CN102749659A - Multifunctional photoelectric detection instrument and target position observing and determining method implemented by same - Google Patents
Multifunctional photoelectric detection instrument and target position observing and determining method implemented by same Download PDFInfo
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- CN102749659A CN102749659A CN2012102527123A CN201210252712A CN102749659A CN 102749659 A CN102749659 A CN 102749659A CN 2012102527123 A CN2012102527123 A CN 2012102527123A CN 201210252712 A CN201210252712 A CN 201210252712A CN 102749659 A CN102749659 A CN 102749659A
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Abstract
The invention relates to a multifunctional photoelectric detection instrument and a target position observing and determining method implemented by the same. The multifunctional photoelectric detection instrument comprises refrigerating infrared sensors, a laser range finder, a visible light channel, a GPS (global positioning system) module, a magnetic compass, a comprehensive information processing unit, a power module and a control panel, the comprehensive information processing unit is respectively connected with the refrigerating infrared sensors, the laser range finder, the GPS module, the magnetic compass, the display module and the control panel, and the visible light channel is connected onto the laser range finder. The method includes methods for observing a target via the visible light channel, a method for observing the target and determining target direction via the refrigerating infrared sensor and a method for automatically solving coordinates of the target position. The multifunctional photoelectric detection instrument and the target position observing and determining method have the advantages that the target is detected and positioned by a single person, and images, the direction, the distance and position information of the target are accurately provided in real time. Besides, the various sensors are integrated, a miniaturization design is adopted, portability is high, and single-person detection capacity and information acquisition capacity are improved.
Description
Technical field
The present invention relates to the method that a kind of multifunctional photoelectric is scouted appearance and is used to observe definite target location, specifically is that a kind of multi-sensor photoelectric is scouted positioning system, belongs to the photoelectronic reconnaissance field.
Background technology
Scout in modern times, resist and the assessment activity in, information obtaining ability is just becoming the key factor of decision antagonism victory or defeat.Obtain the on-the-spot various information of antagonism timely and accurately, under complex environment, accomplish the scouting location tasks of target, can provide the target azimuth to guide for the attack or the anti-preheater system of antagonism, to strengthen precision strike capability or defence capability.In addition, the recruitment evaluation after the strike also becomes the important step that field data information obtains gradually with scouting.Therefore, information acquisition apparatus such as various types of monitoring, scouting, observation have become the emphasis of research and equipment.Wherein, single scouting is as the important component part of whole antagonism presence information system, has dexterity, good penetrability, characteristics such as clear and intuitive, played very important sharp knife effect.In order to give full play to the characteristics of single scouting; Just must there be corresponding multi-functional reconnaissance equipment to support; When satisfying functions such as target imaging scouting, be convenient to single carrying again; Under night and complex electromagnetic environment, carry out the target reconnaissance location with convenient single scouting, guarantee the completion of task.
At present, the hand-held photoelectronic reconnaissance equipment based on uncooled ir thermal imaging system and visible channel is mainly adopted in single scouting, target is formed images round the clock scout observation.Simultaneously, can be equipped with extra laser range finder, obtain the range information of target.Utilize these photoelectric sensing equipment can realize the task of single scouting to a certain extent, but still lack the coordinate information of target, can't accurately locate it.If carry angular instrument and GPS positioning equipment again, too numerous and diverse equipment can have a strong impact on the maneuverability and the disguise of single scouting.And a plurality of equipment are difficult to collaborative work, and the real-time and the accuracy of the information that obtains can't guarantee, be difficult to provide in time, accurately, comprehensive target information.
The problems referred to above have restricted the application of single scouting to a great extent.In order to address these problems, to need outfit to integrate the reconnaissance equipment of observation round the clock of functions such as scouting, aiming, location, but still lack this equipment at present.This has more highlighted the importance that disposes single multifunctional photoelectric reconnaissance equipment.
Summary of the invention
The present invention proposes a kind of multifunctional photoelectric and scout appearance, comprise refrigeration mode infrared sensor, laser range finder, visible channel, GPS module etc., integrate functions such as scouting, aiming, location; Portable good with dirigibility, infrared optical system adopts the secondary convertible two grades of zooming systems of turning back, thereby in the realization fast zoom; Physical dimension is also compact more; Can observe scouting round the clock, be specially adapted to single target reconnaissance and survey and information search, solve the not enough problem of single scouting information obtaining ability; Can scout the location to target, image, orientation, distance and the positional information of target is provided real-time and accurately.
A kind of multifunctional photoelectric of the present invention is scouted the appearance technical scheme: it comprises that is positioned at the refrigeration mode infrared sensor that the complete machine front end is used to shoot with video-corder the infrared image target; A laser range finder that is used for the measurement target distance; One is used for the visible channel that visible light is observed; A GPS module that is used to survey the observation station position coordinates, one is used for the level angle of the detection of a target and the magnetic compass of luffing angle; Also have an integrated information processing unit, be used to calculate the positional information of target, picture signal is carried out video coding and enhancement process, infrared image and information data are synthesized demonstration, and each parts is controlled; Also have an input end to be connected and power module that output terminal is connected with parts that need are supplied power respectively, a control panel that is used for the display module of display image and is used for control operation with battery; Said integrated information processing unit is connected with control panel with refrigeration mode infrared sensor, laser range finder, GPS module, magnetic compass and display module respectively; Be connected with visible channel on the laser range finder.
