CN103900421A - System and method for automatically calibrating parallelism of optical axes of multi-spectral multi-optical-axis optoelectronic devices - Google Patents
System and method for automatically calibrating parallelism of optical axes of multi-spectral multi-optical-axis optoelectronic devices Download PDFInfo
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- CN103900421A CN103900421A CN201410100387.8A CN201410100387A CN103900421A CN 103900421 A CN103900421 A CN 103900421A CN 201410100387 A CN201410100387 A CN 201410100387A CN 103900421 A CN103900421 A CN 103900421A
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Abstract
The invention relates to a system and method for automatically calibrating the parallelism of optical axes of multi-spectral multi-optical-axis optoelectronic devices. The axis automatically-calibrating method can be applied to the optoelectronic devices of helicopters, unmanned aerial vehicles, fixed wing aircrafts, vehicle-mounted platforms, ship-based platforms and the like, and the adverse factors of poor axis calibrating accuracy, complex procedures, poor maintaining performance, high cost and the like caused by the manual axis calibrating scheme of an existing ground axis calibrating instrument are overcome. Short wave infrared band laser spot tracing instruments, external characteristic targets and the video picture processing technology are adopted for achieving automatic calibrating of the optical axes of the multi-spectral optoelectronic devices. On the premise that the system complexity is reduced, rapid and automatic calibrating of the optical axes of sensors is achieved.
Description
Technical field
The invention belongs to photoelectric field, relate to a kind of system and method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration.
Background technology
Along with detecting technique development, in the Optic-electronic Stabilization Sight equipment of increasing photoelectric sensor on helicopter, unmanned plane, fixed wing aircraft, the platform such as vehicle-mounted and carrier-borne, use.Photoelectric sensor comprises Display Aim Taking on TV Set tool, low-light level television, medium-wave infrared thermal imaging system, LONG WAVE INFRARED thermal imaging system, range finder using laser/irradiator etc., and spectral coverage is infrared from seeing.In order to improve the catching of Optic-electronic Stabilization Sight equipment, tracking and aiming precision, and the irradiation precision of range finder using laser/irradiator, between photoelectric sensor optical axis, must keep the collimation of height.
For multispectral optoelectronic device plain shaft parallelism calibration steps, domestic relevant unit is studied.For example: " Multi-waveband optical axis consistency test instrument " (Chinese patent, application number: 200420086347.7), " system for testing optical axis of broadband multi-sensor electro-optic apparatus " (Chinese patent, application number: 200610016556.5), " based on the multi-light axis consistency test device of multiband target plate and rotating mirror " (Chinese patent, application number: 200810057900.4), " calibrating installation of multi-spectral axis calibrator with discrete optical axis " (Chinese patent, application number: 201110188758.9), " based on digital picture without many parallelisms of optical axis of target detection system " (Chinese patent, application number: 201210297839.7).
Above-mentioned plain shaft parallelism calibration steps is merely able in laboratory or ground, and the auxiliary optical axis calibrator (-ter) unit based on complicated is realized detection and the calibration of photoelectric sensor optical axis in system.Test and calibrator (-ter) unit volume and weight are large, cannot realize at helicopter, unmanned plane, fixed wing aircraft, the real time calibration of platform to photoelectric sensor optical axis such as vehicle-mounted and carrier-borne, cannot eliminate in real time and surely take aim at the impact on photoelectric sensor plain shaft parallelism such as Platform Vibration.
The external furnished multispectral optoelectronic device of part can be realized real-time school axle, the airborne capstan head of surely taking aim at of BRITE Star Block II of for example FLIR company, its thermal imagery is seen to take aim between tool, Display Aim Taking on TV Set tool and range finder using laser/irradiator and can be realized in real time school axle automatically, and under narrow visual field, school axle precision reaches 0.2mrad.
Realize the in real time automatic school axle of multispectral many optical axises optoelectronic device, improve the irradiation precision of range finder using laser/irradiator and the strike usefulness of laser guided weapon, reducing optoelectronic device maintenance complexity and expense, is that multispectral many optical axises optoelectronic device design needs the urgent problem solving.
Summary of the invention
For fear of the deficiencies in the prior art part, the present invention proposes a kind of system and method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration, solve airborne surely take aim at capstan head in real time school axle, safeguard complexity and high in cost of production problem.
