CN102749659B - 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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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 a kind of multifunctional photoelectric detector and for observing the method determining target location, specifically a kind of multi-sensor photoelectric scouts positioning system, belongs to photoelectronic reconnaissance field.
Background technology
In modern times scouting, antagonism and assessment activity, information obtaining ability is just becoming the key factor determining antagonism victory or defeat.Obtain the on-the-spot various information of antagonism timely and accurately, under complex environment, complete the scouting location tasks of target, target azimuth can be provided to guide, to strengthen precision strike capability or defence capability for the attack of antagonism or anti-preheater system.In addition, the recruitment evaluation after strike and scouting also become the important step that field data information obtains gradually.Therefore, the information acquisition apparatus such as various types of monitoring, scouting, observation has become the emphasis of research and equipment.Wherein, single scouting, as the important component part of whole antagonism presence information system, has dexterity, good penetrability, the feature such as clear and intuitive, serves very important sharp knife effect.In order to give full play to the feature of single scouting, corresponding multi-functional reconnaissance equipment just must be had to support, single carrying is convenient to again while meeting the functions such as target imaging scouting, to facilitate single scouting to carry out target reconnaissance location under night and complex electromagnetic environment, ensure completing of task.
At present, single scouting mainly adopts the hand-held photoelectrical reconnaissance equipment based on Uncooled infrared camera and visible channel, carries out imaging reconnaissance observation round the clock to target.Meanwhile, extra laser range finder can be equipped with, 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, accurately cannot locate it.If carry angular instrument and GPS positioning equipment again, too numerous and diverse equipment can have a strong impact on maneuverability and the disguise of single scouting.And multiple equipment is difficult to collaborative work, obtain the real-time of information and accuracy cannot ensure, be difficult to provide in time, accurately, comprehensive target information.
The problems referred to above constrain the application of single scouting to a great extent.In order to address these problems, need to be equipped with the reconnaissance equipment of observation round the clock integrating the functions such as scouting, aiming, location, but still lacking this equipment at present.This has more highlighted the importance of the single multifunctional photoelectric reconnaissance equipment of configuration.
Summary of the invention
The present invention proposes a kind of multifunctional photoelectric detector, comprise refrigeration mode infrared sensor, laser range finder, visible channel, GPS module etc., collection is scouted, aim at, the functions such as location are in one, portability and dirigibility good, infrared optical system adopts secondary to turn back convertible Switch-zoom system, thus while realizing fast zoom, physical dimension is also compacter, scouting can be observed round the clock, be specially adapted to the detection of single target reconnaissance and information search, solve the not enough problem of single reconnaissance acquisition capability, scouting location can be carried out to target, the image of target is provided real-time and accurately, orientation, Distance geometry positional information.
A kind of multifunctional photoelectric detector technical scheme of the present invention is: it comprises one and is positioned at complete machine front end for shooting with video-corder the refrigeration mode infrared sensor of infrared image target, a laser range finder for measurement target distance, a visible channel observed for visible ray, one for detecting the GPS module of observation station position coordinates, one for the level angle of the detection of a target and the magnetic compass of luffing angle; Also have an integrated information processing unit, for calculating the positional information of target, Video coding being carried out to picture signal and strengthens process, by infrared image and information data compound display, and each parts being controlled; Also have input end to be connected with battery and power module that output terminal is connected with the parts that need power respectively, one for showing the display module of image and the control panel for control operation; Described integrated information processing unit is connected with refrigeration mode infrared sensor, laser range finder, GPS module, magnetic compass and display module and control panel respectively; Laser range finder is connected with visible channel;
Described refrigeration mode infrared sensor comprises an infrared eye, one for infrared radiation being converged at the infrared optical system on the target surface of infrared eye, infrared radiation signal is converted to analog electrical signal by infrared eye; An infrared imaging circuit unit; Described infrared optical system is positioned at the front of infrared eye target surface, and this infrared eye is connected with infrared imaging circuit unit;
Described laser range finder comprises a laser emitting module, a laser pick-off module, a transmitting optics passage, and one receives optical channel; Described laser emitting module input end is connected with integrated information processing unit, output terminal and transmitting optics expanding channels; Laser pick-off module input is connected with reception optical channel, and output terminal is connected with integrated information processing unit;
After described visible channel is positioned at and receives optical channel, and both common light paths; GPS module is connected with integrated information processing unit; Magnetic compass is connected with integrated information processing unit;
Described display module is connected with integrated information processing unit; Control panel is connected with integrated information processing unit;
Described integrated information processing unit comprises digital signal processing core, PPI0 parallel interface, PPI1 parallel interface, SPI Serial Peripheral Interface (SPI), RS232 serial line interface, communication I/O port, video encoder, RS422 serial extend interface, infrared interface, laser interface, GPS interface, magnetic compass interface, external control command interface, sdram memory, flash memory, power interface; Described digital signal processing core is connected with PPI0 parallel interface, PPI1 parallel interface, SPI Serial Peripheral Interface (SPI), RS232 serial line interface, communication I/O port, sdram memory and flash memory respectively.
