CN104330804B - Facula tracker and object identification and tracking method using same - Google Patents
Facula tracker and object identification and tracking method using same Download PDFInfo
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- CN104330804B CN104330804B CN201410621926.2A CN201410621926A CN104330804B CN 104330804 B CN104330804 B CN 104330804B CN 201410621926 A CN201410621926 A CN 201410621926A CN 104330804 B CN104330804 B CN 104330804B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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Abstract
The invention relates to a facula tracker in the technical field of light tracking. The facula tracker is formed by fives modules of a receiving optical system, a detection amplifier, a signal processor, a power source distributor and a switching circuit, the size is small, the weight is light, digital switching, digital processing and digital control technologies are adopted, a laser encode is not informed in advance, identification of a plurality of irradiated targets is achieved, and an operator can select an urgently tracking target. A multi-channel signal coherent processing method can eliminate influences of light noise, identify long-distance weak object signals and increases the detection distance under the low input signal to noise ratio condition and meanwhile can increase a receiving view field under the same angular accuracy condition. Calculation of an object detection capability indirectly judges the guiding capability under environmental factors and is convenient for the operator to make a decision.
Description
Technical field
The present invention relates to light tracking technique field, particularly to a kind of photogoniometer following the tracks of laser facula and target thereof
Recognition and tracking method.
Background technology
Utilize collimation and the high-speed transfer characteristic of light, can free space realize the accurately capture to moving object with
Follow the tracks of.Hot spot following principle is, first uses up or laser designation target, and then spot tracker is by receiving the light of target reflection
Target is carried out precision angle and tracking.The application that hot spot is followed the tracks of is needed widely, satellite in the development of the national economy
Between measurement with dock, lasercom (include field local area communication systems with Urban Data communication system), and solar energy
Electricity generation system, is required for using spot tracker to be the most accurately directed between two communication base stations.
Abroad, spot tracker is at urban network laser communication system, mobile laser communication system and military mesh
Mark in tracking system commonly used.At home due to technological gap, spot tracker is only applied in indivedual fields, and with
External product is compared, and function and technical performance have bigger gap.Domestic, mostly use thermal imaging system and television camera to follow the tracks of and know
Other target, but thermal imaging system television camera tracking range is nearer, it is impossible to and identifying target code, it is right easily to be caused by light disturbance
The wrong identification of target.The deficiency that current spot tracker exists has: (1) structure is complicated, bulky；(2) detect sensitive
Degree deficiency；(3) field of view of receiver angle is little；(4) multiple target being irradiated with a laser can not be identified simultaneously；(5) can not identify do not have in advance
There is the target informing laser code；(6) without guidance ability arbitration functions；(7) relatively costly.
Summary of the invention
An object of the present invention is to provide a kind of spot tracker so that it is possesses and does not informs laser code, or
Identifying the ability of target under multiple laser code environment, its detection range is remote, field of view of receiver angle is big, low cost.
Spot tracker of the present invention refers to the spot tracker in broad sense such as hand-held or airborne or vehicle-mounted,
Express with " spot tracker " this term the most without exception.
The spot tracker of the present invention, including: a kind of spot tracker, including:
Receiving optics: for receiving the optical echo signal of target reflection, and optical signal is converged in photodetector
On photosurface；Described receiving optics includes: optical bench, the second meniscus, the first meniscus, filter lens peace convex lens
Mirror, the second meniscus, the first meniscus, filter lens and planoconvex lens order be arranged in optical bench, filter lens is arranged on
Between planoconvex lens and the first meniscus；
Detection amplifier: be used for converting optical signals into the signal of telecommunication, then be amplified to meet subsequent conditioning circuit by ultra-weak electronic signal
The level required；Described detection amplifier includes: photodetector, transimpedance amplifier, main amplifier, bias supply, photoelectricity
Detector, transimpedance amplifier and main amplifier are linked in sequence, and bias supply is connected with photodetector；Transimpedance amplifier
Respective gain control circuit and gain control signal input thereof is contained with main amplifier；
Signal processor: for the signal of telecommunication of detection amplifier output is processed, export target deviation angle information；
Described signal processor includes: modulate circuit, analog-digital converter, Programmable Logic Device, interface circuit, modulate circuit, mould
Number converter, Programmable Logic Device are linked in sequence with interface circuit, and signal processor has two groups of gain control signals simultaneously
Outfan；
Electric power source distribution device: for providing working power for detection amplifier, signal processor, inputoutput unit；
Built-up circuit: for being connected with external system, it is achieved with the communication of external system.