For a system for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration, comprise and surely take aim at capstan head 1, ordnance handle 2 and treatment system 3; It is characterized in that: on the described interior ring 14 of surely taking aim at capstan head 1, four photoelectric sensors are installed, collimation between installation base surface and the optical axis of described photoelectric sensor is 0.1mrad～0.3mrad, and the collimation between the optical axis of four photoelectric sensors is 0.5mrad; Described photoelectric sensor comprises that range finder using laser/irradiator 4, thermal imagery are seen and takes aim at tool 5, Display Aim Taking on TV Set tool 6 and laser facula tracker 7.
Utilize described system to carry out a method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration, it is characterized in that step is as follows:
Step 1: range finder using laser/irradiator is in Ear Mucosa Treated by He Ne Laser Irradiation mode of operation, and laser facula tracker carries out imaging for 0.5km～3km place laser facula, carries out spot detection to surveying output video image, obtains barycenter center (X
1, Y
1);
Step 2: surely take aim at capstan head and enter school axle pattern, get barycenter center (X
1, Y
1) and laser facula tracker line of sight/optical axis position (X
0, Y
0) poor, obtain the deviation signal (X of the relative laser facula tracker of laser spot center line of sight/optical axis
1-X
0, Y
1-Y
0); Adjust laser facula tracker line of sight/optical axis position with deviation signal, make laser spot center and laser facula tracker line of sight/optical axis coincidence, realize range finder/irradiator and the calibration of laser spot tracker plain shaft parallelism;
Step 3: surely take aim at capstan head and enter servo-actuated pattern, laser facula tracker is scene 0.5km～3km place characteristic target imaging to external world, laser facula tracker line of sight/optical axis is pushed down to feature target's center, realize the aiming of laser facula tracker line of sight/optical axis to feature target;
Step 4: will surely take aim at capstan head photoelectric sensor and switch to Display Aim Taking on TV Set tool, and utilize Display Aim Taking on TV Set tool small field of view to carry out imaging for feature target, and carry out target detection to surveying output video image, and obtain the position (X of feature target's center
3, Y
3);
Step 5: surely take aim at capstan head and enter school axle pattern, get the position (X of feature target's center
3, Y
3) and Display Aim Taking on TV Set tool small field of view line of sight/optical axis position (X
2, Y
2) poor, obtain the deviation signal (X of feature target's center with respect to Display Aim Taking on TV Set tool small field of view line of sight/optical axis
3-X
2, Y
3-Y
2); With deviation signal (X
3-X
2, Y
3-Y
2) adjust Display Aim Taking on TV Set tool small field of view line of sight/optical axis position, make feature target's center and Display Aim Taking on TV Set tool small field of view line of sight/optical axis coincidence, realize the aiming of Display Aim Taking on TV Set tool small field of view line of sight/optical axis to feature target;
Step 6: will surely take aim at capstan head photoelectric sensor and switch to thermal imagery and see and take aim at tool, and utilize thermal imagery to see and take aim at tool small field of view and carry out imaging for feature target, and carry out target detection to surveying output video image, and obtain the position (X of feature target's center
5, Y
5);
Step 7: surely take aim at capstan head and enter school axle pattern, get the position (X of feature target's center
5, Y
5) see and take aim at tool small field of view line of sight/optical axis position (X with thermal imagery
4, Y
4) poor, obtain feature target's center and see and take aim at the deviation signal (X of tool small field of view line of sight/optical axis with respect to thermal imagery
5-X
4, Y
5-Y
4), with deviation signal (X
5-X
4, Y
5-Y
4) adjust thermal imagery and see and take aim at tool small field of view line of sight/optical axis position, feature target's center and thermal imagery are seen and taken aim at tool small field of view line of sight/optical axis coincidence, realize thermal imagery and see and take aim at the aiming of tool small field of view line of sight/optical axis to feature target.
A kind of system and method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration that the present invention proposes, this automatic school axle method can apply in the optoelectronic device of helicopter, unmanned plane, fixed wing aircraft, the platform such as vehicle-mounted and carrier-borne, solves the poor and high in cost of production unfavorable factor of school axle low precision, program complexity, maintainability that the manual school of axle instrument, school, existing ground axle scheme brings.By the laser facula tracker of short infrared wave band, extraneous feature target and video image processing technology, realize the automatic school axle of multispectral optoelectronic device optical axis.Reducing under the prerequisite of system complexity, realize the calibration fast and automatically of sensor optical axis.
