CN103412318A - Portable infrared target locator and locating control method - Google Patents
Portable infrared target locator and locating control method Download PDFInfo
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- CN103412318A CN103412318A CN2013103078906A CN201310307890A CN103412318A CN 103412318 A CN103412318 A CN 103412318A CN 2013103078906 A CN2013103078906 A CN 2013103078906A CN 201310307890 A CN201310307890 A CN 201310307890A CN 103412318 A CN103412318 A CN 103412318A
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Abstract
The invention discloses a portable infrared target locator and a locating control method. An infrared thermal imaging system of a non-refrigerating infrared focal plane is adopted, the locator is compact in structure, convenient to carry and capable of integrating more auxiliary devices, therefore, a small electronic compass small in size and high in single accuracy is integrated, angle changes of the locator can be obtained, and a current coordinate of a locating position can be obtained on the basis of a locating unit; in cooperation with the angle of the electronic compass, the absolute position of a target can be obtained through easy trigonometric function calculation based on the distance, away from the target, measured by a diastimeter, and the calculation amount is very small. Thus, the response speed is high, and instantaneity of locating of the position of the target can be ensured. Besides, due to the fact that the locator does not rely on locating information of the target side, the applied scheme has better adaptability.
Description
Technical field
The present invention relates to a kind of portable infrared target localization instrument and position control method, belong to the photoelectric observation technical field.
Background technology
Various information that can the quick obtaining target can provide target azimuth to guide for rear attack system or prevention system, hit and defence capability to strengthen.Hand-held thermal imager can provide the observation ability round the clock to target for the scouting personnel.Be aided with again laser ranging, azimuth mirror and navigating instrument and can determine the position of target.But the maneuverability that the carrying of so many complex instrument will certainly affect the scouting personnel and the rapidity of target localization.
At present the hand-held thermal imager function singleness, only can realize the observation to target, and the video recording function such as take pictures, adopt the thermal imaging system volume of refrigeration mode movement can not guarantee portability greatly.If integrated numerous functional modules will face control problem and the information demonstration problem of each module on existing hand-held thermal imager basis.
Even if for inheriting the accurate location to external object that certainly still can not realize local side than the fixed infrared target positioning equipment of multifunction module, be the uncertainty, real-time of infrared target location, the characteristics such as sudden, the positioning equipments such as GPS, RFID label can't be installed monitoring objective.As battlefield surroundings, obviously do not possess our positioning equipment is set on enemy's target, as the condition as GPS, RFID label etc.
For large-scale fixed infrared target positioning equipment, by the analysis to video content, and calculate accordingly in conjunction with the angle of The Cloud Terrace and the optical parametric of CCTV camera, thereby draw the relative position of target with respect to CCTV camera; The location method of this acquisition target is too complicated, and accuracy is lower, and can't obtain the absolute position of monitoring objective, and obviously too complicated configuration also is not suitable for portable infrared target localization instrument.
And then the matching method that current employing laser ranging system is found range to the monitoring objective in video, draw the relative position of monitoring objective with respect to CCTV camera in conjunction with the angle of The Cloud Terrace; Only to have obtained the relative position of monitoring objective and the absolute position that can't obtain target equally.
Summary of the invention
For this reason, the object of the present invention is to provide a kind of portable infrared target localization instrument, in the situation that meet portablely, localizing objects is possessed to real-time and adaptability preferably, in response to described portable infrared target localization instrument, also proposed a kind of position control method.
The present invention is by the following technical solutions:
According to one aspect of the present invention, a kind of portable infrared target localization instrument, comprise infra-red thermal imaging system, described infra-red thermal imaging system is the infra-red thermal imaging system based on non-refrigerating infrared focal plane, and described target localization instrument further comprises stadimeter, the positioning unit integrated with described infra-red thermal imaging system and the electronic compass be synchronized with the movement with infra-red thermal imaging system, and the control module that is electrically connected described infra-red thermal imaging system, electronic compass, stadimeter and positioning unit;
Wherein, control module further electrical connection has the aobvious control of video recording/reproducing unit, and the connection display unit is exported in the aobvious control of this video recording/reproducing unit, and input connects described infra-red thermal imaging system.
