CN104931070B - A kind of optical signal injected simulation method - Google Patents
A kind of optical signal injected simulation method Download PDFInfo
- Publication number
- CN104931070B CN104931070B CN201510351607.9A CN201510351607A CN104931070B CN 104931070 B CN104931070 B CN 104931070B CN 201510351607 A CN201510351607 A CN 201510351607A CN 104931070 B CN104931070 B CN 104931070B
- Authority
- CN
- China
- Prior art keywords
- target
- theodolite
- image
- unit
- tracking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 48
- 238000004088 simulation Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012360 testing method Methods 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 21
- 230000000694 effects Effects 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000002513 implantation Methods 0.000 claims abstract description 3
- 238000013507 mapping Methods 0.000 claims description 9
- 230000004927 fusion Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000002347 injection Methods 0.000 description 9
- 239000007924 injection Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000005520 cutting process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000010354 integration Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000009411 base construction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Image Analysis (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
A kind of optical signal injected simulation technology suitable for electro-optic theodolite.Propose one kind and implement scheme step by step, first according to the movement locus of simulation objectives and theodolite tracking performance, calculate possible space reflection relation between the two in theodolite tracking object procedure, and project corresponding target and scene with target simulator, after theodolite is shot, target and scene image data storehouse are set up；Secondly, during emulation testing, measurement, the space reflection relation and speed of related movement for calculating theodolite tracking axis and target, call the target scene image of storage, image is carried out after motion blur effects processing according to relative velocity, simultaneous implantation realizes the test of theodolite optical signal injected simulation, solves the emulation testing problem of heavy caliber tracking mode electro-optic theodolite tracking system to theodolite video acquisition processor.Object time (TN) and the time difference at the image frame grabber moment are measured using tracking system, realize optical signal injected simulation technology, the technology is equally applicable to the TV tracker system and infra-red tracing system of similar operation principle, such as television weapon, infrared guidance weapon, air weapon tracking system and terrestrial weapon tracking system.
Description
Technical field
This emulation mode is related to image fitting, high speed image fusion, video image accurately splices, video frame sync is noted
Enter, the multiple technologies such as the space reflection relationship modeling of target and tracking system.This emulation technology is applied to track in kinds of platform
The tracking performance emulation testing of system, such as vehicle-carried tracking system, aircraft-borne track system.The invention belongs to the imitative of photoelectric follow-up
True testing field.
Background technology
For heavy caliber tracking mode electro-optic theodolite, tracking velocity, tracking acceleration and tracking accuracy are tracking systems
Key index.In test in laboratory, because tested system focal length is long, restricted by the factor such as projecting apparatus performance and ball curtain size,
The emulation testing effect of ball-screen projection mode is undesirable.Laboratory is typically with the point target emulation testing of rotation at a high speed, this method
Real goal optical characteristics, movement locus and scene characteristic can not effectively be simulated.When being tested in outfield with airbound target, by outfield
Environment and test condition restriction, test target is single, it is impossible to the shadow of comprehensive assessment target property and environmental characteristic to tracking performance
Ring, and consume huge.
From electro-optic theodolite following principle, by measuring the spatial relationship of target and tracking axis in real time, in photoelectricity warp
Latitude instrument photographic subjects track moment, synchronous target and scene information by matching injects the camera system or video of electro-optic theodolite
Processing system, the vision signal exported instead of realistic objective, scene or photodetector, here it is the base of signal injected simulation
Present principles.Injected simulation can be divided into the electric signal injection emulation side that optical signal is pouring-in and electric signal is pouring-in, uses at present
Method is as shown in figure 1, simulation control subsystem (3) is exported using tracking axis parameter acquisition unit (1) and target trajectory planning unit (2)
The tracking axis angle of site, azimuth and target trajectory parameter, calculate target and scenario parameters, Video signal generation unit (4) is raw
Into corresponding vision signal, the image pick-up card (5) of electro-optic theodolite (6) is injected into.Because image is without optical system, it is impossible to
Picture quality and parameter that true reflection theodolite is produced, are unsuitable for quantitative detection, are mainly used in the training and tracking of manipulator
The feature detection of system.