The present invention has the following advantages:
1, in capstan head, increase laser facula tracker and corresponding software algorithm existing surely taking aim at, can realize the airborne automatic calibration of surely taking aim at photoelectric sensor plain shaft parallelism in capstan head, without complicated school, ground axle instrument, improve the maintainability of surely taking aim at capstan head, reduce maintenance cost;
2, adopt laser facula tracker to survey range finder using laser/irradiator emitting laser facula position, thereby realize the real-time correction to Ear Mucosa Treated by He Ne Laser Irradiation error, improve the strike usefulness of airborne laser guided weapon;
3, adopt laser facula tracker to external world scene carry out near infrared band detection and imaging, near infrared band imaging system has that mist transmitting performance is strong, output image signal to noise ratio is high, highly sensitive, target detail resolution capability is high, high light suppresses the features such as ability is strong;
4, adopt laser facula tracker to increase and surely take aim at capstan head information obtaining ability and means, improve and surely take aim at capstan head situational awareness.
Accompanying drawing explanation
Fig. 1: the present invention is for the systematic schematic diagram of multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration;
Fig. 2: laser facula tracker optical axis and range finder using laser/irradiator optical axis calibrator schematic diagram;
Fig. 3: laser facula tracker is to feature aim target schematic diagram;
Fig. 4: Display Aim Taking on TV Set tool optical axis and laser facula tracker optical axis calibrator schematic diagram
Fig. 5: thermal imagery is seen and taken aim at tool optical axis and laser facula tracker optical axis calibrator schematic diagram
: the specific embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
The calibrating installation that the present invention proposes comprises and surely takes aim at capstan head, ordnance handle and electronic box, airbornely surely takes aim at capstan head inner laser range finder/irradiator, thermal imagery is seen and taken aim at tool, Display Aim Taking on TV Set tool and laser facula tracker plain shaft parallelism automatic calibrating method, comprises the steps:
The embodiment of system of the present invention comprises and surely takes aim at capstan head 1, ordnance handle 2 and electronic box 3; Surely take aim at capstan head 1 inside four photoelectric sensors are installed, range finder using laser/irradiator 4, thermal imagery are seen and are taken aim at tool 5, Display Aim Taking on TV Set tool 6 and laser facula tracker 7; Electronic box 3 comprises power panel 8, computer plate 9, drive plate 10, Servo Control Board 11, video tracker 12, filter assembly 13; Range finder using laser/irradiator 4, thermal imagery are seen and are taken aim at tool 5, Display Aim Taking on TV Set tool 6 and laser facula tracker 7 and be installed on and surely take aim at ring 14 in capstan head; The collimation that described range finder using laser/irradiator 4, thermal imagery are seen between installation base surface and the optical axis of taking aim at tool 5, Display Aim Taking on TV Set tool 6 and 7 four kinds of photoelectric sensors of laser facula tracker is 0.1mrad～0.3mrad, and the collimation between the optical axis of four photoelectric sensors is 0.5mrad.
The method that employing said system realizes multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration is as follows:
Control and surely take aim at capstan head 1 and power on and allow ligh-ranging machine/irradiator 4 in Ear Mucosa Treated by He Ne Laser Irradiation mode of operation by ordnance handle 2; Laser facula tracker 7 carries out imaging for 3km place laser facula, the video image of surveying output inputs to the video tracker 9 in electronic box 3, video tracker 9 carries out spot detection to video image, obtains the laser facula centre of form or barycenter center 16 position (X in laser facula tracker visual field 15
1, Y
1) and laser facula tracker line of sight/optical axis 17 position (X
0, Y
0);
Surely take aim at capstan head 1 and enter school axle pattern, video tracker 12 is got the poor deviation signal (X that obtains laser spot center 16 relative laser facula tracker line of sight/optical axises 17
1-X
0, Y
1-Y