The optical bench of described receiving optics is by by the circular lens barrel of light incident direction and the polygon of light exit direction
Or the flange composition of circle, flange has installation screwed hole.
Described photodetector is many quadrants PIN photodiode, or is many quadrants avalanche photodide.
Described electric power source distribution device includes: low-tension supply, high voltage power supply, power-supply controller of electric, power-supply controller of electric and low-tension supply
Connecting, low-tension supply is connected with high voltage power supply.
Described Programmable Logic Device be on-site programmable gate array FPGA or complex programmable logic device (CPLD),
Advanced RISC machines ARM or digital signal processor DSP or special IC RSIC or in them two
Kind or several combine.
The spot tracker of the present invention, described signal processor controls the method for detection amplifier gain and is: work as mutual resistance
When the signal amplitude of anti-amplifier and main amplifier output is beyond respective dynamic range, the gain that signal processor output is corresponding
Control signal, reduces transimpedance amplifier and the signal gain of main amplifier separately or together, and gain is in quasi-continuous mode
Reduce, each gain reduction amount press linear mode and control be transimpedance amplifier and main amplifier each maximum gain two/
One, or 1/3rd, or m/mono-(m is the natural integer more than 2), or press logarithmic and control as transimpedance amplifier
It is the natural integer more than 1 with the 3dB of main amplifier each maximum gain, or 6dB, or 3 × kdB(k).
The two of the purpose of the present invention are to provide a kind of method utilizing spot tracker to carry out target recognition and tracking, bag
Include following steps:
(a) preset laser code；
B () presses guadrantal photo electric detector definition signal passage；
C () receives the laser echo signal of all target reflections in visual field, and be converted into the signal of telecommunication, and the signal of telecommunication amplifies
After, obtain the clutter of echo signal and noise；
D () carries out numeral conversion to clutter, obtain numeral clutter；
E () carries out digital filtering process to numeral clutter, obtain digital filtered signal；
F () carries out relevant treatment to the digital filtered signal of each passage, obtain " numeral and " clutter；
G () carries out digital filtering process to " numeral and " clutter, obtain " numeral and " filtering signal；
H () will be greater than " numeral and " filtering signal of threshold value A as candidate target signal, without signal more than threshold value
A, then repeat (c)～(g) step；
(i) utilize all preset codings that candidate target signal is carried out pattern coupling；
J () is consistent with a certain preset coding if there is the signal in two or more continuous cycles, be considered as this letter
Number with this preset codes match, without signal and preset codes match, then repeat (c)～(i) step；
(k) manual or automatic echo signal selecting to need to follow the tracks of；When artificial selection follows the tracks of echo signal, need to be according to output
The cue of Signal coding determined；
L (), according to the Signal coding of echo signal, arranges signal detection ripple door；
M () uses the signal gate tracking target of selected coding.
The method not informing laser code or can be apprised of two kinds of targets of laser code in advance and is identified
The spot tracker of the present invention, when above-mentioned steps (h) determines threshold value A: use public formula I to calculate threshold value A；
………………………………………………(Ⅰ)
In formula: k is coefficient；σ is that noise criteria is poor；For noise average.
The spot tracker of the present invention, step (h) determines that the another kind of method of threshold value A is: use public formula II to calculate threshold
Value A.
