Purple light all-time orientation device and method

Abstract

According to the purple light all-time orientation device and method, all-time, high-precision and high-interference-resistance orientation is achieved through the purple light orientation method by collecting day sky purple light polarization image data or night sky purple light starlight image data. The method comprises the following steps: firstly, acquiring a daytime sky purple light polarization image in advance, establishing a daytime sky purple light polarization data set, establishing a sky polarization model, and constructing a daytime sky purple light polarization directional resolving method; the night sky purple light and starlight directional calculation method is constructed through methods of night fixed star target extraction, large-field-of-view image distortion correction, star catalogue matching, site-free star map directional positioning and the like. Secondly, the purple light orienting device is horizontally placed on the ground plane, so that the visible light industrial camera is aligned to the sky (under the daytime condition, a linear polarizer needs to be rotated to 0 degree, 45 degrees, 90 degrees and 135 degrees through a polarizer rotating wheel module); secondly, collecting a daytime sky purple light polarization image or a nighttime sky purple light starlight image according to the day hour condition; and finally, the purple light orientation system calls a daytime sky purple light polarization orientation resolving method or a night sky purple light starlight orientation resolving method according to the day-hour condition, obtains carrier direction angle information and provides the carrier direction angle information to a user in a digital and image form.

Description

Technical Field

[0001] The present invention belongs to the field of navigation and orientation, and particularly relates to a violet light all-weather orientation device and method. Background Art

[0002] Existing traditional orientation device terminals usually rely on technologies such as radio orientation and magnetic compasses. However, in scenarios of strong electromagnetic interference or pseudo-signal deception, they are prone to degradation or failure.

[0003] Animal organs in the biological world can sense information in the surrounding environment, such as polarized light, characteristic scenes, geomagnetism, etc., and through a certain mechanism, convert it into accurate navigation information for autonomous navigation and positioning. The polarized light of sunlight passing through the atmosphere will form a polarization distribution pattern of skylight. This pattern has a certain distribution law. By analyzing it, the polarization angle and polarization degree of the entire sky can be obtained. Therefore, at a specific moment and position, a relatively fixed atmospheric distribution pattern can be obtained through the analysis and calculation of skylight, and then the direction angle can be obtained through the astronomical calendar. In bad weather, the "depolarization effect" in the violet light band is weaker than that in the other bands of visible light. After passing through the cloud scattering medium, it has higher polarization retention. And under non-ideal conditions (thick clouds), due to the atmospheric scattering effect, the polarization signal in the violet light band is relatively stronger. In the daytime scene, the method of using the polarization of sky violet light for orientation has strong anti-interference ability, and the error will not accumulate over time, with high accuracy and is suitable for long-term operation.

[0004] Starlight navigation and orientation is a method of determining the course angle by using the position information of celestial bodies. It is a method of obtaining the course angle by observing multiple stable celestial body targets such as stars and matching them with an existing star catalog. In the night scene, the intensity of sky polarized light is weak and cannot meet the detection requirements, while the intensity of starlight is strong. And because its observation targets are natural celestial bodies of stars, it is not affected by signal interference on the earth, and the error does not accumulate over time. Therefore, the method of sky starlight violet light orientation can better meet the night orientation requirements. Summary of the Invention

[0005] In view of this, the present invention provides a violet light all-weather orientation device and method, which can automatically calculate and obtain the carrier direction angle by collecting the polarized images of sky violet light in the daytime or the starlight images of sky violet light at night, and realize the violet light all-weather orientation.

[0006] The technical solution of the present invention is implemented as follows:

[0007] A violet light all-weather orientation device and method, including:

[0008] 1. All-weather violet light orientation device

[0009] For collecting the polarized images of sky violet light in the daytime and the starlight images of sky violet light at night, and calculating the carrier direction angle. The device structure composition is asFigure 1 As shown in the figure, it includes a sky violet light image acquisition module, a polarizer rotating wheel module, a data processing module, and a power supply adapter module.

[0010] The sky violet light image acquisition module includes: a visible light industrial camera and a violet light filter. The violet light filter is installed in front of the lens of the visible light industrial camera and is used to collect the daytime sky violet light polarization image and the nighttime sky violet light starlight image.

