CN108375381A - Bionic polarization sensor multi-source error calibration method based on extended Kalman filtering - Google Patents
Bionic polarization sensor multi-source error calibration method based on extended Kalman filtering Download PDFInfo
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Abstract
The invention discloses a bionic polarization sensor multi-source error calibration method based on extended Kalman filtering, which comprises the following steps: (1) multi-source error analysis of the bionic polarized light sensor; (2) establishing a system state model by taking multi-source errors such as installation errors, scale factors and the like and polarization azimuth angles as system state quantities; (3) establishing a system measurement model by taking the light intensity measured value containing the multi-source error as an output; (4) building an experimental environment and collecting sensor data; (5) designing an extended Kalman filter, and estimating installation errors, scale factors and polarization azimuth angles; (6) and compensating the polarization sensor measurement value containing the multisource error according to the installation error and the scale factor estimated value. The method is independent of a high-precision measuring instrument, low in cost, high in operability, easy to implement, high in precision and suitable for simultaneous calibration and compensation of multi-source errors of the bionic polarization navigation system.
Description
Technical field
The present invention relates to the technical fields of bionical polarization navigation system calibration and compensation, and in particular to one kind being based on expansion card
The bionical polarization sensor multi-source error calibrating method of Kalman Filtering.
Background technology
Navigation is one kind that guided-moving body or carrier are effectively arrived at from a certain departure place along the path of setting
Technological means, with the continuous development of modern airmanship, it is already from a kind of experience motor development at special a science.
In recent years, airmanship constantly develops towards the directions such as inexpensive, intelligent, anti-interference.At the same time, with navigation equipment work
It is increasingly complicated with diversification to make environment, the requirement to the precision and performance of navigation system is higher and higher.In practical applications, it faces
Complicated task scene, the high navigation system of research high sensitivity, strong interference immunity, functional reliability have extremely urgent show
It is real to require.
With being constantly progressive for science and technology, biologist gos deep into biologic-organ structural research, finds many insects, such as honey
Bee, husky ant etc. can polarize optical information using sky and navigate.Wherein Sahara Desert ant utilizes sky polarotactic navigation
Strategy be：Path integral, vision is navigated and systematic search, by the physiological structure feature analysis to husky ant, it is found that it is relied on
Compound eye obtains accurate position and direction information to perceive extraneous polarization mode.Further study show that insect, migratory bird etc. are raw
Object also carrys out assisting navigation in the activity such as look for food, migrate, go back to the nest, prey on by atmospheric polarization light；These are found to be promotion tradition
Navigation mode provides new approaches and new method, and bionical polarised light has fusion complementary characteristic compared with conventional navigation, to realize
In high precision, jamproof integrated navigation mode has the reference of science and engineering.
By long-term research, people can be designed that the bionical polarization navigation sensor for meeting biological nature.But
Since polarization sensor has the characteristics that compact-sized, function is integrated, the accuracy analyzed sensor error and demarcated also has
It waits improving.For this problem, need to design a kind of novel polarization sensor error calibrating method.
Invention content
The technical problem to be solved by the present invention is to：Contain error interference for polarization sensor in polarization navigation system, carries
For a kind of mark for the multi-sources error such as polarization sensor installation error and photoelectric diode transmission response coefficient, that is, scale factor
Determine method, calibration process is realized by means of Extended Kalman filter, and it is accurate to solve polarization sensor multi-source error real-time calibration
The not high problem of property, improves the precision and anti-interference ability of polarotactic navigation.
Technical solution of the invention is：A kind of bionical polarization sensor multi-source error based on Extended Kalman filter
Scaling method, implementation step are as follows：
The first step, bionical polarization sensor multi-source error analysis：
In bionical polarization sensor practical application, sensor reality output data precision is restricted by multi-source error, mainly
Including three classes, polarization sensor installation error, measurement noise and multichannel photoelectric diode transmission response coefficient, that is, scale factor.
Polarization sensor installation error is mainly inaccurately caused by polarizing film and photodiode installation.Theoretically, it polarizes
Polarizing film is to be mutually perpendicular to install in polarization direction in sensor, its output signal is installed with polarizing film in polarization direction
It is whether vertical related；Photodiode is converted into electric signal to optical signal and is vulnerable to whether it is mounted on shadow in same level
It rings.Polarizing film and photodiode have differences the optical signal response that polarization sensor acquires, and photodiode is optical signal
Be converted to after electric signal that there are additivity drift errors；After amplifying circuit, there are voltage magnitude multiplying property errors；Such error is united
Referred to as multichannel photoelectric diode transmission response coefficient, that is, scale factor.