Pouring-in optical signal is that the target scene signal of emulation is projected into theodolite by Optical Target Simulator to image
System, the datum mark of optical signal injection is to shoot the intermediate time per two field picture, current target simulator generation and display target
The time of scene image is about 40~50ms, after the spatial relation for measuring theodolite tracking axis and target, regeneration pair
The image answered projects theodolite camera system, and the optical signal of projection has the delay of a few tens of milliseconds, now theodolite camera system
It is over the shooting of the two field picture.To eliminate delay error, the usually space of real-time estimate tracking axis is pointed to, produced in advance
The target and scene image of matching, theodolite camera system is projected by target simulator.Prediction has error, makes longitude and latitude
The targetpath of instrument observation is around planning flight path vibration, and this will reduce accuracy of detection, therefore also be noted both at home and abroad without optical signal at present
Enter formula analogue system.
For heavy caliber tracking mode electro-optic theodolite, optical system imaging quality influence tracking performance, optical signal is pouring-in
Emulation testing is the effective way for examining its tracking performance.Therefore for electro-optic theodolite the characteristics of, a kind of Real-Time Optical letter is proposed
Number injected simulation technology, solves the urgent need of heavy caliber tracking mode electro-optic theodolite emulation testing.
The content of the invention
The present invention proposes one kind and implements scheme step by step, first according to the movement locus of simulation objectives and theodolite tracing property
Can, calculate possible space reflection relation, and project corresponding with target simulator between the two in theodolite tracking object procedure
Target and scene, after theodolite is shot, set up target and scene image data storehouse；Secondly, during emulation testing, measurement, calculating warp
The space reflection relation and speed of related movement of latitude instrument tracking axis and target, call the target scene image of storage, according to relative
Speed is carried out after motion blur effects processing to image, and simultaneous implantation realizes theodolite to theodolite video acquisition processor
Optical signal injected simulation is tested, and solves the emulation testing problem of heavy caliber tracking mode electro-optic theodolite tracking system.
Illustrate emulation testing principle by taking the ccd detector (CCIR standards) that current electro-optic theodolite is commonly used as an example.Theodolite
The sequential of shooting and image processing flow is as shown in Fig. 2 when square frame (10) is theodolite CCD shooting images and output image
Sequence, exports nth frame image, square frame (11) is the sequential of IMAQ and image procossing while N+1 two field pictures start to shoot,
N+1 two field pictures start to handle nth frame image while collection, and (12) are the sequential of frame synchronizing signal, it follows that per frame figure
As intake, collection and processing all postpone the two field picture time successively.The CCD times of integration are according to the light intensity of target and background and right
Automatically controlled than degree, be different per the two field picture effective integral time, but per two field picture shooting time and image acquisition and processing
Time is fixed and identical, and to simplify tracking error processing and tracking system control, usual tracking system is clapped with a two field picture
The intermediate point of process is taken the photograph as measurement object time, at the TN moment seen in Fig. 2, it is exactly the frame figure that moment tracking shaft space, which is pointed to,
As the calculating benchmark position of tracking error, therefore it is also the signal injection reference position of optical signal injected simulation.From optical signal
Said on injecting principle, if target and scene brightness are high, 20ms is less than per the two field picture effective integral time, by controlling theodolite
Optical signal is injected in CCD shutter moment, the 20ms after the TN moment to be possible to realize that Real-Time Optical Signal injection simulation is surveyed
Examination.By display device limitation of the technology, target simulator generation and display image time are more than 20ms, axle position are tracked with the TN moment
It is set to benchmark and injects optical signal in real time and be difficult at present, it is therefore desirable to which other approach realizes that Real-Time Optical Signal injection simulation is surveyed
Examination.
