CN108955625B - Method and system for acquiring sun position information - Google Patents

Method and system for acquiring sun position information Download PDF

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CN108955625B
CN108955625B CN201810113638.4A CN201810113638A CN108955625B CN 108955625 B CN108955625 B CN 108955625B CN 201810113638 A CN201810113638 A CN 201810113638A CN 108955625 B CN108955625 B CN 108955625B
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宋燕
范之国
王大千
王昕�
高隽
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Hefei University of Technology
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    • G01—MEASURING; TESTING
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Abstract

The invention discloses a method and a system for acquiring sun position information. The method comprises the following steps: acquiring light intensity values of the atmospheric polarization mode images under three different polarization angles; acquiring pixel point coordinates according to the light intensity value; performing fixed direction point taking on the pixel point coordinates to obtain an included angle between a connecting line from the coordinates to the image center and an X axis; acquiring a first coordinate according to a solar azimuth straight line fitting equation; acquiring a first slope according to the first coordinate, and acquiring a solar azimuth angle according to the first slope and the included angle; acquiring a second coordinate according to a linear fitting equation of the sun zenith angle, the sun azimuth angle and the included angle; acquiring a second slope according to the second coordinate, and acquiring a solar zenith angle according to the second slope and the included angle; and acquiring sun position information according to the sun azimuth angle and the sun zenith angle. By adopting the method or the system, the inversion of the sun position is carried out according to the distribution rule of the atmospheric polarization mode, the dependence on the scattering result of each point is lower, and the method or the system has higher estimation precision and better atmospheric environment adaptability.

Description

Method and system for acquiring sun position information
Technical Field
The invention relates to the field of positioning, in particular to a method and a system for acquiring sun position information.
Background
The existing method for calculating the position of the sun by using the atmospheric polarization mode is mainly divided into two methods. Firstly, an equation vector function meeting conditions can be established by utilizing the characteristic that any E vector in space is vertical to the sun direction vector, and the optimal solution of the matrix is solved so as to solve the sun position information. And secondly, starting from a theoretical mathematical model of atmospheric polarized light distribution, solving the position of the sun by measuring polarization information (polarization degree or polarization angle) of a finite point and applying optimization algorithms such as a least square method, a cluster analysis method and the like. In addition, there are some scholars who process the polarization angle image using an image processing method to acquire solar azimuth information. Due to the method, the established nonlinear function equation set is solved, the accuracy is low, the solving process is iterative solution, and the calculation time is long, so that the method and the system for rapidly acquiring the high-accuracy sun position by utilizing the atmospheric polarization mode are necessary to meet the requirements of the existing polarized light navigation on developing real-time performance and high accuracy.
Disclosure of Invention
The invention aims to provide a method and a system for rapidly acquiring the position of the high-precision sun in an atmospheric polarization mode.
In order to achieve the purpose, the invention provides the following scheme:
a method of acquiring sun location information, the method of acquiring sun location information comprising:
acquiring light intensity values of the atmospheric polarization mode images under three different polarization angles;
acquiring a Stokes vector value according to the light intensity value;
acquiring a polarization angle information image according to the Stokes vector value, and pixel point coordinates corresponding to the polarization angle information image;
performing fixed direction point taking on the pixel point coordinates to obtain an included angle between a connecting line from the pixel point coordinates to the image center and an X axis;
acquiring a first coordinate after mapping according to a solar azimuth straight line fitting equation;
carrying out smooth filtering and least square straight line fitting on the mapped first coordinate to obtain a first slope, and obtaining a solar azimuth angle according to the first slope and the included angle;
acquiring a mapped second coordinate according to a linear fitting equation of the sun zenith angle, the sun azimuth angle and the included angle;
performing smooth filtering and least square straight line fitting on the mapped second coordinate to obtain a second slope, and obtaining a solar zenith angle according to the second slope and the included angle;
and acquiring sun position information according to the sun azimuth angle and the sun zenith angle.
