CN110208817A - A kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager - Google Patents
A kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager Download PDFInfo
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Abstract
The invention discloses a kind of exhaustive scan methods suitable for submarine target bluish-green laser Range-gated Imager, belong to underwater photodetection field.This method is suitable for bluish-green laser Range-gated Imager, optical axis is set to do round-trip step-scan around carrier roll axis using turntable mechanism, lateral image sequence is formed with this extended field of view, after each stepping in place, sensor starts to expose, disturbance of the carrier position variation to optical axis is isolated in turntable, and optical axis is turned along the opposite direction that carrier navigates by water and does speed of a ship or plane compensation, and optical axis and the intersection point of target is made to keep stablizing in sensor exposure time.Collective effect is isolated with disturbance in step-scan, speed of a ship or plane compensation, navigates by water to form band-like image with carrier, realizes the exhaustive scanning imagery under earth coordinates.The present invention efficiently solves the problems, such as that Range-gated Imager sensor field of view is small, also solve the problem of carrier movement leads to image blur, the quality for improving moving platform Range-gated Imager can be used for the Underwater Imaging of landforms, pipeline, submarine mine etc., have a extensive future.
Description
Technical field
The invention belongs to underwater technical field of photoelectric detection, relate generally to the scanning side of a kind of pair of submarine target laser imaging
Method more particularly to a kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager.
Background technique
Since there are stronger attenuations to visible light wave range for seawater, in addition the shadow of water body back scattering optical noise
It rings, underwater visual light imaging detection range is relatively small, and there are bluish-green light-transmissive windows in seawater, and therefore, Underwater Imaging is visited
Survey mostly uses active laser to be imaged greatly.Range-gated Imager is submarine target to be imaged to use a kind of more technology hand at present
Section, using wavelength 532nm burst pulse bluish-green laser be radiation source, using the sensors such as ICCD receive target echo at
Picture inhibits water body backscatter signal by the quick gating technique of sensor, and imaging space resolution ratio is higher, distance resolution
It is determined by laser pulse width and storbing gate width.Rangerate-gate technique has imaging clearly, contrast height, not by environment light source
Influence the advantages that.
Presently disclosed the relevant technologies have: Canadian Dispersion for Underwater Laser Imaging System (LUCEI) utilizes rangerate-gate technique
To eliminate rear orientation light.The system uses diode pumping Nd:YAG frequency double laser, operation wavelength 532nm, pulse weight
Complex frequency is 2kHz, average output power 80mW, pulsewidth 8ns, beam divergence angle 6.7mrad.Photodetector is choosing
General formula CCD camera, effective observation distance are 3~5 times remoter than common camera.
" magic lamp (Magic Lantern) " mine laser identification system that Kaman company, the U.S. develops, " is installed on SH-2F to go straight up to
On machine, 140~320m of flying height, using the Nd:YAG double-frequency laser of pulse energy 100mJ, repetitive rate 40Hz, pulsewidth 10ns
Device is captured the torpedo target of underwater different depth simultaneously by six ICCD cameras, shows doubtful submarine mine by computer disposal
The shape of target and position.
Northey Luo Pu Grumman Co., Ltd, the U.S. starts from starting within 2002 to research and develop " quick airborne lightning protection system
(RAMICS) ", progress installation test in 2007.RAMICS is using rangerate-gate technique to hunting thunder system (such as airborne laser submarine mine
Detection system ALMDS) mooring mine for being distributed in Layer Near The Sea Surface region that has captured carries out fast Acquisition, identification, classification and accurate positioning,
It guides supercavity tank fire system to remove submarine mine, and thunder effect of going out is assessed.
Zhang Yi et al. is in " Institutes Of Technology Of Nanjing's journal " 2007.31 (6): the article " endless-walk delivered in p753-756
The delay underwater low-light three-dimensional imaging of range gating " proposes endless-walk delays time to control range gating lock-out pulse mechanism of production,
So that synchronous gate circulation delay time series and the distance sequence of quasi- search coverage is matched, realizes different distance situation
The scanning imagery of lower water body, then generated by 3-D image and realize that the three-dimensional imaging of water body is shown.Imaging method described in this article
Be the range of imaging detection is expanded in the depth of field apart from upper scanning imagery in different gatings, but do not extend horizontal detection at
The range of picture.
