当昆虫视野内存在部分遮挡时, 能够依靠其复眼背部边缘区域中偏振敏感多小眼结构, 感知天空偏振光信息进行导航。模仿该偏振敏感多小眼结构设计了阵列式偏振导航传感器。实际应用中, 传感器视野内的随机遮挡、金属纳米光栅偏振器局部缺陷和尖锐噪声等造成各偏振方向内存在干扰像素影响偏振光强提取, 基于线性灰度拉伸的Otsu阈值分割及3σ法则, 提出了一种具有鲁棒性的偏振光强提取算法。首先, 详述了传感器的偏振导航算法和传感器组成;然后, 基于MFC对话框项目, 开发了传感器的实时监控界面, 实时显示偏振信息变化, 数据更新率达10 Hz;最后, 对传感器进行了测试实验。标定实验结果表明: 该传感器性能稳定, 定向精度±0.25°; 在室外有无遮挡条件下的对比实验结果表明: 该传感器能适应视野内的部分遮挡环境, 具有较好的鲁棒性。

In the compound eyes of several insects, the dorsal rim area has regularly arranged polarization sensitive ommatidium. Insects rely on this special structure to extract the polarization information of skylight to facilitate navigation when the insect's eye view was partially occluded. An array polarization sensor was designed for navigation by imitating this special structure. In practical applications, the sensor was disturbed by many factors such as random partial occlusion of the view, multi-orientated wire-grid polarizer defect, and sharp noise. To address these problems, this paper proposes a novel and robust polarization intensity extraction algorithm, which was based on linear gray stretch, Otsu threshold segmentation, and the 3σ theorem. The polarization algorithm was discussed and the structure of the sensor was presented. Based on the MFC and OpenCV, a real-time control and monitor software interface of the sensor was developed, which can display polarization information with data update rates up to 10 Hz. The angle polarization measurement test results indicate that the sensor is stable and the angle error is ±0.25°. Robust tests under outdoor conditions with and without occlusion indicate that the sensor can adapt to changes in random shade environments, which is indicative of the robustness of the approach.