……………………………………(Ⅱ)
In formula:For setting false alarm rate；τ is target laser echo pulsewidth；For noise mean square value.
The spot tracker of the present invention, it is also possible to have following subsequent step, for judging guidance ability, its step bag
Include:
The actual laser power that can receive in guidance range is calculated according to public formula III,
... ... ... ... ... ... ... (III)
In formulaFor the ratio of target seeker with spot tracker receiving optics transmitance,For target seeker and light
The ratio of both speckle trackers Receiver aperture,For the ratio of target seeker with spot tracker receiving range square,For guiding
Head and the ratio of both atmospheric transmittances on spot tracker receiving range,For spot tracker output voltage and reception laser merit
The conversion coefficient of rate, V is spot tracker output signal total voltage value；
Target seeker actual laser power that can receive in guidance range is calculated according to public formula IVWith target seeker
Minimum detectable powerRatio k,
... ... ... ... ... ... ... ... (IV)
In formulaFor target seeker minimum detectable power；
Then target seeker actual laser power that can receive in guidance range is judgedVisit with target seeker I
Power scaleRatio whether more than or equal to 1；
Export judged result again, output ＜ 1 ,=1 ,=n(n be the integer more than 1) judged result, be used for evaluating guidance
Ability.
In the spot tracker guidance ability determination methods of the present invention, because in most cases, QUOTE , it addition, target seeker guidance ability has several times to tens times surplus,
So above-mentioned public formula III can be reduced to WS=kZV。
For improving detectivity, following steps can be used:
A () obtains digital filtered signal after, the digital filtered signal of adjacency channel is processed, obtain 4 tunnels " double " phase
OFF signal；
B " double " coherent signal of () 4 road adjacency channel processes, obtain 4 tunnels " in pairs " coherent signal；
C () carries out relevant treatment to the digital filtered signal of 4 passages, obtain a road " with " coherent signal；Respectively to 4 tunnels
" in pairs " coherent signal compares with threshold value B, will be greater than " in pairs " coherent signal of threshold value B as candidate target signal；
(d) to " with " coherent signal compares with threshold value C, will be greater than threshold value C " with " coherent signal is as candidate's mesh
Mark.
Wherein, threshold value B and threshold value C are according to the residing at that time increasing of background noise levels, transimpedance amplifier and main amplifier
The coefficient calculations that benefit size is relevant to the port number of related operation number of times and participation related operation determines.
The invention has the beneficial effects as follows: the modularized design of five functional parts, simplify structure, reduce volume, subtract
Light weight, reduces cost；Have employed digitized conversion, digitized processing and the digital Control Technology of signal, it is achieved that
The most do not inform laser code, and there is the identification of multiple illuminated target, manipulation people can be allowed to select to follow the tracks of the most urgent target；
The correlation process method of multi channel signals, can eliminate veiling glare effect of noise, identifies long distance under the conditions of low input signal-to-noise ratio
From weak signal target signal, increase detection range, simultaneously can increase field of view of receiver under the conditions of equal angle measurement accuracy；To target
The calculating of acquisition of signal ability, can judge the guidance ability under such environmental effects, it is simple to manipulation personnel make certainly indirectly
Plan.The spot tracker of the present invention and utilize its method carrying out target recognition and tracking, may be used for any needing light to carry out
The field of precision angle, such as free space laser communication, laser guidance, the place such as pointing of airborne photoelectric gondola.
Accompanying drawing explanation
The present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the outline drawing of the spot tracker of the present invention.
Fig. 2 is the spot tracker composition frame chart of the present invention.
Fig. 3 is the composition frame chart of the spot tracker detection amplifier of the present invention.
Fig. 4 is the composition frame chart of the signal processor of the spot tracker of the present invention.
Fig. 5 is the composition frame chart of the spot tracker electric power source distribution device of the present invention.
Fig. 6 a is that the spot tracker optics of the present invention receives parts sectional view.
