A method for modeling sky polarization patterns considering the depolarization effect of surface reflection

Abstract

The present invention discloses a method for modeling a sky polarization pattern that takes into account the influence of surface reflection depolarization, and belongs to the field of atmospheric optics and polarized light navigation technology. The method solves the problem in the prior art that the full sky polarization pattern modeling method does not fully and accurately consider the influence mechanism of surface reflection depolarization, resulting in the overall deviation of the calculated sky polarization distribution from the measured result. The present invention calculates the solar zenith angle and azimuth according to the geographical location and observation time; calculates the ideal sky polarization pattern according to the Berry model of the sky polarization vector distribution; realizes the mapping transformation from a two-dimensional plane to a three-dimensional sphere according to the stereographic projection transformation relationship; calculates the full celestial surface reflection depolarization coefficient by combining the observation altitude, observation wavelength, solar zenith angle and surface reflectivity; and multiplies the surface reflection depolarization coefficient by the ideal sky polarization pattern to obtain a sky polarization pattern that takes into account the influence of surface reflection depolarization. The present invention effectively improves the calculation accuracy of the sky polarization model and can be applied to sky polarization pattern modeling.

Description

Technical Field

[0001] The present invention relates to a sky polarization pattern modeling method, in particular to a sky polarization pattern modeling method taking into account the influence of surface reflection depolarization, and belongs to the technical field of atmospheric optics and polarized light navigation. Background Art

[0002] Navigation technology is widely used in human production and life, military operations and scientific exploration. With the advancement of science and technology, the types of navigation technologies are endless. In the existing technology, the satellite global positioning system uses satellite signals to achieve high-precision positioning of the carrier all day long, but it is easily affected by electromagnetic interference and fails. The inertial navigation system completes navigation by integrating the carrier's acceleration and angular acceleration. It is not easily affected by external interference, but the navigation error will accumulate over time and cannot be used for a long time. Therefore, finding a navigation method that uses the physical properties of the natural environment to achieve high precision, long-term, strong concealment, and resistance to external interference has become a new research hotspot in the field of navigation technology.

[0003] In recent years, information about the polarization dimension of light has been widely used in navigation, remote sensing, and target detection. As light strikes the Earth, it interacts with the atmosphere and surface environment to form a sky polarization pattern with a stable distribution pattern. This sky polarization pattern contains important navigation information, such as the direction of the sun, zenith, and celestial pole. Constructing an analytical model to accurately describe this sky polarization pattern is of great guiding significance for achieving navigation and positioning of the vehicle. The single scattering pattern of light by atmospheric molecules is described by the Rayleigh model, but the complexity of the ground environment causes the sky polarization pattern to deviate significantly from the Rayleigh model. Existing sky polarization models are relatively simple in analyzing the effects of surface reflection depolarization and do not fully reflect the distribution patterns of polarized light under different surface types and observation conditions. Existing models only discuss the effects of the upper hemisphere, and the predictions of the polarization degree in the zenith and horizontal directions differ significantly from ground and aerial measurements. This cannot meet the application requirements of aerial platforms, resulting in a very limited application scope and accuracy of the models.

[0004] In summary, a method for modeling the sky polarization pattern that takes into account the effect of surface reflection depolarization is needed. Summary of the Invention

[0005] A brief overview of the present invention is provided below to provide a basic understanding of certain aspects of the present invention. It should be understood that this overview is not an exhaustive overview of the present invention. It is not intended to identify key or important aspects of the present invention, nor is it intended to limit the scope of the present invention. Its purpose is simply to present certain concepts in a simplified form as a prelude to the more detailed description discussed later.

[0006] In view of this, in order to solve the problem in the prior art that the traditional full-sky polarization pattern modeling method does not fully and accurately consider the influence mechanism of surface reflection depolarization, resulting in the overall deviation of the calculated sky polarization distribution from the measured results, the present invention provides a sky polarization pattern modeling method that considers the influence of surface reflection depolarization.