0), video tracker 12 adjust laser facula tracker line of sight/optical axis 17 in the horizontal direction with the position of pitch orientation, make laser spot center 16 and laser facula tracker line of sight/optical axis 17 position (X
1, Y
1) overlap, video tracker is preserved current laser facula tracker line of sight/optical axis 17 positions, realizes the calibration of plain shaft parallelism between range finder/irradiator 4 and laser spot tracker 7;
Manipulation ordnance handle 2 makes surely to take aim at capstan head 1 and enters servo-actuated pattern, by laser facula tracker 7 output videos, find the characteristic target 13 at 3km place in extraneous scene, by ordnance handle 2, or laser facula tracker line of sight/optical axis 17 is pushed down to feature target 18 edges, center, realize the aiming of laser facula tracker line of sight/optical axis 17 to feature target 18;
To surely take aim at capstan head 1 photoelectric sensor by ordnance handle 2 and switch to Display Aim Taking on TV Set tool 6, Display Aim Taking on TV Set tool small field of view 19 is carried out imaging for feature target 13, the video image of surveying output inputs to video tracker 12, video image is carried out to feature target detection to video tracker 12 and target's center is calculated, and obtains feature target 13 center (X
3, Y
3) and Display Aim Taking on TV Set tool small field of view line of sight/optical axis 15 position (X
2, Y
2);
Manipulation ordnance handle 2 makes surely to take aim at capstan head 1 and enters school axle pattern, and video tracker 12 is got the poor deviation signal (X of feature target's center with respect to Display Aim Taking on TV Set tool small field of view line of sight/optical axis that obtain
3-X
2, Y
3-Y
2), video tracker 12 is adjusted Display Aim Taking on TV Set tool small field of view line of sight/optical axis 15 positions, feature target 13 centers and Display Aim Taking on TV Set tool small field of view line of sight/optical axis 15 are overlapped, video tracker 12 is preserved TV sight and is taken aim at tool small field of view line of sight/optical axis 15 positions, realizes the aiming of Display Aim Taking on TV Set tool small field of view line of sight/optical axis to 15 feature targets 13;
To surely take aim at capstan head 1 photoelectric sensor by ordnance handle 2 switches to thermal imagery and sees and take aim at tool 5, thermal imagery sight is taken aim at tool small field of view 20 and is carried out imaging for feature target 13, the video image of surveying output inputs to video tracker 12, video image is carried out to feature target detection to video tracker 12 and target's center is calculated, and obtains feature target 13 center (X
5, Y
5) and thermal imagery see and take aim at tool small field of view line of sight/optical axis 21 position (X
4, Y
4);
Manipulation ordnance handle 2 makes surely to take aim at capstan head 1 and enters school axle pattern, and video tracker 12 is got the poor deviation signal (X of feature target's center with respect to Display Aim Taking on TV Set tool small field of view line of sight/optical axis that obtain
5-X
4, Y
5-Y
4), video tracker 12 is adjusted thermal imagery sight and is taken aim at tool small field of view line of sight/optical axis 21 positions, making feature target 13 centers and thermal imagery sight take aim at tool small field of view line of sight/optical axis 21 overlaps, video tracker 12 is preserved current thermal imagery sight and is taken aim at tool small field of view line of sight/optical axis 21 positions, realizes thermal imagery sight and takes aim at the aiming of tool small field of view line of sight/optical axis to 21 feature targets 13.
Claims (2)
1. for a system for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration, comprise and surely take aim at capstan head (1), ordnance handle (2) and treatment system (3); It is characterized in that: on the described interior ring (14) of surely taking aim at capstan head (1), four photoelectric sensors are installed, collimation between installation base surface and the optical axis of described photoelectric sensor is 0.1mrad～0.3mrad, and the collimation between the optical axis of four photoelectric sensors is 0.5mrad; Described photoelectric sensor comprises that range finder using laser/irradiator (4), thermal imagery are seen and takes aim at tool (5), Display Aim Taking on TV Set tool (6) and laser facula tracker (7).
