Array type bionic polarized light navigation sensor

Abstract

The invention discloses an array type bionic polarized light navigation sensor, which comprises a sensor base, a main control board, an I2C cascade device, an annular array base and polarization axis analyzers, and is characterized in that the polarization axis analyzers uniformly distributed on the annular array base transmit polarization information for detecting a large range of sky to the main control board through the I2C cascade device; and the main control board calculates a real-time solar azimuth angle through a navigation algorithm. According to the invention, the solar azimuth information can be rapidly obtained in real time, and the calculation efficiency and accuracy of the solar azimuth can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic polarized light navigation, in particular to an array type bionic polarized light navigation sensor. Background Art

[0002] Navigation technology is closely related to human life and plays an extremely important role in both military and civilian fields. Compared with other navigation methods, bionic polarized light navigation is a passive and autonomous navigation method based on natural characteristics. It uses the polarization pattern of the sky, one of the natural properties of the earth, as the source of navigation information.

[0003] At present, most bionic polarization navigation sensors only imitate the optical functions of a single or several ommatidia in a compound eye, making it difficult to realize the perception of the intrinsic connection and distribution law between the polarization information of various regions of the sky by the ommatidia array; and the method based on polarization pattern images is separated from the gridded neural network processing mechanism of biological polarization information. Its information processing is mainly to apply general image processing algorithms on the acquired polarization angle and polarization degree images, resulting in high computational complexity and low robustness when the image is blocked or tilted. Summary of the invention

[0004] In order to solve the deficiencies of the prior art, the present invention provides an array-type bionic polarized light navigation sensor, so as to quickly obtain solar azimuth information in real time and improve the calculation efficiency and accuracy of the solar azimuth information.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] The array-type bionic polarized light navigation sensor of the present invention is characterized in that it comprises: a sensor base, a main control board, an I2C cascade, a ring array base, and a polarization axis analyzer;

[0007] A circular array base is installed on the top periphery of the sensor base, and a plurality of polarization axis analyzers are evenly distributed on the circular array base. The polarization axis analyzer is connected to the main control board through an I2C cascade, and is used to send the detected sky polarization information to the main control board, so that the main control board processes the sky polarization information through a navigation algorithm to obtain and output the real-time solar azimuth of the sun.

[0008] The present invention is also characterized by the array-type bionic polarized light navigation sensor in that the navigation algorithm is performed according to the following steps:

[0009] Step 1: Record the 0° polarized light intensity and 90° polarized light intensity collected by the kth polarization axis analyzer as and ;

[0010] Step 2: Use equation (1) to calculate the total light intensity collected by the kth polarization axis analyzer: ;

[0011] (1)

[0012] Step 3: Calculate the kth polarization information using equation (2) ;

[0013] (2)

[0014] Step 4: Calculate the kth day volume score using formula (3) ;

[0015] (3)

[0016] Step 5: Calculate the solar azimuth vector using equation (4) ;

[0017] (4)

[0018] In formula (4), represents the azimuth angle corresponding to the kth polarization axis analyzer uniformly distributed on the base of the annular array; i represents an imaginary unit; represents the total number of polarization axis analyzers;

[0019] Step 6: Calculate the solar azimuth using equation (5) ;

[0020] (5)

[0021] In formula (5), Represents the solar azimuth vector The corresponding arc.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention combines the biological mechanism of the ommatidia in the dorsal edge area of ​​the compound eye to produce a polarization axis analyzer that imitates the insect's perception of polarized light, and based on this, an array-type bionic polarized light navigation sensor that imitates the compound eye mechanism is developed.

[0024] 2. The present invention has a compact structure and high integration, can effectively detect the polarization pattern of the sky and provide navigation information, and is suitable for application on navigation carriers such as drones, unmanned vehicles and unmanned ships.

[0025] 3. The present invention has good real-time performance and short response time, and can output the solar azimuth angle through the serial port at a frequency of 1 Hz. After error compensation, the average absolute error of the angle measurement is 0.87°, and the root mean square error is 1.13°. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a model of an array-type bionic polarized light navigation sensor of the present invention;

[0027] Figure 2 A schematic diagram of a model of a polarization axis analyzer of the present invention;

[0028] Figure 3 A schematic diagram of a model for analyzing the sun's position according to the present invention;

[0029] Figure 4 This is an analysis diagram of the angle measurement error of an array-type bionic polarized light navigation sensor of the present invention;

[0030] Numbers in the figure: 1 sensor base; 2 main control board; 3 I2C cascade; 4 ring array base; 5 polarization axis analyzer; 6 serial communication line; 7 power line. DETAILED DESCRIPTION

[0031] In this embodiment, an array-type bionic polarized light navigation sensor includes: a sensor base 1, a main control board 2, an I2C cascade 3, a ring array base 4, a polarization axis analyzer 5, a serial communication line 6, and a power line 7;

[0032] like Figure 1 As shown, a main control board 2 is installed inside the sensor base 1, and the main control board 2 is connected to a serial communication line 6 and a power line 7; the main control board 2 outputs solar azimuth information through the serial communication line 6 and is powered through the power line 7;

[0033] A regular octagonal annular array base 4 is installed on the top periphery of the sensor base 1, and the annular array base 4 has 8 rectangular grooves for installing the polarization axis analyzer 5, such as Figure 2 As shown, the polarization axis analyzer 5 integrates four photodiodes on the PCB board, and covers the photodiodes with polarizers of different polarization angles, so as to collect polarization light intensity information at different angles.