Fig. 6 b is that the spot tracker optics of the present invention receives parts front view.
Fig. 7 is spot tracker multi-targets recognition and the trace flow figure of the present invention.
Fig. 8 is the spot tracker signal correction processing method schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is described in further detail.Hereinafter implement
Example is used for illustrating the present invention, but is not limited to the scope of the present invention.
Fig. 1 and Fig. 2 is respectively outline drawing and the composition frame chart of the spot tracker of the present invention, shown spot tracker,
Including:
Receiving optics 1, for receiving the optical echo signal of target reflection, and converges in light electrical resistivity survey by optical signal
Survey on device photosurface；
Detection amplifier 2, is used for converting optical signals into the signal of telecommunication, then ultra-weak electronic signal is amplified to subsequent conditioning circuit
The level required；
Signal processor 3, for processing the signal of telecommunication of detection amplifier 2 output, exports target deflecting angle
Degree information；
Electric power source distribution device 4, for providing working power for detection amplifier 2, signal processor 3, telecommunication circuit 5；
Built-up circuit 5, for being connected with external system, it is achieved with the communication of external system, and primary source inputs；
In receiving optics 1, detection amplifier 2, signal processor 3, electric power source distribution device 4 and built-up circuit 5 structure suitable
Sequence connects, and detection amplifier 2, signal processor 3 and built-up circuit 5 are electrically linked in sequence, electric power source distribution device 4 respectively with detection
Amplifier 2, signal processor 3 and built-up circuit 5 connect.
Fig. 6 a is that the spot tracker optics of the present invention receives parts sectional view, and shown receiving optics 1 includes: light
Tool seat the 22, second meniscus the 21, first meniscus 20, filter lens 19 and planoconvex lens 18, the second meniscus 21, first
Meniscus 20, filter lens 19 and planoconvex lens 18 order are arranged in optical bench 22, and filter lens 19 is arranged on planoconvex lens 18
And between the first meniscus 20, filter lens 19 can be glued together with planoconvex lens 18, it is also possible to independent spacer ring is installed.
Fig. 6 b is that the spot tracker optics of the present invention receives parts front view, the light tool of shown receiving optics 1
Seat 22 is by the circular lens barrel 24 of light incident direction, and polygon or the circular flange 23 of light exit direction form, and flange 23 has
Install screwed hole 25, for upper level system install and install detection amplifier 2, signal processor 3, electric power source distribution device 4 and
Built-up circuit 5.
Fig. 3 is the composition frame chart of the spot tracker detection amplifier of the present invention, and shown detection amplifier 2 includes: light
Electric explorer 8, transimpedance amplifier 9, main amplifier 10, bias supply 7, photodetector 8, transimpedance amplifier 9 and master are put
Big device 10 is linked in sequence, and bias supply 7 is connected with photodetector 8.Transimpedance amplifier 9 and main amplifier 10 are containing each
Gain control circuit and gain control signal input, for control signal gain.
What detection amplifier used photodetector 8 is many quadrants PIN photodiode, or is many quadrants snowslide light
Electric diode, uses four-quadrant PIN photodiode in the present embodiment.
Fig. 4 is the composition frame chart of the signal processor of the spot tracker of the present invention, and shown signal processor 3 includes:
Modulate circuit 11, analog-digital converter 12, Programmable Logic Device 13, interface circuit 14, modulate circuit 11, analog-digital converter 12,
Programmable Logic Device 13 is linked in sequence with interface circuit 14, and signal processor 3 has two groups of gain control signal outfans and divides
It is not connected with the gain control signal input of transimpedance amplifier 9 and main amplifier 10.