From timing diagram 2, collection starting points of the measuring basis moment TN away from the two field picture per two field picture has 20ms sequential
Difference, rationally using this 20ms time difference, optical signal injected simulation can be realized using the method for implementing step by step.The first step is emulation testing
Before set up electro-optic theodolite tracking target image database.According to the movement locus of simulation objectives and theodolite tracking performance, meter
Calculate the space reflection relation of tracking axis and target in theodolite tracking object procedure, with target simulator generate corresponding target and
Scene, projects electro-optic theodolite, and electro-optic theodolite, which is recorded, sets up electro-optic theodolite tracking target after this image, standardization
Image data base.In target image projection process, target simulator optical axis should be overlapped with electro-optic theodolite optical axis.Second step is
During emulation testing, video processor and the data wire of camera system are disconnected, this data wire is connected in analogue system.According to light
The spatial relation of electric tracing axle and target, calculates every two field picture TN moment tracking axis and the relative position relation of target, adjusts
With the target scene image of the destination image data library storage pre-established, motion blur effect is carried out to image according to relative velocity
It is after should handling, the two field picture is synchronous with the frame signal of electro-optic theodolite, it is injected into video acquisition processor.If image data base
In there is no correspondence image, image interpolation process can be carried out, the corresponding target scene image of fusion generation.Image injection sequential is such as
Shown in Fig. 3, square frame (13) is the sequential of theodolite CCD shooting images and output image, square frame (14) be emulating image generation and
The sequential of theodolite image processor is injected, after the TN moment, measurement and target location calculating that tracking shaft space is pointed to is completed, from
The image of matching is called in image data base, emulating image is fused into, warp in square frame (15) is output to frame synchronizing signal control
The image pick-up card of latitude instrument, square frame (15) is the sequential of theodolite IMAQ and image procossing, and N+1 two field pictures start intake
While collection nth frame emulation injection image, (16) are the sequential of frame synchronizing signal.
The principle of compositionality of optical signal injected simulation aims of systems scene image data storehouse system is as shown in Figure 4.Target track
Mark planning unit (20) provides locus, targeted attitude, optical signature and the scene spy that theodolite each measures moment target
Levy, mapping relations computing unit (21) calculates target and the space reflection relation of theodolite tracking axis, target simulator (22) is raw
Into target scene image, theodolite camera system, simulation control subsystem (23) control unit (20), unit (21), list are projected
First (22) and image database system (27) work, the image of theodolite (24) photographic subjects simulator, export vision signal, warp
Image acquisition and processing unit (25) the collection vision signal of latitude instrument is simultaneously stored, and image classification unit (26) is divided every two field picture
Class, mark and standardization, theodolite of target scene image data base (27) storage after unit (26) processing are shot
Target scene image.
The principle of compositionality of optical signal injected simulation system is as shown in Figure 5.Tracking axis parameter acquisition unit (30) is adopted in real time
Collect the theodolite angle of pitch and azimuth information, target trajectory planning unit (20) is required according to emulation testing, when calculating each in real time
Locus, targeted attitude, optical signature and the scene characteristic of target are carved, collection is passed through frame synchronizing signal collecting unit (32) in real time
The frame signal of the camera system of latitude instrument, mapping relations computing unit (21) is according to unit (30), unit (20) and unit (32)
Data calculate the space reflection relation and speed of related movement of transit survey moment (TN) tracking axis and target, Simulation Control system
(23) are united according to result of calculation invocation target scene image data storehouse (34) respective image data of unit (21), target is output to
Scene image integrated unit (36), after unit (36) is to target scene image co-registration, is moved according to relative velocity to image
After blurring effect processing, a frame video signal output unit (37), system when unit (37) is made with the data of unit (32) are output to
Signal, the image acquisition and processing unit (25) of output emulating image to theodolite, unit (25) calculates tracking axis relative target
Locus is worth, and provides orientation and angle of site tracking error signal, exports and give theodolite control (39), unit (39) is according to tracking
Error signal control theodolite (24) tracking target.