According to another aspect of the present invention, a kind of infrared target position control method comprises the following steps:
1) infrared target locating device configuration is put in place, records its current longitude and latitude and height, and original corner and the luffing angle of the electronic compass that configures;
2) the manual positioning target, measure the distance between infrared target locating device and target, and read corner and the luffing angle of current electronic compass;
3) according to the luffing angle of electronic compass, and range finding from, according to trigonometric function, calculate horizontal range and the difference in height between target and infrared target locating device, then the longitude and latitude calculated between infrared target locating device and target according to corner and the described horizontal range of electronic compass is poor, and then according to the longitude and latitude that step 1) obtains, determines the longitude and latitude of target.
According to the present invention, as can be known from foregoing, adopt the infra-red thermal imaging system of non-refrigerating infrared focal plane, compact conformation, be convenient for carrying, and can inherit more utility appliance, and then, the integrated electronic compass of mentioning that smaller single precision is higher, the angle that can obtain orientator changes, and can obtain the current coordinate of locating device based on positioning unit, based on the range observation of stadimeter to target, the angle that coordinates electronic compass, just can calculate by simple trigonometric function the absolute position of target, calculated amount is very little, thereby, response speed is than very fast, therefore, can guarantee the real-time of location, target location.In addition, due to needn't depend on target side as locating information, therefore, the application such scheme have better adaptability.
Whether above-mentioned portable infrared target localization instrument, also comprise and the approach switch of described control module electrical connection, have the people close to survey.
Above-mentioned portable infrared target localization instrument, described stadimeter is semiconductor laser range instrument.
Above-mentioned portable infrared target localization instrument, described display unit is binocular display unit.
Above-mentioned portable infrared target localization instrument is the key-press module be connected with described control module for the module of man-machine interaction.
Above-mentioned portable infrared target localization instrument, the serial line interface that the aobvious control of described recording playback unit comprises digital signal processor, is connected with described control module for this digital signal processor, and the internal storage be connected with digital signal processor, extended memory and video interface circuit, wherein video interface circuit connects described display unit and described infra-red thermal imaging system.
The accompanying drawing explanation
Fig. 1 is according to the system principle diagram of a kind of portable infrared target localization instrument of the present invention.
The aobvious control of a kind of recording playback of Fig. 2 unit composition frame chart.
The main interface of a kind of demonstration of Fig. 3 schematic diagram.
A kind of interface of main menu of Fig. 4 shows figure.
Embodiment
System principle with reference to the portable infrared target localization instrument shown in Figure of description 1, based on following, consider: set electron compass, stadimeter, positioning unit and infrared imaging are in one, can be over the ground, to empty, naval target is carried out to round-the-clock Real Time Observation, especially under night and severe weather conditions, can find and identify target, and can reach and the distance of visualizer to target by the localizing objects gps coordinate.About imaging, also can configure simultaneously the visual light imaging part, little to whole structure influence.
And then, it comprises the uncooled ir thermal imaging system 08 of object observing, semiconductor laser range instrument 101 for range finding, one be used to obtaining the Big Dipper module 103 of observation station geographic coordinate, an electronic compass for measurement target level angle and luffing angle 104, for judging whether someone approach switch 105 near display unit, two display units for target image and information 110, 111, control module 106 for each module controls and information processing, for record a video candid photograph and system information, show the aobvious control of the recording playback unit 109 of controlling, button 102 and equipment power supply unit 107 for equipment operating.Described control module is connected with the aobvious control of recording playback unit, and both transmit aobvious control information.