Further technical scheme is:
Described multifunctional photoelectric is scouted appearance, and its refrigeration mode infrared sensor comprises an infrared eye, and one is used for infrared radiation is converged at the infrared optical system on the target surface of infrared eye, and infrared eye converts infrared radiation signal into analog electrical signal; An infrared imaging circuit unit; Said infrared optical system is positioned at the place ahead of infrared eye target surface, and this infrared eye is connected with the infrared imaging circuit unit.
Described multifunctional photoelectric is scouted appearance, and its laser range finder comprises a laser emitting module, a laser pick-off module, and a transmitting optics passage, one receives optical channel; Said laser emitting module input end is connected with the integrated information processing unit, and output terminal is connected with the transmitting optics passage; The laser pick-off module input is connected with the reception optical channel, and output terminal is connected with the integrated information processing unit.
Described multifunctional photoelectric is scouted appearance, and its visible channel is positioned at and receives after the optical channel, and both common light paths; The GPS module is connected with the integrated information processing unit; Magnetic compass is connected with the integrated information processing unit.
Described multifunctional photoelectric is scouted appearance, and its display module is connected with the integrated information processing unit; Control panel is connected with the integrated information processing unit.
Described multifunctional photoelectric is scouted appearance, and its integrated information processing unit comprises digital signal processor kernel, PPI0 parallel interface, PPI1 parallel interface, SPI Serial Peripheral Interface (SPI), RS232 serial line interface, communication IO interface, video encoder, RS422 serial expansion interface, infrared interface, laser interface, GPS interface, magnetic compass interface, external control command interface, sdram memory, flash memory, power interface; Described digital signal processor kernel is connected with flash memory with PPI0 parallel interface, PPI1 parallel interface, SPI Serial Peripheral Interface (SPI), RS232 serial line interface, communication IO interface, sdram memory respectively.
Described multifunctional photoelectric is scouted appearance, and its SPI Serial Peripheral Interface (SPI) is connected with digital signal processor kernel and RS422 serial expansion interface respectively; The RS232 serial line interface is connected with RS422 serial expansion interface with the digital signal processor kernel respectively; The video encoder input end is connected with the PPI0 parallel interface, and output terminal is connected with display module; RS422 serial expansion interface is connected with SPI Serial Peripheral Interface (SPI), RS232 serial line interface, infrared interface, laser interface, GPS interface, magnetic compass interface and external control command interface.
A kind of above-mentioned multifunctional photoelectric of the present invention that uses is scouted the method and technology scheme of appearance through visible channel object observing and definite target azimuth, comprises the steps:
A1, start:, each parts are supplied power through control panel power-on module;
B1, object observing: through the visible channel object observing;
C1, aim at the mark: after finding target, the aiming crosshair of visible channel is aimed at the mark;
D1, message pick-up send and handle: after aiming at the mark, send the laser ranging order through control panel; After the integrated information processing unit receives order, control laser emitting module emission eye-safe laser beam; Laser beam is through transmitting optics passage, directive target; After hitting the mark; Reflection is back to the reception optical channel; Laser beam after this reception optical channel will reflect converges at the laser pick-off module; This laser pick-off module is carried out opto-electronic conversion and signal Processing to the laser beam that receives, and the electric signal after will handling sends in the middle of the integrated information processing unit;
E1, range of a signal information: the integrated information processing unit receives the electric signal that laser range finder sends, and it is calculated, and calculates the range information of target, then range information is sent to display module and shows;
F1, draw the coordinate information of target: keep scopodromic state, send through control panel and obtain the target location coordinate order; After the integrated information processing unit received order, the control magnetic compass obtained the level angle and the luffing angle of target, and self coordinate information that obtains that the GPS module sends; The level angle and the luffing angle of integration objective range information, self coordinate information and target, the integrated information processing unit is accomplished mathematics and is resolved process, calculates the coordinate information of target;
G1, display-object information: the coordinate information of target shows in the middle of sending to display module.