Further technical scheme is:
Described multifunctional photoelectric detector, its SPI Serial Peripheral Interface (SPI) is connected with digital signal processing core and RS422 serial extend interface respectively; RS232 serial line interface is connected with digital signal processing core and RS422 serial extend interface respectively; Video encoder input end is connected with PPI0 parallel interface, and output terminal is connected with display module; RS422 serial extend 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.
The multifunctional photoelectric detector using the present invention above-mentioned, by visible channel object observing and the method and technology scheme determining target azimuth, comprises the steps:
A1, start: by control panel power-on module, all parts is powered;
B1, object observing: by visible channel object observing;
C1, to aim at the mark: after finding target, the crossline of sight silk of visible channel is aimed at the mark;
D1, receives information send and process: after aiming at the mark, and send laser ranging order by control panel; After integrated information processing unit receives order, control laser emitting module and launch human gingival fibroblasts bundle; Laser beam passes through transmitting optics passage, homed on its target; After hitting the mark, reflection is back to reception optical channel, laser beam after reflection is converged at laser pick-off module by this reception optical channel, this laser pick-off module carries out opto-electronic conversion and signal transacting to the laser beam received, and is sent in the middle of integrated information processing unit by the electric signal after process;
E1, display distance information: integrated information processing unit receives the electric signal that laser range finder sends, and calculates it, 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, sent by control panel and obtain target location coordinate order; After integrated information processing unit receives order, control level angle and luffing angle that magnetic compass obtains target, and obtain self coordinate information of GPS module transmission; The level angle of integration objective range information, self coordinate information and target and luffing angle, integrated information processing unit completes mathematics solution process, calculates the coordinate information of target;
G1, display-object information: the coordinate information of target is sent in the middle of display module and shows.