[0007] The technical solution is as follows: A method for modeling sky polarization patterns taking into account the depolarization effect of surface reflections includes the following steps:

[0008] S1. Calculate the sun's zenith angle and azimuth based on the geographic location and observation time;

[0009] S2. Calculate the ideal sky polarization degree based on the established Berry model;

[0010] S3. Mapping the polarization degree map to a three-dimensional spherical surface according to the stereographic projection coordinate transformation relationship;

[0011] S4. Obtain the reflectance of the ground surface at the observation location by combining the spectral database;

[0012] S5. Calculate the depolarization coefficient of the entire celestial surface reflection by combining the observation altitude, observation wavelength, solar zenith angle, and surface reflectivity;

[0013] S6. Multiply the ideal sky polarization degree by the surface reflection depolarization coefficient to obtain the sky polarization pattern that takes into account the effect of surface reflection depolarization.

[0014] Furthermore, in said S1, the azimuth angle A of the sun s Expressed as:

[0015]

[0016] Where δ is the right ascension of the sun, h s is the altitude angle of the sun, φ o is the geographical latitude of the observation location;

[0017] The sun's altitude angle h s Expressed as:

[0018] sinh s = sinφ o sinδ+cosφ o cosδcosω

[0019] Where ω is the solar hour angle;

[0020] The solar hour angle ω is expressed as:

[0021] ω=η o +(UT1+E)×15-180

[0022] Among them, ηo is the geographical longitude of the observation location, E is the difference between true solar time and mean solar time, and UT1 is Greenwich mean time;

[0023] The sun's zenith angle θ s Expressed as:

[0024] θ s =90°-h s .

[0025] Furthermore, in S2, the Berry model is established on a plane solar direction coordinate system, and the complex coordinate of the sun in the plane solar direction coordinate system is ξ, ξ=iy s , where i is the imaginary unit, y s is the projection coordinate of the sun on the y-axis of the plane solar direction coordinate system, and the complex coordinates of the four polarization neutral points in the sky are obtained;

[0026] The complex coordinate v1 of the first polarization neutral point is expressed as:

[0027]

[0028] Among them, A0 represents the parameter of polarization neutral point splitting degree, ζ + is the complex coordinate of the first polarization neutral point in the Berry model;

[0029] The complex coordinate v2 of the second polarization neutral point is expressed as:

[0030]

[0031] Among them, - is the complex coordinate of the second polarization neutral point in the Berry model;

[0032] The complex coordinate v3 of the third polarization neutral point is expressed as:

[0033]

[0034] in, is the complex conjugate value of the complex coordinate of the first polarization neutral point in the Berry model;

[0035] The complex coordinate v4 of the fourth polarization neutral point is expressed as:

[0036]

[0037] in, is the complex conjugate value of the complex coordinate of the second polarization neutral point in the Berry model;

[0038] The sky polarization intensity ω(ζ) at the complex coordinates of any observed point ζ in the plane solar direction coordinate system is expressed as:

[0039]

[0040] ζ=rexp(iφ)

[0041] Where r is the polar radius of the observed point ζ on the complex plane, φ is the polar angle of the observation point on the complex plane, i is the imaginary unit, exp is the natural exponential function, and according to the Berry model, the ideal sky polarization DoP is obtained B .

[0042] Furthermore, in said S3, the stereographic projection coordinate transformation relationship is the correspondence between the point (r, φ) in the plane sun direction coordinate system and the point (R, α, β) in the three-dimensional spherical coordinate system;

[0043] The corresponding relationship is expressed as:

[0044] R≡1

[0045]

[0046] β=φ

[0047] Wherein, R is the distance between the centers of the observed points in the three-dimensional spherical coordinate system, α is the elevation angle of the observed points in the three-dimensional spherical coordinate system, and β is the azimuth angle of the observed points in the three-dimensional spherical coordinate system.

