CN113532419A - Sky polarization mode information acquisition method and device, electronic equipment and storage medium - Google Patents
Sky polarization mode information acquisition method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a sky polarization mode information acquisition method, a device, electronic equipment and a storage medium, which take the polarized light intensity of a target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the rotating angle of the polaroid corresponding to each image and the polarization parameter of the target area in each image as known parameters, solving the polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, therefore, errors caused by inaccurate rotation of the polaroid during actual measurement are avoided, the accuracy of sky polarization mode information acquisition is improved, and more reliable polarization information data are provided for polarized light navigation.
Description
Technical Field
The present invention relates to the field of polarization navigation technologies, and in particular, to a method and an apparatus for acquiring sky polarization mode information, an electronic device, and a storage medium.
Background
The sky polarization mode is a specific polarization state distribution generated by scattering of the sunlight by particles in the atmosphere in the atmospheric transmission process. The sky contains rich polarization mode information, and some living beings sense the polarization mode information of the sky by using special polarization light sensitive structures in compound eyes of the living beings in the processes of foraging, returning nests and the like, and acquire azimuth information according to the change of the polarization information to realize navigation and positioning. The simulated living beings can realize polarized navigation by utilizing polarized light, and the accuracy of acquiring sky polarized mode information can be improved, so that the precision of polarized light navigation can be improved.
The existing sky polarization mode information is mostly acquired through a polarization information measuring system, however, the measuring system needs to rotate the direction of the polaroid for many times in the measuring process, and when the polaroid is rotated rapidly, the polaroid can not be rotated to a specified angle accurately, so that errors are caused.
Disclosure of Invention
The invention provides a method and a device for acquiring sky polarization mode information, electronic equipment and a storage medium, which are used for solving the problem that polarization navigation precision is influenced because sky polarization mode information cannot be accurately acquired in the prior art.
The invention provides a sky polarization mode information acquisition method, which comprises the following steps:
collecting a plurality of images representing sky polarization mode information, and acquiring the polarized light intensity of a target area in each image; the rotating angles of the polaroids corresponding to the images are different;
taking the polarized light intensity of the target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image as a known parameter, solving the polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, wherein the polarization information model represents the relationship among the polarized light intensity of the target area in each image, the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image;
determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameters of the target area in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
According to the sky polarization mode information acquisition method provided by the invention, the polarization information model is constructed based on the following steps:
constructing an initial polarization information model of each image by adopting a Stokes vector representation method based on the polarized light intensity of each point of a target area in each image, the rotating angle of a polarizer corresponding to each point of the target area in each image, the unbiased light intensity corresponding to each point of the target area in each image, the linearly polarized light intensity difference of each point of the target area in each image in the first direction and the linearly polarized light intensity difference of each point of the target area in each image in the second direction; the first direction is orthogonal to the second direction;
expressing the light intensity difference of linearly polarized light of each point of the target area in each image in a first direction by the polarized light intensity of each point of the target area in each image, the corresponding polarization degree of each point of the target area in each image and the corresponding polarization angle of each point of the target area in each image to obtain a first expression; expressing the light intensity difference of the linearly polarized light in the second direction of each point of the target area in each image by the polarized light intensity of each point of the target area in each image, the corresponding polarization degree of each point of the target area in each image and the corresponding polarization angle of each point of the target area in each image to obtain a second expression;
and substituting the first expression and the second expression into the initial polarization information model of each image, and fusing the initial polarization information model of each image to obtain the polarization information model.
According to the sky polarization mode information acquisition method provided by the invention, the polarization information model is as follows:
C＝HA；
wherein the content of the first and second substances,
showing the polarized light intensity of each point of the target area In the nth image, In showing the unbiased light intensity of each point of the target area In the nth image, dn showing the polarization degree of each point of the target area In the nth image,
the polarization angle of each point of the target area in the nth image is shown, and thetan represents the rotation angle of the polarizing plate of each point of the target area in the nth image.
According to the sky polarization mode information obtaining method provided by the invention, the method for solving the polarization information model by using the polarized light intensity of the target area in each image and the polarizer rotation angle corresponding to each image as known parameters to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image comprises the following steps:
the polarized light intensity of the target area in each image and the rotating angle of a polaroid corresponding to each image are used as known parameters, a first model is adopted to carry out least square estimation on the polarized parameters of the target area in each image to obtain a first column vector corresponding to the polarized parameters of the target area in each image, and the optimal polarized parameters of the target area in each image are determined based on the first column vectors;
the first model is:
wherein the content of the first and second substances,
representing the first column of vectors and the second column of vectors,
0hrepresenting a zero matrix.
