Orientation device and method based on all-sky-domain atmospheric polarization mode imaging

Abstract

According to an orientation device and method based on all-sky-domain atmospheric polarization mode imaging, all-sky-domain high-resolution polarized light intensity information in at least three different directions can be extracted through one-time shooting, the speed is high, and synchronism is high; a large-view-field and high-resolution measurement result can be obtained pixel by pixel, view field errors caused by a multi-view sensor and asynchronous measurement errors caused by a rotary polaroid sensor are eliminated, the measurement precision is improved, and polarization information of the whole sky domain is fully utilized; the device is simple in structure, convenient to use and suitable for practical application scenes. The orientation device comprises a fisheye lens (1), a micro lens array (2), a nano grating micro polarization array (3), a CMOS image detector (4), a POE (5), an upper computer (6) and a power supply module (7). According to the positioning method, the atmospheric polarization mode obtained through calculation is repaired through the mask mean value, the influence caused by shelters in the sky view field is relieved, and the orientation precision and reliability are improved.

Description

technical field [0001] The invention relates to the technical field of bionic navigation and positioning of moving bodies, in particular to an orientation device based on full-sky atmospheric polarization mode imaging, and an orientation method adopted by the orientation device based on full-sky atmospheric polarization mode imaging. Background technique [0002] With the rapid development of unmanned motion platforms such as spacecraft, drones, and ground mobile robots, autonomous navigation and positioning of motion carriers has become a key technology. At this stage, the commonly used means of navigation and positioning are inertial navigation and satellite navigation. However, inertial navigation tends to accumulate errors when working for a long time, which affects positioning accuracy. Satellite navigation is too dependent on satellite communication and is susceptible to electromagnetic interference. Therefore, when faced with a complex environment, it is often diffic...

AI Technical Summary

Problems solved by technology

However, the structure of the multi-eye polarization sensor is relatively complex, and there is a field of view error between the multi-eyes

However, the rotary polarization sensor needs to rotate the polarizer multiple times in a set of measurements, which is cumbersome to use and brings asynchronous measurement errors.

In addition, in practical applications, there are usually obstacles such as trees and buildings in the sky field of view, which affect the accuracy and reliability of orientation

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