Sun vector resolving method based on compound eye simulated multi-channel polarization sensor

Abstract

The invention relates to a sun vector resolving method based on a compound eye simulated multi-channel polarization sensor. The sun vector resolving method comprises the following steps: at first, designing a structure model of the compound eye simulated multi-channel polarization sensor; then designing the selection criterion of the degree of polarization, acquiring the degree of polarization information of observed points in sky by using the multi-channel polarization sensor, and selecting the degree of polarization measurement values of a certain amount according to the selection criterion,taking three values from the degree of polarization measurement values as a set of resolving inputs and determining the weight of the set of resolving inputs; next, establishing the geometrical relationship with sun vectors according to each channel mounting matrix, establishing the constrained relationship with all skylight maximal degree of polarization by measuring the degree of polarization to obtain a system of nonlinear equations; and at last, resolving corresponding sun vectors of the set of resolving inputs by the system of nonlinear equations, and resolving weighted average on the multiple groups of sun vectors, so as to resolve the sun vectors in a module system. The sun vector resolving method can be used in sunny and cloudless weather, can be applied in cloudy weather environment at the same time, and has high robustness and environmental suitability.

Description

technical field [0001] The invention relates to a sun vector calculation method based on an imitation compound eye multi-channel polarization sensor, which can calculate the sun vector under the module system by obtaining the effective polarization information of the sky under clear or cloudy weather conditions, and provide navigation information. Background technique [0002] Rayleigh scattering of sunlight under the action of the atmosphere makes the sunlight polarized, thus forming a certain form of polarized light distribution mode in the atmosphere. Through the acquisition and perception of this polarization distribution mode, the sun vector can be inverted, and then provide information for the realization of navigation and positioning. Research by biologists has shown that many organisms such as bees, butterflies, and sand ants can realize navigation functions by sensing the polarization distribution pattern of the sky, and the imitation of the polarized light percepti...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: In order to solve the problem that the real-time calculation and environmental adaptability of existing sensors cannot be satisfied at the same time, the present invention proposes a structure model

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