CN114993295A - Autonomous navigation method based on polarization orientation error compensation - Google Patents
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Abstract
The invention discloses an autonomous navigation method based on polarization orientation error compensation, which comprises the following steps: acquiring an atmospheric polarization image of the sky; carrying out region division on the atmospheric polarization image based on the polarization degree to obtain a high-polarization-degree region and a low-polarization-degree region; carrying out nearest neighbor interpolation on the high polarization degree area, and carrying out bilinear interpolation on the low polarization degree area to obtain a reconstructed atmospheric polarization image; and extracting a solar meridian line based on the reconstructed atmospheric polarization image to obtain the course angle of the carrier. The invention is applied to the field of polarized light navigation, introduces the polarization degree information into the atmosphere polarized image reconstruction process based on the unique structure of the array polarized light sensor, and divides the polarized image into regions based on the polarization degree, designs a polarization degree guided adaptive image interpolation compensation method.
Description
Technical Field
The invention relates to the technical field of polarized light navigation, in particular to an autonomous navigation method based on polarization orientation error compensation.
Background
The bionic polarized light navigation is a novel autonomous navigation mode, and has the advantages of no error accumulation along with time, strong autonomy and the like. At present, an array polarized light sensor based on a polarization chip is a mainstream sensor in the field of bionic polarized light navigation, and has the advantages of small volume, light weight, capability of acquiring polarized light in four different directions at one time and the like.
Due to the unique structure (2 multiplied by 2 pixels form a super pixel), the array polarized light sensor can solve a polarization state from information acquired by four pixels, introduces instantaneous field of view errors, reduces resolution, causes large polarized light orientation errors in complex weather, and further influences the orientation accuracy of the array polarized light sensor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the autonomous navigation method based on polarization orientation error compensation, which can effectively improve the orientation precision of the array type polarized light sensor.
In order to achieve the above object, the present invention provides an autonomous navigation method based on polarization orientation error compensation, comprising the following steps:
acquiring an atmospheric polarization image of the sky;
aiming at instantaneous field errors existing in the array polarized light sensor, introducing polarization degree information into an atmospheric polarization image reconstruction process: carrying out region division on the atmospheric polarization image based on the polarization degree to obtain a high-polarization-degree region and a low-polarization-degree region;
and (3) carrying out self-adaptive image interpolation compensation processing based on polarization degree guidance: carrying out nearest neighbor interpolation on the high polarization degree area, and carrying out bilinear interpolation on the low polarization degree area to obtain a reconstructed atmospheric polarization image;
and extracting a solar meridian line based on the reconstructed atmospheric polarization image to obtain the course angle of the carrier.
In one embodiment, the original atmospheric polarization image has a size ofm·nThe size of the reconstructed atmospheric polarization image isM·NWhereinM=2m，N=2n。
in one embodiment, the area division is performed on the atmospheric polarization image based on the polarization degree to obtain a high polarization degree area and a low polarization degree area, and specifically includes:
projecting the point to be interpolated in the reconstructed atmosphere polarization image back to the original atmosphere polarization image, and recording the position of the point to be interpolated in the original atmosphere polarization image as (A), (B)i+p，j+q) Whereini、jthe integer part of the coordinates of the pixel points is represented,p、qa decimal portion representing the coordinates of the pixel points;
calculating pixel points of points to be interpolated in the original atmospheric polarization image (i+p，j+q) Neighborhood four pixels points of (i，j)、(i+1，j)、(i，j+1)、(i+1，j+1) average value of degree of polarizationdop mean The method comprises the following steps:
in the formula,dop(i，j)、dop(i+1，j)、dop(i，j+1)、dop(i+1，j+1 are pixel points in the original atmospheric polarization image (respectivelyi，j)、(i+1，j)、(i，j+1)、(i+1，j+1) degree of polarization;
to-be-interpolated point (i+p，j+q) The classification is as follows:
wherein,R H a region of high degree of polarization is represented,R L indicating a region of low polarization.
