With the characteristics of full autonomy and no accumulated errors, polarisation navigation shows tremendous prospects in underwater scenarios. In this paper, inspired by the polarisation vision of aquatic organisms, a novel point-source polarisation sensor with high spectral adaptability (400 nm–760 nm) is designed for underwater orientation. To enhance the environmental applicability of the underwater polarisation sensor, a novel sensor model based on the underwater light intensity attenuation coefficient and optical coupling coefficient is established. In addition, concerned with the influence of light intensity uncertainty on sensor performance underwater, an antagonistic polarisation algorithm is adopted for the first time, to improve the accuracy of angle of polarisation and degree of polarisation in the low signal-to-noise ratio environment underwater. Finally, indoor and outdoor experiments are carried out to evaluate the performance of the designed polarisation sensor. The results show that the designed point-source polarisation sensor can acquire polarised light and be used for heading determination underwater.

中文翻译：

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一种应用于水下定向的仿生点源偏振传感器

偏振导航具有完全自主、无累积误差的特点，在水下场景中展现出巨大的应用前景。在本文中，受水生生物偏振视觉的启发，设计了一种具有高光谱适应性（400 nm-760 nm）的新型点源偏振传感器，用于水下定向。为提高水下偏振传感器的环境适用性，建立了一种基于水下光强衰减系数和光耦合系数的新型传感器模型。此外，考虑到光强不确定性对水下传感器性能的影响，首次采用对抗偏振算法，提高水下低信噪比环境下偏振角和偏振度的精度。最后，进行室内和室外实验以评估所设计的偏振传感器的性能。结果表明，所设计的点源偏振传感器可以获取偏振光并用于水下航向测定。