Signal processor 3 controls gain according to the strong and weak of signal, when the letter that transimpedance amplifier 9 and main amplifier 10 export
When number amplitude is beyond transimpedance amplifier 9 and main amplifier 10 respective dynamic range, signal processor 3 exports the gain of correspondence
Control signal, reduces transimpedance amplifier 9 and the gain of main amplifier 10 separately or together, and gain is dropped in quasi-continuous mode
Low, each gain reduction amount is pressed linear mode and is controlled as transimpedance amplifier 9 and two points of the respective maximum gain of main amplifier 10
One of, or 1/3rd, or m/mono-(m is the natural integer more than 2), or press logarithmic control for mutual impedance amplification
Device 9 and the 3dB of the respective maximum gain of main amplifier 10, or 6dB, or 3 × kdB(k is the natural integer more than 1).
The spot tracker of the present invention, described Programmable Logic Device 13 is on-site programmable gate array FPGA or multiple
Miscellaneous programmable logic device (CPLD) or advanced RISC machines ARM or digital signal processor DSP or special integrated
Circuit RSIC or two or more in them combine.
Fig. 5 is the composition frame chart of the spot tracker electric power source distribution device of the present invention, and shown electric power source distribution device 4 includes: low
Voltage source 15, high voltage power supply 16 and power-supply controller of electric 17, power-supply controller of electric 17 is connected with low-tension supply 15, and low-tension supply 15 is with high
Voltage source 16 connects, and high voltage power supply 16 is for providing bias voltage for photodetector.
Fig. 7 is spot tracker multi-targets recognition and the trace flow figure of the present invention, sharp for the most not informing shown in figure
Pumped FIR laser, and scene exists and multiple be irradiated with a laser target, needs by all target recognitions out, then by manipulation personnel according to
Field condition, selects one coding to follow the tracks of, and the method for this multi-code target recognition and tracking includes:
(a) preset our laser code and known enemy's laser codes 31 all；
B () presses photodiode quadrant definition signalling channel (to channel number) 32；
C () receives the laser echo signal of all target reflections in visual field, and be converted into the signal of telecommunication, and the signal of telecommunication amplifies
After, obtain the clutter 33 of echo signal and noise；
D () carries out numeral conversion to clutter, obtain numeral clutter 34；
E () carries out digital filtering process to numeral clutter, obtain digital filtered signal 35；
F () carries out relevant treatment to the digital filtered signal of each passage, obtain " numeral and " clutter 36；
G () carries out digital filtering process to " numeral and " clutter, obtain " numeral and " filtering signal 37；
H () will be greater than " numeral and " filtering signal of threshold value A as candidate target signal, without signal more than threshold value
A, then repeat (c)～(g) step 38；
(i) utilize all preset codings that candidate target signal carries out pattern coupling 39；
J () is consistent with a certain preset coding if there is the signal in two or more continuous cycles, be considered as this letter
Number with this preset codes match, without signal and preset codes match, then repeat (c)～(i) step 40；
K () exports the cue 41 of the Signal coding of all couplings；Operator select need according to coding cue
Echo signal 42 to be followed the tracks of；
L (), by the Signal coding of manipulation personnel selection, arranges signal detection ripple door 43；
M () uses the signal gate tracking target 44 of selected coding.
If manipulation personnel are apprised of certain laser code in advance, then he can directly according to the code identification be apprised of with
Follow the tracks of target, it is not necessary to showing interest in other laser codes, such target recognition and tracking method is more relatively easy, the method bag
Include:
(a) preset laser code informed；
B () presses guadrantal photo electric detector definition signal passage；
C () receives the laser echo signal from all target reflections, and be converted into the signal of telecommunication, after the signal of telecommunication amplifies, obtains
Echo signal and the clutter of noise；
D () carries out numeral conversion to clutter, obtain numeral clutter；
E () carries out digital filtering process to numeral clutter, obtain digital filtered signal；
F () carries out relevant treatment to the digital filtered signal of each passage, obtain " numeral and " clutter；
G () carries out digital filtering process to " numeral and " clutter, obtain " numeral and " filtering signal；
H () will be greater than " numeral and " filtering signal of threshold value A as candidate target signal, without signal more than threshold value
A, then repeat (c)～(g) step；
(i) utilize preset laser code that candidate target signal is carried out pattern coupling；
J () is consistent with preset coding if there is the signal in two or more continuous cycles, be considered as this signal with
Preset codes match, without signal and preset codes match, then repetition (c)～(i) step；
K () automatically selects the echo signal needing to follow the tracks of；
L () presses preset signal encoding setting signal detection ripple door；
M () is by the signal gate tracking target of preset coding.
