A polarization zero-position calibration system for a polarization sensor

Abstract

The present invention relates to a polarization zero-position calibration system for a polarization sensor, which mainly consists of an integrating sphere, an integrating sphere polarizer, a turntable, a disc, a positioning pin, and a polarization sensor mounting base. The polarization direction of the integrating sphere polarizer is known and a marking port is provided at the polarization direction; two positioning grooves are designed on the inner wall of the disc to snap the marking port of the polarizer; the turntable and the disc are connected by a positioning pin to make the polarization direction of the integrating sphere polarizer parallel to the side wall of the turntable; the polarization sensor mounting base is equipped with positioning posts to ensure that the side wall of the turntable is parallel to the horizontal axis of the polarization sensor. Finally, the polarization direction of the integrating sphere polarizer is made parallel to the horizontal axis of the polarization sensor. On this basis, the turntable drives the integrating sphere polarizer to rotate to achieve the calibration of the polarization zero position of the polarization sensor. The present invention designs a polarization zero-position calibration system for a polarization sensor, which can achieve the calibration of the zero-degree polarization direction of the polarization sensor and eliminate the installation error in the navigation application of the polarization sensor.

Description

Technical Field

[0001] The present invention belongs to the field of bionic polarization navigation, and particularly relates to a polarization zero-position calibration system for a polarization sensor, which can calibrate the installation error between the direction of the zero-degree polarizer in the polarization sensor and the horizontal axis of the polarization sensor, and improve the measurement accuracy of the polarization sensor in navigation applications. Background Art

[0002] In the evolution of hundreds of millions of years, natural organisms have developed superb navigation capabilities. The perception methods involve various organs such as eyes, ears, and noses. Through the information fusion of the cranial nerves, a series of behavioral activities such as migration, foraging, and homing are completed. Bionic science has become a frontier direction in the fields of intelligent science, information science, and bionic science, and has important research value. Among them, bionic polarization navigation technology is based on the polarization light perception mechanism and processing mechanism of organisms such as desert ants and bees, and takes the atmospheric polarization distribution pattern as the theoretical basis to obtain the attitude and position information of the carrier. Bionic polarization navigation has the advantages of high concealment, strong autonomy, and strong anti-interference ability. Research institutions at home and abroad have successively developed various types of bionic polarization sensors, such as the "mantis shrimp eye-like" polarization sensor suitable for underwater environments, the "dragonfly compound eye-like" polarization sensor suitable for dynamic environments, etc., and have gradually been applied to the field of autonomous navigation of unmanned systems.

[0003] To improve the accuracy of the polarization sensor, it is necessary to accurately model and calibrate the sensor device errors, environmental interferences, etc. Chinese Patent Application "A Multi-parameter Optimization Calibration Method for an Underwater Polarization Sensor Considering Dark Current" (Application No.: CN202111408066.0) established a response model of the polarization sensor considering dark current, and calibrated the dark current parameters of the polarization sensor through a multi-parameter optimization function; Chinese Patent Application "A Multi-source Error Calibration Method for a Bionic Polarization Sensor Based on Unscented Kalman Filter" (Application No.: CN201810129371.8) proposed a polarization sensor error calibration method that does not rely on high-precision instrument equipment, and calibrated error parameters such as the photosensitive gain, polarization degree coefficient, and measurement noise of the polarization sensor based on the unscented Kalman filter; Chinese Patent Application "A Method for Estimating and Compensating the Light Intensity Harmonic Interference of a Polarization Sensor" (Application No.: CN202111390088.9) simultaneously estimated the calibration parameters of each channel of the polarization sensor and the light intensity harmonic interference amount caused by the calibration environment, and improved the estimation accuracy of the calibration parameters of the polarization sensor. However, the above patent applications only considered device errors such as the photosensitive gain and polarization degree coefficient of the polarization sensor and environmental errors such as harmonic interference, and have not yet realized the calibration and compensation of the polarization zero position of the polarization sensor. With the improvement of the requirements for navigation accuracy, the polarization zero position error of the polarization sensor has also become an important influencing factor, and it is urgent to propose a method / system to calibrate and compensate this error. Summary of the Invention

