A method and device for rapid orientation of optimal polarized light field of a bionic polarized light compass

Abstract

The present application relates to a method and device for rapid orientation of a polarized light field of a bionic polarized light compass. The method comprises: establishing a mapping relationship between sky measurement points and compass pixel points according to the carrier posture and the projection relationship of the camera; selecting multiple polarized measurement points corresponding to the circular area in the collected polarized image according to the mapping relationship; respectively calculating the brightness mean of the pixels at the 0°, 45°, 90°, and 135° directions of the offset measurement points, using the Stokes method to calculate the polarization angle according to the brightness mean, and using the polarization angle as the solar azimuth in the horizontal coordinate system; obtaining the solar azimuth in the navigation coordinate system by searching the astronomical almanac; obtaining the carrier's heading information according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system. The method simplifies the calculation process of the polarized light orientation algorithm, improves the output frequency of the compass, and also provides guidance for the optimization design and practical application of the polarized light compass.

Description

Technical Field

[0001] The present application relates to the field of bionic polarized light technology, and in particular to a method and device for rapid orientation of a polarized light field of a bionic polarized light compass. Background Art

[0002] Small unmanned platforms are widely used in military and civilian fields due to their low cost, fast deployment and easy clustering. Having accurate navigation capabilities is one of the important guarantees for small unmanned platforms to successfully perform tasks. Currently, the commonly used navigation methods mainly include satellite navigation, magnetic compass and inertial navigation. By redundantly configuring multiple navigation devices and designing robust navigation strategies, the availability of the navigation system under harsh conditions can be guaranteed to a certain extent. However, in a strong electromagnetic confrontation environment, the accuracy of satellite navigation and magnetic compass is greatly affected. Due to the lack of constraints, the errors of the inertial navigation system will continue to accumulate. Therefore, the navigation methods commonly used by existing small unmanned platforms face great challenges in complex electromagnetic environments. It is necessary to find an autonomous navigation method that does not transmit electromagnetic signals with the outside world and is difficult to be interfered with, provide constraints for inertial navigation, and suppress its mis-divergence.

[0003] Inspired by the mechanism of insect compound eyes, the orientation technology based on the bionic polarized light compass is a new autonomous navigation method without error accumulation. However, the current classical polarized light orientation algorithm has a high computational complexity, resulting in a low frequency of heading output of the polarized light compass, which limits the application scenarios of the compass. Summary of the invention

[0004] Based on this, it is necessary to provide a method for fast orientation of polarized light field of a bionic polarized light compass that can simplify the calculation process of the polarized light orientation algorithm and improve the output frequency of the compass in response to the above technical problems. This method establishes a new polarized light orientation model, designs a fast polarized light orientation algorithm based on the bionic polarized light compass, and improves the output frequency of the polarized light compass.

[0005] A method for rapidly orienting a bionic polarized light compass using an optimal polarized light field, the method comprising:

[0006] According to the carrier posture and the projection relationship of the camera, the mapping relationship between the sky measurement points and the compass pixel points is established.

[0007] According to the mapping relationship, a plurality of polarization measurement points corresponding to the circular area are selected in the polarization image collected based on the bionic polarized light compass.

[0008] The brightness mean of the pixels at the 0°, 45°, 90°, and 135° directions at the polarization measurement point is calculated respectively. The polarization angle is calculated using the Stokes method based on the brightness mean, and the polarization angle is used as the solar azimuth in the horizontal coordinate system.

[0009] Obtain the solar azimuth in the navigation coordinate system by looking up the astronomical almanac.

[0010] The heading information of the carrier is obtained according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system.

[0011] In one embodiment, according to the carrier posture and the projection relationship of the camera, the mapping relationship between the sky measurement point and the compass pixel point is established as follows:

[0012]

[0013] Among them, z p is the projection of the measured point in the sky in the pixel coordinate system, is the measurement point in the sky, is the transformation matrix from the horizontal coordinate system to the carrier coordinate system, is the transformation matrix from the carrier coordinate system to the camera coordinate system, obtained by calibration, It is the transformation matrix from the camera coordinate system to the pixel coordinate system.

