Sun vector resolving method based on underwater polarization distribution mode

A technology of solar vector and distribution mode, applied in the direction of measurement device, measurement angle, instrument, etc., can solve the problem of unconsidered, underwater polarization distribution that does not fully conform to the single Rayleigh scattering model, and inapplicability.

Active Publication Date: 2020-06-02
BEIHANG UNIV
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Problems solved by technology

In the above-mentioned patents, the calculation of the sun vector is based on the model established only by the atmospheric scattering, without considering the change of the direction of the polarization E-vector by the refraction of the water bo

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  • Sun vector resolving method based on underwater polarization distribution mode
  • Sun vector resolving method based on underwater polarization distribution mode
  • Sun vector resolving method based on underwater polarization distribution mode

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Embodiment Construction

[0051] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0052] According to an embodiment of the present invention, such as figure 1 As shown, a kind of solar vector calculation method based on underwater polarization distribution mode of the present invention is specifically implemented as follows:

[0053] Step 1. Use the polarization sensor to obtain any n observation directions in the underwater celestial coordinate system Underwater polarized E-vector information on Where k=1,2,...,n; n≥2, such...

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Abstract

The invention relates to a sun vector resolving method based on an underwater polarization distribution mode. The method comprises the steps of firstly, obtaining the underwater polarization azimuth angle information in at least two arbitrary observation directions under an underwater celestial coordinate system; then, inverting the propagation direction of the atmospheric incident light in the underwater observation direction based on the law of light refraction; determining an atmospheric polarization E-vector corresponding to a polarization E-vector observed underwater by using a Fresnel refraction formula; and finally, according to a Rayleigh scattering model, obtaining a solar vector by utilizing the vertical relationship between the atmospheric polarization E-vector and the solar vector. According to the invention, the sun vector calculation basic model based on the polarization distribution mode in an underwater Snell window under the horizontal attitude is established, and themethod can be popularized and applied to the underwater application scenes of point source type and image type polarization sensors.

Description

technical field [0001] The invention relates to a solar vector calculation method based on the underwater polarization distribution mode. The method takes into account the change of the underwater E-vector due to refraction, and realizes the calculation of the solar vector by using the polarization distribution mode in the underwater Snell window. Vector belongs to the field of underwater polarized light navigation. Background technique [0002] Currently, information available for autonomous underwater navigation is scarce. Inertial navigation is currently a widely used navigation method, which has the advantages of full autonomy and strong anti-interference, but its error will accumulate over time, so other navigation methods are needed to assist in correction. Due to the severe attenuation of electromagnetic waves in water, traditional radio and satellite navigation cannot be applied underwater; and in unknown sea areas, on the one hand, there is a lack of prior geophysi...

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Application Information

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IPC IPC(8): G01C21/02G01C1/00
CPCG01C1/00G01C21/025
Inventor 郭雷胡鹏伟
Owner BEIHANG UNIV
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