CN104931070A - Optical signal injection type simulation method - Google Patents
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Abstract
The invention discloses an optical signal injection type simulation technology applicable to a photoelectric theodolite, and provides a step-by-step implementation scheme. The step-by-step implementation scheme includes calculating a possible space mapping relationship between the theodolite and a simulated target when the target is tracked by the theodolite according to a motion trail of the simulated target and tracking performance of the theodolite, projecting a corresponding target and a corresponding scene by a target simulator, and creating a target and scene image database after photographing of the theodolite; during simulation testing, measuring and calculating a space mapping relationship between the tracking axis of the theodolite and the target and a relative motion speed, calling a stored target scene image, performing motion blurring effect processing on the image according to the relative speed, and injecting the image into a video collection processor of the theodolite synchronously to achieve optical signal injection type simulation testing of the theodolite. The problem of difficulty in simulation testing of tracking systems of large-diameter tracking-mode photoelectric theodolites is solved. A tracking system is used for measuring a time difference between target time (TN) and collection time of the image, and accordingly, the optical signal injection type simulation technology is achieved. The technology is also applicable to television tracking systems and infrared tracking systems with same working principles, such as television guided weapon, infrared guided weapon and onboard weapon tracking systems and ground weapon tracking systems.
Description
Technical field
The multiple technologies such as this emulation mode relates to image matching, high speed image merges, video image accurately splices, video frame sync injects, the spatial mappings relationship modeling of target and tracker.This emulation technology is applicable to the tracking performance emulation testing of tracker in kinds of platform, as vehicle-carried tracking system, aircraft-borne track system.The invention belongs to the emulation testing field of photoelectric follow-up.
Background technology
For heavy caliber tracking mode electro-optic theodolite, tracking velocity, tracking acceleration and tracking accuracy are the key indexs of tracker.When test in laboratory, due to long by check system focal length, restrict by factors such as projector performance and ball curtain sizes, the emulation testing effect of ball-screen projection mode is undesirable.The point target emulation testing of High Rotation Speed is generally used in laboratory, and the method can not effectively Reality simulation target optical characteristic, movement locus and scene characteristic.When outfield airbound target is tested, restrict by external field environment and test condition, test target is single, can not comprehensive assessment target property and environmental characteristic on the impact of tracking performance, and consume huge.
From electro-optic theodolite following principle, by the spatial relationship of real-time measurement target and tracking axis, in the electro-optic theodolite photographic subjects track moment, synchronously the target of coupling and scene information are injected camera system or the processing system for video of electro-optic theodolite, replace the vision signal that realistic objective, scene or photodetector export, the ultimate principle of signal injection formula that Here it is emulation.Injected simulation can be divided into the pouring-in and injecting electronic signal formula of light signal, the injecting electronic signal emulation mode of current use as shown in Figure 1, the tracking axis angular altitude that simulation control subsystem (3) uses tracking axis parameter acquisition unit (1) and target trajectory planning unit (2) to export, position angle and target trajectory parameter, calculate target and scenario parameters, Video signal generation unit (4) generates corresponding vision signal, is injected into the image pick-up card (5) of electro-optic theodolite (6).Because image is without optical system, truly can not reflects the picture quality that transit produces and parameter, be unsuitable for quantitative detection, be mainly used in the training of operator and the functional detection of tracker.
Light signal is pouring-in is that the target scene signals of emulation is projected transit camera system by Optical Target Simulator, the reference point that light signal injects is the intermediate time taking every two field picture, current target simulator generates and the time of display-object scene image is about 40 ~ 50ms, after measuring the spatial relation of transit tracking axis and target, image projection corresponding to regeneration is to transit camera system, the light signal of projection has the delay of a few tens of milliseconds, and now transit camera system has terminated the shooting of this two field picture.For eliminating delay error, being generally the spatial direction of real-time estimate tracking axis, producing target and the scene image of coupling in advance, project transit camera system by target simulator.Prediction has error, and make the targetpath of theodolite observation around the vibration of planning flight path, this will reduce accuracy of detection, therefore also not have light signal injected simulation system both at home and abroad at present.