The multifunctional photoelectric detector using the present invention above-mentioned, by refrigeration mode infrared sensor object observing and the method and technology scheme determining target azimuth, comprises the steps:
A2, start: by control panel power-on module, all parts is powered;
B2, acquisition and display infrared image: after integrated information processing unit receives the infrared imaging order sent by control panel, control infrared imaging assembly and send infrared image signal; Integrated information processing unit carries out Video coding to infrared image signal, obtains the vision signal required for display, then vision signal is sent to display module, is shown by infrared image video by display module, observe for operating personnel;
C2, process Infrared video image, observe and aim at the mark: sending focusing, zoom, nonuniformity correction, image enhaucament order to integrated information processing unit by control panel; Integrated information processing unit completes image enhancement functions, and controls infrared optical system and complete focusing and zoom action, controls infrared imaging assembly and completes nonuniformity correction function; Infrared video image is clearly obtained by focusing, zoom, nonuniformity correction and image enhaucament, and object observing; Then the crossline of sight silk in display module is aimed at the mark;
D2, receives information, transmission and process: after aiming at the mark, send laser ranging order by control panel; After integrated information processing unit receives order, control laser emitting module and launch human gingival fibroblasts bundle; Laser beam passes through transmitting optics passage, homed on its target; After hitting the mark, reflection is back to reception optical channel, laser beam after reflection is converged at laser pick-off module by this reception optical channel, this laser pick-off module carries out opto-electronic conversion and signal transacting to the laser beam received, and is sent in the middle of integrated information processing unit by the electric signal after process;
E2, show Infrared video image with target range information: obtain target range information by laser range finder, integrated information processing unit receives the electric signal that laser range finder sends, and it is calculated, calculate the range information of target, then by target range information and infrared video synthesis, be sent to display module and carry out showing the Infrared video image with target range information;
F2, draw the coordinate information of target: keep scopodromic state, sent by control panel and obtain target location coordinate order; After integrated information processing unit receives order, control level angle and luffing angle that magnetic compass obtains target, and obtain self coordinate information of GPS module transmission; The level angle of integration objective range information, self coordinate information and target and luffing angle, integrated information processing unit completes mathematics solution process, calculates the coordinate information of target;
G2, show Infrared video image with target range information, self coordinate information and coordinates of targets information: target range information, self coordinate information and coordinates of targets information and Infrared video image are synthesized by integrated information processing unit, are sent in the middle of display module and show.
Be applied to a method for the Automatic solution terrain object position coordinates of the above-mentioned multifunctional photoelectric detector of the present invention, it is characterized in that, comprise the steps:
The first step: record the air line distance between target and observation station by laser range finder
d;straight line one in the horizontal plane be projected as straight line two;
Second step: the earth absolute coordinate being obtained observation station present position by GPS module, comprises the latitude value of observation station
α a and longitude
β a ;
3rd step: the position angle being obtained target by magnetic compass, the angle namely between straight line two and direct north line
c, the angle of pitch of target, the i.e. angle of straight line one and straight line two
d.
4th step: the absolute coordinate of target is determined by following (1), (2) and (3) formula:
（1）
（2）
（3）
Wherein,
α a for the latitude value of observation station;
β a for the longitude of observation station;
α b for the latitude value of target;
β b for the longitude of target;
dfor the distance between observation station and target;
hfor object height;
cfor straight line two is with the angle between direct north line, i.e. azimuth of target; D is the angle of straight line one and straight line two, i.e. target pitch angle;
r i for equatorial radius;
r c for polar radius.
Below in conjunction with basic functional principle of the present invention and technical scheme, remarkable result of the present invention is described as follows:
Basic functional principle is: utilize refrigeration mode infrared sensor or the visual passage of visible ray to observe, after finding target, the range information of target is obtained with laser range finder, the absolute location coordinates of observation station is supplied to integrated information processing unit by GPS module, the level angle of target and luffing angle then for level angle and the luffing angle of measurement target, and are sent to integrated information processing unit by magnetic compass.The signal that integrated information processing unit sends for receiving each sensor, and automatically these signals are merged, and then calculate the absolute coordinate of target voluntarily, be used to indicate target azimuth.
Principal feature of the present invention and remarkable result are:
1, to be designed by miniaturized sensors and the advanced technology such as MULTISENSOR INTEGRATION management, lighter in weight, achieves good portability, easy installation and removal, greatly strengthen practicality.
2, there is very high distance accuracy; Use built-in rechargeable battery, dirigibility is good.
3, integrated multiple sensors, image viewing ability will combine with the accurate real-time navigation capability of target round the clock, ensure that the functional of equipment and portability.
4, can be percussion system or search and rescue device systems, implement accurately scouting, counterattack or carry out Hitting Effect Evaluation to target to provide decision-making foundation, while the functional characteristics giving full play to single scouting good penetrability, adopt common communication standard, information center is commanded to carry out communication for intelligence by CCIR analog video and RS485 interface with action, for action information center provide in time, accurately, enrich, target information intuitively, comprise absolute coordinates, position angle, the angle of pitch, distance etc., the actual combat significantly improving single scouting is worth.
