CN101650571A - Device and method for catching and tracking counterglow counter light target - Google Patents
Device and method for catching and tracking counterglow counter light target Download PDFInfo
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- CN101650571A CN101650571A CN200910195160A CN200910195160A CN101650571A CN 101650571 A CN101650571 A CN 101650571A CN 200910195160 A CN200910195160 A CN 200910195160A CN 200910195160 A CN200910195160 A CN 200910195160A CN 101650571 A CN101650571 A CN 101650571A
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Abstract
The invention discloses a method for quickly catching and accurately tracking a sun direction target. A system for detecting and tracking a counterglow counter light target comprises a solar sensor module with large visual field, a counterglow counter light detection camera module, a two-dimensional tracking turnplate and a data collection module. The method for quickly catching and accurately tracking the sun direction target comprises the following steps: carrying out searching and coarse tracking on the sun by the solar sensor with large visual field; carrying out precise tracking and counterglow counter light target monitoring by the counterglow counter light tracking camera module, completing the two-dimensional tracking movement of an azimuth angle and a pitching angle by the two-dimensional tracking turnplate and completing the transmission and the collection of various data by the data collection module.
Description
Technical field
The present invention relates to the photoelectric instrument technology, specifically refer to a kind ofly to day backlight target detection tracing method, it is used for catching fast and accurately following the tracks of solar direction backlight target.
Background technology
At present, in the space remote sensing field of detecting, there is detection blind area in solar direction, most of remote sesing detectors can't effectively be surveyed the target of arriving in by plane from solar direction.And the sun brightness that enters detector field of view might cause permanent infringement to the detector focal plane.To day the backlight camera by observation wave band, Design for optical system, prevent the infringement of sun brightness to the detector focal plane, make system can be when the sun enters the visual field operate as normal, as uniform bright background, utilize the sun target that detection to target is finished in the imaging of blocking of the sun.High-contrast between the target and the sun can make system detect the little bright target that conventional remote sensing camera is difficult to detect, and is not subjected to the target emanation properties influence.In order to improve resolution, the visual field of camera is got about 1 degree and is slightly larger than solar angle.
Because high resolving power is very little to the visual field of day backlight camera, be difficult to the initial acquisition of realization to the sun.In order to allow the sun enter in the viewing field of camera, adopt the sun sensor of big visual field to finish to the code acquisition of the sun and slightly tracking, the guiding sun enters the backlight viewing field of camera.Utilize magazine sun information to finish then the essence of the sun is followed the tracks of, the assurance system can monitor the backlight target of finding and following the tracks of solar direction in real time, and early warning is provided.
Summary of the invention
The purpose of this invention is to provide a kind of to day backlight target detection tracing system and the method for catching and accurately following the tracks of the solar direction target fast.
The present invention said to day backlight target detection tracing system as shown in Figure 1, system by big visual field sun sensor module, to day backlight survey camera model, two-dimensional tracking turntable, data acquisition module and form.Utilize big visual field sun sensor that the sun is carried out code acquisition and thick the tracking; And the employing patent No. is 200710170725.5 designs day backlight tracking camera model is carried out the essence tracking and to day backlight target monitoring, tests definite to the mapping area of day backlight viewing field of camera in the sun sensor visual field by experiment; The two-dimensional tracking turntable is finished position angle and the motion of angle of pitch two-dimensional tracking; Data acquisition module is finished several data collection and transmission.
The concrete steps of method of the present invention are:
1) when the sun not in the sun sensor visual field, control two-dimensional tracking turntable is searched in 180 ° * 360 ° scope, enters in the visual field of sun sensor until the sun, finishes the code acquisition to the sun.
2) as shown in Figure 2, the sun enters the visual field of sun sensor after successfully catching the sun, the sun center that provides according to sun sensor and to day backlight viewing field of camera and the corresponding relation of sun sensor visual field, control two-dimensional tracking turntable points to, the sun is entered into day backlight viewing field of camera, finish thick tracking.