Optionally, the obtaining light intensity values of the atmospheric polarization mode images at three different polarization angles specifically includes:
rotating a camera to enable the imaging surface of the camera to be vertically upward and kept horizontal, aligning the main shaft of the camera to the north geographical direction, adjusting the multiband optical filter to a full-pass band, adjusting the distance between a fisheye lens and a Macro lens to enable the camera to image clearly, and acquiring the light intensity values of three polarized images with different angles through the camera.
Optionally, obtaining a stokes vector value according to the light intensity value specifically includes:
the Stokes vector values { I, Q, U } are calculated according to the following formula
Figure BDA0001570022710000021
Wherein I represents the total intensity of the polarized image; q is the linear polarization image intensity of the atmospheric light in the horizontal direction, U represents the linear polarization image intensity of the atmospheric light in the 45 DEG direction, I1、I2And I3The light intensity values of the atmospheric polarization mode images under three different polarization angles are respectively.
Optionally, obtaining a polarization angle information image according to the stokes vector value, and a pixel point coordinate corresponding to the polarization angle information image specifically include:
the polarization angle information a is calculated according to the following formula:
Figure BDA0001570022710000022
wherein Q is the linear polarization distribution of the atmospheric light in the horizontal direction, and U represents the linear polarization distribution of the atmospheric light in the 45-degree direction;
and obtaining the pixel point coordinates (x, y) of the vibration angle information image according to the polarization angle information A.
Optionally, the obtaining the mapped first coordinate according to the solar azimuth straight-line fitting equation specifically includes:
obtaining the mapped first coordinates according to the following formula:
Figure BDA0001570022710000031
Figure BDA0001570022710000032
wherein x is the abscissa of the pixel point of the polarization angle information image, and y is the polarization angleOrdinate of pixel point of information image, α polarization angle corresponding to pixel point coordinate, X1For a new abscissa, Y, after mapping2Is the new ordinate after mapping.
Optionally, the smoothing filtering and least square line fitting are performed on the mapped first coordinate to obtain a first slope, and a solar azimuth angle is obtained according to the first slope and the included angle, which specifically includes:
calculating the included angle according to the following formula to obtain the solar azimuth angle:
Figure BDA0001570022710000033
wherein the content of the first and second substances,
Figure BDA0001570022710000034
representing the sun azimuth, k1And expressing a first slope, and expressing an included angle between a connecting line from the pixel point coordinate to the image center and the X axis by beta.
Optionally, the mapped second coordinate is obtained according to the linear fitting equation of the sun zenith angle, the sun azimuth angle and the included angle; the method specifically comprises the following steps:
obtaining the mapped second coordinates according to the following formula:
Figure BDA0001570022710000035
Figure BDA0001570022710000036
wherein X is the abscissa of the pixel point of the polarization angle information image, y is the ordinate of the pixel point of the polarization angle information image, α is the polarization angle corresponding to the pixel point coordinate (X, y), and X2For a new abscissa, Y, after mapping2In order to have a new ordinate after the mapping,
Figure BDA0001570022710000041
the azimuth angle of the sun is represented, and beta represents the included angle between the connecting line from the pixel point coordinates to the image center and the X axis.
Optionally, performing smooth filtering and least square line fitting on the mapped second coordinate to obtain a second slope, and obtaining the solar zenith angle according to the second slope and the included angle, specifically including:
calculating the included angle according to the following formula to obtain the solar zenith angle:
θs＝arctan(k2)
wherein, thetasRepresenting the zenith angle of the sun, k2Representing a first slope.
