CN102116596A - Method for judging targeting of simulated shooting for tank element training based on image analysis - Google Patents
Method for judging targeting of simulated shooting for tank element training based on image analysis Download PDFInfo
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- CN102116596A CN102116596A CN200910264156XA CN200910264156A CN102116596A CN 102116596 A CN102116596 A CN 102116596A CN 200910264156X A CN200910264156X A CN 200910264156XA CN 200910264156 A CN200910264156 A CN 200910264156A CN 102116596 A CN102116596 A CN 102116596A
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Abstract
The invention discloses a method for judging the targeting of simulated shooting for tank element training based on image analysis, which comprises the following steps of: installing a video camera facing forwards on one's own gun barrel, and acquiring images by using the video camera, wherein the optical axis of the video camera coincides with or is parallel to the axis of the gun barrel or the axis of a sighting telescope; installing the video camera on a dual-axis tilt sensor in parallel, and providing the horizontal angle and the pitch angle of the video camera by the tilt sensor; installing invisible infrared light sources with different flicker frequencies and beats on different targets to mark the numbers and the indicating positions of the targets; starting to collect images when one's own gunner sights the target, and stopping collection until the gunner presses a shooting button and images that a cannonball reaches the target; and transmitting the collected images to a processing unit, detecting the existence of the light source in each image and the position of the light source by the processing unit, obtaining the flicker frequencies and the beats of the light sources in the visual field through multiple continuous images so as to obtain the identity of a tank, and judging whether the target is hit and the hitting position.
Description
Technical field
The invention belongs to and utilize graphical analysis to judge the technology whether tank hits the mark, decision method is hit in particularly a kind of armored motor unit's training simulation shooting based on graphical analysis.
Background technology
At present, the main advanced technologies such as laser, computer, radio communication that adopt of tank training replace the emission live shell with emission laser.The red blue antagonism training analog system of this multifunctional comprehensive laser (being called for short MILES) [Mao Dexiang, the peak stands in great numbers. Wireless Training System of Laser Shooting Simulator [D], Dalian University of Technology, 2006] mainly form by laser transmitter and detector.When weapon-shooting, one's own side's MILES launches the infrared laser parallel with sight line, and target person or target vehicle are equipped with the infrared laser detecting device, and the microprocessor on the detector is analyzed to the received signal to determine self whether being hit.There are following several shortcomings in this kind method:
(1) laser training " a dozen just in " is not inconsistent with true shell.Because the speed of laser beam is the light velocity, the other side's target can't be evaded, and real shell arrives target and needs several seconds at least from pulling the trigger to.
(2) laser training " a dozen are just ruined " is very big and be difficult to accurately judge whether to hit and distinguish the position of hitting with true shell difference.Because laser always has certain angle of divergence, along with the increase of target range, it is very big to arrive the hot spot that the laser of target forms, and causes being difficult to accurately judging whether the position of hitting and hitting being difficult to injure assessment, smashes thereby be mostly to declare to do, and withdraws from acting; And the size of real shell is changeless, does not become big along with the increase of flying distance, and the position of being hit also is a very little part.
(3) laser training " laser is by the straightaway " flight path that can not imitate true shell.The flight path of true shell is parabolic shape, and in order to eliminate the influence of gravity, the zone that gun tube points to during aiming is not to be the drop point zone of shell, and gun tube causes straightaway laser to be beaten on the fall short when certain angle of site is arranged.
Along with the development of modern military technology and tank equipment, this training method all can not fully satisfy the demand of military modernization at aspects such as precision, performances.
Summary of the invention
The object of the present invention is to provide and a kind ofly can hit decision method near armored motor unit ball firing, high-precision training shot more.
