CN105588564A - Stable imaging method applicable to two-dimensional wide-area scanning - Google Patents

Abstract

The invention provides a stable imaging method applicable to two-dimensional wide-area scanning. The core of the method is geographical stabilization and electron image movement compensation matching, forward movement of a photoelectric system is compensated in a geographical stabilization manner, the movement of the azimuth is compensated in a geographical stabilization and electron image movement combined manner, and clear imaging of the photoelectric system in the two-dimensional wide-area scanning process is finally realized. The method is mainly realized through algorithms, the structural form is simple, the imaging quality of the photoelectric system can be effectively improved, and the reliability of the photoelectric system can be improved.

Description

A kind of stable formation method that is applicable to two-dimentional wide area scanning

Technical field

The invention belongs to airborne photoelectric Intelligence Technology field, be specially a kind of picture that is stable into that is applicable to two-dimentional wide area scanningMethod, the method is mainly geographical stable and electronics IMC fitting method, can realize airborne photoelectric system visible raySensor is blur-free imaging in fast two-dimensional sweeping process.

Background technology

The charge pattern of electro-optical system visible light sensor CCD moves compensation technique at present in spaceborne/airborne space/aviation phaseMachine uses more, because CCD conventionally need not scanning motion on carrier, only has the propulsion of one dimension, so electronicsThe picture that IMC technology is mainly used for compensating carrier propulsion moves, as is published in " space flight is returned and remote sensing " 2009" frame transfer area array CCD charge pattern moves Compensation Design " of year the 30th volume and be published in " microcomputer information " 2010" the IMC technology of colored large area array CCD camera " of year the 26th volume, do not find charge pattern move compensation technique forMake up carrier application to swing in orientation.

In photoelectric search system, for the object of realize target search, visible light sensor must be with carrier two maintenance and operationsMoving, target is moved with regard to the picture that has produced both direction relatively. What electro-optical system adopted in the past is optics IMC and machineryFormula IMC, as be published in " research of fast mirror key technology " of " laser and infrared " the 43rd volume in 2013Deng. These methods need extra frame for movement to assist, and compensation precision is subject to the restriction of sweeping mirror performance simultaneously, becomeImage quality is more static to decline to some extent.

Summary of the invention

The problem existing for solving prior art, the present invention proposes a kind of stable formation method that is applicable to wide area scanning,Its core is geographical stable and electronics IMC cooperation, and the forward movement of electro-optical system is realized by geographical stable modeCompensation, orientation to mobile compensate by the mode that geographical stable bond charge pattern moves, finally realize electro-optical system at wide areaBlur-free imaging in two-dimensional scan process. The method is mainly to utilize algorithm to realize, and its version is simple, can effectively carryHigh electro-optical system image quality improves the reliability of electro-optical system simultaneously.

Technical scheme of the present invention is:

Described a kind of stable formation method that is applicable to two-dimentional wide area scanning, is characterized in that: comprise the following steps:

Step 1: the current carrier aircraft data of Real-time Collection: α, beta, gamma, h, θ_AZ,θ_EL; Wherein α is carrier aircraft course angle, and β is for carryingThe machine angle of pitch, γ is carrier aircraft roll angle, h is carrier aircraft height above sea level, θ_AZFor carrier aircraft electro-optical system Axis Azimuth angle, θ_ELFor carrier aircraft electro-optical system axis pitch angle;

According to the current carrier aircraft data that gather, calculate sky, northeast coordinate system O-XYZ to carrier aircraft body axis systemO-X_uY_uZ_uTransition matrix A₁：

$A_1=\left[\begin{array}{ccc}cos\mathrm{\α}& sin\mathrm{\α}& 0\\ -sin\mathrm{\α}& cos\mathrm{\α}& 0\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\mathrm{\β}& -sin\mathrm{\β}\\ 0& sin\mathrm{\β}& \cos \mathrm{\β}\end{array}\right]\×\left[\begin{array}{ccc}cos\mathrm{\γ}& 0& sin\mathrm{\γ}\\ 0& 1& 0\\ -sin\mathrm{\γ}& 0& cos\mathrm{\γ}\end{array}\right]$