A kind of above-mentioned multifunctional photoelectric of the present invention that uses is scouted the method and technology scheme of appearance through refrigeration mode infrared sensor object observing and definite target azimuth, comprises the steps:
A2, start:, each parts are supplied power through control panel power-on module;
B2, obtain and show infrared image: after the integrated information processing unit received the infrared imaging order of sending through control panel, control infrared imaging assembly sent infrared image signal; The integrated information processing unit carries out the video coding to infrared image signal, obtains to show needed vision signal, then vision signal is sent to display module, by display module the infrared image video is shown, observes for operating personnel;
C2, handle Infrared video image, observe and aim at the mark: send focusing, zoom, nonuniformity correction, figure image intensifying through control panel and order to the integrated information processing unit; The integrated information processing unit is accomplished image enhancement functions, and focusing accomplished by the control infrared optical system and zoom moves, and control infrared imaging assembly is accomplished the nonuniformity correction function; Obtain Infrared video image clearly through focusing, zoom, nonuniformity correction and figure image intensifying, and object observing; Then the aiming crosshair in the display module is aimed at the mark;
D2, message pick-up, transmission and processing: after aiming at the mark, send the laser ranging order through control panel; After the integrated information processing unit receives order, control laser emitting module emission eye-safe laser beam; Laser beam is through transmitting optics passage, directive target; After hitting the mark; Reflection is back to the reception optical channel; Laser beam after this reception optical channel will reflect converges at the laser pick-off module; This laser pick-off module is carried out opto-electronic conversion and signal Processing to the laser beam that receives, and the electric signal after will handling sends in the middle of the integrated information processing unit;
E2, demonstration have the Infrared video image of target range information: obtain target range information through laser range finder; The integrated information processing unit receives the electric signal that laser range finder sends; And it is calculated; Calculate the range information of target, then that target range information and infrared video is synthetic, send to display module and show the Infrared video image that has target range information;
F2, draw the coordinate information of target: keep scopodromic state, send through control panel and obtain the target location coordinate order; After the integrated information processing unit received order, the control magnetic compass obtained the level angle and the luffing angle of target, and self coordinate information that obtains that the GPS module sends; The level angle and the luffing angle of integration objective range information, self coordinate information and target, the integrated information processing unit is accomplished mathematics and is resolved process, calculates the coordinate information of target;
G2, show the Infrared video image have target range information, self coordinate information and coordinates of targets information: the integrated information processing unit synthesizes target range information, self coordinate information and coordinates of targets information with Infrared video image, shows in the middle of sending to display module.
The method of resolving the terrain object position coordinates automatically that the above-mentioned multifunctional photoelectric of a kind of the present invention of being applied to is scouted appearance is characterized in that, comprises the steps:
The first step: record the air line distance between target and the observation station through laser range finder
D;Straight line one is projected as straight line two on surface level;
Second step:, comprise the latitude value of observation station through the earth absolute coordinate of GPS module acquisition observation station present position
α A And longitude
β A
The 3rd step: obtain target direction angle, i.e. angle between straight line two and the direct north line through magnetic compass
C, the angle of pitch of target, the i.e. angle of straight line one and straight line two
D
The 4th step: the absolute coordinate of target is confirmed by following (1), (2) and (3) formula:
Wherein,
α A Latitude value for observation station;
β A Longitude for observation station;
α B Latitude value for target;
β B Longitude for target;
dBe the distance between observation station and the target;
hBe object height;
CFor straight line two with the angle between the direct north line, i.e. azimuth of target; D is the angle of straight line one and straight line two, i.e. the target angle of pitch;
R I Be equatorial radius;
R C Be polar radius.
Below in conjunction with basic functional principle of the present invention and technical scheme remarkable result of the present invention is explained as follows:
Basic functional principle is: utilize the visual passage of refrigeration mode infrared sensor or visible light to observe; After finding target; Obtain the range information of target with laser range finder; The GPS module offers the integrated information processing unit with the absolute location coordinates of observation station, and magnetic compass then is used for the level angle and the luffing angle of measurement target, and the level angle and the luffing angle of target sent to the integrated information processing unit.The integrated information processing unit is used to receive the signal that each sensor sends, and automatically these signals is merged, and then calculates the absolute coordinate of target voluntarily, is used to indicate the target azimuth.
Principal feature of the present invention and remarkable result are:
1, through advanced technologies such as miniaturized sensors design and MULTISENSOR INTEGRATION management, weight is lighter, has realized good portability, and easy installation and removal has strengthened practicality greatly.
2, has very high distance accuracy; Use built-in rechargeable battery, dirigibility is good.
3, integrated multiple sensors, image viewing ability and target precise real-time positioning function combine round the clock, have guaranteed the functional and portable of equipment.
4, can be percussion system or search and rescue device systems; Implement accurately to scout, strike back or target is carried out the strike effect assessment decision-making foundation is provided; In the functional characteristics of having given full play to single scouting good penetrability; Adopt all purpose communication standard, can carry out communication for intelligence with action commander information center through CCIR analog video and RS485 interface, for action information center provide in time, accurate, enrich, target information intuitively; Comprise absolute coordinates, position angle, the angle of pitch, distance etc., the actual combat that has significantly promoted single scouting is worth.
Description of drawings
Fig. 1 is the system logic block diagram that multifunctional photoelectric of the present invention is scouted appearance.
Fig. 2 is the STRUCTURE DECOMPOSITION figure that multifunctional photoelectric of the present invention is scouted sensor head in the appearance.
Fig. 3 is the principle of work block diagram that multifunctional photoelectric of the present invention is scouted the integrated information processing unit of appearance.