The technical scheme that realizes the object of the invention is: decision method is hit in a kind of armored motor unit's training simulation shooting based on graphical analysis, and step is as follows:
Step 1: the installation of camera system, the video camera of a face forward is installed on the gun tube of one's own side's tank, this video camera is installed on the double-shaft tilt angle sensor, and obliquity sensor provides the level and the angle of pitch of video camera; This video camera install the wave-length coverage unanimity that can only receive invisible light source optical filter, utilize video camera to obtain to comprise the image of the place ahead target, and utilize obliquity sensor to obtain Yin Tanke to tilt and image line coordinate and the horizontal angle that lift-over causes take place, the level and the vertical angle of view of note video camera are respectively w
aAnd h
aDegree, the wide height of video camera gained image is respectively w
pAnd h
pThe video camera attitude horizontal angle that individual pixel, obliquity sensor record is the α degree;
Step 2: the installation of infrared light supply, light source non-visible light, that have different flicker frequencies and beat is installed, the line flicker of going forward side by side, the different target of different representatives of flicker frequency and beat on target;
Step 3: IMAQ, when aiming at, one's own side gunner begins to gather image, just stop to gather when after one's own side gunner is by firing button, arriving target behind the imaginary shell flight dt, obtain a series of images I
1, I
2... Ib ..., Ie, wherein I
1Represent first width of cloth image, Ib representative percussion image constantly, Ie represents the last width of cloth image, promptly from obtaining the image of Ib image behind time dt; Dt looks into firing table according to target range D and bullet kind B to obtain, and looks into firing table and obtain gun tube for offsetting the angle φ degree that shell is raised by gravity fall in flight course;
Step 4: image registration, the image I of collection
1I
2... I
b... Ie is transferred to processing unit, and processing unit is according to the relative motion state between target, and whether decision carries out image registration, and the accurate good image sequence of establishing is I
1I '
2Λ I '
e, when motionless, then need not registration, i.e. I as if one's own side's tank
1I
2... Ie is I
1I '
2Λ I '
eWhen the other side's tank is motionless if one's own side's tank moves, directly get I '
eBe I; If both sides' tank all when motion, then uses image registration techniques to original image sequence I
1I
2... I
b... the every width of cloth image I among the Ie
iTo its last width of cloth I '
I-1Carry out registration, obtain I
1I '
2Λ I '
e
Step 5: in the good image I of registration
1I '
2Λ I '
eOr I
1I
2... among the Ie, whether the light source that detects in every width of cloth image exists the position that reaches light source, and calculates the frequency and the beat of the light source scintillation in the visual field by continuous multiple image, thereby obtains the identity ID of tank;
Step 6: be the determining of imaginary Fall Of Shot zone Ω of reference with image I b, according to Ie image attitude horizontal angle α, φ, the w of corresponding video camera constantly
a, h
a, w
pAnd h
p, in image I b, determine the drop point of shell, drop point is to comprise Ib central series w certainly
p/ 2 anglec of rotation α and central row H
p/ 2 move down certain regional Ω of angle φ, and according to the registration relation that step 4 obtains, obtain the corresponding region Φ of Ω in Ie;
Step 7: appear at position among the Φ by light source, judge whether target is hit;
Step 8: according to the distance D of target type T and target, by searching the morphological data storehouse of different target on different distance, obtain the size A that should have and the form S of target in image Φ, and compare, further obtain the position that target is hit with image Φ.
The present invention compared with prior art, its remarkable advantage is: (1) is truer: the trajectory of real simulation shell and flight time and target motor-driven.Can guarantee that in the imaginary shell image that the arrival target is taken constantly after flight a period of time, whether hitting of identification target is not to judge in aiming image constantly.(2) hit the high resolution at position: the position that recognition objective is hit in helping more training helps the assessment of operational efficiency.Video camera is the resolution ratio of Pixel-level, and the physical size of each pixel representative is (such as being far smaller than the hot spot of laser (such as may be greater than 400cm * 400cm) at the 2000m place less than 5cm * 5cm) at the 2000m place.(3) safer: owing to adopt lower powered illuminating source and initiatively shooting, to not injury of human eye, laser is beaten then might blinding on human eye.(4) expandability is strong: can inform target whether by the other side's locking, can add up number of times that each target locked by the other side and once by whose locking, can be with aiming and image when hitting scalability such as transmit.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the equipment scheme of installation that decision method is hit in armored motor unit's training shot of the present invention is based on graphical analysis.
Fig. 2 is a processing unit schematic diagram of the present invention.
Fig. 3 is shell track of the present invention and drop point administrative division map.