In one embodiment, the performing nearest neighbor interpolation on the high-polarization-degree region and performing bilinear interpolation on the low-polarization-degree region to obtain the reconstructed atmospheric polarization image specifically includes:
if the point to be interpolated (i+p，j+q)∈R L ：
Let the point to be interpolated in the reconstructed atmospheric polarization image (i+p，j+q) Pixel value off(i+p，j+q) Equal to the off-pixel point in the original atmospheric polarization image (i+p，j+q) The pixel value of the nearest pixel point;
if the point to be interpolated (i+p，j+q)∈R H ：
Let the point to be interpolated in the reconstructed atmospheric polarization image (i+p，j+q) Pixel value of (2)f(i+p，j+q) Equal to the pixels in the original atmospheric polarization image (i+p，j+q) The weighted sum of the four neighborhood pixel values of (a):
in the formula,f(i，j)、f(i+1，j)、f(i，j+1)、f(i+1，j+1 are pixel points in the original atmospheric polarization image (respectivelyi，j)、(i+1，j)、(i，j+1)、(i+1，jA pixel value of +1) of the pixel,w 1 、w 2 、w 3 、w 4 are the weight coefficients.
In one of the embodiments, the first and second electrodes are,w 1 =(1-p)·(1-q)，w 2 =p·(1-q)，w 3 =(1-p)·q，w 4 =p·q。
in one embodiment, the extracting a solar meridian based on the reconstructed atmospheric polarization image to obtain the heading angle of the carrier specifically includes:
firstly, calculating the polarization angle of each pixel point in a reconstructed atmospheric polarization image to obtain a reconstructed high-resolution polarization angle image;
then, calculating the gradient of the polarization angle image, fitting a straight line by a least square method to obtain an included angle between a solar meridian and a coordinate axis, and calculating an included angle between the solar meridian and the north direction by a solar ephemeris to obtain the course angle of the carrier.
The invention provides an autonomous navigation method based on polarization orientation error compensation, which introduces polarization degree information into an atmosphere polarization image reconstruction process based on a unique structure of an array type polarized light sensor, divides a polarization image into regions based on the polarization degree, designs a polarization degree guided adaptive image interpolation compensation method, and can improve the orientation precision of the array type polarized light sensor after adding the adaptive image interpolation compensation method compared with the traditional orientation method.
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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 used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flowchart of an autonomous navigation method according to an embodiment of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
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.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Due to the unique structure of the array type polarized light sensor (2 multiplied by 2 pixels form a super pixel), information collected by four pixels can be used for calculating a polarization state, instantaneous field of view errors are introduced, the resolution is reduced, and polarized light orientation errors under complex weather are large. In this regard, the present embodiment performs error analysis on the array type polarized light sensor based on Stokes equation:
the array polarized light sensor can acquire the polarized light intensities of four different directions in one-time acquisitionI 0 、I 45 、I 90 AndI 135 the polarization angle can be obtained by combining the Stokes intensity equationφAnd degree of linear polarizationdComprises the following steps:
wherein:
let the polarization angle error be
Then the polarization angle containing the error
Can be expressed as:
according to the formulas (1) and (3), the error source of the polarization angle caused by the array type polarized light sensor mainly comprises the induced light intensity error
、
And
the light intensity errors in three different directions affect the polarization angle, and the polarization angle errors cause the polarization light orientation errors, so that the errors need to be processed. Based on this, the present embodiment discloses an autonomous navigation method based on polarization orientation error compensation, and with reference to fig. 1, the autonomous navigation method specifically includes the following steps:
and acquiring an original atmospheric polarization image of the sky, wherein the original atmospheric polarization image is a low-resolution image.
Aiming at the instantaneous field error existing in the specific structure of the array polarized light sensor, the polarization degree information is introduced into the reconstruction process of the atmospheric polarization image: carrying out region division on the atmospheric polarization image based on the polarization degree to obtain a high-polarization-degree region and a low-polarization-degree region;
and (3) carrying out self-adaptive image interpolation compensation processing based on polarization degree guidance: performing nearest neighbor interpolation on the high polarization degree area, and performing bilinear interpolation on the low polarization degree area to obtain a reconstructed atmospheric polarization image; in this embodiment, the nearest neighbor interpolation and the bilinear interpolation are performed on the high-polarization-degree region and the low-polarization-degree region, respectively, and compared with the case where the nearest neighbor interpolation or the bilinear interpolation is performed on all the regions, the image regions can be distinguished by fully using the polarization degree information. For the region with higher polarization degree, the accuracy of the measured polarization information is high, and the nearest neighbor interpolation with lower calculation complexity can meet the requirement; for the area with lower polarization degree, the accuracy of the measured polarization information is low, and more information is needed for calculation, so that bilinear interpolation is selected. This can reduce the amount of computation and meet the interpolation requirements of different regions.
