Bionic polarized light compass angle measurement accuracy assessment, angle measurement error calibration and correction method

Abstract

A method for evaluating the angle measurement accuracy, calibrating and correcting the angle measurement error of a bionic polarized light compass includes performing angle resolution on the angle value output by the bionic polarized light compass to obtain an actual measurement angle sequence; generating an ideal rotation angle with a fixed rotation angle step within the range of 0° to 360° to form an ideal rotation angle sequence; calculating the absolute error between the actual measurement angle sequence and the ideal rotation angle sequence, and performing mean correction on the absolute error; calculating the root mean square error of the mean-corrected absolute error to evaluate the angle measurement accuracy of the bionic polarized light compass. A bionic polarized light compass angle measurement error calibration model is constructed based on the angle measurement accuracy evaluation to achieve effective correction of the photoelectric pixel response non-uniformity error and the coupling inconsistency error between the nano grating array and the photoelectric pixel in the bionic polarized light compass. The present invention can accurately reflect the measurement error characteristics of the bionic polarized light compass and improve the reliability of the angle measurement accuracy evaluation.

Description

Technical Field

[0001] The invention mainly relates to the field of intelligent navigation technology, in particular to a method for evaluating the angle measurement accuracy, calibrating and correcting the angle measurement error of a bionic polarized light compass. Background Art

[0002] Small platforms have the advantages of high flexibility, strong concealment, and low cost, and play an important role in surveying and mapping, emergency rescue, and security patrols. However, the above scenarios all require small platforms to have good autonomous navigation capabilities. The current micro-inertial orientation system can only maintain an orientation accuracy of degrees per hour, which is difficult to meet the needs of small unmanned platforms. The satellite dual-antenna orientation system is also limited by electromagnetic interference, and its reliability is difficult to guarantee.

[0003] Different from traditional navigation methods, as a branch of bionic navigation technology, bionic polarized light navigation can make up for the shortcomings of inertial navigation and satellite navigation. It has the advantages of strong anti-interference, high robustness and no error accumulation. It is a reliable autonomous navigation method for small unmanned platforms working in complex environments. However, its navigation performance and accuracy depend to a large extent on the calibration quality and theoretical maximum angular resolution of the bionic polarized light compass. Due to the deviation of the processing process, the bionic polarized light compass has the uneven response error of the photoelectric pixel and the inconsistent coupling error between the nano-grating array and the photoelectric pixel. Whether the above errors can be effectively corrected and the high-precision angular resolution calibration can be achieved is the key to ensure that the navigation system can achieve accurate orientation, obstacle avoidance and path planning. Therefore, accurate evaluation and calibration of the angular resolution of the bionic polarized light compass is of great significance to improving the navigation performance and overall application value of small unmanned platforms in complex environments. Summary of the invention

[0004] In view of the technical problems existing in the prior art, the present invention proposes a method for evaluating the angular measurement accuracy, calibrating and correcting the angular measurement error of a bionic polarized light compass. By accurately evaluating and calibrating the angular measurement resolution of the bionic polarized light compass, the overall performance of the unmanned platform navigation system is improved, and its advantages in complex environments are further brought into play.

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

[0006] In one aspect, the present invention provides a method for evaluating the angle measurement accuracy of a bionic polarized light compass, comprising:

[0007] The angle value output by the bionic polarized light compass is subjected to angle deambiguation to obtain the actual measured angle, and the actual measured angle is continuously distributed in the range of 0° to 360°, forming an actual measured angle sequence;

[0008] Generate an ideal rotation angle with a fixed rotation angle step in the range of 0° to 360° to form an ideal rotation angle sequence;

[0009] Calculate the absolute error between the actual measured angle sequence and the ideal rotation angle sequence, and perform mean correction on the absolute error;

[0010] The root mean square error of the mean-corrected absolute error was calculated to evaluate the angular measurement accuracy of the bionic polarized light compass.

[0011] In another aspect, the present invention provides a method for calibrating an angle measurement error of a bionic polarized light compass, comprising:

[0012] Based on the angle measurement accuracy evaluation result of the bionic polarized light compass obtained by the above-mentioned bionic polarized light compass angle measurement accuracy evaluation method, a bionic polarized light compass angle measurement error calibration model is constructed;

[0013] A periodic kernel-based calibration method is used to calibrate the response non-uniformity error of the optoelectronic pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the optoelectronic pixels.

[0014] On the other hand, the present invention provides a method for correcting the angle measurement error of a bionic polarized light compass, based on the response non-uniformity error of the photoelectric pixels in the calibrated bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels obtained by the above-mentioned bionic polarized light compass angle measurement error calibration method, to correct the response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels.