For heavy caliber tracking mode electro-optic theodolite, optical system imaging quality affects tracking performance, and the test of light signal injected simulation is the effective way of its tracking performance of inspection.Therefore for the feature of electro-optic theodolite, propose a kind of Real-Time Optical signal injection formula emulation technology, solve the urgent need of heavy caliber tracking mode electro-optic theodolite emulation testing.
Summary of the invention
The present invention proposes one and implement scheme step by step, first according to movement locus and the transit tracking performance of simulation objectives, calculate spatial mappings relation possible in transit tracking target process between the two, and project corresponding target and scene with target simulator, after transit shooting, set up target and scene image data storehouse; Secondly, during emulation testing, measure, calculate spatial mappings relation and the speed of related movement of transit tracking axis and target, call the target scene image of storage, after motion blur effects process being carried out to image according to relative velocity, simultaneous implantation, to transit video acquisition processor, achieves the test of transit light signal injected simulation, solves an emulation testing difficult problem for heavy caliber tracking mode electro-optic theodolite tracker.
For the ccd detector (CCIR standard) that current electro-optic theodolite is conventional, emulation testing principle is described.The sequential of transit shooting and image processing flow as shown in Figure 2, square frame (10) is the sequential that transit CCD takes image and output image, N+1 two field picture exports N two field picture while starting shooting, square frame (11) is the sequential of image acquisition and image procossing, N+1 two field picture processes N two field picture while starting to gather, (12) be the sequential of frame synchronizing signal, it can thus be appreciated that every two field picture picked-up, acquisition and processing postpone the two field picture time all successively.CCD controls automatically according to the light intensity of target and background and contrast, every two field picture effective integral time is different, but every two field picture shooting time and image acquisition and processing time are fixing with identical, for simplifying tracking error process and tracker control, usual tracker is using the intermediate point of a two field picture shooting process as the measurement target moment, see the TN moment in Fig. 2, this moment tracking axis spatial direction is exactly the Calculation Basis position of this two field picture tracking error, is therefore also the signal injection reference position of light signal injected simulation.From light signal injecting principle, if target and scene brightness high, every two field picture effective integral time is less than 20ms, and by controlling the transit CCD shutter moment, injecting light signal in the 20ms after the TN moment is likely realize the test of Real-Time Optical Signal injection simulation.By display device limitation of the technology, target simulator generates and display image temporal is greater than 20ms, is difficult at present realize, therefore needs other approach to realize the test of Real-Time Optical Signal injection simulation with TN moment tracking axis position for benchmark injects light signal in real time.
From sequential chart 2, the measuring basis moment TN of every two field picture has 20ms difference of injection time, this 20ms time difference of Appropriate application apart from the collection starting point of this two field picture, adopts to implement method step by step and can realize light signal injected simulation.The first step sets up electro-optic theodolite tracking target image database before emulation testing.According to movement locus and the transit tracking performance of simulation objectives, calculate the spatial mappings relation of tracking axis and target in transit tracking target process, corresponding target and scene is generated with target simulator, project electro-optic theodolite, this image of electro-optic theodolite record, sets up electro-optic theodolite tracking target image database after standardization.In target image projection process, target simulator optical axis should overlap with electro-optic theodolite optical axis.When second step is emulation testing, disconnects the data line of video processor and camera system, this data line is connected in analogue system.According to the spatial relation of photoelectric tracking axle and target, calculate the relative position relation of every two field picture TN moment tracking axis and target, call the target scene image of the destination image data library storage set up in advance, after motion blur effects process being carried out to image according to relative velocity, this two field picture is synchronous with the frame signal of electro-optic theodolite, be injected into video acquisition processor.If there is no correspondence image in image data base, can image interpolation process be carried out, merge and generate corresponding target scene image.Image injects sequential as shown in Figure 3, square frame (13) is the sequential that transit CCD takes image and output image, square frame (14) is that emulating image generates and injects the sequential of transit image processor, after the TN moment, the measurement and the target location that complete tracking axis spatial direction calculate, the image of coupling is called from image data base, be fused into emulating image, the image pick-up card outputting to transit in square frame (15) is controlled by frame synchronizing signal, square frame (15) is the sequential of transit image acquisition and image procossing, N+1 two field picture gathers the emulation of N frame and injects image while starting picked-up, (16) be the sequential of frame synchronizing signal.