According to the sky polarization mode information obtaining method provided by the invention, the method for solving the polarization information model by using the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image as known parameters to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image comprises the following steps:
the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image are used as known parameters, a second model is adopted to carry out least square estimation on the polarizer rotation angle corresponding to each image to obtain a second column vector corresponding to the polarizer rotation angle corresponding to each image, and the optimal polarizer rotation angle corresponding to each image is determined based on each second column vector;
the second model is:
wherein the content of the first and second substances,
representing the second column vector of the second image,
0athe dimension of expression is
The zero matrix of (a) is,
according to the sky polarization mode information acquisition method provided by the invention, the polarization information model is solved by taking the polarized light intensity of the target area in each image as a known parameter to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, and the method comprises the following steps:
a polarizing plate rotation angle determining step: determining a polarizer rotation angle corresponding to each image based on a polarization device;
a polarization parameter estimation step: performing least square estimation on the polarization parameters of the target area in each image by using the first model to obtain a first column vector corresponding to the polarization parameters of the target area in each image, and determining the polarization parameters of the target area in each image based on each first column vector;
a polarizing plate rotation angle estimation step: the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image are used as known parameters, a second model is adopted to carry out least square estimation on the polarizer rotation angle corresponding to each image to obtain a second column vector corresponding to the polarizer rotation angle corresponding to each image, and the polarizer rotation angle corresponding to each image is determined based on each second column vector;
an error cost determination step: determining error cost by adopting a minimum mean square error cost function based on the polarization parameters of the target area in each image and the rotating angle of the polaroid corresponding to each image;
iteration step: and circularly executing the polarization parameter estimation step, the polaroid rotation angle estimation step and the error cost determination step until the error cost reaches a preset value, and taking the polarization parameter of the corresponding target area in each image as an optimal polarization parameter and the polaroid rotation angle corresponding to each image as an optimal polaroid rotation angle.
According to the sky polarization mode information obtaining method provided by the invention, the sky polarization mode information is determined based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, and the method comprises the following steps:
determining the unbiased light intensity corresponding to the target area in each image based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image;
determining the light intensity difference of linearly polarized light in the first direction of each point and the light intensity difference of linearly polarized light in the second direction of each point based on the unbiased light intensity corresponding to the target area in each image and the optimal polarizer rotation angle corresponding to each image;
determining the polarization degree of each image based on the unbiased light intensity corresponding to the target area in each image, the linearly polarized light intensity difference of each point in the first direction and the linearly polarized light intensity difference of each point in the second direction; and determining the polarization angle of each image based on the light intensity difference of the linearly polarized light in the first direction of each point and the light intensity difference of the linearly polarized light in the second direction of each point.
The invention also provides a sky polarization mode information acquisition device, comprising:
the image acquisition unit is used for acquiring a plurality of images representing sky polarization mode information and acquiring the polarized light intensity of a target area in each image; the rotating angles of the polaroids corresponding to the images are different;
a parameter solving unit, configured to solve the polarization information model by using the polarized light intensity of the target region in each image as a known parameter, or by using the polarized light intensity of the target region in each image and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target region in each image as a known parameter, to obtain an optimal polarizer rotation angle corresponding to each image and an optimal polarization parameter of the target region in each image, where the polarization information model represents a relationship between the polarized light intensity of the target region in each image, the polarizer rotation angle corresponding to each image, and the polarization parameter of the target region in each image;
the information determining unit is used for determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
The present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the steps of any of the above-mentioned sky polarization mode information acquisition methods.
The present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the sky polarization mode information acquisition method as described in any one of the above.
The sky polarization mode information acquisition method, the device, the electronic equipment and the storage medium provided by the invention take the polarized light intensity of the target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the rotating angle of the polaroid corresponding to each image and the polarization parameter of the target area in each image as known parameters, solving the polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, therefore, errors caused by inaccurate rotation of the polaroid during actual measurement are avoided, the accuracy of sky polarization mode information acquisition is improved, and more reliable polarization information data are provided for polarized light navigation.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a sky polarization mode information obtaining method according to an embodiment of the present invention;
fig. 2 is a second schematic flowchart of a sky polarization mode information obtaining method according to the present invention;
FIG. 3 is a schematic diagram of the decreasing cost function E provided by the present invention as the number of iterations increases;
FIG. 4 is a drawing of the present inventionA set of target areas N foroThe polarization degree and polarization angle estimated value of 10 and a real polarization angle and polarization degree equivalent graph;
FIG. 5 is a schematic diagram of comparing measured values and real values of sky polarization mode information provided by the present invention;
fig. 6 is a schematic structural diagram of a sky polarization mode information acquisition apparatus provided in the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 existing sky polarization mode information is mostly acquired through a polarization information measuring system, however, the measuring system needs to rotate the direction of the polaroid for many times in the measuring process, and when the polaroid is rotated rapidly, the polaroid can not be rotated to a specified angle accurately, so that errors are caused.
Accordingly, the present invention provides a method for acquiring sky polarization mode information. Fig. 1 is a schematic flowchart of a sky polarization mode information obtaining method provided by the present invention, as shown in fig. 1, the method includes the following steps:
step 110, collecting a plurality of images representing sky polarization mode information, and acquiring the polarized light intensity of a target area in each image; the polarizing plate rotation angle is different for each image.
