An all-weather navigation method and system across micro-nano composite perception of light domain

Abstract

The application discloses a kind of all-weather navigation method and device of cross light field micro-nano composite perception, method includes: based on biological compound eye perception navigation mechanism constructs cross light field composite defocus imaging perception system;System includes imaging coupling depolarization channel and optical defocus subsystem;In night clear scene, based on cross light field composite defocus imaging perception system to star image is obtained to imaging star map based on constant star imaging;Carrying out constant star target extraction and micro-nano polarization imaging error compensation;Star map identification and attitude solution are carried out to the constant star position vector after compensation;In daytime, in the morning, in the evening clear scene, based on cross light field composite defocus imaging perception system to the sun polarized light field carries out depolarization perception and obtains defocus polarization distribution mode, polarization defocus information is compensated and the sun vector is obtained using optimization method;Based on the sun vector obtains heading information, also discloses corresponding system, electronic equipment and computer readable storage medium.

Description

Technical Field

[0001] This invention relates to the field of biomimetic astronomical autonomous navigation technology, and in particular to an all-weather navigation method and system based on cross-optical domain micro-nano composite sensing. Background Technology

[0002] As the most important autonomous navigation instrument used within Earth's atmosphere, all-weather autonomous navigation technology using star sensors has been a key technology that countries around the world have been continuously researching, exploring, and seeking breakthroughs in. This technology can solve the problem of acquiring high-precision carrier attitude information all day long under satellite navigation denial or interference. A traditional star sensor consists of four parts: a sunshade, an optical lens, a detector, and a navigation calculation unit. The detector obtains a navigation star map by discretely imaging stars passing through the optical lens, and then performs navigation attitude calculation.

[0003] Currently, the all-day autonomous navigation technology of star sensors is mainly constrained by the sensing environment across light sources and light fields during the day-night transition. At night, stray light and solar radiation are weak, while during the day, stray light and solar radiation far exceed the brightness of stars. To achieve all-day sensing and navigation capabilities for star sensors and address the problem of drastic environmental changes across light sources and light fields from night to day, existing navigation systems mainly employ a method that considers a very small field of view combined with specific wavelengths, such as combining the near-infrared band with a small field of view. For example, the technical solution with publication number CN111650757A proposes an optical system and method for using a polarization filter for an all-day star sensor to improve the signal-to-noise ratio of star observations during the day; the technical solution with publication number CN116222549A proposes a star point dealiasing method and system for an all-day star sensor based on field-of-view gating, and uses multi-field microelectromechanical gating measurement to improve the field of view and the number of stars observed; the technical solution with publication number CN111089586A proposes a star point extraction method for an all-day star sensor using a multi-frame accumulation algorithm to enhance the star detection capability under strong background conditions during the day. However, this structure has significant limitations on the field of view, number of stars observed, lens weight, size, and navigation capabilities of the star sensor, and there is an urgent need to break through with a new all-day navigation architecture. Summary of the Invention

[0004] The purpose of this invention is to provide an all-weather navigation method and system based on cross-optical domain micro-nano composite sensing. This method proposes to integrate micro-nano polarization imaging technology, star navigation, and solar polarization navigation into a single system to construct a cross-optical domain composite defocus imaging sensing system. This system enables separate imaging sensing and navigation information calculation of the solar light field and star targets during the day and night. This addresses the problem that current star navigation technology is limited by the day / night (dawn, daytime, dusk, night) cross-light source and cross-optical field sensing environment, making it difficult to achieve all-weather navigation information measurement.

[0005] The first aspect of this invention is to provide an all-weather navigation method based on cross-optical domain micro-nano composite sensing. This addresses the problem that current starlight navigation technology is limited by day / night (dawn, daytime, dusk, night) cross-light source and cross-optical field sensing environments, making it difficult to achieve all-weather navigation information measurement. The method includes:

[0006] S1, a cross-optical domain composite defocus imaging sensing system is constructed based on the biological compound eye perception and navigation mechanism; the cross-optical domain composite defocus imaging sensing system includes an imaging coupling polarization detection channel and an optical defocus subsystem;

[0007] S2, In a clear nighttime scene, the star image is obtained by imaging the star based on the cross-optical domain composite defocus imaging sensing system; star target extraction and micro-nano polarization imaging error compensation are performed based on the star image; star image recognition and attitude calculation are performed on the compensated star position vector;

[0008] S3, In clear scenes during the day, dawn, and dusk, the polarization distribution pattern of the solar polarization field is obtained by detecting the polarization based on the cross-optical domain composite defocus imaging sensing system, the polarization defocus information is compensated for error, and the solar vector is obtained by using the optimization method.

