基于局部大气修复的偏振导航方法

Bionic polarized light navigation is a method of navigation that uses skylight polarization patterns. Due to its strong anti-interference ability and high navigation accuracy, it has attracted extensive attention. However, the field of view is easily blocked during image acquisition, resulting in the loss of image information, which will seriously affect the navigation accuracy. To solve the problem, a polarization navigation algorithm based on local atmosphere image restoration is proposed, and an image inpainting model based on the offsets of similar patches is established. By calculating the nearest neighbor offset histogram of each patch in the image, the offset of each pixel can be obtained, and the image repaired accordingly. Using the restored images, solar azimuth can be determined by detecting the polarization distribution pattern of the atmosphere in the zenith region to achieve the purpose of navigation. The results of simulation and experiments show that the algorithm can adapt to a partially blocked view, remove random occlusion and improve image details. With partial occlusion, the heading angle error is reduced to about 1◦, and the accuracy is improved by about 61% .