An underwater polarization autonomous orientation method based on the underwater light intensity interference model

Abstract

The invention discloses an underwater polarization autonomous orientation method based on an underwater light intensity interference model. Aiming at the influence of water depth turbidity on underwater light intensity, a mapping relationship between water depth turbidity and an output equation of an underwater polarization sensor is established. Then, considering the optical path loss of the underwater polarization sensor, the optical path coupling of adjacent channels, and the rotation error of the polarization detector, the polarization output measurement equation based on underwater multiple interference conditions is established; for the underwater low signal-to-noise ratio environment with strong interference and uncertain In order to solve the problems such as large-scale stability, the underwater polarization information is solved by using the antagonistic calculation method, and the attitude measurement model of the underwater vehicle is established to realize the acquisition of the heading information of the underwater vehicle. The invention fully considers the influence of the underwater low signal-to-noise ratio environment on polarization measurement, establishes a polarization output measurement equation based on underwater multi-interference conditions, uses an antagonistic algorithm to solve underwater polarization information, and effectively improves the low signal-to-noise ratio underwater environment Polarized signal extraction capability, based on underwater polarization to realize autonomous orientation of underwater vehicles.

Description

technical field [0001] The invention relates to an underwater polarization autonomous orientation method based on an underwater light intensity interference model. Aiming at the particularity and complexity of the underwater environment, fully considering the influence of the underwater low signal-to-noise ratio environment on polarization measurement, an underwater multi-directional The polarization output measurement equation under interference conditions, and the use of antagonistic algorithms to solve polarization information, effectively improve the ability to extract polarization signals in low signal-to-noise ratio underwater environments, and finally realize autonomous orientation of underwater vehicles based on underwater polarization. Background technique [0002] Aquatic organisms are able to capture polarized light information underwater and treat it as a special kind of orientation cue. Research on underwater polarization navigation technology mainly develops in...

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