[0011] The polarizer rotating wheel module includes: a linear polarizer, an electric rotating wheel, and a motor. The polarizer rotating wheel module is fixed above the sky violet light image acquisition module and is responsible for carrying the linear polarizer and rotating the linear polarizer to 0°, 45°, 90°, and 135°.

[0012] The data processing module is mainly responsible for receiving the sky violet light image data, performing the direction angle calculation, and displaying the calculation result to the user.

[0013] The power supply adapter module is mainly responsible for the hardware interface control and the power supply of the violet light orientation device.

[0014] 2. Violet light orientation algorithm

[0015] The violet light orientation algorithm includes the daytime sky violet light polarization orientation calculation method and the nighttime sky violet light starlight orientation calculation method.

[0016] Pre-collect the daytime sky violet light polarization image, establish the daytime sky violet light polarization data set, as Figure 2 shown, establish the sky polarization model, and construct the daytime sky violet light polarization orientation calculation method; through methods such as nighttime star target extraction, large field of view image distortion correction, star catalog matching, and non-site star chart orientation and positioning, construct the nighttime sky violet light starlight orientation calculation method. The specific implementation steps are as follows:

[0017] Step 1: Deduce the expression of the atmospheric transmission matrix based on Rayleigh scattering and Mie scattering, and establish the corresponding sky polarization model.

[0018] Step 2: Collect the daytime sky violet light polarization image and establish the daytime sky violet light polarization data set.

[0019] Step 3: Use the model in Step 1 and the data set in Step 2 to construct the daytime sky violet light polarization orientation calculation method through methods such as polarization degree and polarization angle calculation, coordinate system conversion calculation of the solar azimuth angle, astronomical calendar calculation of the angle between the sun and the due north, and carrier azimuth angle calculation.

[0020] Step 4: Construct the nighttime sky violet light starlight orientation calculation method through methods such as nighttime star target extraction, large field of view image distortion correction, star catalog matching, and non-site star chart orientation and positioning.

[0021] 3. Violet light orientation system

[0022] Analyze the sky purple light image data, and obtain the carrier direction angle through the daytime sky purple light polarization orientation calculation method and the nighttime sky purple light starlight orientation calculation method. The specific orientation steps are as follows:

[0023] Step 1: Use the sky purple light image acquisition module and the polarizer wheel module to collect the daytime sky purple light polarization image during the day; collect the nighttime sky starlight purple light image at night.

[0024] Step 2: Call the daytime sky purple light polarization orientation calculation method during the day; call the nighttime sky purple light starlight orientation calculation method at night to obtain the carrier direction angle information.

[0025] Step 3: Provide the carrier direction angle information to the user in the form of numbers and images.

[0026] Beneficial effects:

[0027] 1. Using the purple light polarization orientation and starlight orientation methods can greatly improve the anti-interference ability and orientation accuracy of the orientation device.

[0028] 2. By combining the daytime purple light polarization orientation and the nighttime purple light starlight orientation methods, all-day purple light orientation is achieved.

[0029] 3. Through system integration and reducing volume, weight, and power consumption, lightweight design is achieved. Description of the drawings

[0030] Figure 1 The structure diagram of the all-day purple light orientation device of the present invention is shown.

[0031] Figure 2 The sky purple light polarization data set of the present invention is shown.

[0032] Figure 3 An example of the daytime sky purple light polarization image of the present invention is shown.

[0033] Figure 4 An example of the nighttime sky purple light starlight image of the present invention is shown.

[0034] Figure 5 The orientation result of the implementation case of the present invention is shown.

[0035] Figure 6 The structure diagram of the daytime purple light orientation device of the present invention is shown. Specific implementation manners

[0036] The present invention discloses a purple light all-day orientation device and method. The following specific implementation manners are given. The present invention includes but is not limited to the following manners and will be described below with reference to the drawings: Example 1:

[0037] Step 1: Horizontally place the ultraviolet light direction-finding device on the ground surface plane, and align the visible light industrial camera towards the sky.

[0038] Step 2: Use the polarizer wheel module to rotate the linear polarizer to 0°, 45°, 90°, and 135°. (Skip this step in the night environment)

[0039] Step 3: According to the weather conditions, collect the ultraviolet light polarization images of the daytime sky (such as Figure 3 ) or the ultraviolet light starlight images of the night sky (such as Figure 4 ).