Specifically, a sky polarization information measurement system is used for continuously rotating a polarizer, images of sky polarization mode information in a plurality of different angle directions of a whole sky area are collected, for example, a polarizer rotation angle coordinate system is set, the polarizer is rotated to m from a starting angle, and the polarizer angle is thetaoAfter the incident light enters the sensor through the polaroid to be imaged, the polarized light intensity phi of the target point o in the image can be expressed by adopting Stokes vectorm,oExpressed as:
wherein, IoUnbiased light intensity of point o, Qo、UoRespectively representing the difference of the linearly polarized light intensities in two orthogonal directions. Based on the polarized light intensity phi of the target point o in the imagem，oThe polarized light intensity of each point of the target area in each image, i.e. the polarized light intensity of the target area, can be determined.
Expression (1) is expressed in matrix form:
degree of polarization d in sky polarization mode informationoAnd angle of polarization alphaoThe information may be represented as:
the combined type (2) and the formula (3) can obtain the polarized light intensity phi of the target o point by utilizing the sine and cosine propertym，oThe matrix expression of (c):
wherein phim，oRepresenting the intensity of the polarized light, theta, of a target area point o in the imageoIs the rotation angle of the polarizer, doIs degree of o-point polarization, alphaoAngle of polarization at o point, IoUnbiased light intensity at point o.
And after a sky area is selected, rotating the polaroid for N times to acquire N frames of sky polarization mode information images. Polarized light intensity phi of target area point o in N frame imagesn，oCan be expressed as:
wherein phin，oIndicating the intensity of polarized light, { θ ] of the target region point o in the N-frame image corresponding to the angle of N times of polarizer rotation1，θ1，...θnIs the set of polarizer rotation angles.
Because each frame of image in N frames of images of the polarization information measurement system for acquiring sky polarization mode information contains ten million pixel points, a group of target areas N are acquired in the N frames of imageso(a sub-region set composed of a plurality of pixels) of a target region N in N frame images acquired by rotating a polarizing plate N timesoThe polarization information of (a) may be expressed as:
order to
Formula (6) is noted as:
C＝HA (8)
wherein
Assuming that the polarizer is rotated by any angle and the angle value is unknown, the aim is to estimate the set of the rotation angles of the polarizer when the polarized image of the sky area is collected { thetamAnd polarization parameters of all target areas in the image { I }o,do,αo}. Let θ 10 is the initial position of the origin, and all rotation angles are from the origin, and therefore, the first angle θ of rotation with respect to the polarizing plate1Angle set of rotation of polarizer
And angle of polarization in polarization parameters
Can be estimated, let H be:
formula (6) has nN on the leftoThe measured values are known, and the number of unknowns on the right of the equation is (N-1) +3NoThe number of equations needed to solve the unknowns is:
nNo≥(n-1)+3No (12)
wherein N is the number of frames of the image acquired by rotating the polaroid for N times, NoIs the number of target regions in a single frame image, n>0，No>0, and N and NoAre all integers. To make it in(6) Having solutions, N and NoThe numerical values of (A) satisfy the following conditions:
the number of pixels of a single frame image of the sky polarization mode information acquired by the system is 4000 x 4000, so that the number of target areas is generally NoAnd (3) rotating the polaroid within the measurement error range to obtain a group of polaroid angles
The true value of (1) is generally taken
Therefore, when the number of unknowns satisfies the condition (c) in equation (13), equation (6) has a solution.
Will be provided with
Coefficient matrix H for obtaining polarizer rotation angle with formula (9)trueThe matrix can be used to align the corresponding polarization parameters
Is represented by a matrixmeasured. And (3) using a least square method for iterative calculation, estimating the optimal polarizer rotation angle and the optimal polarization parameters, and finally calculating the Stokes vector of the target. Due to the influence of system noise and other interference factors, the theoretical calculation value and the actual measurement value of the polarized light intensity of each target area have errors ferrorNot equal to 0, the mean square error of the measurement model and data can therefore be expressed as:
ferror＝||C-HtrueAmeasured||2 (14)
from the above analysis, the estimation of the polarization parameters is accomplished by an optimization method, and the cost function is set as:
f＝||C-HA||2 (15)
similar to formula (14), ofThe unknown parameters comprising a set of polarizer rotation angles
In addition, the unknown parameters of f also comprise a target polarization parameter feature set, namely A;
as shown in fig. 2, the method for acquiring sky polarization mode information in the embodiment of the present invention mainly includes: continuously rotating a polaroid by using a polarization information measurement system, and collecting a multiframe polarization mode information image of a sky; constructing a model of the polarized light intensity, the polarizer rotation angle set and the polarization parameters of a target area in the acquired sky polarization mode information image, wherein C represents the polarized light intensity of the target area in a multi-frame image, H represents a coefficient matrix of the polarizer rotation angle, and A represents the polarization parameters (such as the polarization degree, the polarization angle and the non-polarized light intensity); and (3) constructing a cost function, calculating an optimal solution by adopting a least square method iterative regression model to realize accurate estimation of the rotation angle of the polaroid, and finally realizing self-adaptive acquisition of polarization parameters (such as polarization degree and polarization angle) of sky polarization mode information.