[0004] To solve the above problems and overcome the deficiencies of the prior art, the present invention provides a polarization zero-position calibration system for a polarization sensor, which mainly consists of an integrating sphere, an integrating sphere polarizer, a turntable, a disc, a positioning pin, and a polarization sensor mounting base. The polarization direction of the integrating sphere polarizer is known and a marking port is provided at the polarization direction; two positioning grooves are designed on the inner wall of the disc to clamp the marking port of the polarizer; the turntable and the disc are connected by a positioning pin to make the polarization direction of the integrating sphere polarizer parallel to the side wall of the turntable; the polarization sensor mounting base is equipped with positioning posts to ensure that the side wall of the turntable is parallel to the horizontal axis of the polarization sensor. Finally, the polarization direction of the integrating sphere polarizer is made parallel to the horizontal axis of the polarization sensor. On this basis, the turntable drives the integrating sphere polarizer to rotate to calibrate the polarization zero position (i.e., the angle between the direction of the zero-degree polarizer in the polarization sensor and the horizontal axis of the polarization sensor) of the polarization sensor.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A polarization zero-position calibration system for a polarization sensor, characterized in that it includes an integrating sphere, an integrating sphere polarizer, a turntable, a disc, a positioning pin, and a polarization sensor mounting base; wherein, the integrating sphere is used to generate uniform unpolarized light, the integrating sphere polarizer is used to generate polarized light with a specific polarization direction, the turntable is used to drive the integrating sphere polarizer to rotate, the disc is used to fix the integrating sphere polarizer, and the positioning pin is used to make the polarization direction of the integrating sphere polarizer parallel to the side wall of the turntable; two positioning grooves are provided on the inner wall of the disc, and the positioning grooves are fitted with the marking port of the polarization direction of the polarizer; a positioning hole is provided on the outer wall of the disc, so that the turntable and the disc are connected by a positioning pin to make the polarization direction of the integrating sphere polarizer parallel to the side wall of the turntable;

[0007] Three positioning posts and three fixing screw holes are provided on the polarization sensor mounting base; the positioning posts are used to determine the position of the polarization sensor and ensure that the side wall of the turntable is parallel to the horizontal axis of the polarization sensor; the fixing screw holes are used for fastening between the polarization sensor and the polarization sensor mounting base to ensure that the position of the sensor does not change during use;

[0008] The polarization direction of the polarizer is parallel to the side wall of the turntable, and the horizontal axis of the polarization sensor is parallel to the side wall of the turntable, thereby ensuring that the polarization direction of the polarizer is parallel to the horizontal axis of the polarization sensor; the turntable drives the integrating sphere polarizer to rotate to calibrate the polarization zero position of the polarization sensor, and the polarization sensor polarization zero position is the angle between the direction of the zero-degree polarizer in the polarization sensor and the horizontal axis of the polarization sensor.

[0009] Further, the polarization direction of the integrating sphere polarizer is known, and a marking port is designed at the polarization direction, and the polarizer is clamped into the disc through the marking port of the polarizer.

[0010] Furthermore, the positioning posts and fixing screw holes are distributed at equal intervals and staggered, so as to make the horizontal axis of the polarization sensor parallel to the side wall of the chassis. Four studs are distributed at the four corners of the chassis to make the side wall of the chassis parallel to the side wall of the turntable.

[0011] The advantages of the present invention compared with the prior art are as follows:

[0012] The present invention designs a polarization zero-position calibration system for a polarization sensor for the first time. By designing the positioning holes and positioning pins between the disc and the side wall of the turntable, the polarization direction of the integrating sphere polarizer is ensured to be parallel to the side wall of the turntable; by designing the positioning posts of the polarization sensor mounting base, the side wall of the turntable is ensured to be parallel to the horizontal axis of the polarization sensor. Finally, the parallelism between the polarization direction of the polarizer and the horizontal axis of the polarization sensor is achieved, and the polarization zero-position calibration of the polarization sensor is completed. Brief Description of the Drawings

[0013] Figure 1 It is a schematic structural diagram of the polarization sensor polarization zero-position calibration system of the present invention. Figure 1 In the figure, 1 - turntable, 2 - disc, 3 - positioning pin, 4 - polarization sensor mounting base, 5 - positioning groove.

[0014] Figure 2 It is a schematic structural diagram of the polarization sensor mounting base. Figure 2 In the figure, 6 - positioning post, 7 - fixing screw hole. Specific Embodiments

[0015] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all 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.

[0016] As Figure 1 shown, the polarization sensor polarization zero-position calibration system of the present invention mainly includes: an integrating sphere, an integrating sphere polarizer, a turntable 1, a disc 2, a positioning pin 3, and a polarization sensor mounting base 4. Through the positioning holes and the positioning pin 3 between the disc 2 and the turntable 1, the polarization direction of the integrating sphere polarizer is ensured to be parallel to the side wall of the turntable 1; the polarization sensor mounting base 4 is provided with positioning posts 6 to ensure that the side wall of the turntable 1 is parallel to the horizontal axis of the polarization sensor; finally, the polarization direction of the polarizer is ensured to be parallel to the horizontal axis of the polarization sensor.