2. utilize system described in claim 1 to carry out a method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration, it is characterized in that step is as follows:
Step 1: range finder using laser/irradiator is in Ear Mucosa Treated by He Ne Laser Irradiation mode of operation, and laser facula tracker carries out imaging for 0.5km～3km place laser facula, carries out spot detection to surveying output video image, obtains barycenter center (X
1, Y
1);
Step 2: surely take aim at capstan head and enter school axle pattern, get barycenter center (X
1, Y
1) and laser facula tracker line of sight/optical axis position (X
0, Y
0) poor, obtain the deviation signal (X of the relative laser facula tracker of laser spot center line of sight/optical axis
1-X
0, Y
1-Y
0); Adjust laser facula tracker line of sight/optical axis position with deviation signal, make laser spot center and laser facula tracker line of sight/optical axis coincidence, realize range finder/irradiator and the calibration of laser spot tracker plain shaft parallelism;
Step 3: surely take aim at capstan head and enter servo-actuated pattern, laser facula tracker is scene 0.5km～3km place characteristic target imaging to external world, laser facula tracker line of sight/optical axis is pushed down to feature target's center, realize the aiming of laser facula tracker line of sight/optical axis to feature target;
Step 4: will surely take aim at capstan head photoelectric sensor and switch to Display Aim Taking on TV Set tool, and utilize Display Aim Taking on TV Set tool small field of view to carry out imaging for feature target, and carry out target detection to surveying output video image, and obtain the position (X of feature target's center
3, Y
3);
Step 5: surely take aim at capstan head and enter school axle pattern, get the position (X of feature target's center
3, Y
3) and Display Aim Taking on TV Set tool small field of view line of sight/optical axis position (X
2, Y
2) poor, obtain the deviation signal (X of feature target's center with respect to Display Aim Taking on TV Set tool small field of view line of sight/optical axis
3-X
2, Y
3-Y
2); With deviation signal (X
3-X
2, Y
3-Y
2) adjust Display Aim Taking on TV Set tool small field of view line of sight/optical axis position, make feature target's center and Display Aim Taking on TV Set tool small field of view line of sight/optical axis coincidence, realize the aiming of Display Aim Taking on TV Set tool small field of view line of sight/optical axis to feature target;
Step 6: will surely take aim at capstan head photoelectric sensor and switch to thermal imagery and see and take aim at tool, and utilize thermal imagery to see and take aim at tool small field of view and carry out imaging for feature target, and carry out target detection to surveying output video image, and obtain the position (X of feature target's center
5, Y
5);
Step 7: surely take aim at capstan head and enter school axle pattern, get the position (X of feature target's center
5, Y
5) see and take aim at tool small field of view line of sight/optical axis position (X with thermal imagery
4, Y
4) poor, obtain feature target's center and see and take aim at the deviation signal (X of tool small field of view line of sight/optical axis with respect to thermal imagery
5-X
4, Y
5-Y
4), with deviation signal (X
5-X
4, Y
5-Y
4) adjust thermal imagery and see and take aim at tool small field of view line of sight/optical axis position, feature target's center and thermal imagery are seen and taken aim at tool small field of view line of sight/optical axis coincidence, realize thermal imagery and see and take aim at the aiming of tool small field of view line of sight/optical axis to feature target.
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| CN106249315A (en) * | 2016-08-10 | 2016-12-21 | 上海机电工程研究所 | The calibration steps of semi-matter simulating system multi-source target simulator pointing accuracy |
| CN110308436A (en) * | 2018-03-27 | 2019-10-08 | 深圳天眼激光科技有限公司 | A kind of the laser beam axis Calibration Method and system of multi-thread laser scanner |
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| CN110806307A (en) * | 2019-11-19 | 2020-02-18 | 中国兵器装备集团自动化研究所 | Method for rapidly detecting stability precision of photoelectric sight-stabilizing system |
| CN111044994A (en) * | 2020-02-25 | 2020-04-21 | 航天金鹏科技装备（北京）有限公司 | Optical axis calibration device and method for airborne laser range finder of airplane |
| CN111044994B (en) * | 2020-02-25 | 2022-04-08 | 航天金鹏科技装备（北京）有限公司 | Optical axis calibration device and method for airborne laser range finder of airplane |
| CN113093156A (en) * | 2021-03-12 | 2021-07-09 | 昆明物理研究所 | Multi-optical-axis calibration system and method for LD laser range finder |
| CN113093156B (en) * | 2021-03-12 | 2023-10-27 | 昆明物理研究所 | Multi-optical axis calibration system and method for LD laser range finder |
| CN113607383A (en) * | 2021-07-07 | 2021-11-05 | 湖北航天技术研究院总体设计所 | Device, system and method for measuring aiming deviation of laser optical axis |
| CN113701561A (en) * | 2021-08-25 | 2021-11-26 | 西安应用光学研究所 | Airborne multispectral multi-optical-axis photoelectric system aerial dynamic axis correcting device and method |
| CN113916510A (en) * | 2021-11-23 | 2022-01-11 | 江苏北方湖光光电有限公司 | Multi-optical-axis image deviation calibration method based on servo rotation |
| CN113916510B (en) * | 2021-11-23 | 2023-09-26 | 江苏北方湖光光电有限公司 | Multi-optical-axis image deviation calibration method based on servo rotation |
| CN114858422A (en) * | 2022-07-11 | 2022-08-05 | 中国科学院长春光学精密机械与物理研究所 | Method for dynamically calibrating consistency of laser optical axis and visual axis based on Gaussian distribution |
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