The embodiment of the invention provides a method for estimating the rotation angle of a polaroid by using a self-adaptive algorithm under the condition that the specific rotation angle of the polaroid is unknown aiming at the error caused by inaccurate rotation of the polaroid in the process of acquiring polarization information by a polarization information measuring system, so that the polarization angle and the polarization degree information of a sky polarization mode are calculated, the error caused by inaccurate rotation of the polaroid in the actual measurement process is avoided, the accuracy of acquiring the atmospheric polarization mode information is improved, more reliable polarization information data are provided for polarized light navigation, and a guarantee of data accuracy and a new thought and a new method are provided for the application of the sky polarization mode information.
The sky polarization mode information acquisition method provided by the embodiment of the invention takes the polarized light intensity of the target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the rotating angle of the polaroid corresponding to each image and the polarization parameter of the target area in each image as known parameters, solving the polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, therefore, errors caused by inaccurate rotation of the polaroid during actual measurement are avoided, the accuracy of sky polarization mode information acquisition is improved, and more reliable polarization information data are provided for polarized light navigation.
Based on the above embodiment, the polarization information model is constructed based on the following steps:
constructing an initial polarization information model of each image by adopting a Stokes vector representation method based on the polarized light intensity of each point of a target area in each image, the rotating angle of a polarizer corresponding to each point of the target area in each image, the unbiased light intensity corresponding to each point of the target area in each image, the linearly polarized light intensity difference of each point of the target area in each image in the first direction and the linearly polarized light intensity difference of each point of the target area in each image in the second direction; the first direction is orthogonal to the second direction;
expressing the light intensity difference of linearly polarized light of each point of the target area in each image in a first direction by the polarized light intensity of each point of the target area in each image, the corresponding polarization degree of each point of the target area in each image and the corresponding polarization angle of each point of the target area in each image to obtain a first expression; expressing the light intensity difference of the linearly polarized light in the second direction of each point of the target area in each image by the polarized light intensity of each point of the target area in each image, the corresponding polarization degree of each point of the target area in each image and the corresponding polarization angle of each point of the target area in each image to obtain a second expression;
and substituting the first expression and the second expression into the initial polarization information model of each image, and fusing the initial polarization information models of each image to obtain a polarization information model.
Specifically, a sky polarization information measuring system is used for continuously rotating a polaroid to collectAn image of sky polarization mode information in multiple different angle directions of a whole sky region is obtained by setting a polarizer rotation angle coordinate system, and rotating the polarizer from a start angle to m position, wherein the polarizer angle is θoAfter the incident light enters the sensor through the polaroid to be imaged, the polarized light intensity phi of the target point o in the image can be expressed by adopting Stokes vectorm,oExpressed as:
wherein, IoUnbiased light intensity of point o, Qo、UoRespectively representing the difference of the linearly polarized light intensities in two orthogonal directions. Based on the polarized light intensity phi of the target point o in the imagem,oThe polarized light intensity of each point of the target area in each image, i.e. the polarized light intensity of the target area, can be determined.
Expressing the formula (1) as a matrix form, obtaining an initial polarization information model:
degree of polarization in sky polarization mode informationDolpAnd angle of polarizationAolpThe information may be represented as:
the combined type (2) and the formula (3) can obtain the polarized light intensity phi of the target o point by utilizing the sine and cosine propertym,oMatrix expression (in I)odocos2αoAs a first expression, it is used for expressing the light intensity difference of linearly polarized light in a first direction of each point, and Iodosin2αoAs a second expression, for expressing the difference in the intensity of linearly polarized light in the second direction of each point):
wherein phim,oRepresenting the intensity of the polarized light, theta, of a target area point o in the imageoIs the rotation angle of the polarizer, doIs degree of o-point polarization, alphaoAngle of polarization at o point, IoUnbiased light intensity at point o.
And after a sky area is selected, rotating the polaroid for N times to acquire N frames of sky polarization mode information images. Polarized light intensity phi of target area point o in N frame imagesn,oCan be expressed as:
wherein phin,oIndicating the intensity of polarized light, { θ ] of the target region point o in the N-frame image corresponding to the angle of N times of polarizer rotation1,θ1，...θnIs the set of polarizer rotation angles.
Because each frame of image in N frames of images of the polarization information measurement system for acquiring sky polarization mode information contains ten million pixel points, a group of target areas N are acquired in the N frames of imageso(a sub-region set composed of a plurality of pixels) of a target region N in N frame images acquired by rotating a polarizing plate N timesoThe polarization information of (a) may be expressed as:
order to
The following polarization information model can thus be obtained:
C＝HA (8)
wherein the content of the first and second substances,
based on any of the above embodiments, the polarization information model is:
C＝HA；
wherein the content of the first and second substances,
indicating the intensity of the polarized light at each point of the target area in the nth image, InRepresenting the unbiased light intensity of each point of the target area in the nth image, dnRepresenting the degree of polarization of each point of the target area in the nth image,
representing the polarization angle, theta, of each point of the target area in the nth imagenThe polarizer rotation angle for each point of the target area in the nth image is shown.