Fig. 4 is the synoptic diagram that the target data of multifunctional photoelectric scouting appearance of the present invention merges the process of resolving.
The title of Reference numeral is among the figure: the 001-target; 002-straight line one; 003-direct north line; 004-straight line two; The 100-observation station; 101-refrigeration mode infrared sensor; 101.1-infrared optical system; 101.2-infrared eye; 101.3-infrared imaging assembly; The 102-laser range finder; 102.1-laser emitting module; 102.2-laser pick-off module; 102.3-transmitting optics passage; 102.4-reception optical channel; The 103-visible channel; The 104-GPS module; The 105-magnetic compass; 106-integrated information processing unit; 106.1-digital signal processor kernel; 106.2-PPI0 parallel interface; 106.3-PPI1 parallel interface; 106.4-SPI Serial Peripheral Interface (SPI); 106.5-RS232 serial line interface; 106.6-communication IO interface; 106.7-video encoder; 106.8-RS422 serial expansion interface; 106.9-infrared interface; 106.10-laser interface; 106.11-GPS interface; 106.12-magnetic compass interface; 106.13-external control command interface; 106.14-SDRAM internal memory; 106.15-flash memory; 106.16-power interface; The 107-power module; The 108-display module; The 109-control panel; The 110-lithium battery.
Embodiment
Below in conjunction with accompanying drawing and practical implementation measure example a kind of multifunctional photoelectric scouting of the present invention appearance is made further detailed description.
Embodiment 1:Like Fig. 1, shown in 2; Be that a kind of multifunctional photoelectric of the present invention is scouted the basic embodiment of appearance; It comprises that one is positioned at 102, one of the laser range finders that 101, one of refrigeration mode infrared sensors that the complete machine front end is used to shoot with video-corder infrared image target 001 are used for the measurement target distance and is used for the visible channel 103 that visible light is observed; 104, one of a GPS module that are used to survey the observation station position coordinates is used for the level angle of the detection of a target and the magnetic compass 105 of luffing angle; Also have an integrated information processing unit 106, be used to calculate the positional information of target, picture signal is carried out video coding and enhancement process, infrared image and information data are synthesized demonstration, and each parts is controlled; Also have an input end to be connected and control panel 109 that 107, one of power modules that output terminal is connected with parts that need are supplied power respectively are used for the display module 108 of display image and are used for control operation with battery 110; Said integrated information processing unit 106 is connected with control panel 109 with refrigeration mode infrared sensor 101, laser range finder 102, GPS module 104, magnetic compass 105 and display module 108 respectively; Be connected with visible channel 103 on the laser range finder 102.
Embodiment 2:Be further embodiment on embodiment 1 basis; Described multifunctional photoelectric is scouted appearance; Its refrigeration mode infrared sensor 101 comprises an infrared eye 101.2; One is used for infrared radiation is converged at the infrared optical system 101.1 on the target surface of infrared eye 101.2, and infrared eye 101.2 converts infrared radiation signal into analog electrical signal; An infrared imaging circuit unit 101.3; Be used for analog electrical signal; Accomplish the function that AD conversion, nonuniformity correction and bad unit reject, export data image signal to integrated information processing unit 106 then, simultaneously; The working bias voltage signal is sent in the infrared eye 101.2, be used to support the work of infrared eye 101.2; Said infrared optical system 101.1 is positioned at the place ahead of infrared eye 101.2 target surfaces, and this infrared eye 101.2 is connected with infrared imaging circuit unit 101.3.
Embodiment 3:Be further embodiment on embodiment 2 bases, described multifunctional photoelectric is scouted appearance, and its laser range finder 102 comprises a laser emitting module 102.1, is used to launch eye-safe laser; A laser pick-off module 102.2 is used to receive the laser beam of returning, and laser beam is converted into electric signal, handles, and the electric signal after will handling then sends in the integrated information processing unit 106 to obtain target range information; A transmitting optics path 10 2.3 is used to transmit the emitted laser bundle, makes laser beam more concentrated; One receives optical channel 102.4, is used for receiving target 001 laser light reflected light beam, converges on the laser pick-off module 102.2, simultaneously, is used for receiving the transmission visible light, and with visible channel 103 light paths altogether, for visible channel 103 observation of looking in the distance; Laser emitting module 102.1 input ends are connected with integrated information processing unit 106, and output terminal is connected with transmitting optics path 10 2.3; Laser pick-off module 102.2 input ends are connected with reception optical channel 102.4, and output terminal is connected with integrated information processing unit 106.
Embodiment 4:Be further embodiment on embodiment 3 bases, described multifunctional photoelectric is scouted appearance, and its visible channel 103 is positioned at and receives after the optical channel 102.4, and both common light paths, is used for operating personnel and carries out the visible light observation; GPS module 104 is connected with integrated information processing unit 106, is used to survey the position coordinates that multifunctional photoelectric is scouted appearance, and positional information is sent in the middle of the integrated information processing unit 106; Magnetic compass 105 is connected with integrated information processing unit 106, is used for the level angle and the luffing angle of the detection of a target, and angle information is sent in the middle of the integrated information processing unit 106.
