光学 精密工程, 2016, 24 (6): 1248, 网络出版: 2016-08-18   

基于大气偏振模式的三维姿态信息获取

Three-dimensional attitude information obtained by the skylight polarization pattern
作者单位
合肥工业大学 计算机与信息学院,安徽 合肥 230009
摘要
现有的偏振光导航方法提供的二维方向信息不能满足导航的实际需求,因此,本文提出了一种利用大气偏振模式获取三维姿态信息的方法,选取太阳作为空间显著特征点,利用大气偏振模式信息计算出载体在两次不同状态下的太阳空间位置信息,通过建立姿态变换矩阵获得了载体的三维姿态信息。最后,对不同天气条件、不同太阳空间位置、不同波段以及天空被部分遮挡情况下太阳空间位置计算的误差分布情况进行了仿真分析和实际测量。实验结果显示,当天空有气溶胶粒子分布时,蓝色波段下的计算误差最小,方位角和高度角的误差分别为1.50°和2.10°; 当观测视场中有树木遮挡时,方位角和高度角的平均误差分别为0.91°和1.97°,由此表明本文方法能够有效提取太阳的空间位置,获得载体的三维姿态信息,并满足实际导航的需求。
Abstract
The two-dimensional direction information provided by the current polarized skylight navigation method can not meet the actual needs of the navigation, therefore, a method for obtaining 3D pose information by using atmospheric polarization modes was researched. The sun was selected as the spatial point with the salient feature, then the sun spatial position information of the carrier was calculated under two different states by using atmospheric polarization mode information, and thereby 3D pose information of the carrier was obtained through the establishment of attitude transformation matrix. Finally the error distributions in obtaining solar spatial position information under different weathers, different solar spatial locations, different bands and the conditions of the sky being partially obscured were investigated theoretically and experimentally. The result show that the errors of elevation and azimuth angles are 1.50° and 2.10° respectively in the blue band in aerosols, and the average errors of the elevation and azimuth angles are 0.91°and 1.97° respectively in the field of views being obscured by trees. It is indicated that the sun spatial position can be effectively obtained under different circumstances by the proposed method, which can meet the need for 3D pose information of the carrier in actual navigations.

范之国, 陈曼丽, 王波, 孙洁, 高隽. 基于大气偏振模式的三维姿态信息获取[J]. 光学 精密工程, 2016, 24(6): 1248. FAN Zhi-guo, CHEN Man-li, WANG Bo, SUN Jie, GAO Jun. Three-dimensional attitude information obtained by the skylight polarization pattern[J]. Optics and Precision Engineering, 2016, 24(6): 1248.

本文已被 8 篇论文引用
被引统计数据来源于中国光学期刊网
引用该论文: TXT   |   EndNote

相关论文

加载中...

关于本站 Cookie 的使用提示

中国光学期刊网使用基于 cookie 的技术来更好地为您提供各项服务,点击此处了解我们的隐私策略。 如您需继续使用本网站,请您授权我们使用本地 cookie 来保存部分信息。
全站搜索
您最值得信赖的光电行业旗舰网络服务平台!