[0034] Eight polarization axis analyzers 5 are evenly distributed on the annular array base 4, and the polarization axis analyzers 5 are connected to the main control board 2 through the I2C cascade 3, and are used to send the detected sky polarization information to the main control board 2, so that the main control board 2 processes the sky polarization information through a navigation algorithm;

[0035] When the sensor is placed horizontally outdoors in a clear and unobstructed environment, it can detect polarization information over a wide range of the sky, calculate through navigation algorithms, and obtain and output the sun's real-time solar azimuth.

[0036] Specifically, the navigation algorithm is performed according to the following steps;

[0037] Step 1: In the actual test, each polarization axis analyzer 5 can output the voltage of four photodiodes at the same time. However, in order to maintain the equivalence with the compound eye of insects, photodiodes covered by 0° and 90° linear polarizers are selected to design the model. The 0° polarization intensity and 90° polarization intensity collected by the kth polarization axis analyzer 5 are recorded as and .

[0038] Step 2: Calculate the total light intensity collected by the kth polarization axis analyzer 5 using equation (1): ;like Figure 3 As shown, under clear sky conditions, when the polarization axis analyzer 5 points to the direction of the sun, Takes the maximum value and is almost uniform in other directions;

[0039] (1)

[0040] Step 3: Calculate the kth polarization information using equation (2) ; When the polarization axis analyzer 5 points to the opposite direction of the sun, The maximum value is taken, while the side of the polarization axis analyzer 5 close to the sun direction is taken as a negative value;

[0041] (2)

[0042] Step 4: Calculate the kth day volume score using formula (3) ; The maximum value is taken when the polarization axis analyzer 5 points to the direction of the sun, and the minimum value is taken when the polarization axis analyzer 5 points to the opposite direction of the sun;

[0043] (3)

[0044] Step 5: Calculate the solar azimuth vector using equation (4) ;

[0045] (4)

[0046] In formula (4), represents the azimuth angle corresponding to the kth polarization axis analyzer 5 uniformly distributed on the annular array; i represents an imaginary unit; represents the total number of polarization axis analyzers 5. In this embodiment, .

[0047] Step 6: Calculate the solar azimuth using equation (5) ;

[0048] (5)

[0049] In formula (5), Represents the solar azimuth vector The corresponding arc;

[0050] The sensor was tested outdoors in an open area in front of the gymnasium. The sensor was driven by a horizontal turntable to rotate 180° continuously, and the solar azimuth angle output by the sensor was recorded every 5°. The errors caused by the tilt of the horizontal turntable and the trolley, the assembly of the horizontal turntable and the sensor, and the tilt of the polarization axis analyzer 5 installation and PCB welding were taken as inherent errors of the experimental system and compensated by the least squares method. The angular measurement error analysis is shown in the figure. Figure 4 As shown in the figure, after error compensation, the average absolute error of angle measurement is 0.87°, and the root mean square error is 1.13°.

[0051] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0052] In this embodiment, a computer-readable storage medium stores a computer program on the computer-readable storage medium, and the computer program executes the steps of the above method when executed by a processor.

Claims

1. An array-type bionic polarized light navigation sensor, characterized in that: include: Sensor base (1), main control board (2), I2C cascade (3), annular array base (4), polarization axis analyzer (5); An annular array base (4) is installed on the top periphery of the sensor base (1), a plurality of polarization axis analyzers (5) are evenly distributed on the annular array base (4), and the polarization axis analyzers (5) are connected to the main control board (2) via an I2C cascade (3) and are used to send the detected sky polarization information to the main control board (2), so that the main control board (2) processes the sky polarization information through a navigation algorithm to obtain and output the real-time solar azimuth of the sun.

2. An array-type bionic polarized light navigation sensor according to claim 1, characterized in that: The navigation algorithm is performed according to the following steps: Step 1: The 0° polarized light intensity and the 90° polarized light intensity collected by the kth polarization axis analyzer (5) are recorded as and ; Step 2: Use equation (1) to calculate the total light intensity collected by the kth polarization axis analyzer (5): ; (1) Step 3: Calculate the kth polarization information using equation (2) ; (2) Step 4: Calculate the kth day volume score using formula (3) ; (3) Step 5: Calculate the solar azimuth vector using equation (4) ; (4) In formula (4), represents the azimuth angle corresponding to the kth polarization axis analyzer (5) uniformly distributed on the base of the annular array; i represents an imaginary unit; represents the total number of polarization axis analyzers (5); Step 6: Calculate the solar azimuth using equation (5) ; (5) In formula (5), Represents the solar azimuth vector The corresponding arc.

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