[0048] Furthermore, the step S5 specifically includes the following steps:

[0049] S51. Based on the calculated isotropic surface reflection depolarization coefficient P in the upper hemisphere space 1+ and the anisotropic surface reflection depolarization coefficient P in the upper hemisphere space 2+ , we can get the surface reflection depolarization coefficient P in the upper hemisphere space with the observation zenith angle θ∈[0°,90°] + ;

[0050] S52. Based on the calculated isotropic surface reflection depolarization coefficient P in the lower hemisphere space 1- and the anisotropic surface reflection depolarization coefficient P in the lower hemisphere space 2- , we can get the surface reflection depolarization coefficient P in the lower hemisphere space with the observation zenith angle θ∈[90°,180°] - ;

[0051] S53. The surface reflection depolarization coefficient P in the upper hemisphere space according to the observation zenith angle θ∈[0°,90°] + and the surface reflection depolarization coefficient P in the lower hemisphere space with the observation zenith angle θ∈[90°,180°] - , and obtain the surface reflection depolarization coefficient P;

[0052] In the above S51, the isotropic surface reflection depolarization coefficient P in the upper hemisphere space is 1+ Expressed as:

[0053] P 1+ =(cos(Aθ s )) B ·e -Cρ* +(1-(cos(Aθ s )) B )

[0054] ρ*=ρ·e -Kh

[0055] Among them, A is the first empirical coefficient, B is the second empirical coefficient, C is the third empirical coefficient, ρ is the surface reflectivity, K is the eleventh empirical coefficient, h is the observation height, θ s is the solar zenith angle, ρ * is the height equivalent surface reflectance;

[0056] Anisotropic surface reflection depolarization coefficient P in the upper hemisphere space 2+ Expressed as:

[0057]

[0058] Wherein, D is the fourth empirical coefficient, E is the fifth empirical coefficient, F is the sixth empirical coefficient, G is the seventh empirical coefficient, and sec is the secant function;

[0059] In the above S52, the isotropic surface reflection depolarization coefficient P in the lower hemisphere space is 1- Expressed as:

[0060] P 1- =P 1+ ·P 2+ (θ=90°)

[0061] Anisotropic surface reflection depolarization coefficient P in the lower hemisphere space 2- Expressed as:

[0062] P 2- =[Ψ·(cos(θ)+1) (Λ+1) +(1-Ψ)]

[0063]

[0064] Among them, H is the eighth empirical coefficient, I is the ninth empirical coefficient, J is the tenth empirical coefficient, and a i is the twelfth empirical coefficient, b i is the thirteenth empirical coefficient, c i is the fourteenth empirical coefficient, d iis the fifteenth empirical coefficient, Ψ is the first empirical function, Λ is the second empirical function, and the empirical coefficients are all obtained based on the known observation wavelength;

[0065] In the above S53, the surface reflection depolarization coefficient P is expressed as:

[0066]

[0067] Furthermore, in S6, the sky polarization mode DoP is expressed as:

[0068] DoP=DoP B ·P.

[0069] The beneficial effects of the present invention are as follows: In order to address the problem that the predicted value of the sky polarization degree under actual observation environment by the traditional model is significantly different from the measured value, the present invention analyzes the depolarization mechanism of surface reflection and summarizes the surface reflection depolarization effect into two parts: isotropic depolarization effect and anisotropic depolarization effect, thereby effectively improving the accuracy of the calculation results of the sky polarization model;

[0070] The present invention targets observation platforms at different flight altitudes, expands the existing atmospheric polarization model from the upper hemisphere to the entire celestial sphere, encompassing a 4π solid angle range. Furthermore, it addresses the drawback of the existing traditional model, which suffers from the abnormal zeroing of polarization in the horizontal observation direction, making the new sky polarization model applicable to aviation platforms.

[0071] By analyzing the depolarization mechanism of surface reflection, the present invention expands the existing sky polarization model in four aspects: observation altitude, observation wavelength, observation angle range, and available solar altitude range, thereby improving the environmental adaptability of the model.

[0072] In summary, based on the existing Berry model, the present invention fully considers the influence mechanism of surface reflection depolarization, narrows the difference between the sky polarization distribution predicted by the new model and the sky polarization distribution observed in the actual environment, broadens the application scope of the existing sky polarization model, and can provide an effective reference for the performance analysis and system design of polarized light navigation systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0074] Figure 1 A flowchart of a method for modeling sky polarization patterns that considers the effects of surface reflection depolarization.