In order to achieve the above purpose, the invention also provides the following scheme:
a system for acquiring sun position information, the system comprising:
the light intensity value acquisition unit is used for acquiring light intensity values of the atmospheric polarization mode images under three different polarization angles;
the Stokes vector value acquisition unit is used for acquiring a Stokes vector value according to the light intensity value;
the pixel point coordinate acquisition unit is used for acquiring a polarization angle information image and a pixel point coordinate corresponding to the polarization angle information image according to the Stokes vector value;
the included angle acquisition unit is used for performing fixed direction point acquisition on the pixel point coordinates and acquiring an included angle between a connecting line from the pixel point coordinates to the image center and an X axis;
the first coordinate obtaining unit is used for obtaining a first coordinate after mapping according to a solar azimuth angle straight line fitting equation;
the sun azimuth angle acquisition unit is used for performing smooth filtering and least square straight line fitting on the mapped first coordinate to acquire a first slope; acquiring a solar azimuth angle according to the first slope and the included angle;
the second coordinate acquisition unit is used for acquiring a mapped second coordinate according to the solar zenith angle linear fitting equation, the solar azimuth angle and the included angle;
the sun zenith angle acquisition unit is used for performing smooth filtering and least square line fitting on the mapped second coordinate to acquire a second slope, and acquiring the sun zenith angle according to the second slope and the included angle;
and the sun position information acquisition unit is used for acquiring sun position information according to the sun azimuth angle and the sun zenith angle.
Optionally, the stokes vector value obtaining unit specifically includes:
stokes vector value unit { I, Q, U } is calculated according to the following formula
Figure BDA0001570022710000051
Wherein I represents the total intensity of the polarized image; q is the linear polarization intensity of the atmospheric light in the horizontal direction, U represents the linear polarization intensity of the atmospheric light in the 45-degree direction, I1、I2And I3The light intensity values of the atmospheric polarization mode images under three different polarization angles are respectively.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the method for acquiring the sun position information acquires light intensity values of atmospheric polarization mode images under three different polarization angles; obtaining the pixel point coordinates of the polarization angle information image according to the light intensity value; and acquiring a first coordinate and a second coordinate after mapping according to a solar azimuth linear fitting equation obtained by the infinity-shaped characteristic equation, acquiring a first slope and a second slope according to the first coordinate and the second coordinate, respectively acquiring a solar azimuth and a solar zenith angle according to the first slope and the second slope, and finally acquiring solar position information according to the solar azimuth and the solar zenith angle. Obviously, the invention carries out the inversion of the position of the sun according to the distribution rule of the atmospheric polarization mode. The method has low dependence on the scattering result of each point, and has high estimation precision and better atmospheric environment adaptability.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flowchart of a method for acquiring sun position information according to embodiment 1 of the present invention;
fig. 2 is a system configuration diagram for acquiring sun position information according to embodiment 2 of the present invention;
FIG. 3 is a graph of theoretical solar polarization angle distribution;
FIG. 4 is a simulated azimuth fit plot;
FIG. 5 is a simulated zenith angle fit curve;
FIG. 6 is a measured polarization angle distribution plot;
FIG. 7 is a measured azimuth fit curve;
FIG. 8 is a graph of a measured zenith angle fit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for rapidly acquiring the position of the high-precision sun in an atmospheric polarization mode.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a method for acquiring sun position information according to embodiment 1 of the present invention. As shown in fig. 1, a method of acquiring sun position information includes:
step 101: acquiring light intensity values of the atmospheric polarization mode images under three different polarization angles;
specifically, a camera is rotated to enable an imaging surface of the camera to be vertically upward and kept horizontal, a main shaft of the camera is aligned to the north geographical direction, a multiband optical filter is adjusted to a full-pass band, the distance between a fisheye lens and a Macro lens is adjusted to enable the camera to image clearly, light intensity values of three polarized images at different angles are acquired simultaneously through the camera, and the type of the camera is a three-channel polarized camera.