Zhong Wei et al. is in " Acta Optica " 2016.36 (4): the article delivered in p0401005-1~0401005-6 is " underwater
Range-gated Imager radar laser lighting model " in detection range in order to obtain effective illumination zone, in small angle scattering
Under the conditions of, water body beam spread function has been derived, a kind of underwater Gaussian beam laser lighting model is proposed, which passes through company
Continuous zoom amplification system increases the angle of divergence of illuminating bundle, realizes and carries out effective lighting to the target area of different image-forming ranges.
Han Hongwei et al. is in " laser technology " 2011.35 (2): the article delivered in p226-229 " one kind under water away from
Variable step scan method from gated imaging " is incremented by using a kind of delay of variable step for range gating underwater laser images
Method determines that the focal length for receiving camera lens and focusing position and system needs are swept by radiation detection theory and field depth principle first
The range retouched, then postpone progressive step-length and corresponding gating gate-width according to theoretical determine of underwater laser pulse temporal broadening, both
It reduces " slice " number and guarantees that picture quality, scan method described in this method are equally the scanning on image-forming range direction again.
At present in the method for submarine target Range-gated Imager, it is concerned with image-forming range, image quality mostly, does not examine
Consider imaging detection efficiency when carrying motion platform practical application, the detection viewing field of Range-gated Imager sensor is smaller at present,
And image-forming range is not can guarantee then according to big visual field sensor.
Summary of the invention
In order to solve the problems existing in the prior art, the present invention proposes a kind of be suitable for the distance choosing of submarine target bluish-green laser
The exhaustive scan method of logical imaging passes through step-scan while playing underwater bluish-green laser Range-gated Imager advantage
Extended parallel port detection viewing field, and collective effect is isolated with disturbance by step-scan, speed of a ship or plane compensation, avoid scanning area from losing
Leakage, and image blur, wrong frame because of carrier movement generation etc..By combining step-scan method with range gating, both
The advantages of having played remote Range-gated Imager distance, quality height, effectively inhibition back scattering, while being extended by turntable mechanism
Detection viewing field carries out speed of a ship or plane compensation and disturbance is isolated, the continuous nothing left scanning leakage under earth coordinates realized, to improve detection
Efficiency.
The technical solution of the present invention is as follows:
A kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager, feature exist
In: using the turntable mechanism with pitching ring stand and roll ring stand as bluish-green laser underground distance gated imaging sensing system
Installation carrier；Wherein roll ring stand is able to drive the optical axis of sensing system perpendicular to underwater moving platform carrier roll axis
It is swung in plane, pitching ring stand is able to drive the optical axis of sensing system in the plane perpendicular to underwater moving platform carrier pitch axis
Interior swing；
When scanning, roll ring stand drives the optical axis of sensing system to do round-trip step-scan around carrier roll axis, laterally expands
Visual field is opened up, obtains the image sequence perpendicular to course, while pitching ring stand drives the optical axis of sensing system to navigate by water along carrier
Opposite direction is turned, and carry out speed of a ship or plane compensation makes optical axis in Range-gated Imager sensor so that disturbance of the carrier movement to optical axis is isolated
Time for exposure T1Inside it is stable at the current location under earth coordinates.
Further preferred embodiment, a kind of exhaustive suitable for submarine target bluish-green laser Range-gated Imager
Scan method, it is characterised in that: the specific steps of scanning are as follows:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand；
Step 2: Range-gated Imager sensing system starts to expose, in time for exposure T1It is interior, it is driven by pitching ring stand
Sensing system optical axis is at the uniform velocity turned along the opposite direction that carrier navigates by water, and turning angular speed is ω；
Step 3: Range-gated Imager sensing system end exposure completes frame imaging；
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter
Step 5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames；
Step 5: driving sensing system optical axis around carrier roll axis transverse direction stepping 1 time by roll ring stand, step angle
For a, stepping time T2
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field, and T cuts wide for step-scan completion one
Time, T3For scan through one cut after, when sensing system optical axis turns the setting of offset angle C along the positive direction that carrier navigates by water
Between；
And during stepping, sensing system optical axis is driven at the uniform velocity to adjust along the opposite direction that carrier navigates by water by pitching ring stand
Turn, turning angular speed is ω；Then return step 2；
Step 6: driving sensing system optical axis to turn offset angle C along the positive direction that carrier navigates by water by pitching ring stand
=ω T；After the completion of turning, optical axis position is as next initial position for cutting wide step-scan at this time, and the side of step-scan
To the opposite direction for cutting wide scanning for upper one；
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation, which returns, executes step
Rapid 2；
Step 8: scanning imagery work terminates.