The principle of compositionality of light signal injected simulation aims of systems scene image data storehouse system as shown in Figure 4.Target trajectory planning unit (20) provides the locus of transit each measurement moment target, targeted attitude, optical signature and scene characteristic, mapping relations computing unit (21) calculates the spatial mappings relation of target and transit tracking axis, target simulator (22) generates target scene image, project transit camera system, simulation control subsystem (23) control module (20), unit (21), unit (22) and image database system (27) work, the image of transit (24) photographic subjects simulator, output video signal, the image acquisition and processing unit (25) of transit gathers vision signal and stores, image classification unit (26) is classified to every two field picture, mark and standardization, target scene image data base (27) stores the target scene image of the transit shooting after unit (26) process.
The principle of compositionality of light signal injected simulation system as shown in Figure 5.Tracking axis parameter acquisition unit (30) the Real-time Collection transit angle of pitch and azimuth information, target trajectory planning unit (31) is according to emulation testing requirement, the locus of each moment target of real-time calculating, targeted attitude, optical signature and scene characteristic, the frame signal of the camera system of frame synchronizing signal collecting unit (32) Real-time Collection transit, mapping relations computing unit (33) is according to unit (30), the data of unit (31) and unit (32) calculate spatial mappings relation and the speed of related movement of transit survey moment (TN) tracking axis and target, simulation control subsystem (35) is according to result of calculation invocation target scene image data storehouse (34) respective image data of unit (33), output to target scene image co-registration unit (36), unit (36) is to after target scene image co-registration, after motion blur effects process being carried out to image according to relative velocity, output to a frame video signal output unit (37), unit (37) data of unit (32) make Timing Signal, Output simulation image is to the image collection processing system (38) of transit, unit (38) calculates the locus value of tracking axis relative target, provide orientation and angular altitude tracking error signal, export to transit and control (39), unit (39) controls transit (40) tracking target according to tracking error signal.
Accompanying drawing explanation
Fig. 1 injecting electronic signal formula analogue system forms schematic diagram
Fig. 2 CCD shooting, image acquisition and process time diagram
Fig. 3 light signal injected simulation Computer image genration, injection and transit image acquisition, process time diagram
Fig. 4 target, scene simulation image data base generation system form schematic diagram
Fig. 5 light signal injected simulation System's composition schematic diagram
Embodiment
With concrete Simulation Application example, the present invention will be described in detail below, is convenient to understand, thus makes more explicit defining to protection scope of the present invention with the advantage and feature that make invention.
Transit tracking performance is relevant to target optical characteristic, movement locus and scene characteristic, for predetermined emulation testing subject, the position of the relative tracking axis of each measurement moment target is change, need to make rational planning for the possible situation of spatial mappings relation of target and transit tracking axis, image when the relative tracking axis of photographic subjects changes, the injection requirement of emulating image should be met, reduce image taking workload again, determine best shooting area, therefore we adopt a kind of target scene image data base construction strategy being convenient to automatically to control.
First, according to predetermined emulation testing subject, the light signal injected simulation system shown in Fig. 5 of use, computing machine is adopted to generate the image of emulating image replacement target scene image data base (34) in real time, pair warp and weft instrument carries out 5 emulation testings, calculates the maximum tracking angle error θ of transit.
Secondly, spatial gridding process is carried out to predetermined goal theory flight path, be equivalent to flexible rectangular tube, goal theory flight path be entangled, the size of rectangular tube should cover the maximum tracking angle error θ of transit, goal theory flight path is center line in rectangular tube, horizontal and vertical cutting is carried out along rectangular tube inside center line direction square shaped pipe parallel with it, then in the direction transverse cuts perpendicular to rectangular tube center line, determine to cut interval according to emulating image fitting precision, the space crossed point of three cuttings is reference mark of spatial gridding.For improving image acquisition and Fitting efficiency, adopt the reference mark that gridding is set at equal intervals.
Again, centered by each measurement point on goal theory flight path, when transit tracking axis points to this measurement point, tracking angle error is zero, near pointing to during gridding reference mark, tracking angle error is greater than zero, and this measurement point and neighbouring tracking angle error are not more than the gridding reference mark of θ, sets up each reference mark that this measurement point image data base needs photographic subjects and scene image exactly.Rule of thumb, comparative maturity, stable tracker, target is set up at the reference mark chosen on rectangular tube surface and scene simulation image data base just can meet test request.