Based on any of the above embodiments, solving the polarization information model with the polarized light intensity of the target region in each image and the polarizer rotation angle corresponding to each image as known parameters to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target region in each image includes:
the polarized light intensity of the target area in each image and the rotating angle of the polaroid corresponding to each image are used as known parameters, a first model is adopted to carry out least square estimation on the polarized parameters of the target area in each image to obtain a first column vector corresponding to the polarized parameters of the target area in each image, and the optimal polarized parameters of the target area in each image are determined based on the first column vectors;
the first model is:
wherein the content of the first and second substances,
a first column of vectors is represented, and,
0hrepresenting a zero matrix.
Specifically, if H in the polarization information model is known, each unknown parameter of a in the polarization information model is estimated. The parameter a in equation (8) is estimated using the least square method.
Using vectors
To represent
C is C, 0hA zero matrix is represented with dimension H. Set the rotating angle set of polaroid
Given, then unconstrained least squares estimation
Comprises the following steps:
wherein the content of the first and second substances,
represents MhThe transposed matrix of (2).
Based on any of the above embodiments, solving the polarization information model with the polarized light intensity of the target region in each image and the polarization parameter of the target region in each image as known parameters to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target region in each image includes:
the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image are used as known parameters, a second model is adopted to carry out least square estimation on the polarizer rotation angle corresponding to each image to obtain a second column vector corresponding to the polarizer rotation angle corresponding to each image, and the optimal polarizer rotation angle corresponding to each image is determined based on each second column vector;
the second model is:
wherein the content of the first and second substances,
a second column vector is represented which is,
0athe dimension of expression is
The zero matrix of (a) is,
specifically, if a in the polarization information model is known, the unknown parameter H is estimated. The parameter H in equation (8) is estimated using the least square method. Defining a matrix:
let 1 be a length ofNmAll its elements are 1. Definition of
Then, it is obtained by the formula (8, 10, 11, 19, 20):
therefore, the temperature of the molten metal is controlled,
wherein
Is unknown.
Is provided with
Is composed of
The column vector of (a) is,
first element N ofoAnd
is irrelevant, therefore
Can be erased, provided
The clipped matrix of
Wherein
Front N ofoIndividual elements are eliminated. Expressed by a vector h
The column vector of (2). The unconstrained least squares estimate of h is:
wherein
Wherein 0aRepresents a zero matrix of dimensions
The vector obtained by equation (24) is equivalent to a matrix
Namely, the estimation of equation (23). Let < vz+1Is composed of
To (1) azColumn, according to equation (23), the estimation of the polarizer rotation direction is:
based on any of the above embodiments, solving the polarization information model with the polarized light intensity of the target area in each image as a known parameter to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image includes:
a polarizing plate rotation angle determining step: determining a polarizer rotation angle corresponding to each image based on a polarization device;
a polarization parameter estimation step: performing least square estimation on the polarization parameters of the target area in each image by using a first model to obtain a first column vector corresponding to the polarization parameters of the target area in each image, and determining the polarization parameters of the target area in each image based on each first column vector;
a polarizing plate rotation angle estimation step: the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image are used as known parameters, a second model is adopted to carry out least square estimation on the polarizer rotation angle corresponding to each image to obtain a second column vector corresponding to the polarizer rotation angle corresponding to each image, and the polarizer rotation angle corresponding to each image is determined based on each second column vector;
an error cost determination step: determining error cost by adopting a minimum mean square error cost function based on the polarization parameters of the target area in each image and the rotating angle of the polaroid corresponding to each image;
iteration step: and circularly executing the polarization parameter estimation step, the polaroid rotation angle estimation step and the error cost determination step until the error cost reaches a preset value, and taking the polarization parameter of the corresponding target area in each image as an optimal polarization parameter and the polaroid rotation angle corresponding to each image as an optimal polaroid rotation angle.
Specifically, if both H and a in the polarization information model are unknown, the values of the parameter H and the parameter a are estimated to be close to the accurate values by adopting the alternate minimization, and the specific process is as follows:
(a) according to the prior knowledge, the rotation starting angle of the polaroid can be roughly obtained in the process of rotating the polaroid
Each iteration k is 1,2,3 ….
(b) Based on
Estimation using equations (7), (11) and the polarization parameter estimation step
(c) Estimated based on a polarization parameter estimation step
Estimating a set of polarizer rotation angles using equations (7) and (10) and the polarizer rotation angle estimating step
(d) And (c) repeating the iteration of (b) and (c) until convergence (if the error cost reaches a preset value), and finally obtaining the parameter H and the parameter A.
Wherein the standard minimum mean square error cost function is:
where f represents the result of iterating i times, and the cost function E decreases as the number of iterations increases. The final goal is to find a set of values that are closest to the standard polarization measurement:
and
the closer the estimated value is to the theoretical standard value, the cost function E → 1. The number of iterations is set to 100, and the iterations are continued to minimize f, and the value of the cost function E of equation (27) is continuously close to 1.
As shown in fig. 3, the cost function E of equation (27) converges with the increase of the number of iterations i. After 100 iterations E converges gradually to 1, i.e. f and ftureThe values of (a) and (b) are getting closer together, the final iteration result:
and
i.e. the closer the values of the polarization parameters in the set of polarizer rotation angles and parameter a are to the true values. Table 1 is a table of estimated polarizer rotation angle values, as shown in Table 1, NmRepresenting a rough angle of rotation of the polarizer, NeAngle, N, representing the algorithm estimate after 100 iterationstrueRepresenting the true angle of rotation of the polarizer. The results show that the angle error is less than 1%.