[0017] The disc 2 is provided with two positioning grooves 5 on the inner wall, so that the marking port of the polarization direction of the polarizer is attached to the positioning groove 5 of the disc 2; by providing positioning holes on the outer wall of the disc 2, the turntable 1 and the disc 2 are made to realize the parallelism between the polarization direction of the integrating sphere polarizer and the side wall of the turntable 1 through the positioning pin 3.

[0018] Three positioning posts 6 and three fixing screw holes 7 are provided on the polarization sensor mounting base 4. The positioning posts 6 are used to determine the position of the polarization sensor to ensure that the side wall of the turntable 1 is parallel to the horizontal axis of the polarization sensor; the fixing screw holes 7 are used for fastening between the polarization sensor and the polarization sensor mounting base 4 to ensure that the position of the sensor does not change during use.

[0019] The polarization direction of the polarizer is parallel to the side wall of the turntable 1, and the horizontal axis of the polarization sensor is parallel to the side wall of the turntable 1, thereby ensuring that the polarization direction of the polarizer is parallel to the horizontal axis of the polarization sensor. On this basis, the integrating sphere polarizer is driven by the turntable 1 to rotate to realize the calibration of the polarization zero position of the polarization sensor (i.e., the angle between the direction of the zero-degree polarizer in the polarization sensor and the horizontal axis of the polarization sensor).

[0020] Furthermore, for the integrating sphere polarizer, its polarization direction is known, and a marking port is designed at the polarization direction. Through the polarizer marking port, the polarizer is clamped into the disc 2.

[0021] Furthermore, the positioning posts 6 and the fixing screw holes 7 are distributed at equal intervals and staggered to realize the parallelism between the horizontal axis of the polarization sensor and the side wall of the chassis. Four studs are distributed at the four corners of the chassis to realize the parallelism between the side wall of the chassis and the side wall of the turntable 1.

[0022] The above are only the preferred implementation schemes of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art in this technical field, several improvements and refinements made without departing from the principle of the present invention should be regarded as within the protection scope of the present invention. The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

Claims

1. A polarization zero - point calibration system for a polarization sensor, characterized in that: it includes an integrating sphere, an integrating - sphere polarizer, a turntable (1), a disc (2), a positioning pin (3), and a polarization - sensor mounting base (4); among them, the integrating sphere is used to generate uniform unpolarized light, the integrating - sphere polarizer is used to generate polarized light with a specific polarization direction, the turntable (1) is used to drive the integrating - sphere polarizer to rotate, the disc (2) is used to fix the integrating - sphere polarizer, and the positioning pin (3) is used to make the polarization direction of the integrating - sphere polarizer parallel to the side wall of the turntable (1); two positioning grooves (5) are arranged on the inner wall of the disc (2), and the positioning grooves (5) are fitted with the marking ports of the polarization - direction of the polarizer; a positioning hole is arranged on the outer wall of the disc (2), so that the turntable (1) and the disc (2) make the polarization direction of the integrating - sphere polarizer parallel to the side wall of the turntable (1) through the positioning pin (3); three positioning posts (6) and three fixing screw holes (7) are arranged on the polarization - sensor mounting base (4); the positioning posts (6) are used to determine the position of the polarization sensor to ensure that the side wall of the turntable (1) is parallel to the horizontal axis of the polarization sensor; the fixing screw holes (7) are used for fastening between the polarization sensor and the polarization - sensor mounting base (4) to ensure that the position of the sensor does not change during use; the polarization direction of the polarizer is parallel to the side wall of the turntable (1), and the horizontal axis of the polarization sensor is parallel to the side wall of the turntable (1), thereby ensuring that the polarization direction of the polarizer is parallel to the horizontal axis of the polarization sensor; the turntable (1) drives the integrating - sphere polarizer to rotate to realize the calibration of the polarization zero - point of the polarization sensor, and the polarization zero - point of the polarization sensor is the included angle between the direction of the zero - degree polarizer in the polarization sensor and the horizontal axis of the polarization sensor.

2. The polarization sensor polarization zero - point calibration system according to claim 1, characterized in that: the polarization direction of the integrating - sphere polarizer is known, and a marking port is designed at the polarization direction, and the polarizer is clamped into the disc (2) through the marking port of the polarizer.

3. The polarization sensor polarization zero - point calibration system according to claim 1, characterized in that: the positioning posts (6) and the fixing screw holes (7) are arranged at equal intervals and staggered to realize the parallelism between the horizontal axis of the polarization sensor and the side wall of the chassis, and four studs are distributed at the four corners of the chassis to realize the parallelism between the side wall of the chassis and the side wall of the turntable (1).

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