[0075] Figure 2 Schematic diagram of an embodiment of the effect of surface reflection depolarization;

[0076] Figure 3 A schematic diagram of an embodiment of a three-dimensional space coordinate system for an established atmospheric polarization model;

[0077] Figure 4 Schematic diagram of an embodiment of the stereographic projection process for converting a planar sun direction coordinate system into a three-dimensional spherical coordinate system. DETAILED DESCRIPTION

[0078] To make the technical solutions and advantages of the embodiments of the present invention more clearly understood, exemplary embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It should be noted that the embodiments described are only a portion of the embodiments of the present invention, and are not an exhaustive list of all embodiments. It should be noted that the embodiments of the present invention and the features thereof may be combined with each other unless they conflict.

[0079] refer to Figures 1-4 , this embodiment is described in detail, a method for modeling sky polarization patterns taking into account the effect of surface reflection depolarization, comprising the following steps:

[0080] S1. Calculate the sun's zenith angle and azimuth based on the geographic location and observation time;

[0081] S2. Establish a plane solar coordinate system and calculate the ideal sky polarization degree based on the Berry model in the plane solar coordinate system;

[0082] S3. Establish a three-dimensional spherical coordinate system and map the polarization degree map to a three-dimensional sphere according to the stereographic projection coordinate transformation relationship;

[0083] S4. Obtain the surface reflectance of the observation location by combining the spectral database;

[0084] S5. Calculate the depolarization coefficient of the entire celestial surface reflection by combining the observation altitude, observation wavelength, solar zenith angle, and surface reflectivity;

[0085] S6. Multiply the ideal sky polarization degree by the surface reflection depolarization coefficient to obtain the sky polarization pattern that takes into account the effect of surface reflection depolarization.

[0086] Furthermore, in said S1, the azimuth angle A of the sun s Expressed as:

[0087]

[0088] Where δ is the right ascension of the sun, h s is the altitude angle of the sun, φ o is the geographical latitude of the observation location;

[0089] The sun's altitude angle h s Expressed as:

[0090] sinh s = sinφ o sinδ+cosφ o cosδcosω

[0091] Where ω is the solar hour angle;

[0092] The solar hour angle ω is expressed as:

[0093] ω=η o +(UT1+E)×15-180

[0094] Among them, η o is the geographical longitude of the observation location, E is the difference between true solar time and mean solar time, and UT1 is Greenwich mean time;

[0095] The sun's zenith angle θ s Expressed as:

[0096] θ s =90°-h s .

[0097] Furthermore, in S2, the Berry model is established on a plane solar direction coordinate system, and the complex coordinate of the sun in the plane solar direction coordinate system is ξ, ξ=iy s , where i is the imaginary unit, y s is the projection coordinate of the sun on the y-axis of the plane solar direction coordinate system, and the complex coordinates of the four polarization neutral points in the sky are obtained;

[0098] The complex coordinate v1 of the first polarization neutral point is expressed as:

[0099]

[0100] Among them, A0 represents the parameter of polarization neutral point splitting degree, ζ + is the complex coordinate of the first polarization neutral point in the Berry model;

[0101] The complex coordinate v2 of the second polarization neutral point is expressed as:

[0102]

[0103] Among them, - is the complex coordinate of the second polarization neutral point in the Berry model;

[0104] The complex coordinate v3 of the third polarization neutral point is expressed as:

[0105]

[0106] in, is the complex conjugate value of the complex coordinate of the first polarization neutral point in the Berry model;

[0107] The complex coordinate v4 of the fourth polarization neutral point is expressed as:

[0108]

[0109] in, is the complex conjugate value of the complex coordinate of the second polarization neutral point in the Berry model;

[0110] The sky polarization intensity ω(ζ) at the complex coordinates of any observed point ζ in the plane solar direction coordinate system is expressed as:

[0111]

[0112] ζ=rexp(iφ)

[0113] Where r is the polar radius of the observed point ζ on the complex plane, φ is the polar angle of the observation point on the complex plane, i is the imaginary unit, exp is the natural exponential function, and according to the Berry model, the ideal sky polarization DoP is obtained B .