Step 102: acquiring a Stokes vector value according to the light intensity value;
specifically, the stokes vector values { I, Q, U } are calculated according to the following formula:
Figure BDA0001570022710000061
wherein I represents the total intensity of the polarized image; q is the linear polarization image intensity of the atmospheric light in the horizontal direction, U represents the linear polarization image intensity of the atmospheric light in the 45 DEG direction, I1、I2And I3Respectively the light intensity values of the atmospheric polarization mode images under three different polarization angles
Step 103: acquiring a polarization angle information image and a pixel point coordinate corresponding to the polarization angle information image according to the Stokes vector value; specifically, the polarization angle information a is calculated according to the following formula:
Figure BDA0001570022710000071
wherein Q is the linear polarization distribution of the atmospheric light in the horizontal direction, and U represents the linear polarization distribution of the atmospheric light in the 45-degree direction;
and obtaining the pixel point coordinates (x, y) of the vibration angle information image according to the polarization angle information A.
Step 104: performing fixed direction point taking on the pixel point coordinates to obtain an included angle between a connecting line from the pixel point coordinates to the image center and an X axis;
step 105: acquiring a first coordinate after mapping according to a solar azimuth straight line fitting equation;
specifically, the mapped first coordinate is obtained according to the following solar azimuth line fitting equation:
Figure BDA0001570022710000072
Figure BDA0001570022710000073
wherein X is the abscissa of the pixel point of the polarization angle information image, y is the ordinate of the pixel point of the polarization angle information image, α is the polarization angle corresponding to the pixel point coordinate, and X is1For a new abscissa, Y, after mapping2Is the new ordinate after mapping.
Step 106: carrying out smooth filtering and least square straight line fitting on the mapped first coordinate to obtain a first slope, and obtaining a solar azimuth angle according to the first slope and the included angle;
specifically, the included angle is calculated according to the following formula to obtain the solar azimuth angle:
Figure BDA0001570022710000074
wherein the content of the first and second substances,
Figure BDA0001570022710000075
representing the sun azimuth, k1And expressing a first slope, and expressing an included angle between a connecting line from the pixel point coordinate to the image center and the X axis by beta.
Step 107: acquiring a mapped second coordinate according to a linear fitting equation of the sun zenith angle, the sun azimuth angle and the included angle;
specifically, the mapped second coordinate is obtained according to the following solar zenith angle straight line fitting equation:
Figure BDA0001570022710000081
Figure BDA0001570022710000082
wherein X is the abscissa of the pixel point of the polarization angle information image, y is the ordinate of the pixel point of the polarization angle information image, α is the polarization angle corresponding to the pixel point coordinate (X, y), and X2For a new abscissa, Y, after mapping2In order to have a new ordinate after the mapping,
Figure BDA0001570022710000083
the azimuth angle of the sun is represented, and beta represents the included angle between the connecting line from the pixel point coordinates to the image center and the X axis.
Step 108: performing smooth filtering and least square straight line fitting on the mapped second coordinate to obtain a second slope, and obtaining a solar zenith angle according to the second slope and the included angle;
specifically, the included angle is calculated according to the following formula to obtain the solar zenith angle:
θs＝arctan(k2)
wherein, thetasRepresenting the zenith angle of the sun, k2Representing a first slope.
Step 109: and acquiring sun position information according to the sun azimuth angle and the sun zenith angle.
The method is based on the model of the distribution characteristics of the infinity font in the atmospheric polarization mode, and further deduces the characterization equation of the infinity font to establish a linear fitting model of coordinate conversion. The 'infinity' font representation equation is an analytic function which can be described as equal polarization angle distribution, so that a one-to-one corresponding relation is established between each pixel point on the obtained polarization angle image information and the representation equation, and a nonlinear equation set which satisfies the relation and is solved by the unknown parameters is obtained.
The calculation of the position of the sun is converted from solving a nonlinear equation system to solving a linear equation system. The method is characterized in that a representation equation formed by two unknown parameters of the solar position (zenith angle and azimuth angle) is further deduced to be a linear equation with the unknown parameters of the solar zenith angle and the azimuth angle as slopes, and the solar position is solved by a method of solving the slopes through linear fitting. The straight line fitting method is quick in solving, and the verification precision of the actual measurement experiment is high.