Brief description of the drawings
Fig. 1 electric signal injected simulations system constitutes schematic diagram
Fig. 2 CCD shootings, IMAQ and processing time diagram
The generation of Fig. 3 optical signal injected simulations image, injection and theodolite IMAQ, processing time diagram
Fig. 4 targets, scene simulation image data base generation system constitute schematic diagram
Fig. 5 optical signal injected simulations system constitutes schematic diagram
Embodiment
With specific Simulation Application example, the present invention will be described in detail below, so that the advantages and features of invention are easy to reason
Solution, apparent is clearly defined so as to be made to protection scope of the present invention.
Theodolite tracking performance is related to target optical characteristic, movement locus and scene characteristic, is imitated for predetermined
True test subject, each measurement moment target with respect to the position of tracking axis is changed, it is necessary to make rational planning for target and theodolite
The possibility situation of the space reflection relation of tracking axis, image when photographic subjects change with respect to tracking axis should be met imitative
The injection requirement of true image, reduces image taking workload again, it is determined that optimal shooting area, therefore we are easy to using one kind
The target scene image data base construction strategy automatically controlled.
First, according to predetermined emulation testing subject, using the optical signal injected simulation system shown in Fig. 5, using meter
Calculation machine generates the image that emulating image replaces target scene image data base (34) in real time, and pair warp and weft instrument carries out 5 emulation testings,
Calculate the maximum tracking angle error θ of theodolite.
Secondly, spatial gridding processing is carried out to predetermined goal theory flight path, will equivalent to flexible rectangular tube
Goal theory flight path is entangled, and the size of rectangular tube should cover the maximum tracking angle error θ of theodolite, and goal theory flight path is rectangular tube
Interior center line, along rectangular tube inside center line and direction square shaped pipe parallel with it carries out horizontal and vertical cutting, then
In the direction transverse cuts perpendicular to rectangular tube center line, cutting interval, three cuttings are determined according to emulating image fitting precision
Space crossed point be spatial gridding control point.To improve IMAQ and Fitting efficiency, using setting grid at equal intervals
The control point of change.
Again, centered on each measurement point on goal theory flight path, when theodolite tracking axis points to the measurement point, with
The track angle of deviation is zero, when pointing to gridding control point nearby, and tracking angle error is more than zero, the measurement point and neighbouring tracking angle error
No more than θ gridding control point, exactly setting up the measurement point image data base needs each of photographic subjects and scene image
Control point.Rule of thumb, comparative maturity, stable tracking system, target and field are set up in the control point chosen in square pipe surface
Scape emulating image database can meet test request.
Finally, system constructing database is generated using Fig. 4 targets, scene simulation image data base.Target simulator in Fig. 4
(22) it is placed on on the contour optical table of theodolite (24) camera system, adjusting target simulator optical axis and electro-optic theodolite
Optical axis coincidence.
The shake of tracking axis relative target is the main cause for producing image motion blurring effect in theodolite tracking object procedure,
The time of integration per two field picture is longer, and image motion blurring effect is more obvious.We are set up using a kind of simple and practical method
Image motion blurring effect model in theodolite tracking object procedure.Theodolite aims at distant place transmission target first, as high
Video image is shot after building top, locking tracking system；Secondly the angle of tracking axis in object procedure is tracked according to theodolite
Possible speed of related movement between tracking axis and target during position data, analysis theodolite tracking moving-target, with the speed
Theodolite uniform rotation is controlled, the target inswept from left to right simultaneously shoots video image；Then the target shot by analyzing is quiet
State image and dynamic image, it is known that theodolite tracks the motion blur effects of target under the relative velocity；Finally according to theodolite
The required precision of tracking performance and image motion blurring effect model, determines theodolite movement velocity scope, speed interval and bat
Data volume is taken the photograph, the image motion blurring effect model of the theodolite is set up, general each speed is shot 3 times.
