基于Zynq处理器的成像式偏振导航传感器  

Imaging Polarization Navigation Sensor Based on Zynq Processor

作　　者：路澳航 关传泷 纪元宇 褚金奎[1] Lu Aohang;Guan Chuanlong;Ji Yuanyu;Chu Jinkui(School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116024

出　　处：《微纳电子技术》2024年第6期116-124,共9页Micronanoelectronic Technology

基　　金：国家自然科学基金(52175265,52275281)。

摘　　要：偏振导航是一种受昆虫偏振视觉启发的仿生天文导航方法。使用纳米压印技术将金属纳米光栅阵列集成在互补金属氧化物半导体(CMOS)图像传感器的感光区域,制作出模仿昆虫感知偏振光的偏振敏感器件。采用现场可编程门阵列(FPGA)与高级精简指令集机器(ARM)架构相异构的主控芯片Zynq实时处理偏振信息,制作了成像式偏振导航传感器。传感器在FPGA端实现了偏振图像的采集、解码以及解算的硬件加速,在ARM端移植Linux系统,实现多任务之间的协作和同步。可通过预留的串口输出航向角、网口输出图像,频率约为10 Hz。标定后传感器室内实验偏振角误差为±0.15°,从室外实验采集的大气偏振分布模式图中能清晰分辨出太阳子午线,经过补偿后航向角误差为±0.4°。Polarization navigation is a bionic astronomical navigation method inspired by insect polarization vision.A metal nanograting array was integrated into the light-sensitive area of a complementary metal oxide semiconductor(CMOS)image sensor using nanoimprint technology to produce a polarization sensitive device that mimics the perception of polarized light by insects.The main control chip Zynq,which has a heterogeneous architecture of field programmable gate array(FPGA)and advanced reduced instruction set computer machine(ARM),was used to process polarization information in real time,and an imaging polarization navigation sensor was prepared.The sensor realized the hardware acceleration of the polarization image acquisition,decoding and solution on the FPGA side,and the Linux system was transplanted on the ARM side to realize the cooperation and synchronization between multiple tasks.The heading angle can be output through the reserved serial port and the image can be output through the network port at a frequency of about 10 Hz.After calibration,the angle of polarization error of the sensor in the indoor experiment is±0.15°,the solar meridian can be clearly distinguished from the atmospheric polarization distribution pattern map collected in the outdoor experiment,and the heading angle error after compensation is±0.4°.

关 键 词：偏振导航传感器 现场可编程门阵列(FPGA) Zynq 纳米压印 金属纳米光栅 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]