摘要
为了有效利用全天域的偏振光信息,探究仿生偏振光导航机理,设计了偏振视觉传感器。介绍了基于四相机的偏振视觉传感器及其标定方法,推导了冗余配置下偏振态的最小二乘估计算法。分析了基于一阶瑞利散射模型的天空光偏振模式,将太阳方向矢量的最优估计问题转化为求解矩阵的特征向量问题,推导出了基于天空光偏振模式的定位定向算法。最后,设计了静态实验与转动实验,对理论分析结果进行了验证。实验结果显示:测量的天空光偏振模式与瑞利散射模型相一致,并可从中成功提取太阳方向矢量。静态实验测量的太阳天顶角的最大误差约为0.4°,误差标准差为0.14°;基于1h对天空偏振光的观测数据实现的定位误差为68.6km。转动实验(转动两周)得到的最大定向误差约为0.5°,误差标准差为0.28°。研究结果揭示了生物利用偏振光导航的机理,为仿生偏振光导航的应用提供了理论依据。
To make effectively use of the polarized light information of the whole horizon and to explore the mechanism of bionic polarized light navigation,apolarization vision sensor was designed.The polarization vision sensor based on four cameras was introduced and its calibration method was given.Then,the optimal estimation of the polarization state was derived based on least square algorithm.The skylight polarization pattern was analyzed based on the first order Rayleigh scattering model,the estimation of sun direction vector was translated into an optimization problem of finding the minimum eigenvector,and the positioning and orientation algorithm was derived.Finally,the theoretical analysis was verified by a static experiment and a rotation experiment.The results show that the measured skylight polarization pattern is consistent with the Rayleigh scattering model and the solar vector can be extracted successfully from it.In the static experiment,the maximum error of the solar zenith angle is about 0.4°with the standard deviation of 0.14°and the positioning error is about 68.6km based on the observation data within one hour.In rotation experiment,the maximumorientation error is about 0.5°with the standard deviation of 0.28°.This study reveals the mechanism of bionic navigation based on polarized light,and provides a theoretical basis for its applications to the bionic polarized light navigation.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2016年第9期2109-2116,共8页
Optics and Precision Engineering
基金
国家自然科学基金资助项目(No.61573371
No.61503403)
国防科技大学科研计划资助项目(No.JC14-03-04)
关键词
偏振视觉传感器
仿生偏振导航
天空偏振模式
定位定向
polarization vision sensor
bionic polarization navigation
skylight polarization pattern
positioning and orientation
