基于大气偏振光的航向角探测系统
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摘要
基于大气偏振光的航向角探测系统在大气偏振模式具有偏振态分布稳定性的基础上,对大气偏振模式进行偏振态检测,确定大气偏振模式对称轴即太阳子午线位置,利用加速度计测量俯仰角和横滚角,调整天顶点在成像面的投影位置,进而准确解算出航向角信息,验证了所述方法的有效性,最大动态误差为1. 74°,平均误差为0. 16°。该系统能够稳定输出导航角度,可以满足实时测试,具有重要的指导意义。
The heading angle detection system based on atmospheric polarized light based on the polarization distribution stability of the atmospheric polarization mode performed polarization detection on the atmospheric polarization mode,determined the symmetry axis of the atmospheric polarization mode,ie,the position of the solar meridian, and measured the elevation angle and the roll angle using an accelerometer to adjust the sky apex. At the projection position of the imaging surface,the heading angle information was accurately solved,and the effectiveness of the method was verified by experiments. The maximum dynamic error is 1. 74° and the average error is 0. 16°. The system can stabilize the output navigation angle and meet the needs of real-time testing. The proposed heading angle detection method of the accelerometer-assisted polarization light sensing system is an important research content of bionic polarized light navigation and has important guiding significance.
The heading angle detection system based on atmospheric polarized light based on the polarization distribution stability of the atmospheric polarization mode performed polarization detection on the atmospheric polarization mode,determined the symmetry axis of the atmospheric polarization mode,ie,the position of the solar meridian, and measured the elevation angle and the roll angle using an accelerometer to adjust the sky apex. At the projection position of the imaging surface,the heading angle information was accurately solved,and the effectiveness of the method was verified by experiments. The maximum dynamic error is 1. 74° and the average error is 0. 16°. The system can stabilize the output navigation angle and meet the needs of real-time testing. The proposed heading angle detection method of the accelerometer-assisted polarization light sensing system is an important research content of bionic polarized light navigation and has important guiding significance.
引文
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[6]晏磊,关桂霞,陈家斌,等.基于天空偏振光分布模式的仿生导航定向机理初探[J].北京大学学报,2009,45(4):616-620.
[7] ZHI W,CHU J K,LI J S. A novel attitude determination system aided by polarization sensor[J]. Sensors. 2018,18(1):1-17.
[8]褚金奎,张慧霞,王寅龙,等.多方向偏振光实时定位样机的设计与搭建[J].光学精密工程2017,25(2):312-318.
[9] REN J B,LIU J,TANG J,et al. Polarized skylight patternbased approach to attitude determination[J]. IEEE Sensors Journal. 2015,15(9):4917-4927.
[10]李成贵,孙燕峰,魏鹏.偏振导航传感器标定系统的设计与实现[J].电光与控制,2013,20(12):60-63.
[11]王志远,王茂森.基于双目视觉的移动机器人测距与定位系统[J].兵器装备工程学报,2017(11):173-177.
[12]任智伟,吴玲达.基于信息量改进主成分分析的高光谱图像特征提取方法[J].兵器装备工程学报,2018,39(7):151-154.
[2] BARTA A,FARKAS A,SZZ D,et al. Polarization transition between sunlit and moonlit skies with possible implications for animal orientation and Viking navigation:anomalous celestial twilight polarization at partial moon[J]. Applied Optics. 2018,53(23):5193-5204.
[3]王子谦,张旭东,金海红,等.基于Monte Carlo方法的混浊大气偏振模式全天域建模[J].中国激光,2014,41(10):1013001.
[4] ROSSEL S. Navigation by bees using polarized skylight[J].Comparative Biochemistry and Physiology Part A:Physiology. 1993,104(4):695-708.
[5] WEHNER R. Polarization vision-a uniform sensory capacity?[J]. Journal of Comparative Physiology A. 2016,204(14):2589-2596.
[6]晏磊,关桂霞,陈家斌,等.基于天空偏振光分布模式的仿生导航定向机理初探[J].北京大学学报,2009,45(4):616-620.
[7] ZHI W,CHU J K,LI J S. A novel attitude determination system aided by polarization sensor[J]. Sensors. 2018,18(1):1-17.
[8]褚金奎,张慧霞,王寅龙,等.多方向偏振光实时定位样机的设计与搭建[J].光学精密工程2017,25(2):312-318.
[9] REN J B,LIU J,TANG J,et al. Polarized skylight patternbased approach to attitude determination[J]. IEEE Sensors Journal. 2015,15(9):4917-4927.
[10]李成贵,孙燕峰,魏鹏.偏振导航传感器标定系统的设计与实现[J].电光与控制,2013,20(12):60-63.
[11]王志远,王茂森.基于双目视觉的移动机器人测距与定位系统[J].兵器装备工程学报,2017(11):173-177.
[12]任智伟,吴玲达.基于信息量改进主成分分析的高光谱图像特征提取方法[J].兵器装备工程学报,2018,39(7):151-154.