The specific embodiment
Decision method is hit in the armored motor unit's training simulation shooting that the present invention is based on graphical analysis, and step is as follows:
Step 1: the installation of camera system.The video camera 2 of a face forward is installed on the gun tube of one's own side's tank, and video camera is installed on the double-shaft tilt angle sensor 1, and obliquity sensor provides the level and the angle of pitch of video camera; Video camera is installed the optical filter of specific wavelength, can only receive the light of specific wavelength, and is consistent with the wave-length coverage of invisible light source among the present invention when specifically implementing, such as the infrared fileter of wavelength at 830-880nm.Utilize video camera to obtain and comprise the image of the other side (the place ahead) target (tank, panzer etc.), and utilize obliquity sensor to obtain Yin Tanke to tilt and image line coordinate and the horizontal angle that lift-over causes takes place.The level and the vertical angle of view of note video camera are respectively w
aAnd h
aDegree, the wide height of video camera gained image is respectively w
pAnd h
pThe video camera attitude horizontal angle that individual pixel, obliquity sensor record is the α degree.
Image has very high spatial resolution, and the image pixel of video camera can arrive millions of pixels at present, and resolution ratio is more than 1000 * 1000, and therefore the gun tube of the clear and legible 1.5km of energy place tank has very high resolution capability to hitting the position.Can adopt following video camera mount scheme IA or scheme IB:
Scheme IA:
Video camera and obliquity sensor thereof are installed on gun muzzle, make the dead in line of optical axis and gun tube of video camera by the installation attitude of adjusting video camera.Be installed in shown in gun muzzle as Fig. 1 .A.
Scheme IB:
Video camera and obliquity sensor thereof are installed on the gun tube, make that by the installation attitude of adjusting video camera the optical axis of video camera is parallel with the axis of gun tube.Be installed in shown in the gun tube as Fig. 1 .B.
Scheme IA has guaranteed that the horizontal range dx vertical range dy of the axis runout barrel axis of video camera is all zero; Scheme IB has guaranteed that the horizontal range dx of the axis runout barrel axis of video camera is that zero-sum vertical range dy is a known constant, and the unit of dy is a rice (m).
Can adopt the video camera of 1280 * 960 infrared-sensitive, per second is gathered image 50 width of cloth, adopts the camera lens of f=75mm, adds the infrared band pass filter of 830-880nm.
Step 2: the installation of infrared light supply.Light source 3 non-visible light, that have different flicker frequencies and beat is installed, the line flicker of going forward side by side, the different target of different representatives of flicker frequency and beat on target.Can adopt a plurality of wavelength to form light source of the present invention at the infrarede emitting diode of 845nm during concrete enforcement, this light source is safe to human eye.In order to guarantee the least possible being blocked, the infrared light supply in this patent can be installed on the commanding elevation of tank, i.e. the top of tank is shown in 3 among Fig. 1.The light source of installing on the different tanks has different flicker frequencies and beat, to represent different tank numberings.
Can adopt 10 wavelength to form light source of the present invention at the infrarede emitting diode of the power 5w of 845nm, adopt the form of 9 codings, B8B7B6...B0, wherein B8B7B6 is the start bit of coding, B5..B0 is a Target id, can represent 64 targets (removing the coding that comprises start bit in the coding of B5..B0) at most.Every coding takies the duration of 70ms, when Bi=1, and the bright 70ms of light source; When Bi=0, the light source 70ms that goes out.
In per 50 width of cloth images, find the bright number of times of light source, be the flicker frequency of light source, the difference of flicker frequency also can be used for the identification of tank ID.
Step 3: IMAQ.In gunner's aiming process, video camera is gathered image always, just stops to gather when arriving target behind the imaginary shell flight dt after one's own side gunner is by firing button, obtains a series of images I
1I
2... Ib...Ie, wherein I
1Represent first width of cloth image, Ib representative percussion image constantly, Ie represents the last width of cloth image, promptly from obtaining the image of Ib image behind time dt; Dt looks into firing table according to target range D and bullet kind B to obtain, and looks into firing table and obtain gun tube for offsetting the angle φ degree that shell is raised by gravity fall in flight course.
