仿生偏振视觉定位定向机理与实验

王玉杰; 胡小平; 练军想; 张礼廉; 何晓峰

doi:10.3788/OPE.20162409.2109

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仿生偏振视觉定位定向机理与实验

现代应用光学 | 更新时间：2020-07-07

- 仿生偏振视觉定位定向机理与实验
- Mechanisms of bionic positioning and orientation based on polarization vision and corresponding experiments
- 光学精密工程 2016年24卷第9期页码：2109-2116
- 作者机构：
  
  国防科技大学机电工程与自动化学院, 湖南长沙 410073
- 作者简介：
  
  [ "王玉杰(1988-), 男, 河南新乡人, 博士研究生, 2010年于哈尔滨工业大学获得学士学位, 主要从事仿生导航、视觉导航等方面的研究。E-mail:yjwang@nudt.edu.cn" ]
  胡小平(1960-)，男，四川泸州人，教授，博士生导师，专业技术少将，现为总装备部惯性技术专家组副组长，IEEE高级会员，主要从事导航制导与控制、仿生导航等领域的研究。E-mail:xphu@nudt.edu.cn
- 基金信息：
  
  国家自然科学基金资助项目(61573371);国家自然科学基金资助项目(61503403);国防科技大学科研计划资助项目(JC14-03-04)
- DOI：10.3788/OPE.20162409.2109
  中图分类号： V249.32;O436.3
- 收稿日期：2016-04-11，
  
  录用日期：2016-6-11，
  
  纸质出版日期：2016-09
- 稿件说明：
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王玉杰, 胡小平, 练军想, 等. 仿生偏振视觉定位定向机理与实验[J]. 光学精密工程, 2016,24(9):2109-2116.

Yu-jie WANG, Xiao-ping HU, Jun-xiang LIAN, et al. Mechanisms of bionic positioning and orientation based on polarization vision and corresponding experiments[J]. Optics and precision engineering, 2016, 24(9): 2109-2116.
王玉杰, 胡小平, 练军想, 等. 仿生偏振视觉定位定向机理与实验[J]. 光学精密工程, 2016,24(9):2109-2116. DOI： 10.3788/OPE.20162409.2109.

Yu-jie WANG, Xiao-ping HU, Jun-xiang LIAN, et al. Mechanisms of bionic positioning and orientation based on polarization vision and corresponding experiments[J]. Optics and precision engineering, 2016, 24(9): 2109-2116. DOI： 10.3788/OPE.20162409.2109.

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1 h对天空偏振光的观测数据实现的定位误差为68.6 km。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。

Abstract

To make effectively use of the polarized light information of the whole horizon and to explore the mechanism of bionic polarized light navigation

a polarization 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 68.6 km based on the observation data within one hour. In rotation experiment

the maximum orientation 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.

关键词

Keywords

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