Stadimeter is learned principle design according to optics, acoustics and electromagnetic wave, for the instrument of range observation.Here preferably use optical ranging, foregoing semiconductor laser range instrument 101, its structure is relatively compact.Also can use the acoustic range instrument, as ultrasonic distance measuring apparatus, run into according to ultrasound wave that characteristic that barrier reflects measures.Ultrasonic transmitter is launched ultrasound wave to a direction, starts simultaneously timing in emission, and ultrasound wave is propagated in air, in way, encounters barrier and just returns immediately, and ultrasonic receiver receives that reflection wave just interrupts stopping timing immediately.After by continuous detection, producing the ripple emission, run into the echo that barrier reflects, thereby measure emission ultrasound wave and the mistiming T that receives echo, then obtain distance L.
Ultrasonic range finder, because ultrasound wave is subjected to surrounding environment influence larger, so the general measure distance is shorter, measuring accuracy is lower.Usable range is not very wide at present, but price comparison is low, general hundreds of unit left and right.
Infrared range-measurement system for another example, with the instrument that the infrared light of modulation carries out precise distance measurement, ranging is generally the 1-5 kilometer.What utilize is the indiffusion principle of infrared ray while propagating: because infrared ray refractive index when passing through other material is very little, so the stadimeter of long distance all can be considered infrared ray, and ultrared propagation needs the time, when infrared ray sends and encounters reverberation and be reflected back by stadimeter and receive and from being issued to the time and the ultrared velocity of propagation that are accepted to, just can calculate distance according to infrared ray from stadimeter.
The advantage of infrared distance measurement is cheap, easily makes, and safety, shortcoming are that precision is low, near distance, and directivity is poor.But owing to being furnished with electronic compass, the characteristics of the square difference of infrared distance measurement can be made up by electronic compass.
Laser range finder is current the most widely used stadimeter, and laser range finder can be categorized as again hand-held laser rangefinder (measuring distance 0-300 rice), telescope laser range finder (measuring distance 500-3000 rice).
Usually in the 10Km scope, do not need to consider the impact of earth curvature on location, foregoing range finding is 3Km farthest, only need to calculate and just can obtain the coordinate of target by simple trigonometric function.
Described uncooled ir thermal imaging system adopts the non-refrigeration thermal imaging of vanadium oxide movement, but the infrared optical lens of electromotion focusing, and this infra-red thermal imaging system designs without catch, guarantees that video shows and the complete machine low-power consumption without freezing.
Domestic at present positioning equipment commonly used is mainly the Big Dipper navigation user end of GPS and China's autonomous Design, and GPS is relatively ripe, if but use on national defence, had better be with the Big Dipper navigation user end of China's autonomous Design.
Here the electronic compass used in addition, can be used magnetic compass to substitute under some conditions, but magnetic compass is more easily for the external world is disturbed, battlefield surroundings more complicated especially, and magnetic compass tends to be interfered, and precision is not high.
Described portable infrared target localization instrument, control module 106 is connected by serial ports with laser range finder 101, infra-red thermal imaging system 108, Big Dipper module 103, electronic compass 104, the aobvious control of recording playback unit 109.With approach switch, be connected by the I2C communication port with the equipment power supply unit.With operation push-button 102, be connected by the I/O mouth.This control module can be configured to target range that enough bases obtain from laser range finder, the target direction obtained from electronic compass and the machine coordinate information obtained from Big Dipper module calculate coordinates of targets information.This control module can send to the aobvious control of recording playback unit by serial ports by result of calculation information and each module information.Those skilled in the art is easy to realize corresponding control.
Described portable infrared target localization instrument, the aobvious control of its recording playback unit comprises: digital signal processor 109.1, DDR2 109.2, Flash 109.3, SD flash memory 109.4, VPBE interface 109.6, Video coding DA part 109.7, video amplifier part 109.8, VPFE interface 109.9, UART serial port 109.10, usb 1 09.11, USB interface chip 109.5, power interface 109.12.Described digital signal processor is connected with display unit by VPBE interface, Video coding DA, video amplifier.By the VPFE interface, be connected with infra-red thermal imaging system.By serial line interface, be connected with control module.By USB interface and USB interface chip, externally provide USB interface.