Second step selects the multi-sources such as installation error, scale factor error and polarization azimuth to be established for system state variables
Bionical polarization navigation system state model：
According to polarization sensor channel opposing signal processing method, 9 quantity of states are chosen as calibrating parameters, consider polarization
Sensor parameter to be estimated is：
X=[ε1 ε2 ε3 ε4 ε5 K1 K2 K3 φ]T
Wherein εi(i=1,2 ... 5) be 3 groups of biomimetic sensor polarizing films fix error angle, K1~K3It is 3 groups of bionical biographies
Sensor scale factor, φ are polarization sensor polarization azimuths；
Establishing bionical polarization navigation system state equation is：
Xk=f (Xk-1)+Wk-1
Wherein f (Xk-1)=[ε1,k-1 ε2,k-1 ε3,k-1 ε4,k-1 ε5,k-1 K1,k-1 K2,k-1 K3,k-1 φk-1+ψk-1]Tψk-1
It is the angle that turntable rotates every time in data acquisition；Wk-1It is system noise, is white Gaussian noise, Wk-1Covariance matrix be Qk-1；
K-1 indicates -1 moment of kth；
Third walks, and selects the polarization sensor output valve of the error containing multi-source, i.e. light intensity measurement；It is established as measurement bionical
Polarize navigation system measurement model：
According to polarization sensor channel opposing signal processing method；Bionical polarization navigation system measurement equation is：
Yk=h (Xk)+Vk,
Wherein
D is atmospheric polarization degree；VkIt is measurement noise, noise is white Gaussian noise, VkCovariance matrix be Rk；
4th step is walked based on second step and third, builds polarized light test experimental situation, and acquisition polarization sensor measures number
According to：
According to experiment measurement request, bionical polarization to be measured is navigated and is sensed as light source by selection criteria polarized light source
Device is fixed on the turntable of tooth rounding table；Turntable at the uniform velocity rotates, and each number of rotation is ψk-1Degree, the interior experiment of each measurement period
Turntable number of rotation is no less than 360 °, is carried out at equal intervals to the outputting measurement value of polarization sensor channel opposing in rotary course
Sampling is recorded as bionical polarization sensor output valve.
5th step designs extended Kalman filter, estimates installation error, scale factor and polarization azimuth：
(1) time updates；
1. setting init state amountAnd quantity of stateCovariance matrix P0|0；
2. one-step prediction is calculated,WhereinFor the state of one-step prediction,For last moment
The state of estimation；
3. calculating state-transition matrix Φk-1,
4. calculating prediction covariance Pk|k-1,Pk-1|k-1For last moment estimated state
Covariance matrix；
(2) update is measured
Transfer matrix H is measured 1. calculatingk,
2. calculating filtering gain matrix Mk,
3. state estimation
4. updating the covariance matrix P of quantity of statek, Pk=(I9-MkHk)Pk|k-1, I9For the unit matrix of 9 dimensions.
