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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。
In order to make full use of the polarization information in the all-day domain and explore the navigation mechanism of the bionic polarized light, a polarization vision sensor is designed. The polarization camera based on four cameras and its calibration method are introduced. The least square estimation algorithm of polarization state under the redundant configuration is deduced. Based on the first-order Rayleigh scattering model, the polarization mode of sky light is analyzed. The optimal estimation of the solar orientation vector is transformed into the problem of solving the eigenvectors of the matrix. A positioning and orientation algorithm based on the sky light polarization mode is deduced. Finally, the static experiment and the rotation experiment are designed, and the theoretical analysis results are verified. Experimental results show that the measured polarization pattern of sky light is consistent with the Rayleigh scattering model, and the solar directional vector can be successfully extracted from it. The maximum error of the solar zenith angle measured by the static experiment is about 0.4 ° and the error standard deviation is 0.14 °. The positioning error based on the observed data of the sky polarized light for 1 hour is 68.6 km. Rotating the experiment (two revolutions), the maximum orientation error was about 0.5 ° and the error standard deviation was 0.28 °. The research results reveal the mechanism of bio-utilization of polarized light navigation and provide a theoretical basis for the application of biomimetic polarized light navigation.