[0114] Furthermore, in said S3, the stereographic projection coordinate transformation relationship is the correspondence between the point (r, φ) in the plane sun direction coordinate system and the point (R, α, β) in the three-dimensional spherical coordinate system;

[0115] The corresponding relationship is expressed as:

[0116] R≡1

[0117]

[0118] β=φ

[0119] Wherein, R is the distance between the centers of the observed points in the three-dimensional spherical coordinate system, α is the elevation angle of the observed points in the three-dimensional spherical coordinate system, and β is the azimuth angle of the observed points in the three-dimensional spherical coordinate system.

[0120] Furthermore, the step S5 specifically includes the following steps:

[0121] S51. Based on the calculated isotropic surface reflection depolarization coefficient P in the upper hemisphere space 1+ and the anisotropic surface reflection depolarization coefficient P in the upper hemisphere space 2+ , we can get the surface reflection depolarization coefficient P in the upper hemisphere space with the observation zenith angle θ∈[0°,90°] + ;

[0122] S52. Based on the calculated isotropic surface reflection depolarization coefficient P in the lower hemisphere space 1-and the anisotropic surface reflection depolarization coefficient P in the lower hemisphere space 2- , we can get the surface reflection depolarization coefficient P in the lower hemisphere space with the observation zenith angle θ∈[90°,180°] - ;

[0123] S53. The surface reflection depolarization coefficient P in the upper hemisphere space according to the observation zenith angle θ∈[0°,90°] + and the surface reflection depolarization coefficient P in the lower hemisphere space with the observation zenith angle θ∈[90°,180°] - , and obtain the surface reflection depolarization coefficient P;

[0124] In the above S51, the isotropic surface reflection depolarization coefficient P in the upper hemisphere space is 1+ Expressed as:

[0125] P 1+ =(cos(Aθ s )) B ·e -Cρ* +(1-(cos(Aθ s )) B )

[0126] ρ*=ρ·e -Kh

[0127] Among them, A is the first empirical coefficient, B is the second empirical coefficient, C is the third empirical coefficient, ρ is the surface reflectivity, K is the eleventh empirical coefficient, h is the observation height, θ s is the solar zenith angle, ρ * is the height equivalent surface reflectance;

[0128] Anisotropic surface reflection depolarization coefficient P in the upper hemisphere space 2+ Expressed as:

[0129]

[0130] Wherein, D is the fourth empirical coefficient, E is the fifth empirical coefficient, F is the sixth empirical coefficient, G is the seventh empirical coefficient, and sec is the secant function;

[0131] In the above S52, the isotropic surface reflection depolarization coefficient P in the lower hemisphere space is 1- Expressed as:

[0132] P 1- =P 1+ ·P 2+ (θ=90°)

[0133] Anisotropic surface reflection depolarization coefficient P in the lower hemisphere space 2- Expressed as:

[0134] P 2- =[Ψ·(cos(θ)+1) (Λ+1) +(1-Ψ)]

[0135]

[0136] Among them, H is the eighth empirical coefficient, I is the ninth empirical coefficient, J is the tenth empirical coefficient, and a i is the twelfth empirical coefficient, b i is the thirteenth empirical coefficient, c i is the fourteenth empirical coefficient, d i is the fifteenth empirical coefficient, Ψ is the first empirical function, Λ is the second empirical function, and the empirical coefficients are all obtained based on the known observation wavelength;

[0137] In the above S53, the surface reflection depolarization coefficient P is expressed as:

[0138]

[0139] Furthermore, in S6, the sky polarization mode DoP is expressed as:

[0140] DoP=DoP B ·P

[0141] Specifically, refer to Figure 3 , X c Y is the horizontal axis of the three-dimensional space coordinate system. c is the vertical axis of the three-dimensional space coordinate system, Z c is the vertical axis of the three-dimensional space coordinate system, S is the projection point on the celestial surface, zenith is the zenith, observed point is the observation point, and Sun is the sun;