Further preferred embodiment, a kind of exhaustive suitable for submarine target bluish-green laser Range-gated Imager
Scan method, it is characterised in that: drive sensing system optical axis to navigate by water along carrier by pitching ring stand in step 2 and step 5
The angular velocity omega that opposite direction is at the uniform velocity turned meets
Wherein B is the longitudinal size of Range-gated Imager sensor detection viewing field.
Further preferred embodiment, a kind of exhaustive suitable for submarine target bluish-green laser Range-gated Imager
Scan method, it is characterised in that: step-scan completes one and cuts wide time T satisfaction
Wherein L is gated imaging distance, and V is carrier route speed.
Beneficial effect
The present invention compared with the prior art, has the beneficial effect that:
1, the visual field of Range-gated Imager sensor is usually smaller, and efficiency is very low when for submarine target imaging detection,
The present invention in conjunction with range gating, extends scanning technique using step-scan to submarine target bluish-green laser Range-gated Imager
Detection viewing field, while guaranteeing the image-forming range and image quality of range gating, so as to improve detection efficient.
2, Range-gated Imager visual field is small and the time for exposure is longer, then takes aim at line and is stable at geodetic coordinates within the time for exposure
The time of current location is longer under being, and carrier is in travel condition, therefore, need to carry out while step-scan extended field of view
Speed of a ship or plane compensation, to guarantee the imaging frame sequence of step-scan perpendicular to roll axis.
3, the exhaustive scan method is suitable for motion carrier to submarine target technique of laser range gated imaging, utilizes turntable machine
Structure realizes step-scan extended field of view, avoids image caused by moving fuzzy by speed of a ship or plane compensation and optical axis trails, and be isolated
Three's crosslinking coupling is isolated with disturbance and realizes earth coordinates for the disturbance of carrier position variation bring, step-scan, speed of a ship or plane compensation
Under nothing left scanning leakage.
Detailed description of the invention
Fig. 1: underwater laser images exhaustive scan method workflow；
Fig. 2: schematic diagram is directed toward in the movement of optical axis under earth coordinates；
Fig. 3: two-axle rotating table structural scheme of mechanism；
Fig. 4: nothing left scanning leakage axis movement schematic diagram；
Fig. 5: exhaustive scanning imagery frame maps schematic diagram.
Specific embodiment
The present invention proposes a kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager,
While playing underwater bluish-green laser Range-gated Imager advantage, by step-scan extended parallel port detection viewing field, and pass through step
Into scanning, the speed of a ship or plane compensation with disturbance collective effect is isolated, avoid scanning area from omitting, and because carrier movement generation at
As fuzzy, wrong frame etc..By the way that step-scan method is combined with range gating, both played Range-gated Imager distance it is remote,
The advantages of quality is high, effectively inhibits back scattering, while detection viewing field is extended by turntable mechanism, progress speed of a ship or plane compensation and every
From disturbance, the continuous nothing left scanning leakage under earth coordinates is realized, to improve detection efficient.