Precision of being united in Fig. 5 during simulation control subsystem (23) is not less than 1 μm, and tracking axis parameter acquisition unit (30) is gathered in real time
Theodolite (24)) angle of pitch and azimuth information, sample frequency 500Hz.Target trajectory planning unit (20) is according to predetermined movement
Track, 250m/s target is less than for movement velocity, 20ms intervals is typically pressed, the space bit of each moment target is calculated in real time
Put, targeted attitude, optical signature and scene characteristic.Frame synchronizing signal collecting unit (32) gathers the camera system of theodolite in real time
Frame synchronizing signal, signal acquisition precision is not less than 1 μm.Mapping relations computing unit (21) is according to unit (30) and unit (32)
Data calculate transit survey moment (TN) tracking axis space point to, calculated with unit (20) data this moment tracking axis with
The space reflection relation of target scene.Simulation control subsystem (23) is according to the result of calculation invocation target scene image of unit (21)
Database (34) respective image data, the view data just not matched generally to image, it is necessary to be fitted.Unit
(36) the target scene image after fusion is output to a frame video signal output unit (37), unit (37) unit (32)
Data make control signal, and the image acquisition and processing unit (25) of output emulating image to theodolite, unit (25) calculates tracking axis
The locus value of relative target, provides orientation and height angle tracking error, output tracking error signal gives theodolite control
(39), unit (39) controls theodolite (24) to track target according to tracking error signal.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
Injected simulation test or equivalent emulation testing that bright specification and accompanying drawing are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (2)
1. a kind of optical signal injected simulation method, comprises the following steps：
The first step, according to the movement locus of simulation objectives and theodolite tracking performance, is calculated two in theodolite tracking object procedure
Possible space reflection relation between person, and corresponding target and scene are projected with target simulator, after theodolite is shot, set up mesh
Mark and scene image data storehouse；
Second step, during emulation testing, measurement, calculating theodolite tracking axis and the space reflection relation of target and relative motion speed
Degree, calls the target scene image of storage, image is carried out after motion blur effects processing according to relative velocity, simultaneous implantation is arrived
Theodolite video processor, realizes theodolite optical signal injected simulation；It is characterized in that：
The target and scene image data storehouse system of the first step include：Target trajectory planning unit (20), mapping relations calculate single
First (21), target simulator (22), simulation control subsystem (23), electro-optic theodolite (24), image acquisition and processing unit (25), figure
As taxon (26), image database system (27)；
The target trajectory planning unit (20) calculate theodolite each measure locus in moment target geographic coordinate system,
Targeted attitude, optical signature and scene characteristic；
The mapping relations computing unit (21) calculates transit survey moment target and the space reflection of theodolite tracking axis is closed
System；
The target simulator (22) is fixed on multifunctional adjustable platform, position and height adjustable, pitching and orientation
It is adjustable, it is conveniently adjusted target simulator optical axis and electro-optic theodolite (24) optical axis coincidence；
Simulation control subsystem (23) the control targe trajectory planning unit (20), mapping relations computing unit (21), target mould
Intend device unit (22), image classification unit (26) and image database system (27) work；
The image of electro-optic theodolite (24) the photographic subjects simulator, output vision signal to image acquisition and processing unit
(25)；
Described image acquisition process unit (25) gathers the image of electro-optic theodolite (24) photographic subjects simulator, is output to image
Taxon (26)；
Locus of the described image taxon (26) according to target in geographic coordinate system, shoots to electro-optic theodolite (24)
Image carries out classification and marking；
Described image Database Systems (27) set up database to the image of image classification unit (26) classification and marking, improve imitative
True control system (23) uses the efficiency of image；