It is practical to compensate bionical polarization sensor according to installation error, scale factor and polarization azimuth estimated value for 6th step
Measured value：
Assuming that sensor is six channel sensors, it is 0,2 π/3,4 π/3, polarization sensor reception that camera lens, which distinguishes setting angle,
It is I, degree of polarization d to partial poolarized light total light intensity, the E- direction vectors and the angle in reference coordinate direction of linearly polarized photon are
φ；It is obtained by Malus' law, output electric signal P is converted by photoelectric converter1,P2,P3：
Logarithmic transformation is gone in introducing：
It can obtain：
Degree of polarization d and polarization azimuth φ are：
The above-mentioned first step calculates installation error and scale factor estimated value to the 5th stepIt substitutes into bionical polarization sensor measurement model after being compensated
Measuring valueThen bionical polarization sensor angle of polarization φ is calculated；
Consider the measuring value after installation error and scale factor are compensatedFor：
Then the measuring value after compensatingPolarization azimuth φ solution formulas are substituted into, compensation is found out
Polarization azimuth φ afterwards：
The advantages of the present invention over the prior art are that：
A kind of bionical polarization sensor multi-source error calibrating method based on Extended Kalman filter of the present invention, is to be directed to
The polynary mistake such as polarization sensor installation error and photoelectric diode transmission response coefficient, that is, scale factor in existing polarization navigation
The optimization and improvement of poor scaling method, compared with existing traditional scaling method, with responding, fast, operability is strong, precision
The advantages that height, anti-interference is good；The present invention also has wide applicability, and Global Navigation Satellite System (GNSS) is in skyscraper
With luxuriant forest and be not suitable for, as time increases, the accumulation of error is increasing for inertial navigation system (INS).Using it is bionical partially
Light guide shake in unmanned plane, bio-robot navigation etc. there are huge potentiality and is widely applied foreground.By to inclined
Vibration sensor is demarcated, and is promoted polarization sensor precision, can be compensated the deficiency of other sensors in integrated navigation, to improving
The precision and independence of integrated navigation system have realistic meaning.Simultaneously using scaling method of the present invention in integrated navigation system
The acquisition of polarization navigation information provides reliability services, can reduce navigation equipment cost.
Description of the drawings
Fig. 1 is a kind of setting for bionical polarization sensor multi-source error calibrating method based on Extended Kalman filter of the invention
Count flow chart；
Fig. 2 is a kind of reality of the bionical polarization sensor multi-source error calibrating method based on Extended Kalman filter of the present invention
Standard inspection determines environment map；
Reference sign：
1- integrating spheres；2- holders；
3- polarizing films；4- camera lenses；
5- rotating platforms；6- power interfaces；
Specific implementation mode
A kind of bionical polarization sensor multi-source error calibrating method based on Extended Kalman filter of the present invention is set
Counting step is：First, bionical polarization sensor multi-source error analysis.Secondly, with the multi-sources such as installation error, scale factor error and
Polarization azimuth is that system state amount establishes System State Model.Again, it is output with the light intensity measurement containing multi-source error
Establish system measurements model.Then, above-mentioned steps are based on, experimental situation is built, acquire polarization sensor data.Next, setting
Count extended Kalman filter, estimation installation error, scale factor and degree of polarization.Finally, according to installation error and scale factor
Estimated value compensates the polarization sensor measured value containing multi-source error.Specific implementation step is as follows：
The first step, bionical polarization sensor multi-source error analysis：
In bionical polarization sensor practical application, sensor reality output data precision is restricted by multi-source error, mainly
Including three classes, polarization sensor installation error, measurement noise and multichannel photoelectric diode transmission response coefficient, that is, scale factor.
Polarization sensor installation error is mainly inaccurately caused by polarizing film and photodiode installation.Theoretically, it polarizes
Polarizing film is to be mutually perpendicular to install in polarization direction in sensor, its output signal is installed with polarizing film in polarization direction
It is whether vertical related；Photodiode is converted into electric signal to optical signal and is vulnerable to whether it is mounted on shadow in same level
It rings.Polarizing film and photodiode have differences the optical signal response that polarization sensor acquires, and photodiode is optical signal
Be converted to after electric signal that there are additivity drift errors；After amplifying circuit, there are voltage magnitude multiplying property errors；Such error is united
Referred to as multichannel photoelectric diode transmission response coefficient, that is, scale factor.
Second step selects the multi-sources such as installation error, scale factor error and polarization azimuth to be established for system state variables
Bionical polarization navigation system state model is：
According to polarization sensor channel opposing signal processing method, it is assumed that polarization sensor receives the total light of partial poolarized light
It is I by force, degree of polarization d, the E- direction vectors of linearly polarized photon and the angle in reference coordinate direction are φ, the polarization in each channel
The angle in the polarization direction reference frame direction of piece is φn(n=1,2), so by horizontal channel and vertical channel
After polarizing film, light intensity I'nConsist of two parts, is natural light I respectively1With linearly polarized light I2.It is obtained by Malus' law：
I2=Id cos2(φ-φn)
So passing through the light intensity of n-th of polarizing film：
After merging：
It is respectively by the transformed electric signal of photoelectric converter：
It is exported after logarithmic transformation：
The signal errors and noise main source of sensor：Internal error and environmental error.Internal error includes mainly device
Part error and installation error consider that the installation error ε of polarizing film and photodiode transmission response coefficient i.e. scale factor are expressed
Formula becomes：
Assuming that sensor is six channel sensors, camera lens distinguishes 0,2 π/3 of setting angle, and the photosignal that 4 π/3 are received is：
It enables：
Wherein,It is the value of electrical signals of 3 polarization sensor channel opposings, K1~K3It is 3 polarization sensor opposition
The photoelectric diode transmission response coefficient, that is, scale factor in channel, ε1~ε5Fix error angle.