[0014] In one embodiment, according to the mapping relationship, selecting a polarization measurement point corresponding to a circular area in a polarization image collected based on a bionic polarized light compass includes:

[0015] According to the mapping relationship, a complete circular area with any radius and the real zenith as the center is found in the horizontal coordinate system, and all points in the circular area are used as polarization measurement points; the circular area is a circular area in the polarization image collected based on the bionic polarized light compass.

[0016] In one embodiment, the brightness mean of pixels at 0°, 45°, 90°, and 135° directions of the polarization measurement point are calculated respectively, the polarization angle is calculated by the Stokes method according to the brightness mean, and the polarization angle is used as the solar azimuth angle in the horizontal coordinate system, including:

[0017] The average brightness of the pixels at 0°, 45°, 90°, and 135° directions of all polarization measurement points in the circular area is calculated respectively to obtain the average brightness of the pixels at 0°, 45°, 90°, and 135° directions.

[0018] The polarization angle is calculated using the Stokes method according to the average brightness of pixels at 0°, 45°, 90°, and 135°. The polarization angle is used as the solar azimuth in the horizontal coordinate system. The solar azimuth in the horizontal coordinate system is:

[0019]

[0020] in, is the solar azimuth in the horizontal coordinate system, They are the average brightness of pixels in the directions of 0°, 45°, 90°, and 135° respectively.

[0021] In one embodiment, the heading information of the carrier is obtained according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system:

[0022]

[0023] Among them, ψ n The heading information of the carrier; is the solar azimuth in the navigation coordinate system, is the solar azimuth in the horizontal coordinate system.

[0024] A device for quickly orienting a bionic polarized light compass using a polarized light field, the device comprising:

[0025] The mapping relationship establishment module is used to establish the mapping relationship between the sky measurement point and the compass pixel point according to the carrier posture and the projection relationship of the camera.

[0026] The polarization measurement point rotation module is used to select a plurality of polarization measurement points corresponding to the circular area in the polarization image collected based on the bionic polarized light compass according to the mapping relationship.

[0027] The polarization angle calculation module is used to calculate the brightness mean of the pixels at the 0°, 45°, 90°, and 135° directions of the polarization measurement point, respectively, and calculate the polarization angle using the Stokes method based on the brightness mean, and use the polarization angle as the solar azimuth in the horizontal coordinate system.

[0028] The fast polarized light orientation module is used to obtain the solar azimuth in the navigation coordinate system by looking up the astronomical almanac; and obtain the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system.

[0029] In one embodiment, the mapping relationship establishing module is further used to establish a mapping relationship between the sky measurement point and the compass pixel point according to the carrier posture and the projection relationship of the camera:

[0030]

[0031] Among them, z p is the projection of the measured point in the sky in the pixel coordinate system, is the measurement point in the sky, is the transformation matrix from the horizontal coordinate system to the carrier coordinate system, is the transformation matrix from the carrier coordinate system to the camera coordinate system, obtained by calibration, It is the transformation matrix from the camera coordinate system to the pixel coordinate system.

[0032] In one of the embodiments, the polarization measurement point rotation module is also used to find a complete circular area with an arbitrary radius and the real zenith as the center in the horizontal coordinate system according to a mapping relationship, and use all points in the circular area as polarization measurement points; the circular area is a circular area in the polarization image collected based on the bionic polarized light compass.

[0033] In one embodiment, the polarization angle calculation module is further used to calculate the average brightness of the pixels at 0°, 45°, 90°, and 135° directions of all polarization measurement points in the circular area, respectively, to obtain the average brightness of the pixels at 0°, 45°, 90°, and 135° directions; according to the average brightness of the pixels at 0°, 45°, 90°, and 135° directions, the polarization angle is calculated using the Stokes method; the polarization angle is used as the solar azimuth angle in the horizontal coordinate system; wherein the solar azimuth angle in the horizontal coordinate system is:

[0034]

[0035] in, is the solar azimuth in the horizontal coordinate system, They are the average brightness of pixels in the directions of 0°, 45°, 90°, and 135° respectively.

[0036] In one embodiment, the fast polarized light orientation module is used to obtain the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system:

[0037]

[0038] Among them, ψ n The heading information of the carrier; is the solar azimuth in the navigation coordinate system, is the solar azimuth in the horizontal coordinate system.

