimuth are substantially according to 5 interval variation of spending.The test tour obtains 73 sampled points, and its average is 4.985405 degree, and standard deviation is 0.449118.From experimental result, the directional information that atmospheric polarization type provided that apparatus of the present invention and method obtained can provide reliable compass information for the independent navigation robot fully, with the existing robots autonomous navigation technology good complementarity is arranged, and existing other airmanships of polarization airmanship are unattainable under special circumstances.

Referring to Fig. 9, it is bigger that degree of polarization in the atmosphere polarization information is influenced by weather, cloud layer etc., same Fig. 8 of mode of experiment, from experimental result as can be seen degree of polarization influenced by weather, cloud layer and surrounding enviroment etc. bigger really, can not present the theoretical distribution of tangible Rayleigh scattering.

Obviously, those skilled in the art can carry out various changes and modification to atmospheric polarization type pick-up unit of the present invention and detection method thereof and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.

Claims (8)

1, a kind of atmospheric polarization type pick-up unit, comprise light polarization information acquisition device (1), described light polarization information acquisition device (1) is made of two pairs of polarization information detecting units, described polarization information detecting unit has imitated the polarization neuronal structure of husky ant compound eye, the polarization information detecting unit is made up of a pair of photoelectric tube Polarization Detection device and a logarithmic amplifier, the polarization direction of two polaroids that the photoelectric tube Polarization Detection in the described polarization information detecting unit is right is vertical mutually, it is characterized in that:

The atmospheric polarization type pick-up unit also comprises the single-chip microcomputer acquisition control system (2) of mutual electrical connection, motion Rotable Control System (3), the first two-dimentional Spin Control platform (4), the second two-dimentional Spin Control platform (5), image capturing system (6), described polarization information detecting unit is installed corresponding interference filter above polaroid, select the interference filter of different response wave lengths in the use according to the needs that detect, described polarization information detecting unit is installed in the sleeve of a dark color, makes detecting unit be limited in the fixing visual angle the photosensitive region of sky;

Described single-chip microcomputer acquisition control system (2) controlled motion Rotable Control System (3) is realized the rotation of the first two-dimentional Spin Control platform (4), the data acquisition of control light polarization information acquisition device (1), and the liquid crystal display of control data and to the data transmission of computing machine, controlled motion Rotable Control System (3) is realized the rotation of the second two-dimentional Spin Control platform (5) simultaneously, and the image acquisition of control image capturing system (6);

Described motion Rotable Control System (3) is set the step pitch of scanning and the speed of scanning, is used for realizing whole day dummy section carried out real time scan, realizes that the atmospheric polarization type in whole day territory detects;

The described first two-dimentional Spin Control platform (4) and the second two-dimentional Spin Control platform (5) comprise horizontal and vertical turning axle, laterally turning axle is finished the scanning perpendicular to the in-plane of observation point and sun meridian formation, and longitudinal rotating shaft is finished along the scanning of sun meridian direction.

2, according to the said a kind of atmospheric polarization type pick-up unit of claim 1, it is characterized in that the polarization information detecting unit in the said light polarization information acquisition device (1) comprises interference filter, polaroid and photodiode.

3, according to the said a kind of atmospheric polarization type pick-up unit of claim 1, the fixed viewpoint that it is characterized in that the polarization information detecting unit of said light polarization information acquisition device (1) is 15 degree～30 degree.

4,, it is characterized in that said image capturing system (6) comprises optical filter, camera lens, CCD, image pick-up card according to the said a kind of atmospheric polarization type pick-up unit of claim 1.

5, a kind of detection method of using the described a kind of atmospheric polarization type pick-up unit of claim, comprise the numerical information of the analog signals and the image of the digital quantity signal of exporting atmospheric polarization type and cloud layer information of reception light polarization information acquisition device, it is characterized in that:

The model of interference filter in the selective light polarization information collector makes photodiode respond to the light of fixed band;

Select scan mode, the scanning step and the sweep velocity of the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform in the setting motion Rotable Control System;

By the rotation of the longitudinal axis in the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform, finish subarea-scanning to the sky dummy section; By the rotation of transverse axis in the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform, finish quick scanning again to each zone;

Single-chip microcomputer acquisition control system controlled motion Rotable Control System realizes that the first two-dimentional Spin Control platform scans the sky of being observed according to the motor pattern of setting, the light polarization information acquisition device is finished the collection of space polarization information, and the formula of delivering to the data processing method that the single-chip microcomputer acquisition control system obtains according to a polarization information calculates, and obtains the polarization information of respective regions;

The first two-dimentional Spin Control platform is finished after certain regional polarization information obtains, realize the motion of the second two-dimentional Spin Control platform by single-chip microcomputer acquisition control system controlled motion Rotable Control System, control the image acquisition that image capturing system is finished this regional cloud layer information simultaneously;

After the first two-dimentional Spin Control platform and the second two-dimentional Spin Control platform are finished the scanning in whole regulations zone, the single-chip microcomputer acquisition control system is delivered to computing machine with its sky polarization information that obtains and the image information of cloud layer, carry out unified statistics and analysis by data, image analysis system, finish the analysis of sky polarization mode.

6, according to the detection method of the said a kind of atmospheric polarization type pick-up unit of claim 5, it is characterized in that the step pitch of said motion Rotable Control System and the speed of scanning adopt the horizontal step pitch of the first two-dimentional Spin Control platform from 5 degree～15 degree, vertically step pitch is from 10 degree～30 degree, and the speed of scanning is per second 18 degree～36 degree; The horizontal step pitch of the second two-dimentional Spin Control platform is from 15 degree～45 degree, and vertically step pitch is from 10 degree～30 degree, and the speed of scanning is per second 18 degree～36 degree.

7, according to the detection method of the said a kind of atmospheric polarization type pick-up unit of claim 5, it is characterized in that the model of the interference filter in the said selective light polarization information collector, be interference filter from ruddiness～ultraviolet light wave band.

8,, it is characterized in that the formula of the data processing method that said some polarization information obtains is according to the detection method of the said a kind of atmospheric polarization type pick-up unit of claim 5:

$\mathrm{\&phi;}=\frac{1}{2}\arctan \left(\frac{{\stackrel{\&OverBar;}{P}}_1\left(\mathrm{\&phi;}\right)+2{\stackrel{\&OverBar;}{P}}_2\left(\mathrm{\&phi;}\right)-\frac{3}{2}}{\sqrt{3}\left({\stackrel{\&OverBar;}{P}}_1\right(\mathrm{\&phi;})-\frac{1}{2})}\right)$ $d=\sqrt{\frac{4}{3}{\left(2{\stackrel{\&OverBar;}{P}}_2\right(\mathrm{\&phi;})+{\stackrel{\&OverBar;}{P}}_1(\mathrm{\&phi;})-\frac{3}{2})}^2+{(1-2{\stackrel{\&OverBar;}{P}}_1(\mathrm{\&phi;})}^2}。$

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