TABLE 1
Based on any of the above embodiments, determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target region in each image includes:
determining the unbiased light intensity corresponding to the target area in each image based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image;
determining the light intensity difference of linearly polarized light in a first direction of each point and the light intensity difference of linearly polarized light in a second direction of each point based on the unbiased light intensity corresponding to the target area in each image and the optimal polarizer rotation angle corresponding to each image;
determining the polarization degree of each image based on the unbiased light intensity corresponding to the target area in each image, the linearly polarized light intensity difference of each point in the first direction and the linearly polarized light intensity difference of each point in the second direction; and determining the polarization angle of each image based on the light intensity difference of the linearly polarized light in the first direction of each point and the light intensity difference of the linearly polarized light in the second direction of each point.
Specifically, according to any of the above embodiments, a set of optimal solutions of the polarizer rotation angle can be estimated
I.e. optimum polarizer rotation angle, set I1、I2、I3A set of optimal solutions { theta, each representing the rotation angle of the polarizer1，θ2，θ3The polarized light intensity value of the corresponding polarized image is obtained by the following formula (1):
in formula (28), the following results are obtained:
from equation (29), the value I, Q, U in the Stokes vector can be calculated as:
the degree of polarization d of the sky polarization mode image can be obtained by bringing the formula (30) into the formula (3)oAnd angle of polarization alphaoAnd (4) information.
Further, N is calculated by using the expressions (3) and (30)eCollecting the information of the polarization degree and the polarization angle of 10 target areas of the corresponding image and corresponding to the real angle NtrueThe polarization degrees of the 10 target regions corresponding to the set are compared with the polarization angle information, as shown in fig. 4, and the ordinate d represents N estimated by the methodeDegree of polarization, d, obtained by collective calculationtRepresenting the true angle ΨtThe real polarization degree obtained by aggregation; the ordinate alpha represents N estimated by the methodeIntegrating the calculated polarization angle, alphatRepresenting true angle NtrueThe calculated true polarization angles are aggregated.
As shown in FIG. 4, the angle N is estimated by the methodeThe values of the polarization degree and the polarization angle of the 10 target regions in the set and the true angle NeThe values of the polarization degrees and the polarization angles calculated in the set are substantially identical.
Further, in order to verify the stability of the method provided by the embodiment of the invention. Can select the morningThree frames of images obtained by rotating the polarizer by 0 degrees, 60 degrees and 120 degrees at 11:00 hours are used for calculating the polarization degree d of the sky polarization mode information at the moment by using the formulas (3) and (30)oAnd angle of polarization alphaoInformation; estimating a polarizer rotation angle set N 'of three measured images by adopting any embodiment method'eThen, the polarization degree d of the sky polarization mode information is calculated by using the equations (3) and (30)oAnd angle of polarization alphaoInformation is obtained, and the polarization degree and the polarization angle are respectively differentiated to obtain the difference value of the polarization degree
Difference from polarization angle
As shown in fig. 5. To verify the validity of the method. Counting the difference result of the polarization degree and the polarization angle, wherein the difference of the polarization angle satisfies
Has effective pixel points and meets the polarization degree
The pixel point of (2) is valid. The statistical result shows that the proportion of effective pixel points of the polarization angle and the polarization degree is 100%.
Further, the threshold is reduced and the difference threshold of the polarization angles is set to
The threshold value of the difference of the polarization degrees is set as
The statistical result shows that the effective pixel point proportion of the polarization angle and the polarization degree is respectively 99.65% and 99.75%, so that the polarization angle value and the polarization degree value calculated by the self-adaptive algorithm provided by the embodiment of the invention are accurate and effective.
Finally, the polarizer is rotated by a rough angle NmTrue angle of rotation N with the polarizertrueIs less than 1. MiningThe accuracy of the polarizer rotation angle calculated by the self-adaptive method meets the technical requirement, and the problem of alignment of the polarizer rotation angle and the real angle is solved.
Therefore, the method for acquiring the sky polarization mode information avoids errors caused by inaccurate rotation of the polaroid in the actual measurement process, improves the measurement precision of the sky polarization mode information, and enables the acquired result to be more objective and effective; iterative operation is carried out by adopting a least square method, the optimal solution of the rotating angle value of the polaroid is found by iterative calculation, and the accuracy, reliability, effectiveness and universality of the calculation are improved. The method provides effective support for the polarization navigation technology, so that the precision of the polarization mode information measurement in the polarization navigation is higher, and the navigation precision is improved.
In addition, in the traditional method, in the process of collecting polarization information data by using a polarization measurement system, the polarizer is rotated to a specified angle in a short time by manually rotating the polarizer, so that the polarizer cannot be accurately rotated to a specified position every time.
Furthermore, the polarizer is difficult to be aligned with the true angle by manually rotating the polarizer, and the embodiment can calculate the polarizer rotation angle accurately, improve the calculation accuracy of the polarization degree and the polarization angle information, reduce the system measurement error of the system during the measurement of the polarization mode information, and improve the overall performance of the polarization information measurement system.