The linear fitting model established by the invention solves the position of the sun, and the main formula is as follows:
the "∞" font representation equation derives the azimuth formula:
Figure BDA0001570022710000091
Figure BDA0001570022710000092
the "∞" font representation equation derives the zenith angle formula:
Figure BDA0001570022710000093
Figure BDA0001570022710000094
the invention adopts a method of fetching points in a fixed direction, thereby improving the utilization efficiency of effective information. By combining the derivation formula, it can be found that when the point-taking direction is fixed, the direct fitting equation for solving the azimuth angle is a slope
Figure BDA0001570022710000095
The unique straight line, simultaneously, fixed direction is got the point, can increase the utilization to the effective atmosphere polarization information that obtains, avoids sheltering from because of the external world and causes local information error great to lead to actual measurement solution result precision greatly reduced's problem.
And (4) carrying out inversion of the position of the sun by utilizing the distribution rule of the atmospheric polarization mode. The method has low dependence on the scattering result of each point, and has high estimation precision and better atmospheric environment adaptability. The existing method is based on a Rayleigh model, and establishes a scattering geometric relation of a space position according to an accurate scattering theory to solve the sun position. The rayleigh scattering theory describes a primary scattering condition in a light transmission process under an ideal state, but the sky scattering condition under an actual atmospheric condition is more complicated than the rayleigh scattering theory, so that a geometric equation established by a scattering function of each observed point in the sky solves the position of the sun with a larger error. The invention carries out the inversion of the position of the sun according to the distribution rule of the atmospheric polarization mode. The method has low dependence on the scattering result of each point, and has high estimation precision and better atmospheric environment adaptability.
Example 2:
fig. 2 is a system configuration diagram for acquiring sun position information according to embodiment 2 of the present invention. As shown in fig. 2, a system for acquiring sun position information includes:
a light intensity value obtaining unit 201, configured to obtain light intensity values of the atmospheric polarization mode images at three different polarization angles;
the stokes vector value unit { I, Q, U } is calculated according to the following formula:
Figure BDA0001570022710000101
wherein I represents the total intensity of the polarized image; q is the linear polarization intensity of the atmospheric light in the horizontal direction, U represents the linear polarization intensity of the atmospheric light in the 45-degree direction, I1、I2And I3Respectively obtaining light intensity values of the atmospheric polarization mode images under three different polarization angles;
a pixel coordinate obtaining unit 203, configured to obtain a polarization angle information image and a pixel coordinate corresponding to the polarization angle information image according to the stokes vector value;
an included angle obtaining unit 204, configured to perform fixed direction point obtaining on the pixel coordinates, and obtain an included angle between a connection line from the pixel coordinates to an image center and an X axis;
a first coordinate obtaining unit 205, configured to obtain a mapped first coordinate according to a solar azimuth straight-line fitting equation;
a solar azimuth obtaining unit 206, configured to perform smooth filtering and least square line fitting on the mapped first coordinate to obtain a first slope; acquiring a solar azimuth angle according to the first slope and the included angle;
a second coordinate obtaining unit 207, configured to obtain a mapped second coordinate according to the solar zenith angle straight line fitting equation, the solar azimuth angle, and the included angle;
a sun zenith angle obtaining unit 208, configured to perform smooth filtering and least square line fitting on the mapped second coordinate to obtain a second slope, and obtain a sun zenith angle according to the second slope and the included angle;
a sun position information obtaining unit 209, configured to obtain sun position information according to the sun azimuth angle and the sun zenith angle.
Example 3:
the effect of obtaining sun position information by the method and system of the invention is verified by a simulation experiment.
The experimental site is selected from a main teaching building (117 degrees 17 '43 degrees in east longitude and 31 degrees 50'49 degrees in north latitude) of the combined fertilizer industry university of combined fertilizer, the time is 2015, 3 months, 18 morning, 6:19, the polarization angle graph is matched with the actually measured experiment, and the time is simulated. Fig. 3 is a theoretical solar polarization angle distribution diagram (solar zenith and azimuth angles 8.414004, 78.420799).