Specific symbol definition is given below:
A is the horizontal detection field size of Range-gated Imager sensor；
B is the longitudinal probing field size of Range-gated Imager sensor；
After C cuts width for step-scan one, optical axis does the angle that the angle that speed of a ship or plane compensation is turned projects on carrier vertical section
Degree；
A is the step angle of step-scan；
B is that the expanded- angle reached is cut in step-scan one；
N is one and cuts wide image frames numbers；
When ω is that the speed of a ship or plane compensates, optical axis turns the angular speed projected on carrier vertical section；
T1For range gating sensor exposure time；
T2For the stepping primary required time；
T3For scan through one cut after, optical axis turns time of angle C around carrier pitch axis and to the positive direction that carrier navigates by water,
To offset speed of a ship or plane compensation；
T is that the wide time is cut in step-scan completion one；
L is image-forming range；
V is carrier route speed.
The present invention makes optical axis do round-trip step-scan around carrier roll axis by turntable, and visual field extending transversely obtains vertical
Image sequence in course, as the navigation of carrier forms band-like image, the detection viewing field of Range-gated Imager sensor is A
(transverse direction) × B (longitudinal direction), step angle a, the transverse width of extended field of view are to cut wide b (b=N × a), and N is one and cuts in width
Image frames numbers, gated imaging distance be L；It is turned by the opposite direction that turntable navigates by water optical axis along carrier, carries out speed of a ship or plane benefit
It repays；Disturbance of the carrier position variation to optical axis is isolated, makes optical axis in Range-gated Imager sensor exposure time T1Inside it is stable at
Current location under earth coordinates.
Specifically includes the following steps:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand.
Step 2: Range-gated Imager sensing system starts to expose, in time for exposure T1It is interior, it is driven by pitching ring stand
Sensing system optical axis is at the uniform velocity turned along the opposite direction that carrier navigates by water, and turning angular speed is ω, is met
Wherein B is the longitudinal size of Range-gated Imager sensor detection viewing field, and T cuts wide for step-scan completion one
Time meets
Wherein L is gated imaging distance, and V is carrier route speed.In the whole process, step-scan completes one and cuts width
Time
T=NT1+(N-1)T2+T3
Wherein N is the image frames numbers cut in width, T2For stepping primary required time, T3For scan through one cut after,
Sensing system optical axis turns the setting time of offset angle C along the positive direction that carrier navigates by water.
It avoids carrier navigation that optical axis and the intersection point of target is caused to generate displacement with this and causes image fuzzy, is i.e. the realization speed of a ship or plane
Compensation, while the disturbance of carrier position variation bring is isolated by turntable, make optical axis in Range-gated Imager exposure sensor
Between T1Current location of the interior stabilization under earth coordinates；
Step 3: Range-gated Imager sensing system end exposure completes frame imaging.
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter
Step 5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames.
Step 5: driving sensing system optical axis around carrier roll axis transverse direction stepping 1 time by roll ring stand, step angle
For a, stepping time T2, meet
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field, and T cuts wide for step-scan completion one
Time, T3For scan through one cut after, when sensing system optical axis turns the setting of offset angle C along the positive direction that carrier navigates by water
Between；
And during stepping, sensing system optical axis is driven at the uniform velocity to adjust along the opposite direction that carrier navigates by water by pitching ring stand
Turn, turning angular speed is ω；And carrier position variation disturbance is isolated by turntable.Step-scan, speed of a ship or plane compensation in the step
Three's coupling is isolated with disturbance.
Then return step 2.
Step 6: driving sensing system optical axis to turn offset angle C=along the positive direction that carrier navigates by water by pitching ring stand
ω T, hangover caused by persistently rotating backward to avoid optical axis, during angle C cuts width for step-scan one, optical axis navigates
Projection angle of the angle that speed compensation is continuously turned on carrier vertical section.After the completion of turning, under optical axis position is used as at this time
One is cut the initial position of wide step-scan, and the direction of step-scan is upper one opposite direction for cutting wide scanning.
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation, which returns, executes step
Rapid 2；
Step 8: scanning imagery work terminates.
The workflow of underwater laser images exhaustive scan method provided by the invention is as shown in Figure 1.As carrier navigates
Row, direction of the optical axis under earth coordinates is as shown in Fig. 2, step-scan is formed by optical axis in earth coordinates picture centre
Intercept curve, sequencing arranges according to direction shown in arrow；After circle expression is turned in place, optical axis is when ICCD exposes
Interior stop current location simultaneously keeps stable.