[0009] S4, Obtain heading information based on the solar vector.

[0010] Preferably, S1 includes:

[0011] S11, based on the detector pixel array, an imaging coupling polarization channel with four polarization directions is constructed in front of the imaging pixel according to the 2x2 four-pixel arrangement structure.

[0012] S12, an optical defocusing subsystem is constructed by matching the micro-nano polarization imaging plane with the focal length of the optical lens. The optical defocusing subsystem is used for defocusing and blurring imaging of stars at infinity.

[0013] Preferably, the four polarization detection directions are 0 degrees, 45 degrees, 90 degrees and 135 degrees respectively; the matching of the micro-nano polarization imaging plane with the focal length of the optical lens is achieved by designing the focal lengths between the optical lens, the polarization detection micro-nano array and the detector; the imaging distribution of the defocus diffusion imaging is 3x3 or 5x5.

[0014] Preferably, S1 further includes:

[0015] S13, based on an integrating sphere, a high-precision turntable, and a single-star simulator, performs intrinsic parameter calibration on a cross-optical domain composite defocus imaging sensing system, obtaining parameters such as system focal length, principal point, optical distortion, polarization analysis distortion, and defocus polarization distortion; including:

[0016] (1) Based on a high-precision turntable and a single-star simulator, the focal length, principal point and optical distortion in the intrinsic parameters of the cross-optical domain composite defocus imaging sensing system are calibrated. The calibration method is shown in Equation (1):

[0017] (1)

[0018] In equation (1), Indicates focal length. Indicates the principal point. Indicates radial optical distortion. This indicates tangential optical distortion. Indicates the polarization direction as Optical distortion, Represents the stellar imaging vector. This represents the pointing vector of the high-precision turntable, and arg min() represents the value of the solution variable when the target takes its minimum value;

[0019] (2) Under the conditions of a high-precision turntable and an integrating sphere standard polarization light source, the polarization analysis distortion and defocus polarization distortion in different regions of the imaging plane are calibrated. The calibration method is shown in Equation (2):

[0020] (2)

[0021] In equation (2), Representing coordinates The polarization direction is Directional distortion, Indicates the angle of deviation. This refers to the turntable angle of a high-precision turntable; in this embodiment, the deviation angle is... The gray values ​​I(0°), I(45°), I(90°), and I(135°) at polarization directions of 0°, 45°, 90°, and 135° are used to determine the gray values, and the determination method is shown in Equation (3):

[0022] (3)

[0023] In equation (3), AOP is the polarization direction. , .

[0024] Preferably, S2 includes:

[0025] S21, In a clear nighttime scene, the star in the sky is subjected to exposure integration sensing imaging based on the cross-optical domain composite defocus imaging sensing system to obtain a micro-nano polarization imaging star map.

[0026] S22, Based on threshold segmentation and connected component labeling methods, the effective pixels of the star's centroid position and imaging range in the micro-nano polarization imaging star map are extracted to complete the star target extraction.

[0027] S23, Based on the polarization imaging distortion parameters, perform polarization direction compensation on the pixel grayscale within the imaging range of the star, and recalculate the position of the imaging centroid to complete the micro-nano polarization imaging error compensation.

[0028] S24. Based on the polarization analysis distortion parameters, the star positions after micro-nano polarization imaging error compensation are obtained. The pyramid QUEST method is used to identify the star map and obtain the correspondence between the observed star and the reference star catalog, thereby completing the star map identification of the compensated star position vector.