[0015] Compared with the prior art, the technical effects of the present invention are:

[0016] The present invention uses a high-precision turntable to generate an ideal rotation angle to ensure that the ideal state of each angle position is taken into account during error assessment; an angle resolution algorithm based on adjacent angle differences is used to eliminate the polarization angle ambiguity solution, specifically, the polarization heading angle output by the bionic polarized light compass is subjected to angle resolution, and while eliminating the ambiguity solution, it is converted to a continuous angle in the interval [0,360] to ensure that the error assessment can be accurately performed at the angle crossing point. The absolute error between the actual measured continuous rotation angle and the ideal rotation angle sequence is calculated, and the absolute error is mean-corrected to remove systematic deviations, so that the error assessment result is more reliable. The root mean square error of the absolute error is calculated to accurately evaluate the accuracy of the entire measurement system. Based on the above-mentioned angle measurement resolution error assessment results, a bionic polarized light compass angle measurement error calibration model is constructed, and a calibration method based on a periodic kernel is used to effectively correct the photoelectric pixel response non-uniformity error and the coupling inconsistency error between the nano-grating array and the photoelectric pixel, thereby obtaining higher angle measurement accuracy and reliability.

[0017] The present invention improves the overall performance of the unmanned platform navigation system by accurately evaluating and calibrating the angle measurement resolution of the bionic polarized light compass, and further exerts its advantages in complex environments. The present invention can be widely used in the fields of precision measurement, navigation systems and performance evaluation of angle sensors to improve the system's angle measurement accuracy and navigation reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 is a flow chart of a method for evaluating the angle measurement accuracy of a bionic polarized light compass provided by an embodiment;

[0020] Figure 2 It is a flow chart of a method for evaluating the angle measurement accuracy, calibrating and correcting the angle measurement error of a bionic polarized light compass provided by an embodiment. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Reference Figure 1 An embodiment provides a method for evaluating the angle measurement accuracy of a bionic polarized light compass, comprising:

[0023] The angle value output by the bionic polarized light compass is subjected to angle deambiguation to obtain the actual measured angle, and the actual measured angle is continuously distributed in the range of 0° to 360°, forming an actual measured angle sequence;

[0024] Generate an ideal rotation angle with a fixed rotation angle step in the range of 0° to 360° to form an ideal rotation angle sequence;

[0025] Calculate the absolute error between the actual measured angle sequence and the ideal rotation angle sequence, and perform mean correction on the absolute error;

[0026] The root mean square error of the mean-corrected absolute error was calculated to evaluate the angular measurement accuracy of the bionic polarized light compass.

[0027] A high-precision turntable is used to generate the ideal rotation angle, ensuring that the ideal state of each angle position is taken into account when evaluating the error.

[0028] Based on the angle deambiguation algorithm of adjacent angle differences, the angle value output by the bionic polarized light compass is deambiguated to eliminate the jump caused by crossing 0° to 360°, and ensure that the angle value is continuous in the interval [0°, 360°]. Specifically, it includes:

[0029] Calculate the difference between adjacent angles output by a biomimetic polarized compass , is the angle of the current bionic polarized light compass output, is the angle output by the previous bionic polarized light compass;

[0030] When the difference between adjacent angles is less than -90°, a negative jump occurs, and the angle output by the current bionic polarized light compass is added by 180°, that is, ;

[0031] When the difference between adjacent angles is greater than 90°, a positive jump occurs, and the angle output by the current bionic polarized light compass is subtracted by 180°, that is, ;

[0032] All negative angle values Convert to a positive angle value as the actual measured angle, and ensure that the actual measured angle is continuously distributed in [0°, 360°].

[0033] Negative angle values To convert to a positive angle value, add 360° for angles less than 0° and subtract 360° for angles greater than 360°.

[0034] Assume the actual measured angle sequence is , the ideal rotation angle sequence is The absolute error is , the absolute error between the actual measured angle and the ideal rotation angle is corrected by the mean, and the absolute error after mean correction is obtained as:

[0035] (1)

[0036] in is the absolute error The mean of Represents the actual measured angle sequence The ideal rotation angle sequence The absolute error between .

[0037] The root mean square error (RMSE) of the absolute error after mean correction was calculated to evaluate the angular measurement accuracy of the bionic polarized light compass.

[0038] The present invention adopts the method of absolute value correction of error for evaluation. In this evaluation method, the ideal rotation angle is generated by a high-precision turntable and compared with the actual measurement value, so that the angular resolution of the bionic polarized light compass can be evaluated more intuitively. In particular, the mean correction method can effectively remove the offset error in the measurement system. Compared with the traditional evaluation method, this method pays more attention to the absolute error rather than the error of the angle change. Therefore, this method is more advantageous in scenarios where high-precision absolute angles are required.