3) as shown in Figure 3 after the sun enters into visual field to day backlight camera, utilize the image-forming information of the sun on the camera test surface, calculate the position of sun center in viewing field of camera, utilize this positional information to control the two-dimensional tracking turntable and make sun center move to the viewing field of camera center, realize the essence of the sun is followed the tracks of.
4) in essence is followed the tracks of the course of work, system regulates time shutter to day backlight camera as required automatically, gain, biasing to be to reach the optimum tracking sun and monitoring to day backlight target effect.Wherein, the concrete grammar of backlight target monitoring is to day: as shown in Figure 3, the image in the sun in-scope is done further processing add up wherein dim spot quantity, judge when the dim spot number reaches some and detect day backlight target.Then the solar interior dim spot is calculated wherein heart position, and the type of preliminary recognition objective, early warning signal sent.
The present invention has following beneficial effect:
1. at the backlight target monitoring application demand of solar direction detection blind area, take the lead in providing the method for a kind of sun scan capture and backlight target following.
2. use the observation blind area Target Tracking System of this kind method can be in 15s apace the autoscan acquisition and tracking sun, monitor the backlight target accurately and effectively, brought into play the big detection viewing field of sun sensor and to the advantage of the high detection resolution of day backlight camera.
Description of drawings
Fig. 1 is the composition structural representation to day backlight detection system.
Fig. 2 is thick concrete grammar and the process synoptic diagram of following the tracks of.
Fig. 3 is a solar tracking and to the method synoptic diagram of day backlight target monitoring.
Embodiment
Use included four modules of an instance system of method of the present invention: the sun sensor module of big visual field, to day backlight survey camera model, two-dimensional tracking turntable, data acquisition module, explanation respectively below.
To day backlight camera: the present invention adopt patent 200710170725.5 designs to day backlight camera, by to observation band selection, design of Optical System, dynamic range design, can finish direct observation to day.Module is except realizing the high resolving power detecting function, the control function that also comprises total system: the mode of operation, reception of control sun sensor and handle sun sensor information, handle to day backlight camera model data message, control two-dimensional tracking turntable sensing to guarantee the collaborative work of system, finish acquisition and tracking to the sun, and to the detection and the identification of day backlight target.
Sun sensor: the sun sensor that adopts CMOS APS (Active Pixel Sensor), guaranteed the integrality of imaging based on the principle of work of single-hole imaging, in the design on the electronics sun sensor is satisfied under low-power consumption and the undersized prerequisite, reach high precision (paraxial 0.005 °, full visual field 0.01 °) and the requirement of visual field (single shaft be ± 64 °) greatly simultaneously.Particular design on optical texture cooperates the setting of sun pixel threshold, makes sun sensor can effectively prevent false-alarm.Outwards send the relevant information of the sun by the RS422 interface, comprise the positional information of the sun on the sensor focal plane, the average brightness value and the sun pixel of sun imaging.Sensor is surveyed the just corresponding sun angle of each pixel on the focal plane, can calculate like this angular deviation between per two pixels.
The two-dimensional tracking turntable: coaxial installation big visual field sun sensor and high resolving power are to day backlight camera on the turntable.The two-dimensional tracking turntable is finished position angle and the motion of angle of pitch two-dimensional tracking, to reach the purpose of tracking.Data acquisition module: comprise parts such as RS232 instruction interface, LVDS data-interface, USB image data interface, finish the several data transfer function.
In conjunction with this instance system, further specify the concrete steps of method of the present invention:
1) when the sun not in the sun sensor visual field, control two-dimensional tracking turntable is searched in the scope of 360 ° of 180 ° of *, enters in the visual field of sun sensor until the sun, finishes the code acquisition to the sun.Because the detection viewing field of sun sensor is ± 64 °,, catch the sun fast in 15s thereby all directions can be scanned fast so the maximum step pitch of scanning can be set to 120 °.
2) as shown in Figure 2 after the sun enters into the visual field of sun sensor, to day the backlight camera system by receiving the position of sun information that sun sensor sends, calculate the angular deviation of position A to position B, and being converted into the rotational angle of two-dimentional turntable, the sensing of controlling two-dimentional turntable moves to position A with the sun from position B.Position A is the mapping of central shaft position in the sun sensor visual field to day backlight camera, and checking is obtained by experiment.From position A, to this stage of position B be the thick tracking phase of system.