[0029] S25, using the weighted least squares method, the attitude of the cross-optical domain composite defocus imaging sensing system is calculated to complete the attitude calculation.

[0030] Preferably, S3 includes:

[0031] S31, In clear daytime, dawn, and evening scenes, the cross-optical domain composite defocus imaging sensing system is used to perform exposure integration sensing imaging of the solar polarization pattern in the sky to obtain a micro-nano polarization distribution pattern image, thereby completing the polarization detection sensing of the solar polarization field to obtain the polarization distribution pattern.

[0032] S32, based on the defocus polarization distortion parameters, the polarization direction calculated by the polarization detection directions of the selected region at 0 degrees, 45 degrees, 90 degrees and 135 degrees is used to perform defocus compensation, thereby completing the error compensation of the polarization defocus information.

[0033] S33, Based on the optimization method, the solar vector of different regions is calculated on the polarization imaging distribution after defocus compensation, thereby completing the acquisition of solar vector using the optimization method.

[0034] Preferably, S4 includes: a combination of an inertial gyroscope, an accelerometer, and a solar vector, and Kalman filtering is used to calculate the heading angle to obtain heading information.

[0035] A second aspect of the present invention provides an all-weather navigation system with cross-optical domain micro-nano composite sensing, based on adding a polarization analyzer micro-nano array between an optical defocusing lens and a detector to achieve composite sensing of solar polarization sources and stellar sources. The system includes:

[0036] A cross-optical domain composite defocus imaging sensing system construction module is used to construct a cross-optical domain composite defocus imaging sensing system based on the biological compound eye perception and navigation mechanism; the cross-optical domain composite defocus imaging sensing system includes an imaging coupling polarization detection channel and an optical defocus subsystem;

[0037] The star map recognition and attitude calculation module is used to obtain an imaged star map by imaging stars based on the cross-optical domain composite defocus imaging sensing system in a clear night scene; to extract star targets and compensate for micro-nano polarization imaging errors based on the imaged star map; and to perform star map recognition and attitude calculation on the compensated star position vector.

[0038] The solar vector acquisition module is used to obtain the polarization distribution pattern of the solar polarization field based on the cross-optical domain composite defocus imaging sensing system in clear scenes such as daytime, dawn, and dusk, to perform error compensation on the polarization defocus information and to obtain the solar vector using an optimization method.

[0039] A navigation module is used to obtain heading information based on the solar vector.

[0040] A third aspect of the present invention provides an electronic device including a processor and a memory, the memory storing a plurality of instructions, the processor being configured to read the instructions and execute the method as described in the first aspect.

[0041] A fourth aspect of the present invention provides a computer-readable storage medium storing a plurality of instructions which can be read by a processor and executed as described in the first aspect.

[0042] The beneficial effects of the method, system, electronic device, and readable storage medium of the present invention are as follows:

[0043] (1) The present invention detects different targets in different light sources and light fields during the day and night. It detects the solar scattering polarization mode during the day and detects stars at night, thus having strong sensing conditions.

[0044] (2) The present invention has significant advantages in volume, field of view, size and weight, which is conducive to achieving miniaturization, low cost and strong environmental adaptability;

[0045] (3) This invention integrates micro-nano polarization imaging technology, star navigation, solar polarization navigation and other technologies to achieve cross-optical domain composite sensing capabilities, and realizes imaging sensing and navigation information calculation of solar light field and star target during day and night respectively, so as to solve the problem that current star navigation technology is difficult to achieve all-day navigation information measurement due to the constraints of day / night (dawn, daytime, evening, night) cross-light source and cross-optical field sensing environment. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a flowchart of an all-weather navigation method based on cross-optical-domain micro-nano composite sensing provided in an embodiment of the present invention.