Described portable infrared target localization instrument, display unit master interface display information comprises: visual field, center spider, temporald eixis scale, target range positional information, battery electric quantity etc.During video recording, the screen upper right corner shows that " REC " indicates.Described demonstration information spider is positioned at screen center, and the level orientation scale shows that being positioned at the screen top takes back, and the demonstration of pitching scale is positioned at the screen left side, the position angle of arrow indication current device indication.Target range and target location coordinate demonstration are positioned at the screen lower right corner.The battery electric quantity indication is positioned at the screen upper right corner.
Described portable infrared target localization instrument information display control method technical scheme comprises following flow process:
A. control module obtains module information according to current operation, and these information comprise operation push-button information, laser ranging information, electronic compass directional information, observation station positional information, battery electric quantity etc.Every kind of information means with an instruction.
B. control module sends to the aobvious control of recording playback unit by serial ports by information command.
C. the aobvious control of recording playback unit receives information command, completes the interpolation of information or the adjustment of menu according to present mode.The aobvious control of recording playback cell operation is two kinds of patterns: menu mode or mode of operation.Under menu mode, receive the key information instruction.Under mode of operation, receive compass, laser ranging information command, target position information instruction and record key instruction.
When d. the aobvious control of recording playback unit is under menu mode, at display unit, show the status information of each module.When each module status of change, the aobvious control of recording playback unit sends to control module by serial ports by status command, completes the control to each module by control module.
A kind of infrared target position control method according to said structure comprises the following steps:
1) infrared target locating device configuration is put in place, records its current longitude and latitude and height, and original corner and the luffing angle of the electronic compass that configures;
2) the manual positioning target, measure the distance between infrared target locating device and target, and read corner and the luffing angle of current electronic compass;
3) according to the luffing angle of electronic compass, and range finding from, according to trigonometric function, calculate horizontal range and the difference in height between target and infrared target locating device, then the longitude and latitude calculated between infrared target locating device and target according to corner and the described horizontal range of electronic compass is poor, and then according to the longitude and latitude that step 1) obtains, determines the longitude and latitude of target.
More specifically, structural principle as shown in Figure 1, the uncooled ir thermal imaging system 108 that comprises object observing, semiconductor laser range instrument 101 for range finding, one be used to obtaining the Big Dipper module 103 of observation station geographic coordinate, an electronic compass for measurement target level angle and luffing angle 104, for judging whether someone approach switch 105 near display unit, two display units for target image and information 110, 111, control module 106 for each module controls and information processing, for record a video candid photograph and system information, show the aobvious control of the recording playback unit 109 of controlling, button 102 and equipment power supply unit 107 for equipment operating.Control module and laser range finder, infra-red thermal imaging system, Big Dipper module, electronic compass, the aobvious control of recording playback unit connects by the UART serial ports.With approach switch, be connected by the I2C communication port with the equipment power supply unit.With operation push-button, be connected by the I/O mouth.Infrared system is connected with the aobvious control of video recording/reproducing unit by the digital video of BT656 form.
The aobvious control of video recording/reproducing unit comprises as described in Figure 2: digital signal processor 109.1, DDR2 109.2, Flash 109.3, SD flash memory 109.4, VPBE interface 109.6, Video coding DA part 109.7, video amplifier part 109.8, VPFE interface 109.9, UART serial port 109.10, usb 1 09.11, USB interface chip 109.5, power interface 109.12.Described digital signal processor is connected with display unit by VPBE interface, Video coding DA, video amplifier.By the VPFE interface, be connected with infra-red thermal imaging system.By serial line interface, be connected with control module.By USB interface and USB interface chip, externally provide USB interface.
Wherein the digital video signal of digital signal processor reception infrared system reaches the aobvious control information from control module, will after both stacks, by the VFBE interface, display video information be sent to Video coding DA chip.The analog composite video signal of DA chip output minute two-way after amplifying outputs to display unit.DDR2 provides program running space and video cache space for digital signal processor.Flash storage system reflection, font file etc.The SD flash memory is deposited video recording after digital signal processor compression and the picture of candid photograph.Video recording and picture can be derived by USB interface.