[0142] refer to Figure 4 , three-dimensional space coordinate system O a -x a y a z a The observer is the origin and the direction of the sun is y a Axis direction, z a The axis is constructed in the plumb bob direction; the plane sun direction coordinate system O i -x i y i The origin is the celestial vertex of the observer's celestial sphere, and the direction of the sun is y. i Direction construction, and keep x i O i y i Plane and x a O a y a plane parallel, x iis the x-axis of the plane sun direction coordinate system, x a is the x-axis of the three-dimensional space coordinate system, y i is the y-axis of the plane sun direction coordinate system, y a is the y-axis of the three-dimensional space coordinate system, z a is the z-axis of the three-dimensional space coordinate system, O i is the origin of the plane sun direction coordinate system, O a is the origin of the three-dimensional space coordinate system, Re[ζ] is the real part of the complex coordinate of the observed point in the plane solar direction coordinate system, Im[ζ] is the imaginary part of the complex coordinate of the observed point in the plane solar direction coordinate system, β is the observation azimuth of the observed point in the three-dimensional space, and φ is the polar angle of the observed point in the plane solar direction coordinate system.

[0143] Although the present invention has been described with respect to a limited number of embodiments, it will be apparent to those skilled in the art, having benefit of the foregoing description, that other embodiments are contemplated within the scope of the invention thus described. Furthermore, it should be noted that the language used in this specification has been selected primarily for readability and didactic purposes, rather than for the purpose of explaining or limiting the subject matter of the present invention. Consequently, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is intended to be illustrative rather than restrictive of the scope of the invention, which is defined by the appended claims.

Claims

1. A method for modeling sky polarization patterns taking into account the influence of surface reflection depolarization, characterized in that: The following steps are involved: S1. Calculate the sun's zenith angle and azimuth based on the geographic location and observation time; S2. Establish a plane solar coordinate system and calculate the ideal sky polarization degree based on the Berry model in the plane solar coordinate system; S3. Establish a three-dimensional spherical coordinate system and map the polarization degree map to a three-dimensional sphere according to the stereographic projection coordinate transformation relationship; S4. Obtain the surface reflectance of the observation location by combining the spectral database; S5. Calculate the depolarization coefficient of the entire celestial surface reflection by combining the observation altitude, observation wavelength, solar zenith angle, and surface reflectivity; S6. Multiply the ideal sky polarization degree by the surface reflection depolarization coefficient to obtain the sky polarization pattern that takes into account the effect of surface reflection depolarization.

2. The method for modeling sky polarization patterns considering the effect of surface reflection depolarization according to claim 1, characterized in that: In S1, the azimuth angle of the sun is A s Expressed as: Where δ is the right ascension of the sun, h s is the altitude angle of the sun, φ o is the geographical latitude of the observation location; The sun's altitude angle h s Expressed as: born s =sinφ o sinδ+cosφ o cosδcosω Where ω is the solar hour angle; The solar hour angle ω is expressed as: ω=η o +(UT1+E)×15-180 Among them, η o is the geographical longitude of the observation location, E is the difference between true solar time and mean solar time, and UT1 is Greenwich mean time; The sun's zenith angle θ s Expressed as: i s =90°-h s 。 3. The method for modeling sky polarization patterns considering the effect of surface reflection depolarization according to claim 2, characterized in that: In S2, the Berry model is established on the plane solar direction coordinate system. The complex coordinate of the sun in the plane solar direction coordinate system is ξ, ξ=iy s , where i is the imaginary unit, y s is the projection coordinate of the sun on the y-axis of the plane solar direction coordinate system, and the complex coordinates of the four polarization neutral points in the sky are obtained; The complex coordinate v1 of the first polarization neutral point is expressed as: Among them, A0 represents the parameter of polarization neutral point splitting degree, ζ + is the complex coordinate of the first polarization neutral point in the Berry model; The complex coordinate v2 of the second polarization neutral point is expressed as: Among them, - is the complex coordinate of the second polarization neutral point in the Berry model; The complex coordinate v3 of the third polarization neutral point is expressed as: in, is the complex conjugate value of the complex coordinate of the first polarization neutral point in the Berry model; The complex coordinate v4 of the fourth polarization neutral point is expressed as: in, is the complex conjugate value of the complex coordinate of the second polarization neutral point in the Berry model; The sky polarization intensity ω(ζ) at the complex coordinates of any observed point ζ in the plane solar direction coordinate system is expressed as: ζ=rexp(iφ) Where r is the polar radius of the observed point ζ on the complex plane, φ is the polar angle of the observation point on the complex plane, i is the imaginary unit, exp is the natural exponential function, and according to the Berry model, the ideal sky polarization DoP is obtained B .

