A method for underwater vehicle attitude measurement based on Snell’s window and its polarization mode

XIN Runhong; ZHANG Ran; CHU Jinkui; GONG Wenzhe; LI Yunpeng; CHENG Xiaoou

doi:10.37188/OPE.20243212.1801

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A method for underwater vehicle attitude measurement based on Snell’s window and its polarization mode

Modern Applied Optics | 更新时间：2024-07-26

- A method for underwater vehicle attitude measurement based on Snell’s window and its polarization mode
- Optics and Precision Engineering Vol. 32, Issue 12, Pages: 1801-1811(2024)
- 作者机构：
  
  1.大连理工大学辽宁省微纳米系统重点实验室，辽宁大连 116024
  2.大连理工大学宁波研究院，辽宁大连 116024
  3.大连船舶重工集团有限公司，辽宁大连 116011
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20243212.1801
  CLC： TN967.2;U666.1
- Published：25 June 2024，
  
  Received：23 March 2024，
  
  Revised：20 April 2024，
- 稿件说明：
移动端阅览
辛润宏,张然,褚金奎等.基于Snell窗及偏振模式的水下载体航姿测量[J].光学精密工程,2024,32(12):1801-1811.

XIN Runhong,ZHANG Ran,CHU Jinkui,et al.A method for underwater vehicle attitude measurement based on Snell’s window and its polarization mode[J].Optics and Precision Engineering,2024,32(12):1801-1811.
辛润宏,张然,褚金奎等.基于Snell窗及偏振模式的水下载体航姿测量[J].光学精密工程,2024,32(12):1801-1811. DOI： 10.37188/OPE.20243212.1801.

XIN Runhong,ZHANG Ran,CHU Jinkui,et al.A method for underwater vehicle attitude measurement based on Snell’s window and its polarization mode[J].Optics and Precision Engineering,2024,32(12):1801-1811. DOI： 10.37188/OPE.20243212.1801.

摘要

提出了一种在水下通过Snell窗获得偏振分布模式与天顶点坐标，进而得到水下载体的航姿信息（即航向角、横滚角与俯仰角）的方法。在载体上安装鱼眼镜头与偏振相机，在水下拍摄天空，得到偏振角分布模式。建立小孔成像模型得到相机的内外参数矩阵以及镜头畸变系数，对偏振角分布模式进行畸变校正，进而得到太阳子午线特征区域，使用Canny算子检测得到特征区域边缘，由霍夫直线检测算法计算出太阳子午线与水下载体体轴夹角，得到航向角。通过实验得到不同光入射角与偏振角误差的函数关系，进行误差补偿，减小由于鱼眼镜头改变入射光偏振态带来的偏振角测量误差，进而提高太阳子午线与水下载体体轴夹角的测量精度。利用灰度阈值检测算法筛选出图像中的天顶点坐标，进而计算载体的横滚角与俯仰角，经过实验验证了算法的准确性。搭建了模拟水下环境的实验平台，实验结果表明：该方法得到的航向角平均绝对误差为0.530 3°。在［

50°，50°］角度范围内，横滚角与俯仰角平均绝对误差为0.754 4°与0.621 3°，满足水下导航的精度需求。

Abstract

This paper proposed a method to observe the celestial polarization pattern and the coordinate of zenith through Snell’s window， which consequently yields the naviga

tion information of the carrier， i.e.， yaw angle， roll angle， and pitch angle. A fish-eye lens and an imaging polarimeter were installed on the carrier to capture the sky and obtain the celestial polarization pattern. First， a pinhole imaging model was established to obtain both the internal and external parameter matrices of the camera and the distortion coefficients of the lens. A distortion correction was applied to the polarization pattern to obtain the solar meridian characteristic region. A Canny operator was used to detect the edge of the characteristic region， after which a Hough line detection algorithm was used to calculate the angle between the solar meridian and the carrier's axis， yielding the Yaw angle. Second， the relationship between incidence angles and the error of polarization angle was abstracted as a function through experiments. Error compensation based on the function was performed to reduce the measurement error of the polarization angle caused by changes in the incident light polarization state of the fish-eye lens， hence improving the accuracy of measuring the angle between the solar meridian and the carrier axis. Third， the grayscale threshold detection algorithm was used to calculate the coordinates of the zenith in the image， and therefore the roll and pitch angles of the carrier. The accuracy of the algorithm was verified through experiments. Lastly， an experimental platform was constructed to simulate an underwater environment. Results show that the mean absolute error of the yaw angle calculated by this method is 0.530 3°. Within the range of ［

50°， 50°］， the mean absolute error of the roll angle and pitch angle are 0.754 4° and 0.621 3°， respectively， which meets the accuracy requirements of underwater navigation.

关键词

水下导航Snell窗偏振分布图像处理

Keywords

underwater navigationsnell windowpolarization distributionimage processing

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