水下天空偏振图像天顶区域光矢量叠加航向解算  

Solution of light vector superposition heading in zenith region of underwater sky polarization image

作　　者：房政 郭银景 孔芳 吕雪 杜春晓 阮耀煌 FANG Zheng;GUO Yinjing;KONG Fang;LÜXue;DU Chunxiao;RUAN Yaohuang(School of Electronic and Information Engineering,Shandong University of Science and Technology,Qingdao 266590,China;Qingdao Zhihai Muyang Technology Co.,Ltd.,Qingdao 266590,China;School of Electrical and Automation Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学电子信息工程学院,山东青岛266590 [2]青岛智海牧洋科技有限公司,山东青岛266590 [3]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《Journal of Measurement Science and Instrumentation》2024年第2期157-165,共9页测试科学与仪器（英文版）

基　　金：supported by Shandong Provincial Natural Science Foundation Project (No.ZR2022MF315)。

摘　　要：水下天空光偏振图像可以用于航向测量,具有抗干扰、无累积误差等优点。本文提出了一种基于天顶区域光矢量叠加的水下偏振图像航向解算方法,以获取水下环境中的航向角。该方法首先分析水下天空光偏振图像,并结合姿态信息提取出天顶区域的偏振信息。然后,利用叠加运算将天顶区域内的水下折射光偏振矢量与大气偏振光偏振矢量进行合成。通过对偏振矢量的最优解算,可以精确地获取水下目标的航向角。实验结果显示,该方法在水箱实验中航向角的均方根误差(RMSE)为0.30°,海洋实验航向角的RMSE为0.41°;并分别在0.98米,4.89米和5.94米深的海洋中解算出太阳方位角的RMSE分别为1.10°, 2.03°和3.04°。Underwater skylight polarization images can be utilized for heading measurement,offering advantages such as anti-interference and no accumulation error.A method for underwater polarization image heading estimation was presented based on the superposition of light vectors in the zenith region,with the aim of obtaining the heading angle in underwater environments.The polarization information from the zenith region was analyzed and extracted in conjunction with attitude information.Subsequently,the underwater refracted light polarization vector was synthesized with the atmospheric polarization light vector within the zenith region using superposition operations.Through optimization of the polarization vector,the heading angle of underwater targets was accurately determined.Experimental results demonstrated that the root mean square error(RMSE)of the heading angle in the proposed method was 0.30°in the tank experiment and 0.41°in the marine experiment.Moreover,in the oceans at depths of 0.98 m,4.89 m,and 5.94 m,the RMSE of the solar azimuth was 1.10°,2.03°,and 3.04°,respectively.

关 键 词：偏振图像 航向测量 天顶区域 矢量叠加 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] O436.3[自动化与计算机技术—计算机科学与技术]