Step 4: image registration.The image I of gathering
1I
2... I
b... Ie is transferred to processing unit 4 (can be a kind of computer that has image collecting function), processing unit is according to the relative motion state between target, whether decision carries out image registration (but the method list of references of image registration: Wu Xia, panorama sketch Generation Technology [D] in the wide area surveillance, Institutes Of Technology Of Nanjing's Master's thesis 2008).The accurate good image sequence of establishing is I
1I '
2Λ I '
eIf when one's own side's tank is motionless (one's own side is the defender), then need not registration, promptly I1 I2...Ie is I
1I '
2Λ I '
eWhen the other side's tank is motionless if one's own side's tank moves (the other side is the defender), can directly get I '
eBe Ib; If both sides' tank all when motion (this kind situation does not generally take place in the training), then uses image registration techniques to original image sequence I
1I
2... I
b... the every width of cloth image I among the Ie
iTo its last width of cloth I '
I-1Carry out registration, obtain I
1I '
2Λ I '
e
Fig. 2 is a processing unit schematic diagram of the present invention, mainly contains three modules: the picture signal input module mainly be responsible for to be gathered image, and accepts the further IMAQ that whether needs that processing center transmits; Whether center processor comprises the bullet table, and morphological data storehouse and data are handled, mainly judge according to bullet table and morphological data storehouse whether target is hit, and oneself hit, if oneself is hit, sends the indication of smoldering; The information wireless transport module is used for transmission and hits instruction (comprising command car and target), receives the numbering of instruction, lock onto target etc.
Image sequence can be described the movement locus that shooter pulls the trigger back target tank well, can allow the target tank to carry out motor-driven evading in the flight time of shell in the flight time of analog cartridge; But not as laser a dozen just in, do not reserve the target tank and evade the time.
In like manner, defer sentence of the present invention can embody the lead (not run-home position when promptly aiming at, but the position that shooter's target of prediction arrives) of shooting well behind dt, and this is that laser training is not accomplished.
Step 5: in the good image I of registration
1I '
2Λ I '
eIn (be exactly I sometimes
1I
2... Ie), whether the light source that detects in every width of cloth image exists the position that reaches light source, and resolves frequency and the beat that (employing image analysis technology) goes out the light source scintillation in the visual field by continuous multiple image, thereby obtains the identity ID of tank.Under the extreme case, may have many tanks in the visual field of video camera, promptly detect the identity code obtain many tanks, fetch bit is put among the most close Step.6 and is obtained that (sx, sy) identity code of coordinate is as the identity ID of tank target under attack.
It is but the identity ID notification target tank that obtains tank is locked; Also this identity ID can be sent to command centre, command centre can add up the blocked number of times of target and once by who the locking etc.
Step 6: the determining of imaginary Fall Of Shot zone Ω that with image I b is reference.Attitude horizontal angle α, φ, w according to corresponding video camera of the Ie image moment
a, h
a, w
pAnd h
p, in image I b, determine the drop point of shell, drop point is to comprise Ib central series w certainly
p/ 2 anglec of rotation α and central row H
p/ 2 move down certain regional Ω of angle φ, and according to the registration relation that step 4 obtains, obtain the corresponding region Φ of Ω in Ie.During shooting, the gunner is with bullet kind and target range D (unit: input processor rice), processor is looked into firing table according to target range D and bullet kind B and is obtained gun tube is raised by gravity fall in flight course for offsetting shell angle φ (unit: degree), suppose that the video camera attitude horizontal angle that gun tube obliquity sensor at this moment records is a α (unit: degree), by following formula obtain the point of impact coordinate of imaginary shell in image I b (sx, sy) (unit: pixel):
When operational version IA, be point of impact (sx, the calculating that image coordinate sy) adopts Fig. 3 to show of reference with Ib.Fig. 3 is that the shell whereabouts track of decision method and the schematic diagram and the computational methods in drop point zone are hit in the armored motor unit's training shot that the present invention is based on graphical analysis.Image is clapped by video camera in the right among the figure, and+word bit is changed to point of impact, and (sx, sy), oblique rectangle frame is the rectangular area Ω at point of impact center.Wp and hp are respectively the width and the height (unit: pixel) of the image of shot by camera, level of their correspondences and vertical angle of view are respectively wa and ha (unit: degree), L1 is the central series wp/2 of image, L2 is the central row Hp/2 of image, L2 ' is that L2 offsets the image line that gun tube is raised angle, L3 signal the earth horizontal line, and L1 ' is the normal trajectories of the whereabouts of shell in image, L3 ' is the horizontal trajectory of Fall Of Shot, and point of impact is the intersection point of L3 ' and L1 '.