Finally, Fig. 4 target, scene simulation image data base generation system is used to build database.In Fig. 4, target simulator (22) is placed on the optical table contour with transit (24) camera system, adjustment aim simulator optical axis and electro-optic theodolite optical axis coincidence.
In transit tracking target process, the shake of tracking axis relative target is the main cause producing image motion blurring effect, and the integral time of every two field picture is longer, and image motion blurring effect is more obvious.We adopt the image motion blurring effect model in a kind of simple and practical method establishment transit tracking target process.First transit aims at transmission target at a distance, as high buildings top, and capture video image after locking tracking system; Secondly according to the Angle Position data of tracking axis in transit tracking target process, analyze transit and follow the tracks of speed of related movement possible between tracking axis and target in moving-target process, with this speeds control transit uniform rotation, this target inswept capture video image from left to right; Then by analyzing target quiescent image and the dynamic image of shooting, the motion blur effects of transit tracking target under this relative velocity known; Finally according to the accuracy requirement of transit tracking performance and image motion blurring effect model, determine transit movement velocity scope, speed interval and photographed data amount, set up the image motion blurring effect model of this transit, general each speed takes 3 times.
Precision of uniting time simulation control subsystem (35) in Fig. 5 is not less than 1 μm, tracking axis parameter acquisition unit (30) Real-time Collection transit (40) angle of pitch and azimuth information, sample frequency 500Hz.Target trajectory planning unit (31), according to predetermined movement track, is less than the target of 250m/s, generally presses 20ms interval for movement velocity, calculate the locus of each moment target, targeted attitude, optical signature and scene characteristic in real time.The frame synchronizing signal of the camera system of frame synchronizing signal collecting unit (32) Real-time Collection transit, signals collecting precision is not less than 1 μm.Mapping relations computing unit (33) calculates the spatial direction of transit survey moment (TN) tracking axis according to the data of unit (30) and unit (32), calculates the spatial mappings relation of tracking axis and target scene this moment by unit (31) data.Simulation control subsystem (35) is according to result of calculation invocation target scene image data storehouse (34) respective image data of unit (33), and the view data of generally just in time not mating, needs image matching.Target scene image after fusion is outputted to a frame video signal output unit (37) by unit (36), unit (37) data of unit (32) make control signal, Output simulation image is to the image collection processing system (38) of transit, unit (38) calculates the locus value of tracking axis relative target, provide orientation and angular altitude tracking error, output tracking error signal controls (39) to transit, and unit (39) controls transit (40) tracking target according to tracking error signal.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing to do injected simulation test or the emulation testing of equivalence; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (7)
1. a light signal injected simulation method, comprises the following steps:
The first step, according to movement locus and the transit tracking performance of simulation objectives, calculate spatial mappings relation possible in transit tracking target process between the two, and project corresponding target and scene with target simulator, after transit shooting, set up target and scene image data storehouse;
Second step, during emulation testing, measure, calculate spatial mappings relation and the speed of related movement of transit tracking axis and target, call the target scene image of storage, after motion blur effects process being carried out to image according to relative velocity, simultaneous implantation, to transit video processor, achieves transit light signal injected simulation; It is characterized in that:
Target and the scene image data storehouse system of the first step comprise: target trajectory planning unit (20), mapping relations computing unit (21), target simulator (22), simulation control subsystem (23), electro-optic theodolite (24), image acquisition and processing unit (25), image classification unit (26), image database system (27);
Described target trajectory planning unit (20) calculates each locus measured in moment target geographic coordinate system of transit, targeted attitude, optical signature and scene characteristic;
Described mapping relations computing unit (21) calculates the spatial mappings relation of transit survey moment target and transit tracking axis;
Described target simulator (22) is fixed on multifunctional adjustable platform, position and height adjustable, pitching and orientation adjustable, be convenient to adjustment aim simulator optical axis and electro-optic theodolite (24) optical axis coincidence;
Described simulation control subsystem (23) control objectives trajectory planning unit (20), mapping relations computing unit (21), target simulator unit (22), image classification unit (26) and image database system (27) work;