4. The method for modeling sky polarization patterns considering the effect of surface reflection depolarization according to claim 3, characterized in that: In S3, the stereographic projection coordinate transformation relationship is the correspondence between the point (r, φ) in the plane sun direction coordinate system and the point (R, α, β) in the three-dimensional spherical coordinate system; The corresponding relationship is expressed as: R≡1 β=φ Wherein, R is the distance between the centers of the observed points in the three-dimensional spherical coordinate system, α is the elevation angle of the observed points in the three-dimensional spherical coordinate system, and β is the azimuth angle of the observed points in the three-dimensional spherical coordinate system.

5. The method for modeling sky polarization patterns considering the effect of surface reflection depolarization according to claim 4, characterized in that: The S5 specifically includes the following steps: S51. Based on the calculated isotropic surface reflection depolarization coefficient P in the upper hemisphere space 1+ and the anisotropic surface reflection depolarization coefficient P in the upper hemisphere space 2+ , we can get the surface reflection depolarization coefficient P in the upper hemisphere space with the observation zenith angle θ∈[0°,90°] + ; S52. Based on the calculated isotropic surface reflection depolarization coefficient P in the lower hemisphere space 1- and the anisotropic surface reflection depolarization coefficient P in the lower hemisphere space 2- , we can get the surface reflection depolarization coefficient P in the lower hemisphere space with the observation zenith angle θ∈[90°,180°] - ; S53. The surface reflection depolarization coefficient P in the upper hemisphere space according to the observation zenith angle θ∈[0°,90°] + and the surface reflection depolarization coefficient P in the lower hemisphere space with the observation zenith angle θ∈[90°,180°] - , and obtain the surface reflection depolarization coefficient P; In the above S51, the isotropic surface reflection depolarization coefficient P in the upper hemisphere space is 1+ Expressed as: R 1+ =(cos(Aθ) s )) B ·e -Cρ* +(1-(cos(Aθ) s )) B ) p*=p·e -Kh Among them, A is the first empirical coefficient, B is the second empirical coefficient, C is the third empirical coefficient, ρ is the surface reflectivity, K is the eleventh empirical coefficient, h is the observation height, θ s is the solar zenith angle, ρ * is the height equivalent surface reflectance; Anisotropic surface reflection depolarization coefficient P in the upper hemisphere space 2+ Expressed as: Wherein, D is the fourth empirical coefficient, E is the fifth empirical coefficient, F is the sixth empirical coefficient, G is the seventh empirical coefficient, and sec is the secant function; In the above S52, the isotropic surface reflection depolarization coefficient P in the lower hemisphere space is 1- Expressed as: R 1- =P 1+ ·P 2+ ,θ=90° Anisotropic surface reflection depolarization coefficient P in the lower hemisphere space 2- Expressed as: R 2- =[Ψ·(cos(θ)+1) (Λ+1) +(1-Ψ)] Among them, H is the eighth empirical coefficient, I is the ninth empirical coefficient, J is the tenth empirical coefficient, and a i is the twelfth empirical coefficient, b i is the thirteenth empirical coefficient, c i is the fourteenth empirical coefficient, d i is the fifteenth empirical coefficient, Ψ is the first empirical function, Λ is the second empirical function, and the empirical coefficients are all obtained based on the known observation wavelength; In the above S53, the surface reflection depolarization coefficient P is expressed as:

6. The method for modeling sky polarization patterns considering the effect of surface reflection depolarization according to claim 5, characterized in that: In S6, the sky polarization pattern DoP is expressed as: DoP=DoP B ·Ρ。

Images