Embodiment 5:Different with embodiment 1 is that described multifunctional photoelectric is scouted appearance, and its display module 108 is connected with integrated information processing unit 106, is used to receive the picture signal that integrated information processing unit 106 sends, completion Presentation Function, confession eye-observation; Control panel 109 is connected with integrated information processing unit 106; Be used to respond the machine open/close button command; On/Off power module 107 is accomplished the machine open/close action, and control panel 109 is gone back the operation response button command; And order sent to integrated information processing unit 106, to accomplish the associative operation function.
Embodiment 6:Different with embodiment 5 is; As shown in Figure 3; Described multifunctional photoelectric is scouted appearance, and its integrated information processing unit 106 comprises digital signal processor kernel 106.1, PPI0 parallel interface 106.2, PPI1 parallel interface 106.3, SPI Serial Peripheral Interface (SPI) 106.4, RS232 serial line interface 106.5, communication IO interface 106.6, video encoder 106.7, RS422 serial expansion interface 106.8, infrared interface 106.9, laser interface 106.10, GPS interface 106.11, magnetic compass interface 106.12, external control command interface 106.13, sdram memory 106.14, flash memory 106.15, power interface 106.16; Described digital signal processor kernel 106.1 is connected with flash memory 106.15 with PPI0 parallel interface 106.2, PPI1 parallel interface 106.3, SPI Serial Peripheral Interface (SPI) 106.4, RS232 serial line interface 106.5, communication IO interface 106.6, sdram memory 106.14 respectively.Described SPI Serial Peripheral Interface (SPI) 106.4 is connected with digital signal processor kernel 106.1 and RS422 serial expansion interface 106.8 respectively, is used for communicating with refrigeration mode infrared sensor 101, laser range finder 102, GPS module 104 and magnetic compass 105; Described RS232 serial line interface 106.5 is connected with RS422 serial expansion interface 106.8 with digital signal processor kernel 106.1 respectively, is used for comprising that with outside that multifunctional photoelectric is scouted appearance straighforward operation case, radio station system communicate by letter; Video encoder 106.7 input ends are connected with PPI0 parallel interface 106.2; Output terminal is connected with display module 108; Be used for converting data image signal into meet the display standard form analog video signal, and analog video signal is sent to display module 108 its demonstrations of confession; Described RS422 serial expansion interface 106.8 is connected with SPI Serial Peripheral Interface (SPI) 106.4, RS232 serial line interface 106.5, infrared interface 106.9, laser interface 106.10, GPS interface 106.11, magnetic compass interface 106.12 and external control command interface 106.13; Be used for converting SPI and RS232 standard serial port into a plurality of RS422 standard serial ports; Thereby, accomplish communication with the matches criteria of infrared interface 106.9, laser interface 106.10, GPS interface 106.11 and magnetic compass interface 106.12.Power module 107 is connected with infrared optical system 101.1, infrared eye 101.2, infrared imaging assembly 101.3, laser emitting module 102.1, laser pick-off module 102.2, GPS module 104, magnetic compass 105, integrated information processing unit 106, display unit 108, control panel 109 and lithium battery 110 respectively.Power module 107 is used for receiving electric energy from lithium battery 110, thus be infrared optical system 101.1 the power supply of focusing zoom motor, supply power for the refrigeration machine power supply of infrared eye 101.2, for infrared imaging assembly 101.3, laser emitting module 102.1, laser pick-off module 102.2, GPS module 104, magnetic compass 105, integrated information processing unit 106 and display module 108.
Below in conjunction with accompanying drawing and practical implementation measure example a kind of multifunctional photoelectric of the present invention being scouted appearance is used to observe the method for confirming the target location and makes further detailed description.
Embodiment 7:A kind of method of using multifunctional photoelectric scouting appearance of the present invention through visible channel object observing and definite target azimuth, its step is following:
A1, start:, each parts are supplied power through control panel 109 power-on modules 107;
B1, object observing: through visible channel 103 object observings 001;
C1, aim at the mark: after finding target 001, the aiming crosshair of visible channel 103 is aimed at the mark 001;
D1, message pick-up send and handle: aim at the mark after 001, send the laser rangings order through control panel 109; After integrated information processing unit 106 receives order, control laser emitting module 102.1 emission eye-safe laser beam; Laser beam is through transmitting optics path 10 2.3, directive target 001; Hit the mark after 001; Reflection is back to and receives optical channel 102.4; Laser beam after this reception optical channel 102.4 will reflect converges at laser pick-off module 102.2; 102.2 pairs of laser beam that receive of this laser pick-off module are carried out opto-electronic conversion and signal Processing, and the electric signal after will handling sends in the middle of the integrated information processing unit 106;
E1, range of a signal information: integrated information processing unit 106 receives the electric signal that laser range finder 102 sends, and it is calculated, and calculates the range information of target, then range information is sent to display module 108 and shows;
F1, draw the coordinate information of target: 001 the state that keeps aiming at the mark, send through control panel 109 and to obtain the target location coordinate order; After integrated information processing unit 106 received order, control magnetic compass 105 obtained the level angle and the luffing angle of target, and self coordinate information that obtains that GPS module 104 sends; The level angle and the luffing angle of integration objective range information, self coordinate information and target, integrated information processing unit 106 is accomplished mathematics and is resolved process, calculates the coordinate information of target;
G1, display-object information: the coordinate information of target shows in the middle of sending to display module 108.