In second step, optical signal injected simulation system includes：Tracking axis parameter acquisition unit (30), target trajectory planning unit
(20), frame synchronizing signal collecting unit (32), mapping relations computing unit (21), target scene image data base (34), emulation
Control system (23), target scene image fusion unit (36), a frame video signal output unit (37), image acquisition and processing list
First (25), theodolite control system (39) and electro-optic theodolite (24)；
The tracking axis parameter acquisition unit (30) gathers the theodolite angle of pitch and azimuth information in real time；
The target trajectory planning unit (20) is required according to emulation testing, and locus, the mesh of each moment target are calculated in real time
Mark posture, optical signature and scene characteristic；
The frame synchronizing signal collecting unit (32) gathers the frame signal of the camera system of theodolite in real time；
The mapping relations computing unit (21) according to tracking axis parameter acquisition unit (30), target trajectory planning unit (20) and
The data of frame synchronizing signal collecting unit (32) calculate the space reflection relation of transit survey moment (TN) tracking axis and target
And speed of related movement；
The simulation control subsystem (23) is according to the result of calculation invocation target scene image number of mapping relations computing unit (21)
According to storehouse (34) respective image data, target scene image fusion unit (36) is output to；
After the target scene image fusion unit (36) is to target scene image co-registration, image is dragged according to relative velocity
After the processing of tail effect, a frame video signal output unit (37) is output to；
The one frame video signal output unit (37) makees Timing Signal with the data of frame synchronizing signal collecting unit (32), output
Image acquisition and processing unit (25) of the emulating image to theodolite；
Described image acquisition process unit (25) calculate tracking axis relative target locus value, provide orientation and the angle of site with
Track error signal, exports and gives theodolite control system (39)；
The theodolite control system (39) controls electro-optic theodolite (24) to track target according to tracking error signal；It is characterized in that
Using method of implementing step by step, solve optical signal and inject the problem that emulation has signal delay in real time.
2. optical signal injected simulation method according to claim 1, it is characterised in that：
The time difference that object time (TN) tracks the IMAQ moment with the frame is measured using tracking system, realizes that optical signal injects
Formula is emulated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510351607.9A CN104931070B (en) | 2015-06-17 | 2015-06-17 | A kind of optical signal injected simulation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510351607.9A CN104931070B (en) | 2015-06-17 | 2015-06-17 | A kind of optical signal injected simulation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104931070A CN104931070A (en) | 2015-09-23 |
| CN104931070B true CN104931070B (en) | 2017-08-18 |
Family
ID=54118347
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510351607.9A Expired - Fee Related CN104931070B (en) | 2015-06-17 | 2015-06-17 | A kind of optical signal injected simulation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104931070B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106131482B (en) * | 2016-06-27 | 2019-01-11 | 西安应用光学研究所 | Unmanned carrier optoelectronic aims of systems capture systems and method |
| CN107514935B (en) * | 2017-09-26 | 2023-03-31 | 武汉华讯国蓉科技有限公司 | Infrared seeker detection system and method |
| CN108279576B (en) * | 2017-12-26 | 2021-09-28 | 湖北航天技术研究院总体设计所 | Compound axle target tracking simulation test system |
| CN109544493A (en) * | 2018-11-09 | 2019-03-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of real-time injection device of high speed optoelectronic theodolite target |
| CN109737986B (en) * | 2018-12-25 | 2021-06-15 | 中国科学院长春光学精密机械与物理研究所 | Imaging quality detection system of photoelectric theodolite |
| CN113375651B (en) * | 2021-06-11 | 2022-07-29 | 中国科学院光电技术研究所 | Real-time synthesizer of photoelectric theodolite formation of image tracking information |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1621781A (en) * | 2003-11-28 | 2005-06-01 | 中国科学院光电技术研究所 | Target simulation method for photoelectric theodolite |
| CN101738139A (en) * | 2009-12-31 | 2010-06-16 | 中国科学院长春光学精密机械与物理研究所 | Image filling type target simulator |