According to polarization sensor channel opposing signal processing method, 9 quantity of states are chosen as calibrating parameters, consider polarization
Sensor parameter to be estimated is：
X=[ε1 ε2 ε3 ε4 ε5 K1 K2 K3 φ]T
Wherein εi(i=1,2 ... 5) be 3 groups of biomimetic sensor polarizing films fix error angle, K1~K3It is 3 groups of bionical biographies
Sensor scale factor, φ are polarization sensor polarization azimuths；
Establishing bionical polarization navigation system state equation is：
Xk=f (Xk-1)+Wk-1
Wherein f (Xk-1)=[ε1,k-1 ε2,k-1 ε3,k-1 ε4,k-1 ε5,k-1 K1,k-1 K2,k-1 K3,k-1 φk-1+ψk-1]Tψk-1
It is the angle that turntable rotates every time in data acquisition；Wk-1It is system noise, is white Gaussian noise, Wk-1Covariance matrix be Qk-1；
K-1 indicates -1 moment of kth；
Third walks, and selects the polarization sensor output valve of the error containing multi-source, i.e. light intensity measurement；It is established as measurement bionical
Polarize navigation system measurement model：
According to polarization sensor channel opposing signal processing method；Bionical polarization navigation system measurement equation is：
Yk=h (Xk)+Vk
D is atmospheric polarization degree；VkIt is measurement noise, noise is white Gaussian noise, VkCovariance matrix be Rk；
4th step is walked based on second step and third, builds polarized light test experimental situation, and acquisition polarization sensor measures number
According to：
As shown in Fig. 2, including integrating sphere 1, holder 2, polarizing film 3, camera lens 4, rotating platform 5, power interface 6；Wherein：Product
Bulb separation 1 is kept flat on the ground as fixed support by holder 2, and the effect of integrating sphere 1 is to provide the standard polarized light not interfered with
Source, power supply interface 6 shine to fixed light source in integrating sphere 1 and power on 1 surface of integrating sphere.It, will be to be measured according to experiment measurement request
The bionical polarization navigation sensor of amount is fixed on rotating platform 5, and polarizing film 3 is fixed at the light-emitting window of integrating sphere 1, camera lens 4
The light intensity data that acquisition passes through polarizing film 3；Rotating platform 5 at the uniform velocity rotates, and each number of rotation is ψkIt spends, in each measurement period
Experiment 5 number of rotation of rotating platform is no less than 360 °, to the outputting measurement value of polarization sensor channel opposing in rotary course
Equal interval sampling is carried out, is recorded as bionical polarization sensor output valve.