Calculate carrier aircraft body axis system O-X_uY_uZ_uTo electro-optical system coordinate system O-X_ocY_ocZ_ocTransition matrix A₂：

$A_2=\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_{AZ}\right)& sin\left({\mathrm{\θ}}_{AZ}\right)& 0\\ -sin\left({\mathrm{\θ}}_{AZ}\right)& cos\left({\mathrm{\θ}}_{AZ}\right)& 0\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\left({\mathrm{\θ}}_{EL}\right)& -sin\left({\mathrm{\θ}}_{EL}\right)\\ 0& sin\left({\mathrm{\θ}}_{EL}\right)& \cos \left({\mathrm{\θ}}_{EL}\right)\end{array}\right]$

Point to the point target velocity (v under day coordinate system northeastward according to current optical axis_X，v_Y，v_Z) and formula

$\left[\begin{array}{c}{v}_X\\ v_Y\\ v_Z\end{array}\right]=A_1\×A_2\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]=A\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]$

Obtain current optical axis and point to point target velocity (v under electro-optical system coordinate system_Xe，v_Ye，v_Ze); And then obtain currentOptical axis points to the Azimuth, Speed, Altitude ω of point target with respect to electro-optical system coordinate system_AZWith rate of pitch ω_EL：ω_AZ＝v_Xe/L，ω_EL＝v_Ze/ L, wherein L=(h-h_g)/(-a₃₂)，h_gThat current optical axis points to point target height above sea level;

Step 2: the current optical axis obtaining according to step 1 points to the azimuth of point target with respect to electro-optical system coordinate systemSpeed omega_AZWith rate of pitch ω_EL, determine that the orientation of electro-optical system servo control mechanism is to speed command ω_OAZForω_OAZ＝ω_S+ω_AZ, the pitching of electro-optical system servo control mechanism is to speed command ω_OELFor ω_OEL＝ω_EL, electro-optical system orientationPitching during to scanning commutation is to stepping angle α_OELFor α_OEL＝α_EL/ (1+K); Wherein ω_SFor electro-optical system requires to reachOrientation is to sweep speed, α_ELFor the pitching of electro-optical system sensor is to the angle of visual field, K is doubling of the image rate;

According to the electro-optical system sensor total exposure time T setting_CCDWith electro-optical system sensor resolution l, determine lightElectric system exposure sensor frequency n is:

$n=\frac{({\mathrm{\ω}}_s\×T_{CCD}\×l)}{{\mathrm{\α}}_{Az}}$

Each time for exposure t is:

$t=\frac{T_{CCD}}{n}$

Wherein α_AzFor the orientation of electro-optical system sensor is to the angle of visual field;

Step 3: according to the orientation of the definite electro-optical system servo control mechanism of step 2 to speed command ω_OAZ, pitching is to speedDegree instruction ω_OEL, electro-optical system orientation is to the pitching in when commutation scanning to stepping angle α_OEL, electro-optical system exposure sensorFrequency n and each time for exposure t, control electro-optical system, realizes electro-optical system two dimension wide area sweep stabilization imaging.

Beneficial effect

Beneficial effect of the present invention is embodied in the following aspects:

(1) the present invention can effectively ensure imaging clearly under electric system wide area search pattern, improves object recognition rate.

(2) the present invention's mode with software algorithm in engineering practice is put into practice, and version is simple, is easy to realize.

(3) the present invention can realize electro-optical system two-dimensional scan, and wide area hunting zone is large, can ensure certain weight simultaneouslyFolded rate, without drain sweep.

Brief description of the drawings

Fig. 1 is the schematic diagram of sky, northeast coordinate system, carrier aircraft body axis system and electro-optical system coordinate system.

Detailed description of the invention

Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in further detail.