Above-mentioned the most do not inform laser code and be apprised of in advance in two kinds of target recognition and tracking methods of laser code, step
Suddenly (h) determines that a kind of method of threshold value A is: use public formula I to calculate threshold value A.
………………………………………………(Ⅰ)
In formula: k is coefficient；σ is that noise criteria is poor；For noise average.
Above-mentioned the most do not inform laser code and be apprised of in advance in two kinds of target recognition and tracking methods of laser code, step
Suddenly (h) determines that the another kind of method of threshold value A is: use public formula II to calculate threshold value A.
……………………………………(Ⅱ)
In formula:For setting false alarm rate；τ is target laser echo pulsewidth；For noise mean square value.
The spot tracker of the present invention, it is also possible to have following subsequent step, for judging guidance ability, its step bag
Include:
The actual laser power that can receive in guidance range is calculated according to public formula III,
... ... ... ... ... ... ... (III)
In formulaFor the ratio of target seeker with spot tracker receiving optics transmitance,For target seeker and light
The ratio of both speckle trackers Receiver aperture,For the ratio of target seeker with spot tracker receiving range square,For guiding
Head and the ratio of both atmospheric transmittances on spot tracker receiving range,For spot tracker output voltage and reception laser merit
The conversion coefficient of rate, V is spot tracker output signal total voltage value；
Target seeker actual laser power that can receive in guidance range is calculated according to public formula IVWith target seeker
Minimum detectable powerRatio k,
... ... ... ... ... ... ... ... (IV)
In formulaFor target seeker minimum detectable power；
Then target seeker actual laser power that can receive in guidance range is judgedVisit with target seeker I
Power scaleRatio whether more than or equal to 1；
Export judged result again, output ＜ 1 ,=1 ,=n(n be the integer more than 1) judged result, be used for evaluating guidance
Ability.
In the spot tracker guidance ability determination methods of the present invention, because in most cases, QUOTE , it addition, target seeker guidance ability has several times to tens times surplus, institute
W can be reduced to above-mentioned formula (III)S=kZV。
For improving detectivity, following steps can be used:
A. (it is assumed to be A, B, C, D totally 4 passages) after obtaining digital filtered signal；The digital filtering of adjacency channel is believed
Number process, obtain 4 tunnels " double " coherent signal；
B.4 " double " coherent signal of road adjacency channel processes, and obtains 4 tunnels " in pairs " coherent signal；
C. the digital filtered signal of 4 passages is carried out relevant treatment, obtain a road " with " coherent signal；Respectively to 4 tunnels
" in pairs " coherent signal compares with threshold value B, will be greater than " in pairs " coherent signal of threshold value B as candidate target signal；
D. to " with " coherent signal compares with threshold value C, will be greater than threshold value C " with " coherent signal is as candidate target
。
Wherein, threshold value B and threshold value C are residing at that time according to background noise levels, transimpedance amplifier 9 and main amplifier 10
The coefficient calculations that gain size is relevant to the port number of related operation number of times and participation related operation determines.
Fig. 8 is the spot tracker signal correction processing method schematic diagram of the present invention, and A, B, C, D represent four signals respectively
The signal sequence of passage, AB, BC, CD, DA obtain after representing the adjacent channel signals related operation of tetra-signals of A, B, C, D respectively
Signal sequence, AB2C、BC2D、CD2A、DA2B represents the relevant fortune of adjacent channel signals of tetra-signals of AB, BC, CD, DA respectively
The signal sequence obtained after calculation, the signal sequence that ABCD obtains after representing tetra-signalling channel related operations of A, B, C, D.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to some of which technical characteristic just can be made one by performing creative labour
A little replacements and deformation, these are replaced and deformation is the most within the scope of the present invention.
