多云天气条件下的大气偏振光定向方法

doi:10.7527/S1000-6893.2020.24263

电子电气工程与控制

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

多云天气条件下的大气偏振光定向方法

范颖, 何晓峰, 范晨, 胡小平, 吴雪松, 韩国良, 罗凯鑫

国防科技大学智能科学学院, 长沙 410073

收稿日期:2020-04-20 修回日期:2020-05-15 出版日期:2020-09-15 发布日期:2020-06-04
通讯作者: 何晓峰 E-mail:hexiaofeng@nudt.edu.cn
基金资助:
国家自然科学基金（61773394，61573371）；国防科技大学科研计划（ZK18-03-24）

Atmospheric polarized light orientation method in cloudy weather

FAN Ying, HE Xiaofeng, FAN Chen, HU Xiaoping, WU Xuesong, HAN Guoliang, LUO Kaixin

College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China

Received:2020-04-20 Revised:2020-05-15 Online:2020-09-15 Published:2020-06-04
Supported by:
National Natural Science Foundation of China (61773394,61573371); Research Project of National University of Defense Technology (ZK18-03-24)

摘要/Abstract

摘要： 针对多云天气情况下传统的偏振光定向算法精度下降的问题，提出了一种用于多云天气条件下的大气偏振光定向方法。首先，根据已知信息建立任意一个像素点的偏振光定向模型；然后，基于上一步得到的定向模型，利用随机抽样一致算法筛选出符合要求的内点，并根据筛选出的这些内点得出最符合要求的定向模型；最后，利用选取出的最优的定向模型解算出航向角，实现了基于大气偏振光的定向。通过实际数据证明了该方法的有效性，解算出的航向角误差在少云情况下小于0.5°、多云情况下小于1°。

关键词: 偏振光, 多云天气, 定向, 随机抽样, 一致算法

Abstract: Aiming at the problem that the precision of the traditional polarized light orientation algorithm decreases in cloudy weather, this paper proposes a method for atmospheric polarized light orientation in cloudy weather. First, the directional model of polarized light for any pixel is established according to the known information; then, based on the directional model, the interior points that meet the requirements are screened out using the random sampling consistent algorithm, and the most satisfactory directional model is achieved according to the selected interior points; finally, the optimal directional model is used to calculate the heading angle, thereby realizing the orientation via atmospheric polarized light. The validity of the method is proved by the actual data, and the calculated heading angle errors are smaller than 0.5° and 1° in partly cloudy and cloudy weather, respectively.

Key words: polarized light, cloudy weather, orientation, random sampling, consensus algorithm

中图分类号:

V249.32+5

范颖, 何晓峰, 范晨, 胡小平, 吴雪松, 韩国良, 罗凯鑫. 多云天气条件下的大气偏振光定向方法[J]. 航空学报, 2020, 41(9): 324263-324263.

FAN Ying, HE Xiaofeng, FAN Chen, HU Xiaoping, WU Xuesong, HAN Guoliang, LUO Kaixin. Atmospheric polarized light orientation method in cloudy weather[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020, 41(9): 324263-324263.