The sky polarization mode information acquisition device provided by the present invention is described below, and the sky polarization mode information acquisition device described below and the sky polarization mode information acquisition method described above may be referred to in correspondence with each other.
Based on the above embodiments, the present invention provides a sky polarization mode information obtaining apparatus, as shown in fig. 6, the apparatus includes:
the image acquisition unit 610 is configured to acquire a plurality of images representing sky polarization mode information and acquire polarized light intensity of a target region in each image; the rotating angles of the polaroids corresponding to the images are different;
a parameter solving unit 620, configured to solve the polarization information model by using the polarized light intensity of the target region in each image as a known parameter, or by using the polarized light intensity of the target region in each image and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target region in each image as a known parameter, to obtain an optimal polarizer rotation angle corresponding to each image and an optimal polarization parameter of the target region in each image, where the polarization information model represents a relationship between the polarized light intensity of the target region in each image, the polarizer rotation angle corresponding to each image, and the polarization parameter of the target region in each image;
an information determining unit 630, configured to determine sky polarization mode information based on an optimal polarizer rotation angle corresponding to each image and an optimal polarization parameter of a target region in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
Fig. 7 is a schematic structural diagram of an electronic device provided in the present invention, and as shown in fig. 7, the electronic device may include: a processor (processor)710, a memory (memory)720, a communication Interface (Communications Interface)730, and a communication bus 740, wherein the processor 710, the memory 720, and the communication Interface 730 communicate with each other via the communication bus 740. Processor 710 may invoke logic instructions in memory 720 to perform a sky polarization mode information acquisition method comprising: collecting a plurality of images representing sky polarization mode information, and acquiring the polarized light intensity of a target area in each image; the rotating angles of the polaroids corresponding to the images are different; taking the polarized light intensity of the target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image as a known parameter, solving the polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, wherein the polarization information model represents the relationship among the polarized light intensity of the target area in each image, the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image; determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameters of the target area in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
Furthermore, the logic instructions in the memory 720 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, which when executed by a computer, enable the computer to execute the sky polarization mode information acquisition method provided by the above methods, the method including: collecting a plurality of images representing sky polarization mode information, and acquiring the polarized light intensity of a target area in each image; the rotating angles of the polaroids corresponding to the images are different; taking the polarized light intensity of the target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image as a known parameter, solving the polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, wherein the polarization information model represents the relationship among the polarized light intensity of the target area in each image, the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image; determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameters of the target area in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the above-mentioned methods for acquiring sky polarization mode information, the method comprising: collecting a plurality of images representing sky polarization mode information, and acquiring the polarized light intensity of a target area in each image; the rotating angles of the polaroids corresponding to the images are different; taking the polarized light intensity of the target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image as a known parameter, solving the polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, wherein the polarization information model represents the relationship among the polarized light intensity of the target area in each image, the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image; determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameters of the target area in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for acquiring sky polarization mode information is characterized by comprising the following steps:
collecting a plurality of images representing sky polarization mode information, and acquiring the polarized light intensity of a target area in each image; the rotating angles of the polaroids corresponding to the images are different;
taking the polarized light intensity of the target area in each image as a known parameter, or taking the polarized light intensity of the target area in each image, and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image as a known parameter, solving a polarization information model to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image, wherein the polarization information model represents the relationship among the polarized light intensity of the target area in each image, the polarizer rotation angle corresponding to each image and the polarization parameter of the target area in each image;
determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameters of the target area in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
2. The sky polarization mode information acquisition method of claim 1, wherein the polarization information model is constructed based on:
constructing an initial polarization information model of each image by adopting a Stokes vector representation method based on the polarized light intensity of each point of a target area in each image, the rotating angle of a polarizer corresponding to each point of the target area in each image, the unbiased light intensity corresponding to each point of the target area in each image, the linearly polarized light intensity difference of each point of the target area in each image in the first direction and the linearly polarized light intensity difference of each point of the target area in each image in the second direction; the first direction is orthogonal to the second direction;
expressing the light intensity difference of linearly polarized light of each point of the target area in each image in a first direction by the polarized light intensity of each point of the target area in each image, the corresponding polarization degree of each point of the target area in each image and the corresponding polarization angle of each point of the target area in each image to obtain a first expression; expressing the light intensity difference of the linearly polarized light in the second direction of each point of the target area in each image by the polarized light intensity of each point of the target area in each image, the corresponding polarization degree of each point of the target area in each image and the corresponding polarization angle of each point of the target area in each image to obtain a second expression;
and substituting the first expression and the second expression into the initial polarization information model of each image, and fusing the initial polarization information model of each image to obtain the polarization information model.
3. The sky polarization mode information acquisition method of claim 2, wherein the polarization information model is:
C＝HA；
wherein the content of the first and second substances,
representing the intensity of the polarized light at each point of the target area in the nth image, 5InRepresenting the unbiased light intensity of each point of the target area in the nth image, dnRepresenting the degree of polarization of each point of the target area in the nth image,
representing the polarization angle, theta, of each point of the target area in the nth imagenThe polarizer rotation angle for each point of the target area in the nth image is shown.