[0039] The above-mentioned method and device for rapid orientation of polarized light field of a bionic polarized light compass include: establishing a mapping relationship between sky measurement points and compass pixel points according to the carrier posture and the projection relationship of the camera; selecting multiple polarized measurement points corresponding to the circular area in the polarized image collected by the bionic polarized light compass according to the mapping relationship; respectively calculating the brightness mean of the pixels at the 0°, 45°, 90°, and 135° directions of the offset measurement points, using the Stokes method to calculate the polarization angle according to the brightness mean, and using the polarization angle as the solar azimuth in the horizontal coordinate system; obtaining the solar azimuth in the navigation coordinate system by looking up the astronomical almanac; and obtaining the carrier's heading information according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system. This method simplifies the calculation process of the polarized light orientation algorithm, improves the output frequency of the compass, and also provides guidance for the optimization design and practical application of the polarized light compass. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a process of a method for rapid orientation of a bionic polarized light compass using a polarized light field in one embodiment;

[0041] Figure 2 is a coordinate conversion process of a polarized light orientation algorithm in another embodiment, wherein (a) is a coordinate conversion process of a classical algorithm, and (b) is a coordinate conversion process of the present method;

[0042] Figure 3 It is a structural block diagram of a preferred polarized light field rapid orientation device of a bionic polarized light compass in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] In one embodiment, Figure 1 As shown, a method for rapid orientation of a preferred polarized light field of a bionic polarized light compass is provided, the method comprising the following steps:

[0045] Step 100: Establish a mapping relationship between sky measurement points and compass pixel points according to the carrier posture and the projection relationship of the camera.

[0046] Specifically, the coordinate transformation process of the polarized light orientation algorithm is as follows: Figure 2 As shown in Figure 2, (a) is the coordinate transformation process of the classical algorithm, and (b) is the coordinate transformation process of this method. Figure 2 From (a), we can see that the classical algorithm requires at least four coordinate transformations, from Figure 2 In (b), we can see that the algorithm proposed in this method only requires two coordinate transformations. Since the coordinate transformation matrix comes from measurement and calibration, there are errors. Therefore, reducing the number of coordinate transformations can effectively avoid introducing more errors.

[0047] Step 102: According to the mapping relationship, select a plurality of polarization measurement points corresponding to the circular area in the polarization image collected based on the bionic polarized light compass.

[0048] Specifically, according to the mapping relationship in step 100, a complete circular area with an arbitrary radius and the real zenith as the center is found in the horizontal coordinate system, and a polarization measurement point corresponding to the circular area is selected in the collected polarization image.

[0049] Step 104: Calculate the average brightness of the pixels at the 0°, 45°, 90°, and 135° directions of the polarization measurement point respectively, calculate the polarization angle using the Stokes method based on the average brightness, and use the polarization angle as the solar azimuth in the horizontal coordinate system.

[0050] Specifically, since the calculation of the polarization angle using the inverse tangent function will cause a jump in the sum of the polarization angles at a specific angle, the average brightness of the pixels at the measurement point at 0°, 45°, 90°, and 135° is first calculated, and the polarization angle is calculated using the Stokes method based on the average brightness; the polarization angle is used as the solar azimuth in the horizontal coordinate system.

[0051] Step 106: Obtain the solar azimuth in the navigation coordinate system by looking up the astronomical almanac.

[0052] Step 108: Obtain the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system.

[0053] In the above-mentioned preferred polarized light field rapid orientation method of a bionic polarized light compass, the method includes: establishing a mapping relationship between sky measurement points and compass pixel points according to the carrier posture and the projection relationship of the camera; selecting multiple polarized measurement points corresponding to the circular area in the polarized image collected by the bionic polarized light compass according to the mapping relationship; respectively calculating the brightness mean of the pixels in the 0°, 45°, 90°, and 135° directions of the offset measurement point, using the Stokes method to calculate the polarization angle according to the brightness mean, and using the polarization angle as the solar azimuth in the horizontal coordinate system; obtaining the solar azimuth in the navigation coordinate system by looking up the astronomical almanac; and obtaining the carrier's heading information according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system. This method simplifies the calculation process of the polarized light orientation algorithm, improves the output frequency of the compass, and also provides guidance for the optimization design and practical application of the polarized light compass.