参考文献 20

[1]	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. WANG Y J, HU X P, LIAN J X, 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(in Chinese).
[2]	褚金奎, 关乐, 李世奇. 大气偏振模式图分布及仿生偏振导航技术[J]. 遥感学报, 2018, 22(6):969-979. CHU J K, GUAN L, LI S Q, et al. Atmospheric polarization field pattern distribution and polarization navigation technology[J]. Journal of Remote Sensing, 2018, 22(6):969-979(in Chinese).
[3]	范之国, 徐超, 吴川,等. 大气偏振模式特征及其在自主导航中的应用[J]. 现代防御技术, 2017, 45(3):1-7. FAN Z G, XU C, WU C, et al. Characteristics of atmospheric polarization pattern and its application in autonomous navigation[J]. Modern Defence Technology, 2017, 45(3):1-7(in Chinese).
[4]	范晨, 胡小平, 何晓峰, 等. 仿生偏振光导航研究综述[C]//中国惯性技术学会第七届学术年会, 2015. FAN C, HU X P, HE X F, et al. Method of inertial aided polarized orientation[C]//Proceedings of the 7th Annual Meeting of China Institute of Inertial Technology, 2015(in Chinese).
[5]	刘俊, 赵菁, 赵慧俊,等. 仿生光磁导航技术发展研究综述[J]. 飞控与探测, 2019, 2(4):14-25. LIU J, ZHAO J, ZHAO H J, et al. A review of research on development of bionic navigation technology[J]. Flight Control and Detection, 2019, 2(4):14-25(in Chinese).
[6]	WEHNER R, MULLER M. The significance of direct sunlight and polarized skylight in the ant's celestial system of navigation[J]. Proceedings of the National Academy of Sciences, 2006, 103(33):12575-12579.
[7]	FOURCASSIE V, DAHBI A, CERDA X, et al. Orientation and navigation during adult transport between nests in the ant cataglypis iberica[J]. Naturwissenschaften, 2000, 87(7):355-359.
[8]	高隽,范之国. 仿生偏振光导航方法[M]. 北京:科学出版社, 2014:124-149. GAO J, FAN Z G. Bionic polarized light navigation method[M]. Beijing:Science Press, 2014:124-149(in Chinese).
[9]	卢皓, 赵开春, 尤政. 基于偏振成像的方位角度解算算法的设计与验证[J]. 清华大学学报(自然科学版),2014, 54(11):104-108. LU H, ZHAO K C, YOU Z. Design and verification of an orientation algorithm based on polari-zation imaging[J]. Journal of Tsinghua University(Science and Technology),2014, 54(11):104-108(in Chinese).
[10]	TANG J, ZHANG N, LI D. Novel robust skylight compass method based on full-sky polarization imaging under harsh conditions[J]. Optics Express, 2016, 24(14):15834-15844.
[11]	ZHAO H J, XU W J, ZHANG Y. Polarization patterns under different sky conditions and a navigation method based on the symmetry of the AOP map of skylight[J]. Optics Express, 2018, 26(22):28589-28603.
[12]	褚金奎, 蹇慧君, 刘泽. 阵列式偏振导航传感器及其鲁棒性算法实现[J]. 光学精密工程, 2018, 26(8):237-243. CHU J K, JIAN H J, LIU Z. Array polarization sen-sor for navigation and it's robust algorithm[J]. Optics and Precision Engineering, 2018, 26(8):237-243(in Chinese).
[13]	ZHANG W J, CAO Y, ZHANG X Z. Angle of sky light polarization derived from digital images of the sky under various conditions[J]. Applied Optics, 2017, 56(3):587-595.
[14]	POWELL S B, ROMAN G, MARSHALL J. Bioinspired polarization vision enables underwater geolocalization[J]. Science Advances, 2018, 4(4):1-8.
[15]	SALMAH K, DIAH S, ILLE G. Bio-inspired polarized skylight-based navigation sensors:A review[J]. Sensors, 2012, 12(11):14232-14261.
[16]	FAN C, HU X P, HE X F. Multicamera polarized vision for the orientation with the skylight polarization patterns[J]. Optical Engineering, 2018, 57(4):1-9.
[17]	严龚敏, 翁浚. 捷联惯导算法与组合导航原理[M]. 西安:西北工业大学出版社, 2019:78-82. YAN G M, WENG J. Strapdown inertial navigation algorithm and integrated navigation principle[M].Xi'an:Northwestern polytechnical University Press,2019:78-82(in Chinese).
[18]	王晨光,唐军,杨江涛,等.基于瑞利散射的大气偏振模式检测与模型重建[J].中北大学学报(自然科学版), 2015, 36(5):570-576. WANG C G, TANG J, YANG J T, et al.Detection and model reconstruction of atmospheric polarization pattern based on Rayleigh scattering theory[J]. Journal of North University of China (Natural Science Edition), 2015, 36(5):570-576(in Chinese).
[19]	王晨光, 张楠, 李大林,等. 利用全天域大气偏振检测的航向角解算[J]. 光电工程, 2015, 42(12):60-66. WANG C G, ZHANG N, LI D L, et al. Calculation of heading angle using all-sky atmosphere polarization[J]. Opto-Electronic Engineering, 2015, 42(12):60-66(in Chinese).
[20]	王玉杰, 胡小平, 练军想, 等. 仿生偏振光定向算法及误差分析[J]. 宇航学报, 2015, 36(2):211-216. WANG Y J, HU X P, LIAN J X, et al. Algorithms and error analysis of bionic orientation based on polarized light[J]. Journal of Astronautics, 2015, 36(2):211-216(in Chinese).