[0040] Step 4: According to the weather conditions, the ultraviolet light direction-finding system calls the ultraviolet light polarization direction-finding algorithm for the daytime sky or the ultraviolet light starlight direction-finding algorithm for the night sky to obtain the carrier direction angle information.

[0041] Step 5: Provide the carrier direction angle information to the user in the form of numbers and images, such as Figure 5 .

[0042] Example 2:

[0043] When the application scenario is limited to daytime, the visible light industrial camera can be replaced with a visible light polarization camera (with a built-in linear polarizer) to further streamline the structure and speed up the direction-finding. The schematic diagram of its structure is as shown in Figure 6 .

[0044] Step 1: Horizontally place the daytime ultraviolet light direction-finding device on the ground surface plane, and align the visible light polarization camera towards the sky.

[0045] Step 2: Use the sky ultraviolet light image acquisition module to collect the sky ultraviolet light polarization images at 0°, 45°, 90°, and 135° at one time.

[0046] Step 3: The daytime ultraviolet light direction-finding system calls the ultraviolet light polarization direction-finding algorithm for the daytime sky to obtain the carrier direction angle information.

[0047] Step 5: Provide the carrier direction angle information to the user in the form of numbers and images, such as Figure 5 .

Claims

1. A full-day-time ultraviolet light directional device and method, characterized in that It includes an all-day ultraviolet light direction-finding device, a daytime ultraviolet light direction-finding device, an ultraviolet light direction-finding algorithm, and an ultraviolet light direction-finding system.

2. The all-day-time ultraviolet light directional device according to claim 1, characterized in that, It includes a sky ultraviolet light image acquisition module, a polarizer wheel module, a data processing module, and a power supply adaptation module.

3. The sky purple light image acquisition module according to claim 2, characterized in that, It includes a visible light industrial camera and an ultraviolet light filter.

4. The visible light industrial camera according to claim 3, wherein It acquires polarized images in the ultraviolet light band of the daytime sky and images in the ultraviolet light band of starlight in the nighttime sky.

5. The purple light filter according to claim 3, wherein, It filters the skylight to obtain the light in the required ultraviolet light band.

6. The polarizer wheel module according to claim 2, characterized in that, It is responsible for carrying a linear polarizer and rotating the linear polarizer to 0°, 45°, 90°, and 135°.

7. The data processing module according to claim 2, wherein An embedded system responsible for data transmission and processing.

8. The power adapter module according to claim 2, wherein It is responsible for powering the ultraviolet light direction-finding device.

9. The daytime ultraviolet light directional device according to claim 1, characterized in that, It includes a visible light polarization camera, an ultraviolet light filter, a data processing module, and a power supply adaptation module. A light polarization camera, an ultraviolet light filter, a data processing module, and a power supply adaptation module.

10. The visible light polarization camera according to claim 9, wherein It is responsible for acquiring polarized images in the ultraviolet light band of the sky at one time.

11. The purple light orientation algorithm according to claim 1, characterized in that, It includes the following steps: Step 1: Deduce the expression of the atmospheric transmission matrix based on Rayleigh scattering and Mie scattering, and establish the corresponding sky polarization model. Step 2: Acquire polarized images of the ultraviolet light in the daytime sky, and establish a polarized data set of the ultraviolet light in the daytime sky. Step 3: Use the model in Step 1 and the data set in Step 2 to construct a polarized direction-finding solution method for the ultraviolet light in the daytime sky. Step 4: Construct a direction-finding solution method for the ultraviolet light of starlight in the nighttime sky through methods such as nighttime star target extraction, large field-of-view image distortion correction, star catalog matching, and non-site star chart orientation and positioning.

12. The purple light directional system according to claim 1, characterized in that, It includes the following steps: Step 1: Use the sky ultraviolet light image acquisition module and the polarizer wheel module to acquire polarized images of the ultraviolet light in the daytime sky during the day; acquire images of the ultraviolet light of starlight in the nighttime sky at night. Step 2: Call the polarized direction-finding solution method for the ultraviolet light in the daytime sky during the day; call the astronomical direction-finding solution method for the ultraviolet light in the nighttime sky at night to obtain the carrier direction angle information. Step 3: Provide the carrier direction angle information to the user in digital and image forms.

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