| CN102410785A (en) * | 2011-12-13 | 2012-04-11 | 林德福 | Turntable for semi-physical simulation of laser terminally guided projectile |
| CN202815214U (en) * | 2012-09-24 | 2013-03-20 | 北京航天长征飞行器研究所 | Rapid target generation device of semi-physical simulation system |
| CN103235545A (en) * | 2013-04-19 | 2013-08-07 | 中国科学院光电技术研究所 | Simulation test method and device for photoelectric tracking system |
| CN103853642A (en) * | 2014-01-17 | 2014-06-11 | 中国科学院上海技术物理研究所 | Injection type simulation system for infrared digital image based on USB3.0 and method thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130335437A1 (en) * | 2011-04-11 | 2013-12-19 | Vistaprint Technologies Limited | Methods and systems for simulating areas of texture of physical product on electronic display |
-
2015
- 2015-06-17 CN CN201510351607.9A patent/CN104931070B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1621781A (en) * | 2003-11-28 | 2005-06-01 | 中国科学院光电技术研究所 | Target simulation method for photoelectric theodolite |
| CN101738139A (en) * | 2009-12-31 | 2010-06-16 | 中国科学院长春光学精密机械与物理研究所 | Image filling type target simulator |
| CN102410785A (en) * | 2011-12-13 | 2012-04-11 | 林德福 | Turntable for semi-physical simulation of laser terminally guided projectile |
| CN202815214U (en) * | 2012-09-24 | 2013-03-20 | 北京航天长征飞行器研究所 | Rapid target generation device of semi-physical simulation system |
| CN103235545A (en) * | 2013-04-19 | 2013-08-07 | 中国科学院光电技术研究所 | Simulation test method and device for photoelectric tracking system |
| CN103853642A (en) * | 2014-01-17 | 2014-06-11 | 中国科学院上海技术物理研究所 | Injection type simulation system for infrared digital image based on USB3.0 and method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 数字图像注入式红外捕获跟踪闭环仿真试验探讨;吴军辉 等;《系统仿真学报》;20040930;第16卷(第9期);第2067-2070页 * |
| 数字图像注入式红外目标捕获跟踪训练仿真;宋振丰 等;《中国光学与应用光学》;20100430;第3卷(第2期);第194-200页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104931070A (en) | 2015-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104931070B (en) | A kind of optical signal injected simulation method | |
| CN106780601B (en) | Spatial position tracking method and device and intelligent equipment | |
| CN105424006B (en) | Unmanned plane hovering accuracy measurement method based on binocular vision | |
| CN105378506B (en) | It is moved into as platform alignment | |
| CN103889519B (en) | The method and system of the motion track of the reality of subject are obtained using the mobile subject of multiple cameras shooting and according to shooting image | |
| CN110139031B (en) | Video anti-shake system based on inertial sensing and working method thereof | |
| CN110793548B (en) | Navigation simulation test system based on virtual-real combination of GNSS receiver hardware in loop | |
| CN104535126B (en) | A kind of withered season Flow Measuring System in river course and method | |
| CN102230758A (en) | Method and device for testing tracking stability precision during travel of self-propelled gun | |
| CN107066975B (en) | Video identification and tracking system and its method based on depth transducer | |
| CN105373011A (en) | Real-time simulation system for detection of photoelectric tracking device and computer comprising the same | |
| CN110428501A (en) | Full-view image generation method, device, electronic equipment and readable storage medium storing program for executing | |
| WO2016183954A1 (en) | Calculation method and apparatus for movement locus, and terminal | |
| CN109211573B (en) | Method for evaluating hovering stability of unmanned aerial vehicle | |
| CN104199313B (en) | A kind of intelligent robot emulation test system | |
| CN106969721A (en) | A kind of method for three-dimensional measurement and its measurement apparatus | |
| CN109781068A (en) | The vision measurement system ground simulation assessment system and method for space-oriented application | |
| CN108917755A (en) | A kind of Imaging Seeker angle of sight error of zero estimation method and device | |
| CN110503684A (en) | Camera position and orientation estimation method and device | |
| CN101929863A (en) | Real-time graph generation method for scene matching navigation technology | |
| CN112001980B (en) | Semi-physical simulation system for image damage assessment and implementation method thereof | |
| CN113052974B (en) | Method and device for reconstructing three-dimensional surface of object | |
| CN110989645A (en) | Target space attitude processing method based on compound eye imaging principle | |
| CN104199314B (en) | A kind of intelligent robot emulation test method | |
| CN112902986B (en) | Device and method for measuring angular error of photoelectric tracking equipment based on attitude feedback |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170818 |