The stable formation method that is applicable to two-dimentional wide area scanning in the present embodiment, its core is geographical stable and charge patternMove compensation and coordinate, the forward movement of electro-optical system is realized compensation by geographical stable mode, orientation to mobile with geographyThe mode that stable bond charge pattern moves compensates, and finally realizes electro-optical system blur-free imaging in wide area two-dimensional scan process.Concrete grammar comprises the following steps:

Step 1: the current carrier aircraft data of Real-time Collection: α, beta, gamma, h, θ_AZ,θ_EL; Wherein α is inertial navigation system outputCarrier aircraft course angle, β is the carrier aircraft angle of pitch of inertial navigation system output, γ is the carrier aircraft roll of inertial navigation system outputAngle, h is the carrier aircraft height above sea level of inertial navigation system output, θ_AZFor the Axis Azimuth angle of carrier aircraft electro-optical system output,θ_ELFor the axis pitch angle of carrier aircraft electro-optical system output;

According to the current carrier aircraft data that gather, calculate sky, northeast coordinate system O-XYZ to carrier aircraft body axis systemO-X_uY_uZ_uTransition matrix A₁：

$A_1=\left[\begin{array}{ccc}cos\mathrm{\α}& sin\mathrm{\α}& 0\\ -sin\mathrm{\α}& cos\mathrm{\α}& 0\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\mathrm{\β}& -sin\mathrm{\β}\\ 0& sin\mathrm{\β}& \cos \mathrm{\β}\end{array}\right]\×\left[\begin{array}{ccc}cos\mathrm{\γ}& 0& sin\mathrm{\γ}\\ 0& 1& 0\\ -sin\mathrm{\γ}& 0& cos\mathrm{\γ}\end{array}\right]$

Calculate carrier aircraft body axis system O-X_uY_uZ_uTo electro-optical system coordinate system O-X_ocY_ocZ_ocTransition matrix A₂：

$A_2=\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_{AZ}\right)& sin\left({\mathrm{\θ}}_{AZ}\right)& 0\\ -sin\left({\mathrm{\θ}}_{AZ}\right)& cos\left({\mathrm{\θ}}_{AZ}\right)& 0\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\left({\mathrm{\θ}}_{EL}\right)& -sin\left({\mathrm{\θ}}_{EL}\right)\\ 0& sin\left({\mathrm{\θ}}_{EL}\right)& \cos \left({\mathrm{\θ}}_{EL}\right)\end{array}\right]$

Point to the point target velocity (v under day coordinate system northeastward according to current optical axis_X，v_Y，v_Z) and formula

$\left[\begin{array}{c}{v}_X\\ v_Y\\ v_Z\end{array}\right]=A_1\×A_2\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]=A\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]$

Obtain current optical axis and point to point target velocity (v under electro-optical system coordinate system_Xe，v_Ye，v_Ze); And then obtain currentOptical axis points to the Azimuth, Speed, Altitude ω of point target with respect to electro-optical system coordinate system_AZWith rate of pitch ω_EL：ω_AZ＝v_Xe/L，ω_EL＝v_Ze/ L, wherein L=(h-h_g)/(-a₃₂)，h_gThat current optical axis points to point target height above sea level;

In the present embodiment, exemplify: α_F＝5°,β_F＝3°,γ_F＝2°,h＝5000m,θ_AZ＝40°,θ_EL=-35 °. IfV_X＝5m/s，V_Y＝150m/s，V_Z＝-10m/s，h_g=500m; ω_AZ＝0.72°/s，ω_EL＝-0.34°/s。

The servo software module of electro-optical system is according to the 0.72 °/s of Azimuth, Speed, Altitude value, rate of pitch value-0.34 that calculate °/sCarry out velocity compensation, thereby it is geographical stable to realize electro-optical system, isolates the motion of aircraft, optical axis points to same all the timePosition.