Embodiment 8:A kind of method of using multifunctional photoelectric scouting appearance of the present invention through refrigeration mode infrared sensor object observing and definite target azimuth, its step is following:
A2, start:, each parts are supplied power through control panel 109 power-on modules 107;
B2, obtain and show infrared image: after integrated information processing unit 106 received the infrared imaging order of sending through control panel 109, control infrared imaging assembly 101.3 sent infrared image signals; 106 pairs of infrared image signals of integrated information processing unit carry out the video coding, obtain to show needed vision signal, then vision signal are sent to display module 108, by display module 108 the infrared image video are shown, observe for operating personnel;
C2, handle Infrared video image, observe and aim at the mark: send focusing, zoom, nonuniformity correction, figure image intensifying through control panel 109 and order to integrated information processing unit 106; Integrated information processing unit 106 is accomplished image enhancement functions, and focusing accomplished by control infrared optical system 101.1 and zoom moves, and control infrared imaging assembly 101.3 is accomplished the nonuniformity correction function; Obtain Infrared video image clearly through focusing, zoom, nonuniformity correction and figure image intensifying, and object observing 001; Then the aiming crosshair in the display module 108 is aimed at the mark 001;
D2, message pick-up, transmission and processing: aim at the mark after 001, send the laser rangings order through control panel 109; After integrated information processing unit 106 receives order, control laser emitting module 102.1 emission eye-safe laser beam; Laser beam is through transmitting optics path 10 2.3, directive target 001; Hit the mark after 001; Reflection is back to and receives optical channel 102.4; Laser beam after this reception optical channel 102.4 will reflect converges at laser pick-off module 102.2; 102.2 pairs of laser beam that receive of this laser pick-off module are carried out opto-electronic conversion and signal Processing, and the electric signal after will handling sends in the middle of the integrated information processing unit 106;
E2, demonstration have the Infrared video image of target range information: obtain the target range information through laser range finder 102; Integrated information processing unit 106 receives the electric signal that laser range finder 102 sends; And it is calculated; Calculate the range information of target, then that target range information and infrared video is synthetic, send to display module 108 and show the Infrared video image that has target range information;
F2, draw the coordinate information of target: 001 the state that keeps aiming at the mark, send through control panel 109 and to obtain the target location coordinate order; After integrated information processing unit 106 received order, control magnetic compass 105 obtained the level angle and the luffing angle of target, and self coordinate information that obtains that GPS module 104 sends; The level angle and the luffing angle of integration objective range information, self coordinate information and target, integrated information processing unit 106 is accomplished mathematics and is resolved process, calculates the coordinate information of target;
G2, show the Infrared video image have target range information, self coordinate information and coordinates of targets information: integrated information processing unit 106 synthesizes target range information, self coordinate information and coordinates of targets information with Infrared video image, shows in the middle of sending to display module 108.
Embodiment 9:A kind of method of resolving the terrain object position coordinates automatically that is applied to multifunctional photoelectric scouting appearance of the present invention, its step is following:
The first step: record the air line distance between target 001 and the observation station 100 through laser range finder 102
D; Straight line 1 is projected as straight line 2 004 on surface level, as shown in Figure 4;
Second step:, comprise the latitude value of observation station 100 through the earth absolute coordinate of GPS module 104 acquisition observation stations 100 present positions
α A And longitude
β A
The 3rd step: through the position angle of magnetic compass 105 acquisition targets 001, i.e. angle between straight line 2 004 and the direct north line 003
C, the angle of pitch of target 001, the i.e. angle of straight line 1 and straight line 2 004
D
The 4th step: the absolute coordinate of target is confirmed by following 1,2 and 3 formulas:
3
Wherein,
α A Latitude value for observation station 100;
β A Longitude for observation station 100;
α B Latitude value for target 001;
β B Longitude for target 001;
dBe the distance between observation station 100 and the target 001;
hBe object height;
CFor straight line 2 004 with the angle between the direct north line 003, i.e. azimuth of target; D is the angle of straight line 1 and straight line 2 004, i.e. the target angle of pitch;
R I Be equatorial radius;
R C Be polar radius.
Claim protection domain of the present invention is not limited to the foregoing description.