And extracting a solar meridian line based on the reconstructed atmospheric polarization image to obtain the course angle of the carrier.
In the specific implementation process, the specific implementation process of performing region division and interpolation reconstruction on the atmospheric polarization image comprises the following steps:
firstly, carrying out equal-scale amplification on an original atmospheric polarization image with low resolution to obtain a reconstructed atmospheric polarization image with low resolution. Specifically, the method comprises the following steps:
the size of the original atmospheric polarization image ism·nThe size of the reconstructed atmospheric polarization image isM·NWherein, in the process,M=2m，N=2n；
secondly, carrying out region division on the atmospheric polarization image based on the polarization degree to obtain a high polarization degree region and a low polarization degree region, wherein the specific implementation process comprises the following steps:
projecting the point to be interpolated in the reconstructed atmosphere polarization image back to the original atmosphere polarization image, and recording the position of the point to be interpolated in the original atmosphere polarization image as (i+p，j+q) Whereini、jthe integer part of the coordinates of the pixel points is represented,p、qa decimal portion representing the coordinates of the pixel points;
calculating pixel points of points to be interpolated in the original atmospheric polarization image (i+p，j+q) Neighborhood of four pixels (i，j)、(i+1，j)、(i，j+1)、(i+1，j+1) average value of degree of polarizationdop mean The method comprises the following steps:
in the formula,dop(i，j)、dop(i+1，j)、dop(i，j+1)、dop(i+1，j+1 are pixel points in the original atmospheric polarization image (respectivelyi，j)、(i+1，j)、(i，j+1)、(i+1，j+1) degree of polarization;
to-be-interpolated point (i+p，j+q) The classification is as follows:
wherein,R H a region of high degree of polarization is represented,R L represents a low polarization degree region;
and finally, performing nearest neighbor interpolation on the high polarization degree region, and performing bilinear interpolation on the low polarization degree region to obtain a reconstructed atmospheric polarization image, wherein the specific implementation process is as follows:
if the point to be interpolated (i+p，j+q)∈R L ：
Let the point to be interpolated in the reconstructed atmospheric polarization image (i+p，j+q) Pixel value of (2)f(i+p，j+q) Equal to the off-pixel point in the original atmospheric polarization image (i+p，j+q) The pixel value of the nearest pixel point;
if the point to be interpolated (i+p，j+q)∈R H ：
Let the point to be interpolated in the reconstructed atmospheric polarization image (i+p，j+q) Pixel value off(i+p，j+q) Equal to the pixels in the original atmospheric polarization image (i+p，j+q) The weighted sum of the four neighborhood pixel values of (a):
in the formula,f(i，j)、f(i+1，j)、f(i，j+1)、f(i+1，j+1 are pixel points in the original atmospheric polarization image (respectivelyi，j)、(i+1，j)、(i，j+1)、(i+1，jA pixel value of +1) of the pixel,w 1 、w 2 、w 3 、w 4 are weight coefficients.
As a preferred embodiment, the weighting coefficients are set to:
w 1 =(1-p)·(1-q)、w 2 =p·(1-q)、w 3 =(1-p)·q、w 4 =p·q
setting the weight coefficients to AND as compared to randomly setting the weight coefficientsp、qAnd correlation is carried out, the influence of four adjacent domain pixel points around the point to be interpolated on the correlation of the point to be interpolated is considered, and the accuracy of interpolation is improved.