5th step designs extended Kalman filter, estimates installation error, scale factor and polarization azimuth：
(1) time updates；
1. init state amountAnd quantity of stateCovariance matrix P0|0, wherein P0|0=I9, I9For 9 × 9 unit squares
Battle array；
2. one-step prediction,WhereinFor the state of one-step prediction；
3. calculating state-transition matrix Φk-1,
4. predicting covariance Pkk-1,
(2) update is measured
Transfer matrix H is measured 1. calculatingk,
2. calculating filtering gain matrix Mk,
3. updating state estimation
4. updating quantity of stateCovariance Pk, Pk=(I9-MkHk)Pk|k-1。
It is practical to compensate bionical polarization sensor according to installation error, scale factor and polarization azimuth estimated value for 6th step
Measured value：
Assuming that sensor is six channel sensors, it is 0,2 π/3,4 π/3, polarization sensor reception that camera lens, which distinguishes setting angle,
It is I, degree of polarization d to partial poolarized light total light intensity, the E- direction vectors and the angle in reference coordinate direction of linearly polarized photon are
φ；It is obtained by Malus' law, output electric signal P is converted by photoelectric converter1,P2,P3：
Logarithmic transformation is gone in introducing：
It can obtain：
Degree of polarization d and polarization azimuth φ are：
The above-mentioned first step calculates installation error and scale factor estimated value to the 5th stepIt substitutes into bionical polarization sensor measurement model after being compensated
Measuring valueThen bionical polarization sensor angle of polarization φ is calculated；
Consider the measuring value after installation error and scale factor are compensatedFor：
Then the measuring value after compensatingPolarization azimuth φ solution formulas are substituted into, compensation is found out
Polarization azimuth φ afterwards：
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (7)
1. a kind of bionical polarization sensor multi-source error calibrating method based on Extended Kalman filter, it is characterised in that：Including
Following steps：
(1) bionical polarization sensor multi-source error analysis；
(2) it establishes and is led as the bionical polarization of system state amount using the multi-sources such as installation error, scale factor error and polarization azimuth
Boat System State Model；
(3) the polarization sensor output valve of the error containing multi-source, i.e. light intensity measurement are selected, bionical polarization navigation is established as measurement
System measurements model；
(4) it is based on step (1)-step (3), builds polarized light test experimental situation, acquires polarization sensor measurement data；
(5) extended Kalman filter, estimation installation error, scale factor and polarization azimuth are designed；
(6) bionical polarization sensor actual measured value is compensated according to installation error, scale factor and polarization azimuth estimated value.
2. a kind of bionical polarization sensor multi-source error calibration side based on Extended Kalman filter according to claim 1
Method, it is characterised in that：The bionical polarization sensor multi-source error analysis of step (1) includes：
In bionical polarization sensor practical application, sensor reality output data precision is restricted by multi-source error, includes mainly
Three classes, polarization sensor installation error, measurement noise and multichannel photoelectric diode transmission response coefficient, that is, scale factor；
Polarization sensor installation error is mainly inaccurately caused by polarizing film and photodiode installation；Theoretically, polarization sense
Polarizing film is to be mutually perpendicular to install in polarization direction in device, its output signal and polarizing film installed in polarization direction whether
It is vertical related；Photodiode on optical signal be converted into electric signal be vulnerable to it whether be mounted on same level on influence；
Polarizing film and photodiode have differences the optical signal response that polarization sensor acquires, and photodiode is optical signal
Be converted to after electric signal that there are additivity drift errors；After amplifying circuit, there are voltage magnitude multiplying property errors；Such error is united
Referred to as multichannel photoelectric diode transmission response coefficient, that is, scale factor.
3. a kind of bionical polarization sensor multi-source error calibration side based on Extended Kalman filter according to claim 1
Method, it is characterised in that：The step (2) selects the multi-sources such as installation error, scale factor error and polarization azimuth for system shape
State variable establishes bionical polarization navigation system state model.According to polarization sensor channel opposing signal processing method, 9 are chosen
Quantity of state considers that polarization sensor parameter to be estimated is as calibrating parameters：
X=[ε1 ε2 ε3 ε4 ε5 K1 K2 K3 φ]T
Wherein εi, i=1,2 ... 5 be the fix error angle of 3 groups of biomimetic sensor polarizing films, K1~K3It is 3 groups of biomimetic sensor ratios
The example factor, φ is polarization sensor polarization azimuth；
Establishing bionical polarization navigation system state equation is：
Xk=f (Xk-1)+Wk-1
Wherein, f (Xk-1)=[ε1,k-1 ε2,k-1 ε3,k-1 ε4,k-1 ε5,k-1 K1,k-1 K2,k-1 K3,k-1 φk-1+ψk-1]T, ψk-1It is
The angle that turntable rotates every time in data acquisition；Wk-1It is system noise, is white Gaussian noise, Wk-1Covariance matrix be Qk-1；k-
1 indicates -1 moment of kth.