[0048] Figure 2 This is a hardware implementation architecture diagram of an all-weather navigation system with cross-optical domain micro-nano composite sensing provided in an embodiment of the present invention;

[0049] Figure 3 This is a structural diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0050] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0052] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] like Figure 1-2As shown, this embodiment provides an all-weather navigation method based on cross-optical domain micro-nano composite sensing. This method achieves composite sensing of solar polarization sources and stellar sources by adding a polarization-detecting micro-nano array between the optical defocusing lens and the detector. The method includes:

[0054] S1, a cross-optical domain composite defocus imaging sensing system is constructed based on the biological compound eye perception and navigation mechanism; the cross-optical domain composite defocus imaging sensing system includes an imaging coupling polarization detection channel and an optical defocus subsystem;

[0055] In this embodiment, step S1 integrates micro-nano polarization imaging technology, star navigation technology, and biomimetic polarization navigation technology to achieve cross-optical domain composite sensing capability; wherein micro-nano polarization imaging technology provides a reference solar ephemeris, and biomimetic polarization navigation technology provides a reference star catalog.

[0056] S2, In a clear nighttime scene, the star image is obtained by imaging the star based on the cross-optical domain composite defocus imaging sensing system; star target extraction and micro-nano polarization imaging error compensation are performed based on the star image; star image recognition and attitude calculation are performed on the compensated star position vector;

[0057] S3, In clear scenes during the day, dawn, and dusk, the polarization distribution pattern of the solar polarization field is obtained by detecting the polarization based on the cross-optical domain composite defocus imaging sensing system, the polarization defocus information is compensated for error, and the solar vector is obtained by using the optimization method.

[0058] S4, Obtain heading information based on the solar vector.

[0059] In a preferred embodiment, S1 includes:

[0060] S11, based on the detector pixel array, an imaging coupling polarization channel with four polarization directions is constructed in front of the imaging pixel according to the 2x2 four-pixel arrangement structure.

[0061] In this embodiment, the four detection directions are 0 degrees, 45 degrees, 90 degrees, and 135 degrees, respectively.

[0062] S12, Based on matching the micro-nano polarization imaging surface with the focal length of the optical lens, an optical defocusing subsystem is constructed. The optical defocusing subsystem is used for defocusing and blurring imaging of stars at infinity (such as magnitude 5).

[0063] In this embodiment, the micro-nano polarization imaging plane is matched with the focal length of the optical lens by designing the focal lengths between the optical lens, the polarization analyzer micro-nano array, and the detector; the imaging distribution of the defocus diffusion imaging is 3x3 or 5x5.

[0064] In a preferred embodiment, S1 further includes:

[0065] S13, based on an integrating sphere, a high-precision turntable, and a single-star simulator, performs intrinsic parameter calibration on a cross-optical domain composite defocus imaging sensing system, obtaining parameters such as system focal length, principal point, optical distortion, polarization analysis distortion, and defocus polarization distortion; including:

[0066] (1) Based on a high-precision turntable and a single-star simulator, the focal length, principal point and optical distortion in the intrinsic parameters of the cross-optical domain composite defocus imaging sensing system are calibrated. The calibration method is shown in Equation (1):

[0067] (1)

[0068] In equation (1), Indicates focal length. Indicates the principal point. Indicates radial optical distortion. This indicates tangential optical distortion. Indicates the polarization direction as Optical distortion, Represents the stellar imaging vector. This represents the pointing vector of the high-precision turntable, and arg min() represents the value of the solution variable when the target is minimized.

[0069] (2) Under the conditions of a high-precision turntable and an integrating sphere standard polarization light source, the polarization analysis distortion and defocus polarization distortion in different regions of the imaging plane are calibrated. The calibration method is shown in Equation (2):

[0070] (2)

[0071] In equation (2), Representing coordinates The polarization direction is Directional distortion, Indicates the angle of deviation. This refers to the turntable angle of a high-precision turntable; in this embodiment, the deviation angle is... The gray values ​​I(0°), I(45°), I(90°), and I(135°) at polarization directions of 0°, 45°, 90°, and 135° are used to determine the gray values, and the determination method is shown in Equation (3):

[0072] (3)

[0073] In equation (3), AOP is the polarization direction. , .

[0074] In a preferred embodiment, S2 includes:

[0075] S21, In a clear nighttime scene, the star in the sky is subjected to exposure integration sensing imaging based on the cross-optical domain composite defocus imaging sensing system to obtain a micro-nano polarization imaging star map.