After the interpolation of all the points to be interpolated is completed, the high-resolution reconstructed atmospheric polarization image can be obtained, the polarization angle of each pixel point in the high-resolution reconstructed atmospheric polarization image can be calculated according to the formula (1), and the reconstructed high-resolution polarization angle image can be obtained. And then calculating the gradient of the polarization angle image, fitting a straight line by a least square method to obtain an included angle between a solar meridian and a coordinate axis, and calculating an included angle between the solar meridian and the north direction by a solar ephemeris to obtain the course angle of the carrier.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. An autonomous navigation method based on polarization orientation error compensation is characterized by comprising the following steps:
acquiring an atmospheric polarization image of the sky;
aiming at instantaneous field errors existing in the array polarized light sensor, introducing polarization degree information into an atmospheric polarization image reconstruction process: carrying out region division on the atmospheric polarization image based on the polarization degree to obtain a high-polarization-degree region and a low-polarization-degree region;
and (3) carrying out self-adaptive image interpolation compensation processing based on polarization degree guidance: carrying out nearest neighbor interpolation on the high polarization degree area, and carrying out bilinear interpolation on the low polarization degree area to obtain a reconstructed atmospheric polarization image;
and extracting a solar meridian line based on the reconstructed atmospheric polarization image to obtain the course angle of the carrier.
2. The autonomous navigation method based on polarization orientation error compensation of claim 1, wherein the size of the original atmospheric polarization image ism·nThe size of the reconstructed atmospheric polarization image isM·NWherein, in the process,M=2m，N=2n。
3. the autonomous navigation method based on polarization orientation error compensation of claim 2, wherein the atmospheric polarization image is divided into regions based on polarization degree to obtain regions with high polarization degree and regions with low polarization degree, specifically:
projecting the point to be interpolated in the reconstructed atmosphere polarization image back to the original atmosphere polarization image, and recording the position of the point to be interpolated in the original atmosphere polarization image as (A), (B)i+p，j+q) Whereini、jthe integer part of the coordinates of the pixel points is represented,p、qa decimal portion representing the coordinates of the pixel points;
calculating the pixel points of the points to be interpolated in the original atmospheric polarization image (i+p，j+q) Neighborhood of four pixels (i，j)、(i+1，j)、(i，j+1)、(i+1，j+1) average value of degree of polarizationdop mean The method comprises the following steps:
in the formula,dop(i，j)、dop(i+1，j)、dop(i，j+1)、dop(i+1，j+1 are pixel points in the original atmospheric polarization image (respectivelyi，j)、(i+1，j)、(i，j+1)、(i+1，j+1) degree of polarization;
to-be-interpolated point (i+p，j+q) The classification is as follows:
wherein,R H a region of high degree of polarization is represented,R L indicating a region of low polarization.
4. The autonomous navigation method based on polarization orientation error compensation of claim 3, wherein nearest neighbor interpolation is performed on a high polarization degree region, and bilinear interpolation is performed on a low polarization degree region, so as to obtain a reconstructed atmospheric polarization image, specifically:
if the interpolation point is to be interpolated
：
Let the point to be interpolated in the reconstructed atmospheric polarization image (i+p，j+q) Pixel value off(i+p，j+q) Equal to the pixel points in the original atmospheric polarization image (i+p，j+q) The pixel value of the nearest pixel point;
if the interpolation point is to be interpolated
：
Let the point to be interpolated in the reconstructed atmospheric polarization image (i+p，j+q) Pixel value off(i+p，j+q) Equal to the pixels in the original atmospheric polarization image (i+p，j+q) The weighted sum of the four neighborhood pixel values of (a), i.e.:
in the formula,f(i，j)、f(i+1，j)、f(i，j+1)、f(i+1，j+1 are pixel points in the original atmospheric polarization image (respectivelyi，j)、(i+1，j)、(i，j+1)、(i+1，jA pixel value of +1) of the pixel,w 1 、w 2 、w 3 、w 4 are weight coefficients.
5. The autonomous navigation method based on polarization orientation error compensation of claim 4,w 1 =(1-p)·(1-q)，w 2 =p·(1-q)，w 3 =(1-p)·q，w 4 =p·q。
6. the autonomous navigation method based on polarization orientation error compensation of any one of claims 1 to 5, wherein the extracting of the solar meridian based on the reconstructed atmospheric polarization image yields a heading angle of the carrier, specifically:
firstly, calculating the polarization angle of each pixel point in the reconstructed atmospheric polarization image to obtain a reconstructed high-resolution polarization angle image;
then, calculating the gradient of the polarization angle image, fitting a straight line by a least square method to obtain an included angle between a solar meridian and a coordinate axis, and calculating an included angle between the solar meridian and the north direction by a solar ephemeris to obtain the course angle of the carrier.
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