Simulation experiment, selecting a direction of beta 35 degrees to take points on a polarization angle image, taking points according to the direction of beta 35 degrees by a black straight line, and carrying out azimuth angle fitting equation on the taken points by a simulation azimuth angle fitting curve graph shown in figure 4, wherein the fitting curve is basically coincident with a theoretical point, so that the fitting effect is good, and the precision of the obtained azimuth angle can reach 10-6. And substituting the azimuth angle into a zenith angle fitting equation to obtain a fitting curve. FIG. 5 is a simulated zenith angle fitted curve, which substantially coincides with the theoretical point of interest, showing thatThe fitting effect is good, and the precision of the solved zenith angle can reach 10-6Table 1 shows the simulated sun position and its error.
TABLE 1 simulated sun position and error
Figure BDA0001570022710000111
Example 4:
the effect of acquiring the sun position information by the method and the system of the invention is verified by an actual measurement experiment.
The actual measurement test selects the place to be in the chief education of the combined fertilizer industry university. (longitude and latitude: 117 degrees 17 '44 degrees from east longitude, 31 degrees 50' 48 degrees from north latitude) the time is 2015, 3, 18, earlier, 6:19-6:59, experiments are carried out every 10 minutes, and the sun position information calculated by the method and the error result are shown in table 2. FIG. 6 is a measured polarization angle distribution plot.
Actually measured experiments, points are selected to be taken on the polarization angle image along the direction of beta being 35 degrees, an actually measured azimuth angle fitting curve graph is shown in figure 7, azimuth angle equation fitting is carried out on the taken points, the fitting curve is basically coincident with theoretical points, and the precision of the obtained azimuth angle can reach 10-2. The azimuth angle is substituted into a zenith angle fitting equation to obtain a fitting curve, fig. 8 is a fitting curve graph of an actually measured zenith angle, although some scattering of the zenith angle points is seen, the fitting curve basically fits the trend of the actually measured points, and is more parallel to the curve of theoretical points, but the actually measured points are not almost overlapped with simulation data, because the original data is removed, compared with the true value, the trend is changed by the influence of errors, and a moving average method is used in the preprocessing, so that the processed data value is changed to a certain extent, that is, the original straight line fitting equation is changed from Y ═ kX + b to Y + Δ Y ═ k (X + Δ X) + b ═ kX + (k Δ X + b). Therefore, the measured fitted straight line will not coincide with the theoretically fitted curve due to the change in intercept. The precision of the acquired zenith angle can reach 10-1. Table 2 shows the measured solar positions and their errors in five groups, namely, 2015, 3, 18, morning, 6:19, 6: 59.