Accompanying drawing explanation
Fig. 1 is the system logic block diagram of multifunctional photoelectric detector of the present invention.
Fig. 2 is the STRUCTURE DECOMPOSITION figure of sensor head in multifunctional photoelectric detector of the present invention.
Fig. 3 is the principle of work block diagram of the integrated information processing unit of multifunctional photoelectric detector of the present invention.
Fig. 4 is the schematic diagram of the target data fusion solution process of multifunctional photoelectric detector of the present invention.
In figure, the title of Reference numeral is: 001-target; 002-straight line one; 003-direct north line; 004-straight line two; 100-observation station; 101-refrigeration mode infrared sensor; 101.1-infrared optical system; 101.2-infrared eye; 101.3-infrared imaging assembly; 102-laser range finder; 102.1-laser emitting module; 102.2-laser pick-off module; 102.3-transmitting optics passage; 102.4-receives optical channel; 103-visible channel; 104-GPS module; 105-magnetic compass; 106-integrated information processing unit; 106.1-digital signal processing core; 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 I/O port; 106.7-video encoder; 106.8-RS422 serial extend 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; 107-power module; 108-display module; 109-control panel; 110-lithium battery.
Embodiment
Below in conjunction with accompanying drawing and concrete implementing measure example, a kind of multifunctional photoelectric detector of the present invention is further described in detail.
embodiment 1:as shown in Figure 1, 2, it is the basic embodiment of a kind of multifunctional photoelectric detector of the present invention, it comprises one and is positioned at complete machine front end for shooting with video-corder the refrigeration mode infrared sensor 101 of infrared image target 001, a laser range finder 102 for measurement target distance, a visible channel 103 observed for visible ray, one for detecting the GPS module 104, of observation station position coordinates 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, for calculating the positional information of target, Video coding being carried out to picture signal and strengthens process, by infrared image and information data compound display, and each parts being controlled; Also have input end to be connected with battery 110 and power module 107, that output terminal is connected with the parts that need power respectively for showing the display module 108 of image and the control panel 109 for control operation; Described integrated information processing unit 106 is connected with refrigeration mode infrared sensor 101, laser range finder 102, GPS module 104, magnetic compass 105 and display module 108 and control panel 109 respectively; Laser range finder 102 is connected with visible channel 103.
Described refrigeration mode infrared sensor 101 comprises an infrared eye 101.2, one for infrared radiation being converged at the infrared optical system 101.1 on the target surface of infrared eye 101.2, infrared radiation signal is converted to analog electrical signal by infrared eye 101.2; An infrared imaging circuit unit 101.3, for the treatment of analog electrical signal, complete the function that AD conversion, nonuniformity correction and bad unit reject, then data image signal is exported to integrated information processing unit 106, simultaneously, working bias voltage signal is sent in infrared eye 101.2, for supporting the work of infrared eye 101.2; Described infrared optical system 101.1 is positioned at the front of infrared eye 101.2 target surface, and this infrared eye 101.2 is connected with infrared imaging circuit unit 101.3.
Described laser range finder 102 comprises a laser emitting module 102.1, for launching human gingival fibroblasts; A laser pick-off module 102.2, for receiving the laser beam returned, and being converted to electric signal to laser beam, processing, and is then sent in integrated information processing unit 106 electric signal after process to obtain target range information; A transmitting optics path 10 2.3, for the laser beam of transmitting, makes laser beam more concentrated; One receives optical channel 102.4, for the laser beam that receiving target 001 reflects, converges in laser pick-off module 102.2, meanwhile, for receiving transmission visible ray, and with visible channel 103 altogether light path, to look in the distance observation for visible channel 103; Laser emitting module 102.1 input end is 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 end is connected with reception optical channel 102.4, and output terminal is connected with integrated information processing unit 106.