Claims (10)
1. a multifunctional photoelectric is scouted appearance; It is characterized in that; Comprise that is positioned at the refrigeration mode infrared sensor (101) that the complete machine front end is used to shoot with video-corder infrared image target (001), a laser range finder (102) that is used for the measurement target distance, one is used for the visible channel (103) that visible light is observed; A GPS module (104) that is used to survey the observation station position coordinates, one is used for the level angle of the detection of a target and the magnetic compass of luffing angle (105); Also have an integrated information processing unit (106), be used to calculate the positional information of target, picture signal is carried out video coding and enhancement process, infrared image and information data are synthesized demonstration, and each parts is controlled; Also have an input end to be connected and power module (107) that output terminal is connected with parts that need are supplied power respectively, a control panel (109) that is used for the display module (108) of display image and is used for control operation with battery (110); Said integrated information processing unit (106) is connected with control panel (109) with refrigeration mode infrared sensor (101), laser range finder (102), GPS module (104), magnetic compass (105) and display module (108) respectively; Be connected with visible channel (103) on the laser range finder (102).
2. multifunctional photoelectric according to claim 1 is scouted appearance; It is characterized in that; Described refrigeration mode infrared sensor (101) comprises an infrared eye (101.2); One is used for infrared radiation is converged at the infrared optical system (101.1) on the target surface of infrared eye (101.2), and infrared eye (101.2) converts infrared radiation signal into analog electrical signal; An infrared imaging circuit unit (101.3); Said infrared optical system (101.1) is positioned at the place ahead of infrared eye (101.2) target surface, and this infrared eye (101.2) is connected with infrared imaging circuit unit (101.3).
3. multifunctional photoelectric according to claim 1 is scouted appearance; It is characterized in that; Described laser range finder (102) comprises a laser emitting module (102.1); A laser pick-off module (102.2), a transmitting optics passage (102.3), one receives optical channel (102.4); Said laser emitting module (102.1) input end is connected with integrated information processing unit (106), and output terminal is connected with transmitting optics passage (102.3); Laser pick-off module (102.2) input end is connected with reception optical channel (102.4), and output terminal is connected with integrated information processing unit (106).
4. scout appearance according to claim 1 or 3 described multifunctional photoelectrics, it is characterized in that, visible channel (103) is positioned at and receives optical channel (102.4) afterwards, and both common light paths; GPS module (104) is connected with integrated information processing unit (106); Magnetic compass (105) is connected with integrated information processing unit (106).
5. multifunctional photoelectric according to claim 1 is scouted appearance, it is characterized in that described display module (108) is connected with integrated information processing unit (106); Control panel (109) is connected with integrated information processing unit (106).
6. scout appearance according to claim 1 or 5 described multifunctional photoelectrics; It is characterized in that described integrated information processing unit (106) comprises digital signal processor kernel (106.1), PPI0 parallel interface (106.2), PPI1 parallel interface (106.3), SPI Serial Peripheral Interface (SPI) (106.4), RS232 serial line interface (106.5), communication IO interface (106.6), video encoder (106.7), RS422 serial expansion interface (106.8), infrared interface (106.9), laser interface (106.10), GPS interface (106.11), magnetic compass interface (106.12), external control command interface (106.13), sdram memory (106.14), flash memory (106.15), power interface (106.16); Described digital signal processor kernel (106.1) is connected with flash memory (106.15) with PPI0 parallel interface (106.2), PPI1 parallel interface (106.3), SPI Serial Peripheral Interface (SPI) (106.4), RS232 serial line interface (106.5), communication IO interface (106.6), sdram memory (106.14) respectively.
7. multifunctional photoelectric according to claim 6 is scouted appearance, it is characterized in that described SPI Serial Peripheral Interface (SPI) (106.4) is connected with digital signal processor kernel (106.1) and RS422 serial expansion interface (106.8) respectively; RS232 serial line interface (106.5) is connected with RS422 serial expansion interface (106.8) with digital signal processor kernel (106.1) respectively; Video encoder (106.7) input end is connected with PPI0 parallel interface (106.2), and output terminal is connected with display module (108); RS422 serial expansion interface (106.8) is connected with SPI Serial Peripheral Interface (SPI) (106.4), RS232 serial line interface (106.5), infrared interface (106.9), laser interface (106.10), GPS interface (106.11), magnetic compass interface (106.12) and external control command interface (106.13).
8. one kind is used the said multifunctional photoelectric of above-mentioned arbitrary claim to scout the method for appearance through visible channel object observing and definite target azimuth, it is characterized in that, comprises the steps:
A1, start:, each parts are supplied power through control panel (109) power-on module (107);
B1, object observing: through visible channel (103) object observing (001);
C1, aim at the mark: after finding target (001), the aiming crosshair of visible channel (103) aim at the mark (001);
D1, message pick-up send and handle: after aim at the mark (001), send the laser ranging order through control panel (109); After integrated information processing unit (106) receives order, control laser emitting module (102.1) emission eye-safe laser beam; Laser beam is through transmitting optics passage (102.3), directive target (001); Hit the mark after (001); Reflection is back to and receives optical channel (102.4); Laser beam after this reception optical channel (102.4) will reflect converges at laser pick-off module (102.2); This laser pick-off module (102.2) is carried out opto-electronic conversion and signal Processing to the laser beam that receives, and the electric signal after will handling sends in the middle of the integrated information processing unit (106);
E1, range of a signal information: integrated information processing unit (106) receives the electric signal that laser range finder (102) sends, and it is calculated, and calculates the range information of target, then range information is sent to display module (108) and shows;
F1, draw the coordinate information of target: the state of keep aiming at the mark (001), send through control panel (109) and to obtain the target location coordinate order; After integrated information processing unit (106) received order, control magnetic compass (105) obtained the level angle and the luffing angle of target, and self coordinate information that obtains that GPS module (104) sends; The level angle and the luffing angle of integration objective range information, self coordinate information and target, integrated information processing unit (106) is accomplished mathematics and is resolved process, calculates the coordinate information of target;
G1, display-object information: the coordinate information of target shows in the middle of sending to display module (108).