4. according to a kind of bionical polarization sensor multi-source error calibration side based on Extended Kalman filter described in claim 1
Method, it is characterised in that：The polarization sensor output valve of step (3) selection error containing multi-source, i.e. light intensity measurement；As amount
Bionical polarization navigation system measurement model is established in survey；
According to polarization sensor channel opposing signal processing method；Bionical polarization navigation system measurement equation is：
Yk=h (Xk)+Vk
Wherein,
Wherein, d is atmospheric polarization degree；VkIt is measurement noise, noise is white Gaussian noise, VkCovariance matrix be Rk。
5. according to a kind of bionical polarization sensor multi-source error calibration side based on Extended Kalman filter described in claim 1
Method, it is characterised in that：The step (4) builds polarized light test experimental situation, acquires polarization sensor measurement data；
According to experiment measurement request, selection criteria polarized light source consolidates bionical polarization navigation sensor to be measured as light source
It is scheduled on the turntable of tooth rounding table；Turntable at the uniform velocity rotates, and each number of rotation is ψk-1Degree, each measurement period is interior to test turntable
Number of rotation is no less than 360 °, is adopted at equal intervals to the outputting measurement value of polarization sensor channel opposing in rotary course
Sample is recorded as bionical polarization sensor output valve.
6. according to a kind of bionical polarization sensor multi-source error calibration side based on Extended Kalman filter described in claim 1
Method, it is characterised in that：The design extended Kalman filter of the step (5) estimates installation error, scale factor and polarization side
Parallactic angle：
(1) time updates；
1. setting init state amountAnd quantity of stateCovariance matrix P0|0；
2. one-step prediction is calculated,WhereinFor the state of one-step prediction,Estimate for last moment
State；
3. calculating state-transition matrix Φk-1,
4. calculating prediction covariance Pk|k-1,Pk-1|k-1For the association of last moment estimated state
Variance matrix；
(2) update is measured
Transfer matrix H is measured 1. calculatingk,
2. calculating filtering gain matrix Mk,
3. state estimation
4. updating the covariance matrix P of quantity of statek, Pk=(I9-MkHk)Pk|k-1, I9For the unit matrix of 9 dimensions.
7. according to a kind of bionical polarization sensor multi-source error calibration side based on Extended Kalman filter described in claim 1
Method, it is characterised in that：Being compensated according to installation error, scale factor and polarization azimuth estimated value for the step (6) is bionical inclined
Vibration sensor actual measured value；
Assuming that sensor is six channel sensors, camera lens distinguishes setting angle for 0,2 π/3, and 4 π/3, polarization sensor receives portion
It is I to divide polarised light total light intensity, and degree of polarization d, the E- direction vectors of linearly polarized photon and the angle in reference coordinate direction are φ；By
Malus' law obtains, and output electric signal P is converted by photoelectric converter1,P2,P3：
Logarithmic transformation is gone in introducing：
It can obtain：
Degree of polarization d and polarization azimuth φ are：
Above-mentioned steps (1)-step (5) calculates installation error and scale factor estimated valueIt substitutes into bionical polarization sensor measurement model after being compensated
Measuring valueThen bionical polarization sensor angle of polarization φ is calculated；
Consider the measuring value after installation error and scale factor are compensatedFor：
Then the measuring value after compensatingPolarization azimuth φ solution formulas are substituted into, after finding out compensation
Polarization azimuth φ；
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109556633A (en) * | 2018-11-26 | 2019-04-02 | 北方工业大学 | Bionic polarization sensor multi-source error calibration method based on adaptive EKF |
| CN110046368A (en) * | 2018-11-26 | 2019-07-23 | 北方工业大学 | Bionic polarization sensor multi-source error calibration method based on self-adaption UFK |
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| CN111238467A (en) * | 2020-02-07 | 2020-06-05 | 西北工业大学 | Bionic polarized light assisted unmanned combat aircraft autonomous navigation method |
| CN111238467B (en) * | 2020-02-07 | 2021-09-03 | 西北工业大学 | Bionic polarized light assisted unmanned combat aircraft autonomous navigation method |
| CN111623771A (en) * | 2020-06-08 | 2020-09-04 | 青岛智融领航科技有限公司 | Polarization inertial navigation tight combination navigation method based on light intensity |
| CN117459135A (en) * | 2023-12-26 | 2024-01-26 | 希烽光电科技(南京)有限公司 | Noise correction algorithm applied to polarization dependent loss measurement system of optical chip |
| CN117459135B (en) * | 2023-12-26 | 2024-03-01 | 希烽光电科技(南京)有限公司 | Noise correction algorithm applied to polarization dependent loss measurement system of optical chip |
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