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Sky polarized light orientation method based on polarization mode consistency

A technology of polarization mode and consistency, applied in character and pattern recognition, complex mathematical operations, instruments, etc., can solve problems such as incomplete application

Active Publication Date: 2021-08-20
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

The Rayleigh scattering model can be applied on sunny days, but is not fully applicable in other cases

Method used

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  • Sky polarized light orientation method based on polarization mode consistency
  • Sky polarized light orientation method based on polarization mode consistency
  • Sky polarized light orientation method based on polarization mode consistency

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Embodiment Construction

[0054] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly. ...

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Abstract

The invention discloses a sky polarized light orientation method based on polarization mode consistency, and the method comprises the following steps: obtaining a polarization angle and a polarization degree of each pixel point in a sky polarization image according to the collected sky polarization image; extracting pixel points of which the polarization degrees are greater than or equal to a first threshold value as a first point set; obtaining an initial sun direction vector based on the first point set; based on the first point set and the initial sun direction vector, obtaining an optimal sun direction vector by adopting a sequential sampling consistency algorithm; and obtaining a course angle based on the optimal sun direction vector. According to the method, the polarization degree information is fully utilized, the polarization degree information serves as weight information for measuring the importance degree of the pixel points, under the multi-cloud condition, the pixel points are screened twice through the polarization degree and a sequential sampling consistency algorithm, measurement values with low credibility can be effectively removed, and the robustness of polarized light orientation under the multi-cloud weather is improved.

Description

technical field [0001] The invention relates to the technical field of bionic polarized light navigation, in particular to a sky polarized light orientation method based on the consistency of polarization modes in cloudy weather. Background technique [0002] Accurate positioning information is the basis for autonomous navigation of unmanned platforms in long-endurance. In the case of satellite based or complex electromagnetic interference environment, the existing inertial navigation has error accumulation, and geomagnetic navigation is susceptible to interference, which cannot meet the requirements of high-precision navigation of unmanned platforms. After billions of years of evolution, animals in nature have developed their own unique navigation skills, such as ants, monarch butterflies, crickets, fruit flies, etc., which can use polarized light from the sky to tell directions. Drawing on the mechanism of animal perception of natural environment navigation, the sky polar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C1/00G01C21/00G06K9/00G06F17/11
CPCG01C1/00G01C21/00G06F17/11G06V20/13
Inventor 范晨范颖何晓峰胡小平周文舟
Owner NAT UNIV OF DEFENSE TECH
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