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

多云天气条件下的大气偏振光定向方法

Atmospheric polarized light orientation method in cloudy weather

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献 20

相关文章 15

编辑推荐

Metrics

本文评价

[1]	王泽林, 籍日添, 惠心雨, 丁晨, 汪辉, 白俊强. 基于深度学习驱动的L型定向热疏导机理[J]. 航空学报, 2021, 42(6): 124242-124242.
[2]	梁栋, 高赛, 孙涵, 刘宁钟. 结合核相关滤波器和深度学习的运动相机中无人机目标检测[J]. 航空学报, 2020, 41(9): 323733-323733.
[3]	黄福享, 苗恺, 鲁中良, 徐文梁, 朱伟军, 李涤尘. 辐射涂层对空心涡轮叶片定向凝固组织的影响[J]. 航空学报, 2018, 39(3): 421462-421462.
[4]	张虎, 原赛男, 周春根, 沙江波, 赵新青, 贾丽娜. Nb-Si金属间化合物基超高温合金研究进展[J]. 航空学报, 2014, 35(10): 2756-2766.
[5]	杨晓光, 黄佳, 王井科, 胡晓安, 石多奇. 定向凝固镍基高温合金缺口低循环疲劳性能及寿命预测[J]. 航空学报, 2013, 34(7): 1596-1604.
[6]	顾玉丽, 滕旭东, 刘昌奎, 何玉怀, 陶春虎. DZ125定向凝固高温合金长期时效后的显微组织和超高周疲劳行为[J]. 航空学报, 2012, 33(11): 2136-2142.
[7]	潘情, 郑立静, 桑于蓉, 周磊, 李岩, 张虎. 定向凝固Ni-44Ti-5Al-2Nb-1Mo合金的组织特征[J]. 航空学报, 2011, 32(7): 1345-1350.
[8]	孙瑞杰;闫晓军;聂景旭. 定向凝固涡轮叶片高温低周疲劳的破坏特点[J]. 航空学报, 2011, 32(2): 337-343.
[9]	闫晓军, 邓瑛, 孙瑞杰, 谢建文. 定向凝固涡轮叶片不同部位材料疲劳性能差异研究[J]. 航空学报, 2011, 32(10): 1930-1936.
[10]	王慧;吕国志;王乐;张有宏. 金属表面腐蚀损伤演化过程的元胞自动机模拟[J]. 航空学报, 2008, 30(6): 1490-1496.
[11]	郭伟国;史飞飞. 不同载荷方式下MDYB-3有机玻璃的变形与破坏行为[J]. 航空学报, 2008, 30(6): 1517-1525.
[12]	张卫方;李运菊;高威;姜涛;陶春虎. 定向凝固DZ4合金的低周疲劳行为与稳定循环应力[J]. 航空学报, 2004, 25(4): 357-361.
[13]	张卫方;高威;赵爱国;陶春虎;田继丰;姚戈. 定向凝固合金叶片的再结晶与疲劳失效[J]. 航空学报, 2003, 24(4): 377-381.
[14]	彭德林;安阁英. 定向凝固时热溶质对流对Al/AlLi共晶生长形态稳定性的影响[J]. 航空学报, 2001, 22(4): 382-384.
[15]	陈建峰;刘春明;黄建国. 一种基于贝叶斯估计的高分辨目标定向新方法[J]. 航空学报, 1998, 19(6): 97-100.