Step 2: in the time carrying out scan instruction, electro-optical system is under geographic coordinate system, and orientation is to pressing certain speed ω_SSweepRetouch, while commutation to sweeping in electro-optical system orientation, pitching is to angle [alpha] of stepping_0EL, make by 422 communications simultaneouslyElectro-optical system sensor CCD charge pattern moves also synchronous communicating, and guarantee system coordinates accurately, and imaging is clear all the time.

Electro-optical system servocomputer is ω to the speed command of azimuth direction_OAZ, be to the speed command of pitch orientationω_OEL: the current optical axis obtaining according to step 1 points to the Azimuth, Speed, Altitude ω of point target with respect to electro-optical system coordinate system_AZWith rate of pitch ω_EL, determine that the orientation of electro-optical system servo control mechanism is to speed command ω_OAZFor ω_OAZ＝ω_S+ω_AZ，The pitching of electro-optical system servo control mechanism is to speed command ω_OELFor ω_OEL＝ω_EL, when electro-optical system orientation commutates to scanningPitching is to stepping angle α_OELFor α_OEL＝α_EL/ (1+K); Wherein ω_SFor electro-optical system requires the orientation reaching to sweep speed,α_ELFor the pitching of electro-optical system sensor is to the angle of visual field, K is doubling of the image rate.

In this preferred exemplary: ω_S＝30°/s，α_EL=1.22 °, K=12%, ω_OAZ＝30+0.72＝30.72°/s，α_OEL＝1.09°。

According to the electro-optical system sensor total exposure time T setting_CCD(set the present embodiment according to current weather conditionMiddle T_CCD=10ms) and electro-optical system sensor resolution l, determine that electro-optical system exposure sensor frequency n is:

$n=\frac{({\mathrm{\ω}}_s\×T_{CCD}\×l)}{{\mathrm{\α}}_{Az}}$

Each time for exposure t is:

$t=\frac{T_{CCD}}{n}$

Wherein α_AzFor the orientation of electro-optical system sensor is to the angle of visual field. Realize electronics IMC and Electric-Optic Turret synchronized movement.

L=1980 in the present embodiment, α_Az=1.53 °, n=388, t=0.0258ms.

Step 3: according to the orientation of the definite electro-optical system servo control mechanism of step 2 to speed command ω_OAZ, pitching is to speedDegree instruction ω_OEL, electro-optical system orientation is to the pitching in when commutation scanning to stepping angle α_OEL, electro-optical system exposure sensorFrequency n and each time for exposure t, control electro-optical system, realizes electro-optical system two dimension wide area sweep stabilization imaging.

In the present embodiment, system servocomputer is 30.72 °/s to the speed command of azimuth direction, gives pitch orientationSpeed command is-0.34 °/s, and while commutation to sweeping in electro-optical system orientation, pitching is to 1.09 ° of angles of stepping, simultaneouslyMake electro-optical system sensor CCD charge pattern move also synchronous communicating, electro-optical system sensor CCD mono-by 422 communicationsSub-picture will expose 388 times, and the time of each exposure is 0.0258ms, and guarantee system coordinates accurately, and imaging is clear all the timeClear.

Claims (1)

1. a stable formation method that is applicable to two-dimentional wide area scanning, is characterized in that: comprise the following steps:

Step 1: the current carrier aircraft data of Real-time Collection: α, beta, gamma, h, θ_AZ,θ_EL; Wherein α is carrier aircraft course angle, and β is for carryingThe machine angle of pitch, γ is carrier aircraft roll angle, h is carrier aircraft height above sea level, θ_AZFor carrier aircraft electro-optical system Axis Azimuth angle, θ_ELFor carrier aircraft electro-optical system axis pitch angle;

According to the current carrier aircraft data that gather, calculate sky, northeast coordinate system O-XYZ to carrier aircraft body axis systemO-X_uY_uZ_uTransition matrix A₁：