With reference to the accompanying drawing and preferred embodiment the present invention is described in further detail.
Method purpose of the invention is to extend the detection viewing field of bluish-green laser Range-gated Imager, realize to submarine target
The nothing left scanning leakage of technique of laser range gated imaging.In the preferred embodiment, the radiation source of Range-gated Imager uses Gao Chong
The nanosecond pulse bluish-green laser of frequency, Range-gated Imager sensor uses gate type ICCD, using two-axle rotating table (such as Fig. 3 institute
Show).Turntable includes two roll, pitching limited angle pivoted loop frame mechanisms, is all made of permanent magnet D.C. torque motor and directly drives
Limited-rotary is loaded, angular position encoder and optical fibre gyro are configured, target is directed toward by SERVO CONTROL optical axis stable.
The movement of optical axis mainly includes around the step-scan I (being completed by roll servo mechanism) of roll axis and perpendicular to vertical
The speed of a ship or plane of rocker compensates II (being completed by pitching servo mechanism), as shown in Figure 4.The effect of step-scan I is by roll direction phase
Adjacent single frames neglects field picture " splicing " at lateral " column ", and to increase the lateral breadth (cutting width) of image, the speed of a ship or plane compensates II
Effect be elimination system navigation bring optical axis displacement, by fan sweeping movement I formed " column " along course carry out " row " arrange, increasing
Add the length of Waterfall plot.
In the preferred embodiment, each parameter are as follows:
A × B=4 ° of detection viewing field × 3 ° of ICCD；
Time of integration T1=0.05s；
Image-forming range L=20m；
Carrier route speed V=4km/h=1.11m/s；
One cuts wide image frames numbers N=5；
Step angle takes a=A, i.e., a=4 °；
Extended field of view is cut b=N × a=20 ° wide；
The time that scanning one is cut takesIt can be calculated T=0.943s；
The stepping primary required timeSet T2=T3,
It can be calculated T2=0.139s；
Speed of a ship or plane compensation turns angular speed and takes ω=B/T=3.11 °/s；
The compensation of the counteracting speed of a ship or plane turns angle C=ω T=3 ° after scanning completion one is cut.
The detailed step of this preferred embodiment is as follows:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand.
Step 2:ICCD starts to expose, and the opposite direction navigated by water by turning table control optical axis around carrier pitching axial direction carrier is at the uniform velocity
It turns and does speed of a ship or plane compensation, turning angular speed is 3.11 °/s, while being isolated by turntable and being disturbed, and makes optical axis in time for exposure 0.05s
Current location of the interior stabilization under earth coordinates；
Step 3:ICCD end exposure completes frame imaging.
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter
Step 5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a figure cut in width
As number of frames.
Step 5: driving sensing system optical axis around carrier roll axis transverse direction stepping 1 time by roll ring stand, step angle
It is 4 °, stepping time is 0.139s, and during stepping, drives sensing system optical axis to navigate along carrier by pitching ring stand
Capable opposite direction is at the uniform velocity turned, and turning angular speed is 3.11 °/s；And carrier position variation disturbance is isolated by turntable.The step
Three's coupling is isolated with disturbance for step-scan, speed of a ship or plane compensation in rapid.
Then return step 2.
Step 6: drive sensing system optical axis to turn 3 ° of offset angle along the positive direction that carrier navigates by water by pitching ring stand,
Time 0.139s is turned in hangover caused by persistently rotating backward to avoid optical axis.After the completion of turning, under optical axis position is used as at this time
One is cut the initial position of wide step-scan, and the direction of step-scan is upper one opposite direction for cutting wide scanning.
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation, which returns, executes step
Rapid 2；
Step 8: scanning imagery work terminates.
It is 20 ° that scanning, which is formed by image visual field extending transversely, is mapped such as with each frame image projection of carrier movement imaging
Shown in Fig. 5.