Described multifunctional photoelectric detector, after its visible channel 103 is positioned at and receives optical channel 102.4, and both common light paths, carry out visible ray observation for operating personnel; GPS module 104 is connected with integrated information processing unit 106, for detecting the position coordinates of multifunctional photoelectric detector, and positional information is sent in the middle of integrated information processing unit 106; Magnetic compass 105 is connected with integrated information processing unit 106, for level angle and the luffing angle of the detection of a target, and is sent to by angle information in the middle of integrated information processing unit 106;
Described display module 108 is connected with integrated information processing unit 106, for receiving the picture signal that integrated information processing unit 106 sends, completes Presentation Function, for eye-observation; Control panel 109 is connected with integrated information processing unit 106, for responding machine open/close button command, On/Off power module 107, complete machine open/close action, control panel 109 goes back operation response button command, and order is sent to integrated information processing unit 106, to complete associative operation function.
As shown in Figure 3, described multifunctional photoelectric detector, its integrated information processing unit 106 comprises digital signal processing core 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 I/O port 106.6, video encoder 106.7, RS422 serial extend 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 processing core 106.1 is connected 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 I/O port 106.6, sdram memory 106.14 and flash memory 106.15 respectively.Described SPI Serial Peripheral Interface (SPI) 106.4 is connected with digital signal processing core 106.1 and RS422 serial extend interface 106.8 respectively, for communicating with magnetic compass 105 with refrigeration mode infrared sensor 101, laser range finder 102, GPS module 104; Described RS232 serial line interface 106.5 is connected with digital signal processing core 106.1 and RS422 serial extend interface 106.8 respectively, and for comprising straighforward operation case with the outside of multifunctional photoelectric detector, radio station system communicates; Video encoder 106.7 input end is connected with PPI0 parallel interface 106.2, output terminal is connected with display module 108, for data image signal being converted to the analog video signal meeting display standard format, and analog video signal is sent to display module 108 for its display; Described RS422 serial extend 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, for SPI and RS232 standard serial port is converted to multiple RS422 standard serial port, thus with the matches criteria of infrared interface 106.9, laser interface 106.10, GPS interface 106.11 and magnetic compass interface 106.12, complete communication.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 for receiving electric energy from lithium battery 110, thus is powered, is powered, powers 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 for the refrigeration machine of infrared eye 101.2 for the focusing zoom motor of infrared optical system 101.1.
Below in conjunction with accompanying drawing and concrete implementing measure example for observing, a kind of multifunctional photoelectric detector of the present invention is determined that the method for target location is further described in detail.
embodiment 2:use multifunctional photoelectric detector of the present invention by visible channel object observing and the method determining target azimuth, its step is as follows:
A1, start: by control panel 109 power-on module 107, all parts is powered;
B1, object observing: by visible channel 103 object observing 001;
C1, to aim at the mark: after finding target 001, the crossline of sight silk of visible channel 103 is aimed at the mark 001;
D1, receives information send and process: aim at the mark after 001, send laser ranging order by control panel 109; After integrated information processing unit 106 receives order, control laser emitting module 102.1 and launch human gingival fibroblasts bundle; Laser beam passes through transmitting optics path 10 2.3, homed on its target 001; Hit the mark after 001, reflection is back to and receives optical channel 102.4, laser beam after reflection is converged at laser pick-off module 102.2 by this reception optical channel 102.4, this laser pick-off module 102.2 carries out opto-electronic conversion and signal transacting to the laser beam received, and is sent in the middle of integrated information processing unit 106 by the electric signal after process;
E1, display distance information: integrated information processing unit 106 receives the electric signal that laser range finder 102 sends, and calculates it, calculates the range information of target, then range information is sent to display module 108 and shows;
F1, draw the coordinate information of target: keep aiming at the mark 001 state, sent by control panel 109 and obtain target location coordinate order; After integrated information processing unit 106 receives order, control level angle and luffing angle that magnetic compass 105 obtains target, and obtain self coordinate information of GPS module 104 transmission; The level angle of integration objective range information, self coordinate information and target and luffing angle, integrated information processing unit 106 completes mathematics solution process, calculates the coordinate information of target;
G1, display-object information: the coordinate information of target is sent in the middle of display module 108 and shows.