Claims (5)
1. the method that a spot tracker carries out target recognition and tracking, it is characterised in that comprise the steps:
(a) preset laser code (31)；
B () presses guadrantal photo electric detector definition signal passage (32)；
C () receives the laser echo signal of all target reflections in visual field, and be converted into the signal of telecommunication, after the signal of telecommunication amplifies,
Obtain the clutter (33) of echo signal and noise；
D () carries out numeral conversion to clutter, obtain numeral clutter (34)；
E () carries out digital filtering process to numeral clutter, obtain digital filtered signal (35)；
F () carries out relevant treatment to the digital filtered signal of each passage, obtain " numeral and " clutter (36)；
G () carries out digital filtering process to " numeral and " clutter, obtain " numeral and " filtering signal (37)；
H () will be greater than " numeral and " filtering signal of threshold value A as candidate target signal, without signal more than threshold value A, then
Repeat (c)～(g) step (38)；
(i) utilize all preset codings that candidate target signal carries out pattern coupling (39)；
J () is consistent with a certain preset coding if there is the signal in two or more continuous cycles, be considered as this signal with
This preset codes match, without signal and preset codes match, then repetition (c)～(i) step (40)；
(k) manual or automatic echo signal (42) selecting to need to follow the tracks of；When artificial selection follows the tracks of echo signal, need to be according to output
The cue (41) of Signal coding determined；
L (), according to the Signal coding of echo signal, arranges signal detection ripple door (43)；
M () uses signal gate tracking target (44) of selected coding；
Described spot tracker, including:
Receiving optics (1): for receiving the optical echo signal of target reflection, and optical signal is converged in photodetector light
On quick；Described receiving optics (1) including: optical bench (22), the second meniscus (21), the first meniscus (20),
Filter lens (19) and planoconvex lens (18), the second meniscus (21), the first meniscus (20), filter lens (19) peace convex lens
Mirror (18) order is arranged in optical bench (22), filter lens (19) be arranged on planoconvex lens (18) and the first meniscus (20) it
Between；
Detection amplifier (2): be used for converting optical signals into the signal of telecommunication, then ultra-weak electronic signal is amplified to meets subsequent conditioning circuit wants
The level asked；Described detection amplifier (2) including: photodetector (8), transimpedance amplifier (9), main amplifier (10), partially
Putting power supply (7), photodetector (8), transimpedance amplifier (9) and main amplifier (10) are linked in sequence, bias supply (7) and light
Electric explorer (8) is connected；Transimpedance amplifier (9) and main amplifier (10) are containing respective gain control circuit and gain thereof
Control signal input；
Signal processor (3): the signal of telecommunication for exporting detection amplifier (2) processes, output target deviation angle letter
Breath；Described signal processor (3) including: modulate circuit (11), analog-digital converter (12), Programmable Logic Device (13), connects
Mouth circuit (14), modulate circuit (11), analog-digital converter (12), Programmable Logic Device (13) connect with interface circuit (14) order
Connecing, signal processor (3) has two groups of gain control signal outfans simultaneously；
Electric power source distribution device (4): for providing work electricity for detection amplifier (2), signal processor (3), inputoutput unit (5)
Source；
Built-up circuit (5): for being connected with external system, it is achieved with the communication of external system；
The optical bench (22) of described receiving optics (1) is by by the circular lens barrel (24) of light incident direction and light exit direction
Flange (23) composition of polygon or circle, flange (23) has installation screwed hole (25)；
Photodetector (8) is many quadrants PIN photodiode, or is many quadrants avalanche photodide；
Electric power source distribution device (4) including: low-tension supply (15), high voltage power supply (16), power-supply controller of electric (17), power-supply controller of electric (17)
Being connected with low-tension supply (15), low-tension supply (15) is connected with high voltage power supply (16)；
Programmable Logic Device (13) is on-site programmable gate array FPGA or complex programmable logic device (CPLD) or senior
Reduced Instruction Set Computer ARM or digital signal processor DSP or special IC RSIC or in them two kinds or several
Plant and combine.