[0054] In one embodiment, step 100 includes establishing a mapping relationship between sky measurement points and compass pixel points according to the carrier posture and the projection relationship of the camera:

[0055]

[0056] Among them, z p is the projection of the measured point in the sky in the pixel coordinate system, is the measurement point in the sky, is the transformation matrix from the horizontal coordinate system to the carrier coordinate system, measured by the compass's built-in attitude sensor. is the transformation matrix from the carrier coordinate system to the camera coordinate system, obtained by calibration, It is the transformation matrix from the camera coordinate system to the pixel coordinate system.

[0057] The transformation matrix from the carrier coordinate system to the camera coordinate system can be calibrated using Reference 1 (Rehder J, Nikolic J, Schneider T. Extending kalibr: Calibrating the extrinsics of multiple IMUs and of individual axes [Z]. IEEE International Conference on Robotics & Automation. 2016); It is the transformation matrix from the camera coordinate system to the pixel coordinate system, which can be calibrated using the OpenCV camera calibration tool.

[0058] Specifically, in a normalized plane in a horizontal state, the vector connecting any point in the sky and the center of the earth can be expressed as:

[0059] z l =[xy 1] (2)

[0060] z l The projection in pixel coordinates is represented by z p , then z p With z l The relationship can be expressed as:

[0061]

[0062] In the above formula is the transformation matrix from the horizontal coordinate system to the carrier coordinate system, It is the transformation matrix from the carrier coordinate system to the camera coordinate system, obtained by calibration. It is the transformation matrix from the camera coordinate system to the pixel coordinate system.

[0063] Take a circular area around the zenith in the horizontal coordinate system, and the points in the area are Substituting into formula (2), we can obtain the projection in the pixel coordinate system as shown in formula (1).

[0064] Formula (1) is the value of any point z in the sky l The mapping relationship with the polarized light compass pixel point zp in any posture.

[0065] In one embodiment, step 102 includes: according to the mapping relationship, searching for a complete circular area with an arbitrary radius and a real zenith as the center in the horizontal coordinate system, and taking all points in the circular area as polarization measurement points; the circular area is a circular area in a polarization image collected based on a bionic polarized light compass.

[0066] Specifically, according to the first-order Rayleigh scattering model, the polarization angle measured in the camera coordinate system is:

[0067]

[0068] Polarization angle φ measured by polarized light compass c is a function of α, γ, αs, γs. When the time is fixed, the solar azimuth and altitude are fixed, φ c It is a function of α and γ:

[0069] φ c =f(α,γ) (5)

[0070] At any fixed moment, for an azimuth angle of α1, an altitude angle of γ1, and a polarization angle of There is a corresponding symmetry about the solar meridian, with an azimuth angle of 2α s -α1 altitude angle is γ1 polarization angle is The position makes:

[0071]

[0072] According to the mapping relationship in step 100, the average value of all polarization angles in a complete circular area with any radius and with the real zenith as the center is found in the horizontal coordinate system, which is the solar azimuth angle. That is, the average value of the polarization angles in the circular area is the solar azimuth angle in the horizontal coordinate system:

[0073]

[0074] in, is the solar azimuth in the horizontal coordinate system obtained by taking the average polarization angle within the circular region, is the polarization angle of the i-th polarization measurement point, Z p is the set of polarization measurement points within the circular area.

[0075] Since calculating the arc tangent first and then the average value may result in singular values ​​at specific angles, the present invention adopts a method of first calculating the average value and then calculating the arc tangent to avoid this problem.

[0076] In one embodiment, step 104 includes: respectively calculating the average brightness of pixels at 0°, 45°, 90°, and 135° directions of all polarization measurement points in the circular area to obtain the average brightness of pixels at 0°, 45°, 90°, and 135° directions; calculating the polarization angle using the Stokes method according to the average brightness of pixels at 0°, 45°, 90°, and 135° directions; and using the polarization angle as the solar azimuth angle in the horizontal coordinate system; wherein the solar azimuth angle in the horizontal coordinate system is:

[0077]

[0078] in, is the solar azimuth in the horizontal coordinate system, They are the average brightness of pixels in the directions of 0°, 45°, 90°, and 135° respectively.

[0079] Specifically, the average brightness of pixels at 0°, 45°, 90°, and 135° directions at each polarization measurement point in the selected circular area is calculated respectively, the polarization angle is calculated using the Stokes method, and the heading information of the carrier is obtained by combining the solar azimuth angle obtained by checking the astronomical calendar.