When operational version IB, earlier hypothesis is exactly that (sx sy), more on this basis, deducts a correction deltay and get final product (because the axis of gun tube hangs down dy rice than the axis of actual IB) the operational version IA coordinate that obtains drop point.
Wherein, w
pWidth (the unit: pixel), also be the columns of image of the image that obtains for camera acquisition; h
pHeight (the unit: pixel), also be the line number of image of the image that obtains for camera acquisition; Ha is the visual angle (unit: degree) of the high and low position of the image that obtains of camera acquisition; Obvious h
p/ h
aLine number for the image of every degree representative; During operational version IB, dy/ (D * tag (h
a/ 2)) * (h
p/ 2) for to bring correction because of camera optical axis is higher than gun tube optical axis dy.
According to the difference of the far and near D of target range, so that (sx sy) is the drop point zone Ωs of the zones of getting different sizes at center as imaginary shell.
Step.7 and the registration relation that obtains according to step 4 obtain the corresponding region Φ of Ω in Ie.Set its width and highly be respectively Φ
wAnd Φ
h(unit: pixel); The coordinate of the point of impact of obvious imaginary shell in Φ is (Φ
w/ 2, Φ
h/ 2).The position of supposing light source this moment is for (Lx, Ly), (Lx is Ly) with (Φ by calculating
w/ 2, Φ
h/ 2) distance, promptly whether the decidable tank is hit.
Step 8: according to the distance D of target type T and target, by searching different target in the morphological data storehouse on the different distance (database is to set up the good multiple attitude of different target type on different distance in advance), different according to training objective and distance, obtain the size A that should have and the form S of target in image Φ, and compare with image Φ, further obtain the position that target is hit.Can send to command centre with hitting the image constantly and the position of hitting of tank, be convenient to further function expansion.
Claims (6)
1. decision method is hit in the armored motor unit's training simulation shooting based on graphical analysis, it is characterized in that step is as follows:
Step 1: the installation of camera system, the video camera of a face forward is installed on the gun tube of one's own side's tank, this video camera is installed on the double-shaft tilt angle sensor, and obliquity sensor provides the level and the angle of pitch of video camera; This video camera install the wave-length coverage unanimity that can only receive invisible light source optical filter, utilize video camera to obtain to comprise the image of the place ahead target, and utilize obliquity sensor to obtain Yin Tanke to tilt and image line coordinate and the horizontal angle that lift-over causes take place, the level and the vertical angle of view of note video camera are respectively w
aAnd h
aDegree, the wide height of video camera gained image is respectively w
pAnd h
pThe video camera attitude horizontal angle that individual pixel, obliquity sensor record is the α degree;
Step 2: the installation of infrared light supply, light source non-visible light, that have different flicker frequencies and beat is installed, the line flicker of going forward side by side, the different target of different representatives of flicker frequency and beat on target;
Step 3: IMAQ, when aiming at, one's own side gunner begins to gather image, just stop to gather when after one's own side gunner is by firing button, arriving target behind the imaginary shell flight dt, obtain a series of images I
1, I
2... Ib ..., Ie, wherein I
1Represent first width of cloth image, Ib representative percussion image constantly, Ie represents the last width of cloth image, promptly from obtaining the image of Ib image behind time dt; Dt looks into firing table according to target range D and bullet kind B to obtain, and looks into firing table and obtain gun tube for offsetting the angle φ degree that shell is raised by gravity fall in flight course;
Step 4: image registration, the image I of collection
1I
2... I
b... Ie is transferred to processing unit, and processing unit is according to the relative motion state between target, and whether decision carries out image registration, and the accurate good image sequence of establishing is I
1I '
2Λ I '
e, when motionless, then need not registration, i.e. I as if one's own side's tank
1I
2... Ie is I
1I '
2Λ I '
eWhen the other side's tank is motionless if one's own side's tank moves, directly get I '
eBe I; If both sides' tank all when motion, then uses image registration techniques to original image sequence I
1I
2... I
b... the every width of cloth image I among the Ie
iTo its last width of cloth I '
I-1Carry out registration, obtain I
1I '
2Λ I '
e
Step 5: in the good image I of registration
1I '
2Λ I '
eOr I
1I
2... among the Ie, whether the light source that detects in every width of cloth image exists the position that reaches light source, and calculates the frequency and the beat of the light source scintillation in the visual field by continuous multiple image, thereby obtains the identity ID of tank;
Step 6: be the determining of imaginary Fall Of Shot zone Ω of reference with image I b, according to Ie image attitude horizontal angle α, φ, the w of corresponding video camera constantly
a, h
a, w
pAnd h
p, in image I b, determine the drop point of shell, drop point is to comprise Ib central series w certainly
p/ 2 anglec of rotation α and central row H
p/ 2 move down certain regional Ω of angle φ, and according to the registration relation that step 4 obtains, obtain the corresponding region Φ of Ω in Ie;
Step 7: appear at position among the Φ by light source, judge whether target is hit;
Step 8: according to the distance D of target type T and target, by searching the morphological data storehouse of different target on different distance, obtain the size A that should have and the form S of target in image Φ, and compare, further obtain the position that target is hit with image Φ.
