仿生偏振成像方位传感器的测量误差模型。
Measurement error model of the bio-inspired polarization imaging orientation sensor.
出版信息
Opt Express. 2022 Jan 3;30(1):22-41. doi: 10.1364/OE.442244.
This article studies the measurement error model and calibration method of the bio-inspired polarization imaging orientation sensor (BPIOS), which has important engineering significance for promoting bio-inspired polarization navigation. Firstly, we systematically analyzed the measurement errors in the imaging process of polarized skylight and accurately established an error model of BPIOS based on Stokes vector. Secondly, using the simulated Rayleigh skylight as the incident surface light source, the influence of multi-source factors on the measurement accuracy of BPIOS is quantitatively given for the first time. These simulation results can guide the later calibration of BPIOS. We then proposed a calibration method of BPIOS based on geometric parameters and the Mueller matrix of the optical system and conducted an indoor calibration experiment. Experimental results show that the measurement accuracy of the calibrated BPIOS can reach 0.136°. Finally, the outdoor performance of BPIOS is studied. Outdoor dynamic performance test and field compensation were performed. Outdoor results show that the heading accuracy of BPIOS is 0.667°.
本文研究了仿生偏振成像方位传感器（BPIOS）的测量误差模型和校准方法，这对推动仿生偏振导航具有重要的工程意义。首先，我们系统地分析了偏振天光成像过程中的测量误差，基于斯托克斯矢量准确地建立了 BPIOS 的误差模型。其次，利用模拟瑞利天空光作为入射面光源，首次定量给出了多源因素对 BPIOS 测量精度的影响。这些仿真结果可以指导 BPIOS 的后续校准。然后，我们提出了一种基于几何参数和光学系统 Mueller 矩阵的 BPIOS 校准方法，并进行了室内校准实验。实验结果表明，校准后的 BPIOS 的测量精度可达 0.136°。最后，研究了 BPIOS 的室外性能。进行了室外动态性能测试和现场补偿。室外结果表明，BPIOS 的航向精度为 0.667°。
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