The image of described electro-optic theodolite (24) photographic subjects simulator, output video signal is to image acquisition and processing unit (25);
Described image acquisition and processing unit (25) gathers the image of electro-optic theodolite (24) photographic subjects simulator, outputs to image classification unit (26);
Described image classification unit (26), according to the locus of target in geographic coordinate system, carries out classification and marking to electro-optic theodolite (24) shooting image;
Described image database system (27), to the image building database of image classification unit (26) classification and marking, improves the efficiency that simulation control subsystem (23) uses image;
In second step, light signal injected simulation system comprises: tracking axis parameter acquisition unit (30), target trajectory planning unit (31), frame synchronizing signal collecting unit (32), mapping relations computing unit (33), target scene image data base (34), simulation control subsystem (35), target scene image co-registration unit (36), a frame video signal output unit (37), image collection processing system (38), transit control system (39) and electro-optic theodolite (40);
Described tracking axis parameter acquisition unit (30) the Real-time Collection transit angle of pitch and azimuth information;
Described target trajectory planning unit (31), according to emulation testing requirement, calculates the locus of each moment target, targeted attitude, optical signature and scene characteristic in real time;
The frame signal of the camera system of described frame synchronizing signal collecting unit (32) Real-time Collection transit;
Described mapping relations computing unit (33) calculates spatial mappings relation and the speed of related movement of transit survey moment (TN) tracking axis and target according to the data of tracking axis parameter acquisition unit (30), target trajectory planning unit (31) and frame synchronizing signal collecting unit (32);
Described simulation control subsystem (35), according to result of calculation invocation target scene image data storehouse (34) respective image data of mapping relations computing unit (33), outputs to target scene image co-registration unit (36);
Described target scene image co-registration unit (36), to after target scene image co-registration, after carrying out smearing process, outputs to a frame video signal output unit (37) according to relative velocity to image;
Described frame video signal output unit (37) data for frame synchronizing signal collecting unit (32) make Timing Signal, Output simulation image to the image collection processing system (38) of transit,
Described image collection processing system (38) calculates the locus value of tracking axis relative target, provides orientation and angular altitude tracking error signal, exports to transit control system (39);
Described transit control system (39) controls electro-optic theodolite (40) tracking target according to tracking error signal; It is characterized in that method is implemented in use step by step, solve light signal and inject the difficult problem that emulation exists signal delay in real time.
2. light signal injected simulation method according to claim 1, is characterized in that:
Utilize tracker measurement target moment (TN) and this frame tracking image to gather the mistiming in moment, realize light signal injected simulation.
3. light signal injected simulation method according to claim 1, is characterized in that:
Utilize tracker measurement target moment (TN) and this frame tracking image to gather the mistiming in moment, realize light signal injected simulation, be equally applicable to the light signal injected simulation of the infrared thodolite of similar operation principle.
4. light signal injected simulation method according to claim 1, is characterized in that:
According to movement locus and the transit tracking performance of simulation objectives, calculate spatial mappings relation possible in transit tracking target process between the two, and project corresponding target and scene with target simulator, after transit shooting, set up target and scene image data storehouse.
5. light signal injected simulation method according to claim 1, is characterized in that:
During emulation testing, measure, calculate spatial mappings relation and the speed of related movement of transit tracking axis and target, call the target scene image of storage, after motion blur effects process being carried out to image according to relative velocity, the frame signal simultaneous implantation of transit, to transit video processor, realizes transit light signal injected simulation.
6. light signal injected simulation method according to claim 1, is characterized in that:
Utilize tracker measurement target moment (TN) and this frame tracking image to gather the mistiming in moment, realize light signal injected simulation, be equally applicable to TV tracker system and the infra-red tracing system of similar operation principle.
7. light signal injected simulation method according to claim 1, it is for television weapon, infrared guidance weapon, air weapon tracker and terrestrial weapon tracker.
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| CN107514935A (en) * | 2017-09-26 | 2017-12-26 | 武汉华讯国蓉科技有限公司 | A kind of infrared seeker detecting system and method |
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| CN114119649A (en) * | 2021-11-23 | 2022-03-01 | 中国航空工业集团公司洛阳电光设备研究所 | Missile approaching alarm testing method based on image injection |
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