3) enter into behind the day backlight viewing field of camera when the sun as shown in Figure 3, can by to backlight magazine sun imaging carry out pre-service, setting threshold is judged sun pixel earlier.The setting gray-scale value is judged to sun pixel (being that the picture point value is changed to 1) greater than 120 pixel, and remaining grey scale pixel value is treated to background (being that the picture point value is changed to 0), utilizes the position at centre of form algorithm computation sun center then:
Wherein (x y) is the ranks position coordinates of point on the camera test surface that is judged to sun pixel, and (X
0, Y
0) be the position at sun center.
System accuracy is determined by following formula:
Wherein, M is that sun imaging facula size dimension is about 1000, and F is the normalization grey scale pixel value, gets 1 after simplifying, the SNR=1100 of system,
Also promptly can improve 125 times by the precision of simplifying calculating sun barycenter afterwards.But owing to install and the influence of other factors, in fact do not reach so highly, get 1/20 pixel in the system roughly, and the angle of a pixel correspondence is 7urad, so the precision of system can be better than 1urad.
4) in essence is followed the tracks of the course of work, system regulates time shutter to day backlight camera as required automatically, gain, biasing to be to reach the optimum tracking sun and monitoring to day backlight target effect.Wherein, the concrete grammar of backlight target monitoring is to day: as shown in Figure 3, the image in the sun in-scope handled add up wherein dim spot quantity, judge when the dim spot number reaches some and detect day backlight target.Also adopt centre of form algorithm that the solar interior dim spot is calculated wherein heart position then, and further handle the type of preliminary recognition objective, send early warning signal.
For the target of arriving in by plane from solar direction, the target of perhaps skimming over sun surface can be by the picture that blocks into high-contrast to the sun, and is not subjected to the target emanation properties influence.Calculating the two-dimensional position information of target in the coordinate system of camera place on individual rest image, the target position information by multiple image can match obtains the flight path of target.
Claims (2)
1. one kind to day backlight target acquistion tracking means, it by big visual field sun sensor module, to day backlight survey camera model, two-dimensional tracking turntable, data acquisition module and form, it is characterized in that: described device adopts big visual field sun sensor that the sun is carried out code acquisition and thick the tracking, employing to day backlight survey that camera model carries out accurate tracking and to day backlight target monitoring, the two-dimensional tracking turntable is finished position angle and the motion of angle of pitch two-dimensional tracking, and data acquisition module is finished several data collection and transmission.
One kind based on the described device of claim 1 to day backlight target acquistion tracking, it is characterized in that may further comprise the steps:
A. when the sun was not in the sun sensor visual field, control two-dimensional tracking turntable was searched in 180 ° * 360 ° scope, enters in the visual field of sun sensor until the sun, finishes the code acquisition to the sun;
B. after successfully catching the sun, the sun center that provides according to sun sensor and to day backlight survey the corresponding relation of viewing field of camera and sun sensor visual field, control two-dimensional tracking turntable points to, and the sun is entered into day backlight detection viewing field of camera, finishes thick tracking;
C. enter into day after backlight is surveyed the visual field of camera when the sun, utilize the image-forming information of the sun on the camera detector, calculate the position of sun center in viewing field of camera, utilize this positional information, control the two-dimensional tracking turntable and make sun center move to the viewing field of camera center, realize the essence of the sun is followed the tracks of;