embodiment 3:use multifunctional photoelectric detector of the present invention by refrigeration mode infrared sensor object observing and the method determining target azimuth, its step is as follows:
A2, start: by control panel 109 power-on module 107, all parts is powered;
B2, acquisition and display infrared image: after integrated information processing unit 106 receives the infrared imaging order sent by control panel 109, control infrared imaging assembly 101.3 and send infrared image signal; Integrated information processing unit 106 pairs of infrared image signals carry out Video coding, obtain the vision signal required for display, then vision signal are sent to display module 108, are shown by infrared image video by display module 108, observe for operating personnel;
C2, process Infrared video image, observe and aim at the mark: sending focusing, zoom, nonuniformity correction, image enhaucament order to integrated information processing unit 106 by control panel 109; Integrated information processing unit 106 completes image enhancement functions, and controls infrared optical system 101.1 and complete focusing and zoom action, controls infrared imaging assembly 101.3 and completes nonuniformity correction function; Infrared video image is clearly obtained by focusing, zoom, nonuniformity correction and image enhaucament, and object observing 001; Then the crossline of sight silk in display module 108 is aimed at the mark 001;
D2, receives information, transmission and process: aim at the mark after 001, send laser ranging order by control panel 109; After integrated information processing unit 106 receives order, control laser emitting module 102.1 and launch human gingival fibroblasts bundle; Laser beam passes through transmitting optics path 10 2.3, homed on its target 001; Hit the mark after 001, reflection is back to and receives optical channel 102.4, laser beam after reflection is converged at laser pick-off module 102.2 by this reception optical channel 102.4, this laser pick-off module 102.2 carries out opto-electronic conversion and signal transacting to the laser beam received, and is sent in the middle of integrated information processing unit 106 by the electric signal after process;
E2, show Infrared video image with target range information: obtain target range information by 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 by target range information and infrared video synthesis, be sent to display module 108 and carry out showing the Infrared video image with target range information;
F2, draw the coordinate information of target: keep aiming at the mark 001 state, sent by control panel 109 and obtain target location coordinate order; After integrated information processing unit 106 receives order, control level angle and luffing angle that magnetic compass 105 obtains target, and obtain self coordinate information of GPS module 104 transmission; The level angle of integration objective range information, self coordinate information and target and luffing angle, integrated information processing unit 106 completes mathematics solution process, calculates the coordinate information of target;
G2, show Infrared video image with target range information, self coordinate information and coordinates of targets information: target range information, self coordinate information and coordinates of targets information and Infrared video image are synthesized by integrated information processing unit 106, are sent in the middle of display module 108 and show.
embodiment 4:be applied to a method for the Automatic solution terrain object position coordinates of multifunctional photoelectric detector of the present invention, its step is as follows:
The first step: record the air line distance between target 001 and observation station 100 by laser range finder 102
d;straight line 1 in the horizontal plane be projected as straight line 2 004, as shown in Figure 4;
Second step: the earth absolute coordinate being obtained observation station 100 present position by GPS module 104, comprises the latitude value of observation station 100
α a and longitude
β a ;
3rd step: the position angle being obtained target 001 by magnetic compass 105, the angle namely between straight line 2 004 and 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.
4th step: the absolute coordinate of target is determined by following 1,2 and 3 formulas:
1
2
3
Wherein,
α a for the latitude value of observation station 100;
β a for the longitude of observation station 100;
α b for the latitude value of target 001;
β b for the longitude of target 001;
dfor the distance between observation station 100 and target 001;
hfor object height;
cfor straight line 2 004 is with the angle between direct north line 003, i.e. azimuth of target; D is the angle of straight line 1 and straight line 2 004, i.e. target pitch angle;
r i for equatorial radius;
r c for polar radius.