4. A sky polarization mode information acquisition method according to claim 3, wherein the solving the polarization information model with the polarized light intensity of the target area in each image and the polarization 10 rotation angle corresponding to each image as known parameters to obtain the optimal polarization parameter of the target area in each image and the optimal polarization angle corresponding to each image comprises:
taking the polarized light intensity of the target area in each image and the rotating angle of a polaroid corresponding to each image as known parameters, performing least square estimation on the polarized parameters 15 of the target area in each image by adopting a first model to obtain a first column vector corresponding to the polarized parameters of the target area in each image, and determining the optimal polarized parameters of the target area in each image based on the first column vector;
the first model is:
wherein the content of the first and second substances,
representing the first column of vectors and the second column of vectors,
0hrepresenting a zero matrix.
5. The sky polarization mode information acquisition method of claim 4, wherein the solving the polarization information model with the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image as known parameters to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image comprises:
the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image are used as known parameters, a second model is adopted to carry out least square estimation on the polarizer rotation angle corresponding to each image to obtain a second column vector corresponding to the polarizer rotation angle corresponding to each image, and the optimal polarizer rotation angle corresponding to each image is determined based on each second column vector;
the second model is:
wherein the content of the first and second substances,
representing the second column vector of the second image,
0athe dimension of expression is
The zero matrix of (a) is,
6. the sky polarization mode information acquisition method of claim 5, wherein the solving the polarization information model with the polarized light intensity of the target area in each image as a known parameter to obtain the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image comprises:
a polarizing plate rotation angle determining step: determining a polarizer rotation angle corresponding to each image based on a polarization device;
a polarization parameter estimation step: performing least square estimation on the polarization parameters of the target area in each image by using the first model to obtain a first column vector corresponding to the polarization parameters of the target area in each image, and determining the polarization parameters of the target area in each image based on each first column vector;
a polarizing plate rotation angle estimation step: the polarized light intensity of the target area in each image and the polarization parameter of the target area in each image are used as known parameters, a second model is adopted to carry out least square estimation on the polarizer rotation angle corresponding to each image to obtain a second column vector corresponding to the polarizer rotation angle corresponding to each image, and the polarizer rotation angle corresponding to each image is determined based on each second column vector;
an error cost determination step: determining error cost by adopting a minimum mean square error cost function based on the polarization parameters of the target area in each image and the rotating angle of the polaroid corresponding to each image;
iteration step: and circularly executing the polarization parameter estimation step, the polaroid rotation angle estimation step and the error cost determination step until the error cost reaches a preset value, and taking the polarization parameter of the corresponding target area in each image as an optimal polarization parameter and the polaroid rotation angle corresponding to each image as an optimal polaroid rotation angle.
7. The sky polarization mode information acquisition method according to any one of claims 2 to 6, wherein the determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image comprises:
determining the unbiased light intensity corresponding to the target area in each image based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image;
determining the light intensity difference of linearly polarized light in the first direction of each point and the light intensity difference of linearly polarized light in the second direction of each point based on the unbiased light intensity corresponding to the target area in each image and the optimal polarizer rotation angle corresponding to each image;
determining the polarization degree of each image based on the unbiased light intensity corresponding to the target area in each image, the linearly polarized light intensity difference of each point in the first direction and the linearly polarized light intensity difference of each point in the second direction; and determining the polarization angle of each image based on the light intensity difference of the linearly polarized light in the first direction of each point and the light intensity difference of the linearly polarized light in the second direction of each point.
8. A sky polarization mode information acquisition apparatus, comprising:
the image acquisition unit is used for acquiring a plurality of images representing sky polarization mode information and acquiring the polarized light intensity of a target area in each image; the rotating angles of the polaroids corresponding to the images are different;
a parameter solving unit, configured to solve the polarization information model by using the polarized light intensity of the target region in each image as a known parameter, or by using the polarized light intensity of the target region in each image and any one of the polarizer rotation angle corresponding to each image and the polarization parameter of the target region in each image as a known parameter, to obtain an optimal polarizer rotation angle corresponding to each image and an optimal polarization parameter of the target region in each image, where the polarization information model represents a relationship between the polarized light intensity of the target region in each image, the polarizer rotation angle corresponding to each image, and the polarization parameter of the target region in each image;
the information determining unit is used for determining sky polarization mode information based on the optimal polarizer rotation angle corresponding to each image and the optimal polarization parameter of the target area in each image; the sky polarization mode information includes a polarization degree of each image and a polarization angle of each image.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the steps of the sky polarization mode information acquisition method as claimed in any one of claims 1 to 7.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor implements the steps of the sky polarization mode information acquisition method as claimed in any one of claims 1 to 7.
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| CN116773457B (en) * | 2023-08-18 | 2024-05-17 | 华东交通大学 | Polarization measurement method, system, equipment and medium based on Stokes parameters |
| CN118279208A (en) * | 2024-06-04 | 2024-07-02 | 长春理工大学 | Polarization parameter shaping method |
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