2. decision method is hit in the armored motor unit's training simulation shooting based on graphical analysis according to claim 1, it is characterized in that in step 1, video camera and obliquity sensor thereof are installed on gun muzzle, make the dead in line of optical axis and gun tube of video camera by the installation attitude of adjusting video camera.
3. decision method is hit in the armored motor unit's training simulation shooting based on graphical analysis according to claim 1, it is characterized in that in step 1, video camera and obliquity sensor thereof are installed on the gun tube, make that by the installation attitude of adjusting video camera the optical axis of video camera is parallel with the axis of gun tube.
4. decision method is hit in the armored motor unit's training simulation shooting based on graphical analysis according to claim 1, it is characterized in that in step 5, when the identity ID notification target tank that obtains tank locked, perhaps this identity ID is sent to command centre, command centre can add up the blocked number of times of target and once by whose locking.
5. decision method is hit in the armored motor unit's training simulation shooting based on graphical analysis according to claim 1, it is characterized in that in step 5, if when having many tanks in the visual field of video camera, promptly detect the identity code that obtains many tanks, fetch bit is put in the most close step 6 and is obtained that (sx, sy) identity code of coordinate is as the identity ID of tank target under attack.
6. decision method is hit in the armored motor unit's training simulation shooting based on graphical analysis according to claim 1, it is characterized in that in step 7, sets its width and highly is respectively Φ
wAnd Φ
h, unit is a pixel; The coordinate of point of impact in Φ of imagination shell is (Φ
w/ 2, Φ
h/ 2); The position of supposing light source this moment is for (Lx, Ly), (Lx is Ly) with (Φ by calculating
w/ 2, Φ
h/ 2) distance, promptly whether the decidable tank is hit.
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| CN105004266A (en) * | 2015-06-26 | 2015-10-28 | 哈尔滨工程大学 | Multiple-launch rocket firing accuracy measuring instrument provided with filter |
| CN106980738B (en) * | 2017-04-12 | 2020-06-12 | 中国人民解放军63867部队 | Method and device for constructing ammunition power firing watch |
| CN106980738A (en) * | 2017-04-12 | 2017-07-25 | 中国人民解放军63867部队 | The construction method and device of ammunition power firing table |
| CN108898613A (en) * | 2018-05-14 | 2018-11-27 | 浙江大学 | A kind of gunz optimization SAR radar land tank target identifying system |
| CN109408877A (en) * | 2018-09-17 | 2019-03-01 | 北京晶品镜像科技有限公司 | A kind of intelligence shooting decision-making technique of antitank missile unit |
| CN109522890A (en) * | 2018-09-21 | 2019-03-26 | 北京晶品特装科技有限责任公司 | A method of tank target is identified using near-infrared flasher |
| CN109522890B (en) * | 2018-09-21 | 2020-11-03 | 北京晶品特装科技有限责任公司 | Method for identifying tank target by using near-infrared flash light source |
| CN109949648A (en) * | 2019-04-30 | 2019-06-28 | 上海亿湾特训练设备科技有限公司 | It is a kind of to simulate belligerent training system and simulate belligerent training method |
| CN112432557A (en) * | 2020-11-19 | 2021-03-02 | 中国北方车辆研究所 | Tank shooting precision test system under laboratory condition |
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