[0080] Some measurement points are selected in the circular area of ​​the horizontal coordinate system, and it is proved that the sum of the polarization angles of these measurement points is the solar azimuth angle. However, the polarization angle is calculated using the inverse tangent function, which causes a jump in the sum of the polarization angles at a specific angle. Therefore, the present invention first calculates the brightness mean of the pixels at the 0°, 45°, 90°, and 135° directions of the measurement point, and takes the brightness mean of the pixels at the 0° direction as the value. For example:

[0081]

[0082] Then the calculation formula for the solar azimuth in the horizontal coordinate system is shown in formula (8).

[0083] In one embodiment, step 108 includes: obtaining the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system:

[0084]

[0085] Among them, ψ n The heading information of the carrier; is the solar azimuth in the navigation coordinate system, is the solar azimuth in the horizontal coordinate system.

[0086] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0087] In one embodiment, Figure 3 As shown, a preferred polarized light field rapid orientation device of a bionic polarized light compass is provided, comprising: a mapping relationship establishment module, a polarization measurement point rotation module, a polarization angle calculation module and a rapid polarized light orientation module, wherein:

[0088] The mapping relationship establishment module is used to establish the mapping relationship between the sky measurement point and the compass pixel point according to the carrier posture and the projection relationship of the camera.

[0089] The polarization measurement point rotation module is used to select a plurality of polarization measurement points corresponding to the circular area in the polarization image collected based on the bionic polarized light compass according to the mapping relationship.

[0090] The polarization angle calculation module is used to calculate the brightness mean of the pixels at the 0°, 45°, 90°, and 135° directions of the polarization measurement point, respectively, and calculate the polarization angle using the Stokes method based on the brightness mean, and use the polarization angle as the solar azimuth in the horizontal coordinate system.

[0091] The fast polarized light orientation module is used to obtain the solar azimuth in the navigation coordinate system by looking up the astronomical almanac; and obtain the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system.

[0092] In one embodiment, the mapping relationship establishing module is further used to establish a mapping relationship between sky measurement points and compass pixel points as shown in formula (1) according to the carrier posture and the projection relationship of the camera.

[0093] In one of the embodiments, the polarization measurement point rotation module is also used to find a complete circular area with an arbitrary radius and the real zenith as the center in the horizontal coordinate system according to a mapping relationship, and use all points in the circular area as polarization measurement points; the circular area is a circular area in the polarization image collected based on the bionic polarized light compass.

[0094] In one embodiment, the polarization angle calculation module is further used to calculate the average brightness of the pixels in the 0°, 45°, 90°, and 135° directions of all polarization measurement points in the circular area, respectively, to obtain the average brightness of the pixels in the 0°, 45°, 90°, and 135° directions; according to the average brightness of the pixels in the 0°, 45°, 90°, and 135° directions, the Stokes method is used to calculate the polarization angle, and the polarization angle is used as the solar azimuth angle in the horizontal coordinate system; wherein the solar azimuth angle in the horizontal coordinate system is as shown in formula (8).

[0095] In one embodiment, the fast polarized light orientation module is used to obtain the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system, wherein the heading information of the carrier is shown in formula (10).

[0096] For the specific definition of a preferred polarized light field rapid orientation device for a bionic polarized light compass, please refer to the definition of a preferred polarized light field rapid orientation method for a bionic polarized light compass above, which will not be repeated here. Each module in the above-mentioned preferred polarized light field rapid orientation device for a bionic polarized light compass can be fully or partially implemented by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0097] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for rapid orientation of polarized light field using a bionic polarized light compass, characterized in that: The method comprises: According to the carrier posture and the projection relationship of the camera, a mapping relationship between the sky measurement point and the compass pixel point is established; the mapping relationship is: Among them, z p is the projection of the measured point in the sky in the pixel coordinate system, is the measurement point in the sky, is the transformation matrix from the horizontal coordinate system to the carrier coordinate system, is the transformation matrix from the carrier coordinate system to the camera coordinate system, obtained by calibration, is the transformation matrix from the camera coordinate system to the pixel coordinate system; According to the mapping relationship, multiple polarization measurement points corresponding to the circular area are selected in the polarization image collected based on the bionic polarized light compass; Calculate the average brightness of pixels at the directions of 0°, 45°, 90°, and 135° of the polarization measurement point respectively, calculate the polarization angle by using the Stokes method according to the average brightness, and use the polarization angle as the solar azimuth in the horizontal coordinate system; Obtain the solar azimuth in the navigation coordinate system by looking up the astronomical almanac; Obtaining heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system; According to the mapping relationship, selecting a polarization measurement point corresponding to a circular area in a polarization image collected based on a bionic polarized light compass includes: According to the mapping relationship, a complete circular area with any radius and the real zenith as the center is found in the horizontal coordinate system, and all points in the circular area are used as polarization measurement points; the circular area is a circular area in the polarization image collected based on the bionic polarized light compass.