[0039] In another embodiment, a method for calibrating an angle measurement error of a bionic polarized light compass is provided, comprising:

[0040] Based on the angle measurement accuracy evaluation result of the bionic polarized light compass obtained by the above-mentioned bionic polarized light compass angle measurement accuracy evaluation method, a bionic polarized light compass angle measurement error calibration model is constructed;

[0041] A bionic polarized light compass calibration method based on periodic kernel is used to calibrate the response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels.

[0042] The bionic polarized light compass angle measurement error calibration model constructed by the present invention comprises:

[0043] Based on the response characteristics of the photoelectric pixels in the bionic polarized light compass, the response inhomogeneity error of the photoelectric pixels in the bionic polarized light compass is mathematically described.

[0044] The coupling inconsistency error between the nano-grating array and the optoelectronic pixel is introduced into the model in order to correct the error through calibration method.

[0045] The calibration method based on periodic kernel is used to calibrate the response non-uniformity error of the photoelectric pixel in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixel, including:

[0046] The periodic kernel function is selected to fit the response inhomogeneity error of the photoelectric pixel in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixel.

[0047] The parameters of the periodic kernel function are adjusted using an iterative optimization algorithm to minimize the response non-uniformity error of the optoelectronic pixels in the calibrated bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the optoelectronic pixels.

[0048] In one embodiment, the expression of the periodic kernel function used is:

[0049] (2)

[0050] in, is the cycle length, is the length dimension (controls smoothness).

[0051] After calibrating the error through the above method, the orientation parameters of the bionic polarized light navigation system can be adjusted to achieve dynamic compensation for the measurement error, thereby maintaining a high angle measurement accuracy during long-term operation.

[0052] The present invention can more accurately reflect the measurement error characteristics of the bionic polarized light compass, improve the reliability of angle measurement accuracy evaluation, and is suitable for high-precision measurement scenarios such as calibration and testing of navigation systems and angle sensors.

[0053] On the other hand, the present invention provides a method for correcting the angle measurement error of a bionic polarized light compass, based on the response non-uniformity error of the photoelectric pixels in the calibrated bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels obtained by the above-mentioned bionic polarized light compass angle measurement error calibration method, to correct the response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels.

[0054] Reference Figure 2 In one embodiment, a method for evaluating the angle measurement accuracy, calibrating and correcting the angle measurement error of a bionic polarized light compass is provided, comprising:

[0055] The angle value output by the bionic polarized light compass is subjected to angle deambiguation to obtain the actual measured angle, and the actual measured angle is continuously distributed in the range of 0° to 360°, forming an actual measured angle sequence;

[0056] Generate an ideal rotation angle with a fixed rotation angle step in the range of 0° to 360° to form an ideal rotation angle sequence;

[0057] Calculate the absolute error between the actual measured angle sequence and the ideal rotation angle sequence, and perform mean correction on the absolute error;

[0058] The root mean square error of the absolute error after mean correction is calculated to evaluate the angle measurement accuracy of the bionic polarized light compass;

[0059] Construct a calibration model for the angle measurement error of a bionic polarized light compass;

[0060] A periodic kernel-based calibration method is used to calibrate the response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels, so as to obtain higher angle measurement accuracy and reliability.

[0061] Based on the response non-uniformity error of the photoelectric pixels in the calibrated bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels, the response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels are corrected. Through real-time calculation and calibration, the bionic polarized light compass can still stably and reliably achieve high-precision rotation angle measurement under complex environmental conditions. The present invention is suitable for navigation systems or angle sensor calibration and testing scenarios with high-precision angle measurement requirements, and can effectively improve the angle transmission accuracy and stability of navigation and positioning systems.

[0062] On the other hand, the present invention provides a computer device, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the method for evaluating the angle measurement accuracy, calibrating and correcting the angle measurement error of a bionic polarized light compass provided in any of the above embodiments when executing the computer program. The computer device may be a server. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store sample data. The network interface of the computer device is used to communicate with an external terminal via a network connection.

[0063] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for evaluating the angle measurement accuracy, calibrating and correcting the angle measurement error of the bionic polarized light compass provided in any of the above-mentioned embodiments are implemented.

[0064] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0065] Matters not covered by the present invention are known technologies.

[0066] 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.