[0076] S22, Based on threshold segmentation and connected component labeling methods, the effective pixels of the star's centroid position and imaging range in the micro-nano polarization imaging star map are extracted to complete the star target extraction.

[0077] In this embodiment, effective pixel extraction of the stellar barycenter position and imaging range in the star image is completed based on threshold segmentation and connected component labeling methods. .

[0078] S23, Based on the polarization imaging distortion parameters, perform polarization direction compensation on the pixel grayscale within the imaging range of the star, and recalculate the position of the imaging centroid to complete the micro-nano polarization imaging error compensation.

[0079] In this embodiment, step S23 is implemented as shown in equation (4):

[0080] Based on the polarization imaging distortion parameters, the pixel grayscale within the stellar imaging range is compensated for in the polarization direction, and the position of the imaging centroid is recalculated.

[0081] (4)

[0082] In equation (4), Indicates the position of a star after distortion compensation based on analytical polarization imaging; Indicates the extracted valid pixels, Indicates the polarization direction as Optical distortion.

[0083] S24. Based on the polarization analysis distortion parameters, the star positions after micro-nano polarization imaging error compensation are obtained. The pyramid QUEST method is used to identify the star map and obtain the correspondence between the observed star and the reference star catalog, thereby completing the star map identification of the compensated star position vector.

[0084] S25, using the weighted least squares method, the attitude of the cross-optical domain composite defocus imaging sensing system is calculated to complete the attitude calculation.

[0085] The attitude of the defocused imaging sensing system is calculated using the weighted least squares method, referring to the minimum loss function L formula (5):

[0086] (5)

[0087] In equation (5), , and They are the observed stars i Coordinate calculations are performed using the observed star vector, the reference star vector, and the least squares weighting coefficients. Let N be the attitude matrix, and N be the number of stars.

[0088] In a preferred embodiment, S3 includes:

[0089] S31, In clear daytime, dawn, and evening scenes, the cross-optical domain composite defocus imaging sensing system is used to perform exposure integration sensing imaging of the solar polarization pattern in the sky to obtain a micro-nano polarization distribution pattern image, thereby completing the polarization detection sensing of the solar polarization field to obtain the polarization distribution pattern.

[0090] S32, based on the defocus polarization distortion parameters, the polarization direction calculated by the polarization detection directions of the selected region at 0 degrees, 45 degrees, 90 degrees and 135 degrees is used to perform defocus compensation, thereby completing the error compensation of the polarization defocus information.

[0091] In this embodiment, error compensation is implemented based on formula (6) as follows:

[0092] (6)

[0093] In equation (6), The polarization direction after defocus compensation. To observe the polarization direction, Representing coordinates The polarization direction is Directional distortion.

[0094] S33, Based on the optimization method, the solar vector of different regions is calculated on the polarization imaging distribution after defocus compensation, thereby completing the acquisition of solar vector using the optimization method.

[0095] In this embodiment, the polarization imaging distribution after defocus compensation is based on an optimization method. Calculate the solar vector in different regions. Considering that the E vector in different observation directions is perpendicular to the solar vector (EB⊥SB) in the polarization compass, the direction of the solar vector in the B system can be solved using least squares optimization, as shown in equation (7):

[0096] (7)

[0097] In equation (7), SB is the solar vector, and [EB] is the set of polarization E vectors in different observation directions, [EB]=[EB,1,EB,2,EB,3,...].

[0098] In a preferred embodiment, S4 includes: a combination of an inertial gyroscope, an accelerometer, and a solar vector, and Kalman filtering is used to calculate the heading angle to obtain heading information.

[0099] A second aspect of the present invention provides an all-weather navigation system with cross-optical domain micro-nano composite sensing, based on adding a polarization analyzer micro-nano array between an optical defocusing lens and a detector to achieve composite sensing of solar polarization sources and stellar sources. The system includes:

[0100] A cross-optical domain composite defocus imaging sensing system construction module is used to construct a cross-optical domain composite defocus imaging sensing system based on the biological compound eye perception and navigation mechanism; the cross-optical domain composite defocus imaging sensing system includes an imaging coupling polarization detection channel and an optical defocus subsystem;

[0101] The star map recognition and attitude calculation module is used to obtain an imaged star map by imaging stars based on the cross-optical domain composite defocus imaging sensing system in a clear night scene; to extract star targets and compensate for micro-nano polarization imaging errors based on the imaged star map; and to perform star map recognition and attitude calculation on the compensated star position vector.