D. follow the tracks of in the course of work in essence, system regulate automatically as required to backlight time shutter, gain, biasing of surveying camera day to reach the optimum tracking sun and monitoring effect to day backlight target, wherein, the concrete grammar of backlight target monitoring is to day, image in the sun in-scope is done further processing add up wherein dim spot quantity, when the dim spot number reaches some, judge and detect day backlight target, then the solar interior dim spot is calculated wherein heart position, and the type of preliminary recognition objective, send early warning signal.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102566596A (en) * | 2012-01-20 | 2012-07-11 | 中国科学院上海技术物理研究所 | Follow-up light shield control system of space remote sensor |
| CN103019248A (en) * | 2011-09-27 | 2013-04-03 | 上海航天控制工程研究所 | Simplest control method for autonomous sun pointing of mars probe |
| CN105373140A (en) * | 2014-08-20 | 2016-03-02 | 深圳Tcl新技术有限公司 | Light source tracking method and system |
| CN105865491A (en) * | 2016-05-31 | 2016-08-17 | 中国科学院长春光学精密机械与物理研究所 | Automatic calibration testing method and automatic calibration testing system for digital sun sensor |
| CN113325704A (en) * | 2021-04-25 | 2021-08-31 | 北京控制工程研究所 | Spacecraft backlight approaching intelligent orbit control method and device and storage medium |
| CN113515144A (en) * | 2021-05-11 | 2021-10-19 | 中国船舶重工集团公司第七二三研究所 | Integrated universal azimuth pitching two-shaft rotary table |
| CN114061753A (en) * | 2021-10-29 | 2022-02-18 | 中国科学院合肥物质科学研究院 | Sunlight meter based on mobile unstable platform |
| CN114760405A (en) * | 2022-04-25 | 2022-07-15 | 合肥师范学院 | Long-distance wide-view-field sun sensor device |
| CN114826130A (en) * | 2022-06-23 | 2022-07-29 | 中国科学院空天信息创新研究院 | Sun tracking method and device of solar cell calibration system |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103019248A (en) * | 2011-09-27 | 2013-04-03 | 上海航天控制工程研究所 | Simplest control method for autonomous sun pointing of mars probe |
| CN103019248B (en) * | 2011-09-27 | 2016-08-03 | 上海航天控制工程研究所 | Simplest control method for autonomous sun pointing of mars probe |
| CN102566596A (en) * | 2012-01-20 | 2012-07-11 | 中国科学院上海技术物理研究所 | Follow-up light shield control system of space remote sensor |
| CN105373140A (en) * | 2014-08-20 | 2016-03-02 | 深圳Tcl新技术有限公司 | Light source tracking method and system |
| CN105373140B (en) * | 2014-08-20 | 2018-04-10 | 深圳Tcl新技术有限公司 | Light source tracking method and system |
| CN105865491A (en) * | 2016-05-31 | 2016-08-17 | 中国科学院长春光学精密机械与物理研究所 | Automatic calibration testing method and automatic calibration testing system for digital sun sensor |
| CN113325704A (en) * | 2021-04-25 | 2021-08-31 | 北京控制工程研究所 | Spacecraft backlight approaching intelligent orbit control method and device and storage medium |
| CN113325704B (en) * | 2021-04-25 | 2023-11-10 | 北京控制工程研究所 | Spacecraft backlighting approaching intelligent orbit control method, device and storage medium |
| CN113515144A (en) * | 2021-05-11 | 2021-10-19 | 中国船舶重工集团公司第七二三研究所 | Integrated universal azimuth pitching two-shaft rotary table |
| CN113515144B (en) * | 2021-05-11 | 2023-11-10 | 中国船舶重工集团公司第七二三研究所 | Integrated universal azimuth pitching two-axis turntable |
| CN114061753A (en) * | 2021-10-29 | 2022-02-18 | 中国科学院合肥物质科学研究院 | Sunlight meter based on mobile unstable platform |
| CN114760405A (en) * | 2022-04-25 | 2022-07-15 | 合肥师范学院 | Long-distance wide-view-field sun sensor device |
| CN114760405B (en) * | 2022-04-25 | 2023-12-01 | 合肥师范学院 | Long-distance wide-view-field sun sensor device |
| CN114826130A (en) * | 2022-06-23 | 2022-07-29 | 中国科学院空天信息创新研究院 | Sun tracking method and device of solar cell calibration system |
| CN114826130B (en) * | 2022-06-23 | 2022-11-04 | 中国科学院空天信息创新研究院 | Sun tracking method and device of solar cell calibration system |
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Open date: 20100217 |