As Fig. 3, displaying contents comprises when observed object: visual field, center spider 110.1, level orientation indicator scale 110.2, pitching temporald eixis scale 110.3, target range positional information 110.6, battery electric quantity 110.5.While starting real-time recording, the screen upper right corner shows that " REC " indicates 110.4.Spider is positioned at screen center, and when target was positioned, target should be positioned on screen spider central point.The level orientation scale shows that being positioned at the screen top takes back, the level orientation that arrow and below digitized representation spider point to, and the demonstration of pitching scale is positioned at the screen left side, the pitching orientation that arrow and right-hand digitized representation spider point to.The direction value is recorded by electronic compass and passes to the aobvious control of video recording/reproducing unit through control module, and the renewal frequency of this value is 1hz.Target range and target location coordinate demonstration are positioned at the screen lower right corner.The battery electric quantity indication is positioned at the screen upper right corner.
As Fig. 4, displaying contents comprises when calling menu and carry out function setting: Big Dipper power control switch, electronic compass power switch, laser ranging power switch, thermal imaging control, video recording pattern, six options of video recording inquiry.Select arrow to represent the option of current selection.The controlling up and down of arrow from the key information instruction of control module transmission, complete the modification of arrow locations by the aobvious control of video recording/reproducing unit and by the amended status information feedback of each module to control module, by control module, complete the control to each module.
Claims (7)
1. portable infrared target localization instrument, comprise infra-red thermal imaging system, it is characterized in that, described infra-red thermal imaging system is the infra-red thermal imaging system based on non-refrigerating infrared focal plane, and described target localization instrument further comprises stadimeter, the positioning unit integrated with described infra-red thermal imaging system and the electronic compass be synchronized with the movement with infra-red thermal imaging system, and the control module that is electrically connected described infra-red thermal imaging system, electronic compass, stadimeter and positioning unit;
Wherein, control module further electrical connection has the aobvious control of video recording/reproducing unit, and the connection display unit is exported in the aobvious control of this video recording/reproducing unit, and input connects described infra-red thermal imaging system.
2. whether portable infrared target localization instrument according to claim 1, is characterized in that, also comprises and the approach switch of described control module electrical connection, have the people close to survey.
3. portable infrared target localization instrument according to claim 1, is characterized in that, described stadimeter is semiconductor laser range instrument.
4. portable infrared target localization instrument according to claim 1, is characterized in that, described display unit is binocular display unit.
5. portable infrared target localization instrument according to claim 1, is characterized in that, is the key-press module be connected with described control module for the module of man-machine interaction.
6. according to the arbitrary described portable infrared target localization instrument of claim 1 to 5, it is characterized in that, the serial line interface that the aobvious control of described recording playback unit comprises digital signal processor, is connected with described control module for this digital signal processor, and the internal storage be connected with digital signal processor, extended memory and video interface circuit, wherein video interface circuit connects described display unit and described infra-red thermal imaging system.
7. an infrared target position control method, is characterized in that, comprises the following steps:
1) infrared target locating device configuration is put in place, records its current longitude and latitude and height, and original corner and the luffing angle of the electronic compass that configures;
2) the manual positioning target, measure the distance between infrared target locating device and target, and read corner and the luffing angle of current electronic compass;
3) according to the luffing angle of electronic compass, and range finding from, according to trigonometric function, calculate horizontal range and the difference in height between target and infrared target locating device, then the longitude and latitude calculated between infrared target locating device and target according to corner and the described horizontal range of electronic compass is poor, and then according to the longitude and latitude that step 1) obtains, determines the longitude and latitude of target.
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| CN114415202A (en) * | 2022-03-28 | 2022-04-29 | 北京中科飞鸿科技股份有限公司 | Tracking system for laser investigation equipment based on image processing |
| CN114877857A (en) * | 2022-03-31 | 2022-08-09 | 中北大学 | Three-dimensional absolute direction laser warning device |
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Application publication date: 20131127 |