$A_1=\left[\begin{array}{ccc}cos\mathrm{\α}& sin\mathrm{\α}& 0\\ -sin\mathrm{\α}& cos\mathrm{\α}& 0\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\mathrm{\β}& -sin\mathrm{\β}\\ 0& sin\mathrm{\β}& \cos \mathrm{\β}\end{array}\right]\×\left[\begin{array}{ccc}cos\mathrm{\γ}& 0& sin\mathrm{\γ}\\ 0& 1& 0\\ -sin\mathrm{\γ}& 0& \cos \mathrm{\γ}\end{array}\right]$

Calculate carrier aircraft body axis system O-X_uY_uZ_uTo electro-optical system coordinate system O-X_ocY_ocZ_ocTransition matrix A₂：

$A_2=\left[\begin{array}{ccc}cos\left({\mathrm{\θ}}_{AZ}\right)& sin\left({\mathrm{\θ}}_{AZ}\right)& 0\\ -sin\left({\mathrm{\θ}}_{AZ}\right)& cos\left({\mathrm{\θ}}_{AZ}\right)& 0\\ 0& 0& 1\end{array}\right]\×\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\left({\mathrm{\θ}}_{EL}\right)& -sin\left({\mathrm{\θ}}_{EL}\right)\\ 0& sin\left({\mathrm{\θ}}_{EL}\right)& \cos \left({\mathrm{\θ}}_{EL}\right)\end{array}\right]$

Point to the point target velocity (v under day coordinate system northeastward according to current optical axis_X，v_Y，v_Z) and formula

$\left[\begin{array}{c}{v}_X\\ v_Y\\ v_Z\end{array}\right]=A_1\×A_2\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]=A\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]=\left[\begin{array}{ccc}{a}_{11}& a_{12}& a_{13}\\ a_{21}& a_{22}& a_{23}\\ a_{31}& a_{32}& a_{33}\end{array}\right]\×\left[\begin{array}{c}{v}_{Xe}\\ v_{Ye}\\ v_{Ze}\end{array}\right]$

Obtain current optical axis and point to point target velocity (v under electro-optical system coordinate system_Xe，v_Ye，v_Ze); And then obtain currentOptical axis points to the Azimuth, Speed, Altitude ω of point target with respect to electro-optical system coordinate system_AZWith rate of pitch ω_EL：ω_AZ＝v_Xe/L，ω_EL＝v_Ze/ L, wherein L=(h-h_g)/(-a₃₂)，h_gThat current optical axis points to point target height above sea level;

Step 2: the current optical axis obtaining according to step 1 points to the azimuth of point target with respect to electro-optical system coordinate systemSpeed omega_AZWith rate of pitch ω_EL, determine that the orientation of electro-optical system servo control mechanism is to speed command ω_OAZForω_OAZ＝ω_S+ω_AZ, the pitching of electro-optical system servo control mechanism is to speed command ω_OELFor ω_OEL＝ω_EL, electro-optical system orientationPitching during to scanning commutation is to stepping angle α_OELFor α_OEL＝α_EL/ (1+K); Wherein ω_SFor electro-optical system requires to reachOrientation is to sweep speed, α_ELFor the pitching of electro-optical system sensor is to the angle of visual field, K is doubling of the image rate;

According to the electro-optical system sensor total exposure time T setting_CCDWith electro-optical system sensor resolution l, determine lightElectric system exposure sensor frequency n is:

$n=\frac{({\mathrm{\ω}}_s\×T_{CCD}\×l)}{{\mathrm{\α}}_{Az}}$

Each time for exposure t is:

$t=\frac{T_{CCD}}{n}$

Wherein α_AzFor the orientation of electro-optical system sensor is to the angle of visual field;

Step 3: according to the orientation of the definite electro-optical system servo control mechanism of step 2 to speed command ω_OAZ, pitching is to speedDegree instruction ω_OEL, electro-optical system orientation is to the pitching in when commutation scanning to stepping angle α_OEL, electro-optical system exposure sensorFrequency n and each time for exposure t, control electro-optical system, realizes electro-optical system two dimension wide area sweep stabilization imaging.