[0102] The solar vector acquisition module is used to obtain the polarization distribution pattern of the solar polarization field based on the cross-optical domain composite defocus imaging sensing system in clear scenes such as daytime, dawn, and dusk, to perform error compensation on the polarization defocus information and to obtain the solar vector using an optimization method.

[0103] A navigation module is used to obtain heading information based on the solar vector.

[0104] The present invention also provides a memory that stores multiple instructions for implementing the method as described in Embodiment 1.

[0105] like Figure 3 As shown, the present invention also provides an electronic device, including a processor 301 and a memory 302 connected to the processor 301. The memory 302 stores a plurality of instructions, which can be loaded and executed by the processor to enable the processor to perform the method as described in Embodiment 1.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cross-optical domain micro-nano composite sensing all-weather navigation method, based on adding a polarization-detecting micro-nano array between an optical defocusing lens and a detector to achieve composite sensing of solar polarization sources and stellar sources, characterized in that, The method includes: S1, a cross-optical domain composite defocus imaging sensing system is constructed based on the biological compound eye perception and navigation mechanism; the cross-optical domain composite defocus imaging sensing system includes an imaging coupling polarization detection channel and an optical defocus subsystem; S2, In a clear nighttime scene, the star image is obtained by imaging the star based on the cross-optical domain composite defocus imaging sensing system; star target extraction and micro-nano polarization imaging error compensation are performed based on the star image; star image recognition and attitude calculation are performed on the compensated star position vector; S3, In clear scenes during the day, dawn, and dusk, the polarization distribution pattern of the solar polarization field is obtained by detecting the polarization based on the cross-optical domain composite defocus imaging sensing system, the polarization defocus information is compensated for error, and the solar vector is obtained by using the optimization method. S4, Obtain heading information based on the solar vector; S1 includes: S11, based on the detector pixel array, an imaging coupling polarization channel with four polarization directions is constructed in front of the imaging pixel according to the 2x2 four-pixel arrangement structure. S12, based on matching the micro-nano polarization imaging plane with the focal length of the optical lens to construct an optical defocus subsystem, the optical defocus subsystem is used for defocus diffusion imaging of stars at infinity.

2. The all-weather navigation method based on cross-optical domain micro-nano composite sensing according to claim 1, characterized in that, The four polarization detection directions are 0 degrees, 45 degrees, 90 degrees and 135 degrees respectively; the matching of the micro-nano polarization imaging plane with the focal length of the optical lens is achieved by designing the focal lengths between the optical lens, the polarization detection micro-nano array and the detector; the imaging distribution of the defocus diffusion imaging is 3x3 or 5x5.

3. The all-weather navigation method based on cross-optical domain micro-nano composite sensing according to claim 2, characterized in that, S1 further includes: S13, based on an integrating sphere, a high-precision turntable, and a single-star simulator, performs intrinsic parameter calibration on a cross-optical domain composite defocus imaging sensing system, obtaining system focal length, principal point, optical distortion, polarization analysis distortion, and defocus polarization distortion parameters; including: (1) Based on a high-precision turntable and a single-star simulator, the focal length, principal point and optical distortion in the intrinsic parameters of the cross-optical domain composite defocus imaging sensing system are calibrated. The calibration method is shown in Equation (1): （1）； In equation (1), Indicates focal length. Indicates the principal point. Indicates radial optical distortion. This indicates tangential optical distortion. Indicates the polarization direction as Optical distortion, Represents the stellar imaging vector. This represents the pointing vector of the high-precision turntable, and argmin() represents the value of the solution variable when the target takes its minimum value; (2) Under the conditions of a high-precision turntable and an integrating sphere standard polarization light source, the polarization analysis distortion and defocus polarization distortion in different regions of the imaging plane are calibrated. The calibration method is shown in Equation (2): （2）； In equation (2), Representing coordinates The polarization direction is Directional distortion, Indicates the angle of deviation. This refers to the turntable angle of a high-precision turntable; in this embodiment, the deviation angle is... The gray values ​​I(0°), I(45°), I(90°), and I(135°) at polarization directions of 0°, 45°, 90°, and 135° are used to determine the gray values, and the determination method is shown in Equation (3): （3）； In equation (3), AOP represents the observed polarization direction. , .