[0067] The above-described 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. It should be pointed out that, for a person of ordinary skill in the art, several modifications 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.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for evaluating the angle measurement accuracy of a bionic polarized light compass, characterized in that: include: The angle value output by the bionic polarized light compass is subjected to angle deambiguation to obtain the actual measured angle, and the actual measured angle is continuously distributed in the range of 0° to 360°, forming an actual measured angle sequence; Generate an ideal rotation angle with a fixed rotation angle step in the range of 0° to 360° to form an ideal rotation angle sequence; Calculate the absolute error between the actual measured angle sequence and the ideal rotation angle sequence, and perform mean correction on the absolute error; The root mean square error of the mean-corrected absolute error was calculated to evaluate the angular measurement accuracy of the bionic polarized light compass.

2. The method for evaluating the angle measurement accuracy of a bionic polarized light compass according to claim 1, characterized in that: The angle value output by the bionic polarized light compass is subjected to angle resolution, including: Calculate the difference between adjacent angles output by a biomimetic polarized compass , is the angle of the current bionic polarized light compass output, is the angle output by the previous bionic polarized light compass; When the difference between adjacent angles is less than -90°, a negative jump occurs, and the angle output by the current bionic polarized light compass is added by 180°, that is, ; When the difference between adjacent angles is greater than 90°, a positive jump occurs, and the angle output by the current bionic polarized light compass is subtracted by 180°, that is, ; All negative angle values Convert to a positive angle value as the actual measured angle, and ensure that the actual measured angle is continuously distributed in [0°, 360°].

3. The method for evaluating the angle measurement accuracy of a bionic polarized light compass according to claim 1, characterized in that: The absolute error between the actual measured angle and the ideal rotation angle is corrected by the mean value, and the absolute error after the mean correction is: in is the absolute error The mean of Represents the actual measured angle sequence The ideal rotation angle sequence The absolute error between .

4. A method for calibrating the angle measurement error of a bionic polarized light compass, characterized in that: include: Based on the angular measurement accuracy evaluation result of the bionic polarized light compass obtained by the angular measurement accuracy evaluation method of the bionic polarized light compass described in claim 1, a bionic polarized light compass angular measurement error calibration model is constructed; A periodic kernel-based calibration method is used to calibrate the response non-uniformity error of the optoelectronic pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the optoelectronic pixels.

5. The method for calibrating the angle measurement error of a bionic polarized light compass according to claim 4, characterized in that: Construct a bionic polarized light compass angle measurement error calibration model, including: Based on the response characteristics of the photoelectric pixels in the bionic polarized light compass, the response inhomogeneity error of the photoelectric pixels in the bionic polarized light compass is mathematically described. The coupling inconsistency error between the nano-grating array and the optoelectronic pixel is introduced into the model.

6. The method for calibrating the angle measurement error of a bionic polarized light compass according to claim 4, characterized in that: The calibration method based on periodic kernel is used to calibrate the response non-uniformity error of the photoelectric pixel in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixel, including: The periodic kernel function is selected to fit the response inhomogeneity error of the photoelectric pixel in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixel. The parameters of the periodic kernel function are adjusted using an iterative optimization algorithm to minimize the response non-uniformity error of the optoelectronic pixels in the calibrated bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the optoelectronic pixels.

7. A method for correcting angle measurement errors of a bionic polarized light compass, characterized in that: Based on the response non-uniformity error of the photoelectric pixels in the calibrated bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels obtained by the bionic polarized light compass angle measurement error calibration method as described in claim 4, 5 or 6, the response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels are corrected.

8. A method for evaluating the angle measurement accuracy, calibrating and correcting the angle measurement error of a bionic polarized light compass, characterized in that: include: The angle value output by the bionic polarized light compass is subjected to angle deambiguation to obtain the actual measured angle, and the actual measured angle is continuously distributed in the range of 0° to 360°, forming an actual measured angle sequence; Generate an ideal rotation angle with a fixed rotation angle step in the range of 0° to 360° to form an ideal rotation angle sequence; Calculate the absolute error between the actual measured angle sequence and the ideal rotation angle sequence, and perform mean correction on the absolute error; The root mean square error of the absolute error after mean correction is calculated to evaluate the angle measurement accuracy of the bionic polarized light compass; Construct a calibration model for the angle measurement error of a bionic polarized light compass; The calibration method based on periodic kernel is used to calibrate the response non-uniformity error of the photoelectric pixel in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixel, so as to obtain higher angle measurement accuracy and reliability. Based on the calibrated response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels, the response non-uniformity error of the photoelectric pixels in the bionic polarized light compass and the coupling inconsistency error between the nano-grating array and the photoelectric pixels are corrected.

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