9. one kind is used the said multifunctional photoelectric of above-mentioned arbitrary claim to scout the method for appearance through refrigeration mode infrared sensor object observing and definite target azimuth, it is characterized in that, comprises the steps:
A2, start:, each parts are supplied power through control panel (109) power-on module (107);
B2, obtain and show infrared image: after integrated information processing unit (106) received the infrared imaging order of sending through control panel (109), control infrared imaging assembly (101.3) sent infrared image signal; Integrated information processing unit (106) carries out the video coding to infrared image signal; Obtain to show needed vision signal; Then vision signal is sent to display module (108), the infrared image video is shown, observe for operating personnel by display module (108);
C2, handle Infrared video image, observe and aim at the mark: send focusing, zoom, nonuniformity correction, figure image intensifying through control panel (109) and order to integrated information processing unit (106); Integrated information processing unit (106) is accomplished image enhancement functions, and control infrared optical system (101.1) is accomplished focusing and zoom moves, and control infrared imaging assembly (101.3) is accomplished the nonuniformity correction function; Obtain Infrared video image clearly through focusing, zoom, nonuniformity correction and figure image intensifying, and object observing (001); Then with the aiming crosshair in the display module (108) aim at the mark (001);
D2, message pick-up, transmission and processing: after aim at the mark (001), send the laser ranging order through control panel (109); After integrated information processing unit (106) receives order, control laser emitting module (102.1) emission eye-safe laser beam; Laser beam is through transmitting optics passage (102.3), directive target (001); Hit the mark after (001); Reflection is back to and receives optical channel (102.4); Laser beam after this reception optical channel (102.4) will reflect converges at laser pick-off module (102.2); This laser pick-off module (102.2) is carried out opto-electronic conversion and signal Processing to the laser beam that receives, and the electric signal after will handling sends in the middle of the integrated information processing unit (106);
E2, demonstration have the Infrared video image of target range information: obtain target range information through laser range finder (102); Integrated information processing unit (106) receives the electric signal that laser range finder (102) sends; And it is calculated; Calculate the range information of target, then that target range information and infrared video is synthetic, send to display module (108) and show the Infrared video image that has target range information;
F2, draw the coordinate information of target: the state of keep aiming at the mark (001), send through control panel (109) and to obtain the target location coordinate order; After integrated information processing unit (106) received order, control magnetic compass (105) obtained the level angle and the luffing angle of target, and self coordinate information that obtains that GPS module (104) sends; The level angle and the luffing angle of integration objective range information, self coordinate information and target, integrated information processing unit (106) is accomplished mathematics and is resolved process, calculates the coordinate information of target;
G2, show the Infrared video image have target range information, self coordinate information and coordinates of targets information: integrated information processing unit (106) synthesizes target range information, self coordinate information and coordinates of targets information with Infrared video image, shows in the middle of sending to display module (108).
10. one kind is applied to the method for resolving the terrain object position coordinates automatically that the said multifunctional photoelectric of above-mentioned arbitrary claim is scouted appearance, it is characterized in that, comprises the steps:
The first step: record the air line distance between target (001) and the observation station (100) through laser range finder (102)
D;Straight line one (002) is projected as straight line two (004) on surface level;
Second step:, comprise the latitude value of observation station (100) through the earth absolute coordinate of GPS module (104) acquisition observation station (100) present position
α A And longitude
β A
The 3rd step: through the position angle of magnetic compass (105) acquisition target (001), i.e. angle between straight line two (004) and the direct north line (003)
C, the angle of pitch of target (001), the i.e. angle of straight line one (002) and straight line two (004)
D
The 4th step: the absolute coordinate of target is confirmed by following (1), (2) and (3) formula:
（2）
Wherein,
α A Latitude value for observation station (100);
β A Longitude for observation station (100);
α B Latitude value for target (001);
β B Longitude for target (001);
dBe the distance between observation station (100) and the target (001);
hBe object height;
CFor straight line two (004) with the angle between the direct north line (003), i.e. azimuth of target; D is the angle of straight line one (002) and straight line two (004), i.e. the target angle of pitch;
R I Be equatorial radius;
R C Be polar radius.
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