4. The all-weather navigation method based on cross-optical domain micro-nano composite sensing according to claim 1, characterized in that, S2 includes: S21, In a clear nighttime scene, the star in the sky is subjected to exposure integration sensing imaging based on the cross-optical domain composite defocus imaging sensing system to obtain a micro-nano polarization imaging star map. S22, Based on threshold segmentation and connected component labeling methods, the effective pixels of the star's centroid position and imaging range in the micro-nano polarization imaging star map are extracted to complete the star target extraction. S23, Based on the polarization imaging distortion parameters, perform polarization direction compensation on the pixel grayscale within the imaging range of the star, and recalculate the position of the imaging centroid to complete the micro-nano polarization imaging error compensation. S24. Based on the polarization analysis distortion parameters, the star positions after micro-nano polarization imaging error compensation are obtained. The pyramid QUEST method is used to identify the star map and obtain the correspondence between the observed star and the reference star catalog, thereby completing the star map identification of the compensated star position vector. S25, using the weighted least squares method, the attitude of the cross-optical domain composite defocus imaging sensing system is calculated to complete the attitude calculation.

5. The all-weather navigation method based on cross-optical domain micro-nano composite sensing according to claim 1, characterized in that, S3 includes: S31, In clear daytime, dawn, and evening scenes, the cross-optical domain composite defocus imaging sensing system is used to perform exposure integration sensing imaging of the solar polarization pattern in the sky to obtain a micro-nano polarization distribution pattern image, thereby completing the polarization detection sensing of the solar polarization field to obtain the polarization distribution pattern. S32, based on the defocus polarization distortion parameters, the polarization direction calculated by the polarization detection directions of the selected region at 0 degrees, 45 degrees, 90 degrees and 135 degrees is used to perform defocus compensation, thereby completing the error compensation of the polarization defocus information. S33, Based on the optimization method, the solar vector of different regions is calculated on the polarization imaging distribution after defocus compensation, thereby completing the acquisition of solar vector using the optimization method.

6. The all-weather navigation method based on cross-optical domain micro-nano composite sensing according to claim 1, characterized in that, The S4 includes a combined inertial gyroscope, an accelerometer, and a solar vector, and uses Kalman filtering to calculate the heading angle to obtain heading information.

7. A cross-optical domain micro-nano composite sensing all-weather navigation system, used to implement the method according to any one of claims 1-6, characterized in that, The system includes: A cross-optical domain composite defocus imaging sensing system construction module is used to construct a cross-optical domain composite defocus imaging sensing system based on the biological compound eye perception and navigation mechanism; the cross-optical domain composite defocus imaging sensing system includes an imaging coupling polarization detection channel and an optical defocus subsystem; The star map recognition and attitude calculation module is used to obtain an imaged star map by imaging stars based on the cross-optical domain composite defocus imaging sensing system in a clear night scene; to extract star targets and compensate for micro-nano polarization imaging errors based on the imaged star map; and to perform star map recognition and attitude calculation on the compensated star position vector. The solar vector acquisition module is used to obtain the polarization distribution pattern of the solar polarization field based on the cross-optical domain composite defocus imaging sensing system in clear scenes such as daytime, dawn, and dusk, to perform error compensation on the polarization defocus information and to obtain the solar vector using an optimization method. A navigation module is used to obtain heading information based on the solar vector.

8. An electronic device, characterized in that, It includes a processor and a memory, the memory storing multiple instructions, and the processor being used to read the instructions and execute the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions, which can be read by a processor and executed as described in any one of claims 1-6.

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