Claims of the present invention is not limited to above-described embodiment.
Claims (5)
1. a multifunctional photoelectric detector, it is characterized in that, comprise one and be positioned at complete machine front end for shooting with video-corder the refrigeration mode infrared sensor (101) of infrared image target (001), a laser range finder for measurement target distance (102), a visible channel (103) observed for visible ray, one for detecting the GPS module (104) of observation station position coordinates, the magnetic compass (105) of a level angle for the detection of a target and luffing angle, also have an integrated information processing unit (106), for calculating the positional information of target, Video coding being carried out to picture signal and strengthens process, by infrared image and information data compound display, and each parts being controlled, also have input end to be connected with battery (110) and power module (107) that output terminal is connected with the parts that need power respectively, one for showing the display module (108) of image and the control panel (109) for control operation, described integrated information processing unit (106) is connected with refrigeration mode infrared sensor (101), laser range finder (102), GPS module (104), magnetic compass (105) and display module (108) and control panel (109) respectively, laser range finder (102) is connected with visible channel (103), described refrigeration mode infrared sensor (101) comprises an infrared eye (101.2), one for infrared radiation being converged at the infrared optical system (101.1) on the target surface of infrared eye (101.2), infrared radiation signal is converted to analog electrical signal by infrared eye (101.2), an infrared imaging circuit unit (101.3), described infrared optical system (101.1) is positioned at the front of infrared eye (101.2) target surface, and this infrared eye (101.2) is connected with infrared imaging circuit unit (101.3), 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), and one receives optical channel (102.4), described 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), after visible channel (103) is positioned at and receives optical channel (102.4), 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), described display module (108) is connected with integrated information processing unit (106), control panel (109) is connected with integrated information processing unit (106), described integrated information processing unit (106) comprises digital signal processing core (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 I/O port (106.6), video encoder (106.7), RS422 serial extend 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 processing core (106.1) is connected 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 I/O port (106.6), sdram memory (106.14) and flash memory (106.15) respectively.
2. multifunctional photoelectric detector according to claim 1, is characterized in that, described SPI Serial Peripheral Interface (SPI) (106.4) is connected with digital signal processing core (106.1) and RS422 serial extend interface (106.8) respectively; RS232 serial line interface (106.5) is connected with digital signal processing core (106.1) and RS422 serial extend interface (106.8) 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 extend 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).
3. use multifunctional photoelectric detector described in above-mentioned arbitrary claim by visible channel object observing and the method determining target azimuth, to it is characterized in that, comprise the steps:
A1, start: by control panel (109) power-on module (107), all parts is powered;
B1, object observing: by visible channel (103) object observing (001);
C1, to aim at the mark: after finding target (001), the crossline of sight silk of visible channel (103) is aimed at the mark (001);
D1, receives information send and process: after aim at the mark (001), send laser ranging order by control panel (109); After integrated information processing unit (106) receives order, control laser emitting module (102.1) and launch human gingival fibroblasts bundle; Laser beam passes through transmitting optics passage (102.3), homed on its target (001); Hit the mark after (001), reflection is back to and receives optical channel (102.4), laser beam after reflection is converged at laser pick-off module (102.2) by this reception optical channel (102.4), this laser pick-off module (102.2) carries out opto-electronic conversion and signal transacting to the laser beam received, and is sent in the middle of integrated information processing unit (106) by the electric signal after process;
E1, display distance information: integrated information processing unit (106) receives the electric signal that laser range finder (102) sends, and calculates it, 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), is sent by control panel (109) and obtain target location coordinate order; After integrated information processing unit (106) receives order, control magnetic compass (105) and obtain the level angle of target and luffing angle, and obtain self coordinate information that GPS module (104) sends; The level angle of integration objective range information, self coordinate information and target and luffing angle, integrated information processing unit (106) completes mathematics solution process, calculates the coordinate information of target;
G1, display-object information: the coordinate information of target is sent in the middle of display module (108) and shows.