TABLE 26: 19 actual sun position and error
Figure BDA0001570022710000121
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (2)

1. A method for acquiring sun position information, which is characterized by comprising the following steps:
acquiring light intensity values of the atmospheric polarization mode images under three different polarization angles;
acquiring a Stokes vector value according to the light intensity value;
acquiring a polarization angle information image and a pixel point coordinate corresponding to the polarization angle information image according to the Stokes vector value;
performing fixed direction point taking on the pixel point coordinates to obtain an included angle between a connecting line from the pixel point coordinates to the image center and an X axis;
acquiring a first coordinate after mapping according to a solar azimuth straight line fitting equation;
carrying out smooth filtering and least square straight line fitting on the mapped first coordinate to obtain a first slope, and obtaining a solar azimuth angle according to the first slope and the included angle;
acquiring a mapped second coordinate according to a linear fitting equation of the sun zenith angle, the sun azimuth angle and the included angle;
performing smooth filtering and least square straight line fitting on the mapped second coordinate to obtain a second slope, and obtaining a solar zenith angle according to the second slope;
acquiring sun position information according to the sun azimuth angle and the sun zenith angle;
the acquiring of the light intensity values of the atmospheric polarization mode images under three different polarization angles specifically includes:
rotating a camera to enable the imaging surface of the camera to be vertically upward and kept horizontal, aligning the main shaft of the camera to the north direction of geography, adjusting the multiband optical filter to a full-pass waveband, adjusting the distance between a fisheye lens and a Macro lens to enable the camera to image clearly, and simultaneously acquiring light intensity values of three polarized images with different polarization angles through the camera;
the obtaining of the stokes vector value according to the light intensity value specifically includes:
calculating a Stokes vector value { I, Q, U } according to the following formula;
Figure FDA0003280924960000021
wherein I represents the total intensity of the polarized image; q is the linear polarization intensity of the atmospheric light in the horizontal direction, U represents the linear polarization intensity of the atmospheric light in the 45-degree direction, I1、I2And I3Respectively obtaining light intensity values of the atmospheric polarization mode images under three different polarization angles;
the obtaining of the polarization angle information image according to the stokes vector value and the pixel point coordinates corresponding to the polarization angle information image specifically include:
the polarization angle information a is calculated according to the following formula:
Figure FDA0003280924960000022
wherein Q is the linear polarization intensity of the atmospheric light in the horizontal direction, and U represents the linear polarization intensity of the atmospheric light in the 45-degree direction;
acquiring pixel point coordinates (x, y) of the polarization angle information image according to the polarization angle information A;
the obtaining of the mapped first coordinate according to the solar azimuth line fitting equation specifically includes:
obtaining the mapped first coordinates according to the following formula:
Figure FDA0003280924960000023
Figure FDA0003280924960000024
wherein X is the abscissa of the pixel point of the polarization angle information image, y is the ordinate of the pixel point of the polarization angle information image, α is the polarization angle corresponding to the pixel point coordinate, and X1For a new abscissa, Y, after mapping1Is a new ordinate after mapping;
the smooth filtering and least square straight line fitting are carried out on the mapped first coordinate to obtain a first slope, and a solar azimuth angle is obtained according to the first slope and the included angle, and the method specifically comprises the following steps:
the solar azimuth is obtained according to the following formula:
Figure FDA0003280924960000031
wherein the content of the first and second substances,
Figure FDA0003280924960000032
representing the sun azimuth, k1Expressing a first slope, and expressing an included angle between a connecting line from the pixel point coordinate to the image center and an X axis by beta;
the obtaining of the mapped second coordinate according to the linear fitting equation of the solar zenith angle, the solar azimuth angle and the included angle specifically includes:
obtaining the mapped second coordinates according to the following formula:
Figure FDA0003280924960000033
Figure FDA0003280924960000034
wherein X is the abscissa of the pixel point of the polarization angle information image, y is the ordinate of the pixel point of the polarization angle information image, α is the polarization angle corresponding to the pixel point coordinate (X, y), and X2For a new abscissa, Y, after mapping2In order to have a new ordinate after the mapping,
Figure FDA0003280924960000035
representing the solar azimuth angle, and beta representing the included angle between the connecting line from the pixel point coordinate to the image center and the X axis;
the smooth filtering and least square straight line fitting are carried out on the mapped second coordinate to obtain a second slope, and the solar zenith angle is obtained according to the second slope, and the method specifically comprises the following steps:
the solar zenith angle is obtained according to the following formula:
θs＝arctan(k2)
wherein, thetasRepresenting the zenith angle of the sun, k2Representing the second slope.