The described method utilizing spot tracker to carry out target recognition and tracking the most according to claim 1, it is characterised in that
Step (h) determines that a kind of method of threshold value A is: use public formula I to calculate threshold value A,
………………………………………………(Ⅰ)
In formula: k is coefficient；σ is that noise criteria is poor；For noise average.
The described method utilizing spot tracker to carry out target recognition and tracking the most according to claim 1, it is characterised in that
Step (h) determines that the another kind of method of threshold value A is: use public formula II to calculate threshold value A,
……………………………………(Ⅱ)
In formula:For setting false alarm rate；τ is target laser echo pulsewidth；For noise mean square value.
The described method utilizing spot tracker to carry out target recognition and tracking the most according to claim 1, its feature exists
In, calculate the actual laser power that can receive in guidance range according to public formula III,
... ... ... ... ... ... ... (III)
In formulaFor the ratio of target seeker with spot tracker receiving optics transmitance,Follow the tracks of with hot spot for target seeker
The ratio of both devices Receiver aperture,For the ratio of target seeker with spot tracker receiving range square,For target seeker and light
The ratio of both atmospheric transmittances on speckle tracker receiving range,For spot tracker output voltage with receive laser power turn
Changing coefficient, V is spot tracker output signal total voltage value；
Target seeker actual laser power that can receive in guidance range is calculated according to public formula IVWith target seeker
Little detectable powerRatio k,
... ... ... ... ... ... ... ... (IV)
In formulaFor target seeker minimum detectable power；
Then target seeker actual laser power that can receive in guidance range is judgedWith target seeker minimum detectable merit
RateRatio whether more than or equal to 1；
Export judged result again, output ＜ 1 ,=1, the judged result of=n, it is used for evaluating guidance ability, wherein, n is more than 1
Integer.
The described method utilizing spot tracker to carry out target recognition and tracking the most according to claim 1, it is characterised in that
Including:
A () carries out relevant treatment to the digital filtered signal of adjacency channel, obtain n road " double " coherent signal；
B " double " coherent signal of () n road adjacency channel carries out relevant treatment, obtain n road " in pairs " coherent signal；
C () carries out relevant treatment to the digital filtered signal of n passage, obtain a road " with " coherent signal；
D n road " in pairs " coherent signal is compared by () respectively with threshold value B, " in pairs " coherent signal that will be greater than threshold value B is made
For candidate target signal；
(e) to " with " coherent signal compares with threshold value C, will be greater than threshold value C " with " coherent signal believes as candidate target
Number；
Wherein, threshold value B and threshold value C according to background noise levels, transimpedance amplifier (9) and main amplifier (10) at that time residing for
The coefficient calculations that gain size is relevant to the port number of related operation number of times and participation related operation determines.
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| CN107643022B (en) * | 2017-08-30 | 2019-07-05 | 福建福光股份有限公司 | A kind of las er-guidance camera lens based on 4 quadrant detector |
| CN108211335B (en) * | 2018-01-19 | 2023-12-05 | 南京先进激光技术研究院 | Laser simulated combat system and hit judgment method |
| CN109283548B (en) * | 2018-07-16 | 2024-02-09 | 孙宏宇 | Laser angle measurement system and anti-backscattering method |
| CN110412594A (en) * | 2019-07-22 | 2019-11-05 | 北京光勺科技有限公司 | A kind of laser multi-channel detection system |
| CN112381925B (en) * | 2020-11-13 | 2023-05-26 | 广州引力波科技创新发展有限公司 | Whole body tracking and positioning method and system based on laser coding |
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