4. use the described multifunctional photoelectric detector of one of claim 1 or claim 2 by refrigeration mode infrared sensor object observing and the method determining target azimuth, it is characterized in that, comprise the steps:
A2, start: by control panel (109) power-on module (107), all parts is powered;
B2, acquisition and display infrared image: after integrated information processing unit (106) receives the infrared imaging order sent by control panel (109), control infrared imaging assembly (101.3) and send infrared image signal; Integrated information processing unit (106) carries out Video coding to infrared image signal, obtain the vision signal required for display, then vision signal is sent to display module (108), by display module (108), infrared image video is shown, observe for operating personnel;
C2, process Infrared video image, observe and aim at the mark: sending focusing, zoom, nonuniformity correction, image enhaucament order to integrated information processing unit (106) by control panel (109); Integrated information processing unit (106) completes image enhancement functions, and control infrared optical system (101.1) complete focusing and zoom action, control infrared imaging assembly (101.3) complete nonuniformity correction function; Infrared video image is clearly obtained by focusing, zoom, nonuniformity correction and image enhaucament, and object observing (001); Then the crossline of sight silk in display module (108) is aimed at the mark (001);
D2, receives information, transmission and process: after aim at the mark (001), send laser ranging order by control panel (109); After integrated information processing unit (106) receives order, control laser emitting module (102.1) and launch human gingival fibroblasts bundle; Laser beam passes through transmitting optics passage (102.3), homed on its target (001); Hit the mark after (001), reflection is back to and receives optical channel (102.4), laser beam after reflection is converged at laser pick-off module (102.2) by this reception optical channel (102.4), this laser pick-off module (102.2) carries out opto-electronic conversion and signal transacting to the laser beam received, and is sent in the middle of integrated information processing unit (106) by the electric signal after process;
E2, show Infrared video image with target range information: obtain target range information by 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 by target range information and infrared video synthesis, be sent to display module (108) and carry out showing the Infrared video image with target range information;
F2, draw the coordinate information of target: the state of keep aiming at the mark (001), is sent by control panel (109) and obtain target location coordinate order; After integrated information processing unit (106) receives order, control magnetic compass (105) and obtain the level angle of target and luffing angle, and obtain self coordinate information that GPS module (104) sends; The level angle of integration objective range information, self coordinate information and target and luffing angle, integrated information processing unit (106) completes mathematics solution process, calculates the coordinate information of target;
G2, show Infrared video image with target range information, self coordinate information and coordinates of targets information: target range information, self coordinate information and coordinates of targets information and Infrared video image are synthesized by integrated information processing unit (106), are sent in the middle of display module (108) and show.
5. be applied to a method for the Automatic solution terrain object position coordinates of the described multifunctional photoelectric detector of one of the claims 1 or claim 2, it is characterized in that, comprise the steps:
The first step: record the air line distance between target (001) and observation station (100) by laser range finder (102)
d;straight line one (002) in the horizontal plane be projected as straight line two (004);
Second step: the earth absolute coordinate being obtained observation station (100) present position by GPS module (104), comprises the latitude value of observation station (100)
α a and longitude
β a ;
3rd step: the position angle being obtained target (001) by magnetic compass (105), the angle namely between straight line two (004) and 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;
4th step: the absolute coordinate of target is determined by following (1), (2) and (3) formula:
（1）
（2）
（3）
Wherein,
α a for the latitude value of observation station (100);
β a for the longitude of observation station (100);
α b for the latitude value of target (001);
β b for the longitude of target (001);
dfor the distance between observation station (100) and target (001);
hfor object height;
cfor straight line two (004) is with the angle between 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. target pitch angle;
r i for equatorial radius;
r c for polar radius.
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