2. The method according to claim 1, characterized in that Calculating the average brightness of pixels at the 0°, 45°, 90°, and 135° directions of the polarization measurement point respectively, calculating the polarization angle using the Stokes method according to the average brightness, and using the polarization angle as the solar azimuth in the horizontal coordinate system, including: Calculate the average brightness of the pixels at the directions of 0°, 45°, 90°, and 135° of all the polarization measurement points in the circular area respectively, and obtain the average brightness of the pixels at the directions of 0°, 45°, 90°, and 135°; The polarization angle is calculated by the Stokes method according to the average brightness of pixels in the directions of 0°, 45°, 90°, and 135°; the polarization angle is used as the solar azimuth angle in the horizontal coordinate system; wherein the solar azimuth angle in the horizontal coordinate system is: in, is the solar azimuth in the horizontal coordinate system, They are the average brightness of pixels in the directions of 0°, 45°, 90°, and 135° respectively.

3. The method according to claim 1, characterized in that According to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system, the heading information of the carrier is obtained as follows: Among them, ψ n The heading information of the carrier; is the solar azimuth in the navigation coordinate system, is the solar azimuth in the horizontal coordinate system.

4. A polarized light field rapid orientation device of a bionic polarized light compass, characterized in that: The device comprises: The mapping relationship establishment module is used to establish a mapping relationship between sky measurement points and compass pixel points according to the carrier posture and the projection relationship of the camera; the mapping relationship is: Among them, z p is the projection of the measured point in the sky in the pixel coordinate system, is the measurement point in the sky, is the transformation matrix from the horizontal coordinate system to the carrier coordinate system, is the transformation matrix from the carrier coordinate system to the camera coordinate system, obtained by calibration, is the transformation matrix from the camera coordinate system to the pixel coordinate system; A polarization measurement point rotation module is used to select a plurality of polarization measurement points corresponding to a circular area in a polarization image collected based on a bionic polarized light compass according to the mapping relationship; A polarization angle calculation module, used to calculate the brightness mean of pixels at the 0°, 45°, 90°, and 135° directions of the polarization measurement point, respectively, calculate the polarization angle using the Stokes method according to the brightness mean, and use the polarization angle as the solar azimuth in the horizontal coordinate system; A fast polarized light orientation module, used to obtain the solar azimuth in the navigation coordinate system by looking up the astronomical almanac; and obtain the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system; Among them, the polarization measurement point rotation module is also used to find a complete circular area with an arbitrary radius and the real zenith as the center in the horizontal coordinate system according to the mapping relationship, and use all points in the circular area as polarization measurement points; the circular area is a circular area in the polarization image collected based on the bionic polarized light compass.

5. The device according to claim 4, characterized in that The polarization angle calculation module is also used to respectively calculate the average brightness of the pixels at 0°, 45°, 90°, and 135° directions of all the polarization measurement points in the circular area to obtain the average brightness of the pixels at 0°, 45°, 90°, and 135° directions; according to the average brightness of the pixels at 0°, 45°, 90°, and 135° directions, the polarization angle is calculated using the Stokes method; the polarization angle is used as the solar azimuth angle in the horizontal coordinate system; wherein the solar azimuth angle in the horizontal coordinate system is: in, is the solar azimuth in the horizontal coordinate system, They are the average brightness of pixels in the directions of 0°, 45°, 90°, and 135° respectively.

6. The device according to claim 4, characterized in that The fast polarized light orientation module is used to obtain the heading information of the carrier according to the solar azimuth in the navigation coordinate system and the solar azimuth in the horizontal coordinate system: Among them, ψ n The heading information of the carrier; is the solar azimuth in the navigation coordinate system, is the solar azimuth in the horizontal coordinate system.

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