In conclusion the exhaustive scan method transverse direction step-scan provided by the present invention for underwater laser images extends
Visual field solves the problems, such as that range gating ICCD detection viewing field is small, and carrying out speed of a ship or plane compensation enables optical axis to stablize in geodetic coordinates
The lower current location of system avoids the occurrence of scanning area and omits and the problem of mistake frame, image blur, and attitudes vibration has been isolated
Caused disturbance, realizes the exhaustive scanning imagery under earth coordinates, and step-scan, the speed of a ship or plane compensate and are isolated disturbance three
Collective effect improves the efficiency to the detection of submarine target technique of laser range gated imaging.
Claims (4)
1. a kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager, it is characterised in that: adopt
Use the turntable mechanism with pitching ring stand and roll ring stand as the peace of bluish-green laser underground distance gated imaging sensing system
Load body；Wherein roll ring stand is able to drive the optical axis of sensing system in the plane perpendicular to underwater moving platform carrier roll axis
Interior swing, the optical axis that pitching ring stand is able to drive sensing system are put in the plane perpendicular to underwater moving platform carrier pitch axis
It is dynamic；
When scanning, roll ring stand drives the optical axis of sensing system to do round-trip step-scan, view extending transversely around carrier roll axis
, obtain the image sequence perpendicular to course, while the negative side that pitching ring stand drives the optical axis of sensing system to navigate by water along carrier
To turning, carry out speed of a ship or plane compensation makes optical axis in Range-gated Imager exposure sensor so that disturbance of the carrier movement to optical axis is isolated
Time T1Inside it is stable at the current location under earth coordinates.
2. a kind of nothing left scanning leakage side suitable for submarine target bluish-green laser Range-gated Imager according to claim 1
Method, it is characterised in that: the specific steps of scanning are as follows:
Step 1: driving sensing system optical axis to turn to lateral step-scan initial position by roll ring stand；
Step 2: Range-gated Imager sensing system starts to expose, in time for exposure T1It is interior, sensor is driven by pitching ring stand
Systematic optical axis is at the uniform velocity turned along the opposite direction that carrier navigates by water, and turning angular speed is ω；
Step 3: Range-gated Imager sensing system end exposure completes frame imaging；
Step 4: judging whether to complete a stepping number cut in wide b, if completed, enter step 6, otherwise enter step
5；Described to cut the transverse width that wide b is extended field of view, b=N × a, a are lateral step angle, and N is a picture frame cut in width
Quantity；
Step 5: drive sensing system optical axis around carrier roll axis transverse direction stepping 1 time, step angle a by roll ring stand,
Stepping time is T2
Wherein A is the lateral dimension of Range-gated Imager sensor detection viewing field, when T is that step-scan completes one and cuts wide
Between, T3For scan through one cut after, sensing system optical axis turns the setting time of offset angle C along the positive direction that carrier navigates by water；
And during stepping, sensing system optical axis is driven at the uniform velocity to turn along the opposite direction that carrier navigates by water by pitching ring stand,
Turning angular speed is ω；Then return step 2；
Step 6: driving sensing system optical axis to turn offset angle C=ω T along the positive direction that carrier navigates by water by pitching ring stand；
After the completion of turning, optical axis position is as next initial position for cutting wide step-scan at this time, and the direction of step-scan is upper
One is cut the opposite direction of wide scanning；
Step 7: being judged whether to stop scanning imagery according to instruction, step 8 is transferred to if stopping, and continuation returns to step 2；
Step 8: scanning imagery work terminates.
3. according to a kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager of claim 2,
It is characterized by: the opposite direction for driving sensing system optical axis to navigate by water along carrier by pitching ring stand in step 2 and step 5 is at the uniform velocity
The angular velocity omega turned meets
Wherein B is the longitudinal size of Range-gated Imager sensor detection viewing field.
4. according to a kind of exhaustive scan method suitable for submarine target bluish-green laser Range-gated Imager of claim 2,
It is characterized by: step-scan, which completes one, cuts wide time T satisfaction
Wherein L is gated imaging distance, and V is carrier route speed.
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| CN111578204A (en) * | 2020-04-23 | 2020-08-25 | 哈尔滨工业大学 | Underwater search lighting device |
| CN111983634A (en) * | 2020-08-26 | 2020-11-24 | 中国科学院半导体研究所 | Three-dimensional radar and method for non-uniform single line scanning for railway monitoring |
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