2. A system for acquiring sun position information, the system comprising:
the light intensity value acquisition unit is used for acquiring light intensity values of the atmospheric polarization mode images under three different polarization angles;
the Stokes vector value acquisition unit is used for acquiring a Stokes vector value according to the light intensity value;
the pixel point coordinate acquisition unit is used for acquiring a polarization angle information image and a pixel point coordinate corresponding to the polarization angle information image according to the Stokes vector value;
the included angle acquisition unit is used for performing fixed direction point acquisition on the pixel point coordinates and acquiring an included angle between a connecting line from the pixel point coordinates to the image center and an X axis;
the first coordinate obtaining unit is used for obtaining a first coordinate after mapping according to a solar azimuth angle straight line fitting equation;
the sun azimuth angle acquisition unit is used for performing smooth filtering and least square straight line fitting on the mapped first coordinate to acquire a first slope; acquiring a solar azimuth angle according to the first slope and the included angle;
the second coordinate acquisition unit is used for acquiring a mapped second coordinate according to the solar zenith angle linear fitting equation, the solar azimuth angle and the included angle;
the sun zenith angle acquisition unit is used for performing smooth filtering and least square straight line fitting on the mapped second coordinate to acquire a second slope and acquiring the sun zenith angle according to the second slope;
the sun position information acquisition unit is used for acquiring sun position information according to the sun azimuth angle and the sun zenith angle;
the light intensity value acquisition unit is specifically used for rotating the camera to enable the camera imaging surface to be vertically upward and kept horizontal, the main shaft of the camera is aligned to the north geographical direction, the multiband optical filter is adjusted to a full-pass waveband, the distance between the fisheye lens and the Macro lens is adjusted to enable the camera to image clearly, and the light intensity values of three polarized images with different polarization angles are acquired simultaneously through the camera;
the stokes vector value obtaining unit is specifically configured to calculate stokes vector values { I, Q, U } according to the following formula:
Figure FDA0003280924960000041
wherein I represents the total intensity of the polarized image; q is the linear polarization intensity of the atmospheric light in the horizontal direction, U represents the linear polarization intensity of the atmospheric light in the 45-degree direction, I1、I2And I3Respectively obtaining light intensity values of the atmospheric polarization mode images under three different polarization angles;
the pixel point coordinate obtaining unit is specifically configured to calculate polarization angle information a according to the following formula:
Figure FDA0003280924960000051
wherein Q is the linear polarization intensity of the atmospheric light in the horizontal direction, and U represents the linear polarization intensity of the atmospheric light in the 45-degree direction;
acquiring pixel point coordinates (x, y) of the polarization angle information image according to the polarization angle information A;
the first coordinate obtaining unit is specifically configured to obtain the mapped first coordinate according to the following formula:
Figure FDA0003280924960000052
Figure FDA0003280924960000053
wherein X is the abscissa of the pixel point of the polarization angle information image, y is the ordinate of the pixel point of the polarization angle information image, α is the polarization angle corresponding to the pixel point coordinate, and X1For a new abscissa, Y, after mapping1Is a new ordinate after mapping;
the solar azimuth angle acquiring unit is specifically configured to acquire a solar azimuth angle according to the following formula:
Figure FDA0003280924960000054
wherein the content of the first and second substances,
Figure FDA0003280924960000055
representing the sun azimuth, k1Expressing a first slope, and expressing an included angle between a connecting line from the pixel point coordinate to the image center and an X axis by beta;
the second coordinate obtaining unit is specifically configured to obtain the mapped second coordinate according to the following formula:
Figure FDA0003280924960000056
Figure FDA0003280924960000057
wherein X is the abscissa of the pixel point of the polarization angle information image, y is the ordinate of the pixel point of the polarization angle information image, α is the polarization angle corresponding to the pixel point coordinate (X, y), and X2For a new abscissa, Y, after mapping2In order to have a new ordinate after the mapping,
Figure FDA0003280924960000061
representing the solar azimuth angle, and beta representing the included angle between the connecting line from the pixel point coordinate to the image center and the X axis;
the solar zenith angle acquisition unit is specifically used for acquiring the solar zenith angle according to the following formula:
θs＝arctan(k2)
wherein, thetasRepresenting the zenith angle of the sun, k2Representing the second slope.
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