CN107505611B - Real-time correction method for video distance estimation of ship photoelectric reconnaissance equipment - Google Patents
Real-time correction method for video distance estimation of ship photoelectric reconnaissance equipment Download PDFInfo
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- CN107505611B CN107505611B CN201710676844.1A CN201710676844A CN107505611B CN 107505611 B CN107505611 B CN 107505611B CN 201710676844 A CN201710676844 A CN 201710676844A CN 107505611 B CN107505611 B CN 107505611B
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
The invention discloses a real-time correction method for video distance estimation of ship photoelectric reconnaissance equipment, which comprises the steps of firstly processing video image data of an object to be measured, which is acquired by photoelectric reconnaissance equipment, to obtain the number N of pixel lines of an acquired video image in the horizontal direction, secondly, calculating the height of a video image of the object to be measured, then, correcting the calculated height of the video image of the object to be measured in real time due to the deviation of the height of the video image of the object to be measured and the actual image height of the object to be measured caused by ship swinging, calculating the image rotation angle caused by ship swinging, and then calculating the height of the corrected target image according to the image rotation angle. By adopting the video distance estimation real-time correction method of the ship photoelectric reconnaissance equipment, the target image height is corrected in real time in the ship swinging state, so that the accuracy of distance estimation is improved.
Description
Technical Field
The invention belongs to the field of image processing and algorithm control, and particularly relates to a real-time correction method for video distance estimation of ship photoelectric reconnaissance equipment.
Background
The photoelectric reconnaissance equipment mainly comprises a television, an infrared sensor, a servo system and the like, and the general working process comprises the following steps: the equipment is used for searching and reconnaissance of a designated sea area by an operator through operating the photoelectric reconnaissance head by a single rod, can track and monitor an interested target, and can carry out amplification observation by increasing the focal length of a television camera or a thermal imager. The photoelectric reconnaissance equipment cannot carry out real-time distance measurement on a target because a laser distance measuring instrument is not usually installed. In order to obtain the target distance information, distance estimation needs to be carried out on the target.
The current literature (Shenyong et al, photoelectric reconnaissance device fast ranging [ J ] based on image interpretation, detection and control report, 2010(2) 56-59) discloses a shore-based photoelectric reconnaissance device ranging method: one is based on the height of the investigation equipment, the curvature radius of the earth and the like to calculate; one is manual line pressing method optical distance measurement; another is fast video ranging based on target video image extraction. However, these distance measurement methods have the following disadvantages or shortcomings: for example, with respect to the first mode, the algorithm is greatly influenced by the height of equipment and the levelness of a mounting base, and both of the algorithm and the levelness are generally difficult to satisfy in practical situations, and the distance estimation error is large by adopting the algorithm in practical application, especially when a target at a longer distance is estimated; for the second method, although the accuracy is relatively high, it is necessary to stop image acquisition, manually measure the image height of the target, and then calculate the target distance. Obviously, the method of manually measuring the height of the target image has the problems of low operation efficiency, low speed, easy loss of the observed target, and the like. The third method is high in distance estimation speed, but due to the fact that the target image inclines due to the ship body swinging, the target image height jumps within a certain range along with the ship body swinging angle, and therefore target distance estimation is inaccurate.
Disclosure of Invention
The invention aims to solve the technical problem of providing a video distance estimation real-time correction method for ship photoelectric reconnaissance equipment, which eliminates the influence of a ship swinging angle on a target image height so as to reduce the distance estimation error.
The technical scheme adopted by the invention for solving the technical problems is as follows: the method comprises the following steps of firstly, processing video image data of an object to be measured, which is acquired by photoelectric reconnaissance equipment, to obtain the number N of pixel rows of an acquired video image along the horizontal direction; step two, calculating the height h of the video image of the measured object by the formula h-L multiplied by N, wherein L represents the height value of single pixel of the collected video image, and N represents the pixel line number of the video image along the horizontal direction determined by the step oneN; step three, the calculated height h of the video image of the measuring object caused by the ship swing is deviated from the actual image height of the measuring object, the calculated height of the video image of the measuring object is corrected in real time, and the image rotation angle theta caused by the ship swing is calculated; step four, the corrected height of the video image of the measuring object is
Step five, when the object to be measured is judged to be not shielded, the h' obtained in the step four is utilized, and the relative distance value D between the object to be measured and the photoelectric reconnaissance equipment is calculated through the following formula’Where H denotes the actual height of the object to be measured, f denotes the focal length of the objective of the photoelectric scout apparatus:
step six, when the object to be measured is judged to be partially shielded, utilizing H' obtained in the step four, and calculating a relative distance value D between the object to be measured and the photoelectric reconnaissance equipment by the following formula, wherein H represents the actual height of the object to be measured, f represents the focal length of an objective lens of the photoelectric reconnaissance equipment, and HsVertical height of the rangefinder of the photoelectric reconnaissance apparatus relative to sea level:
according to the technical scheme, the third step specifically comprises the following steps: step A, determining an object space vector of 0-X-Y-Z in the geodetic coordinate system
Step B, deck coordinate system (0-X)/-Y/-Z/) Next, if the ship pitch angle is P, the roll angle is R, and the bow angle is 0, then the object vector is:
step C, the direction indicator is installed at the position without shielding of the ship deck, the azimuth angle of an outer ring of the direction indicator is q, the pitch angle is n (the azimuth is 0 degrees when the direction indicator points to the bow of the ship, the X axis points to the bow direction of the ship, the Y axis corresponds to the pitch angle, the counterclockwise rotation of the q axis along the Z axis is positive, the counterclockwise rotation of the n axis along the Y axis is positive), as the detector is installed on the pitching package of the inner frame of the direction indicator, the coordinate system of the detector (0-X) is//-Y//-Z//) In accordance with the coordinate system of the pointer, the transformation matrix S from the coordinate system of the deck to the coordinate system of the detector is
So the detector coordinate system (0-X)//-Y//-Z//) The lower image-side vector is:
the required relief angle is then:
according to the technical scheme, in the step B, the ship longitudinal rocking angle P corresponds to the Y axis, the anticlockwise rotation along the Y axis is positive, the transverse rocking angle R corresponds to the X axis, and the anticlockwise rotation along the X axis is positive.
According to the technical scheme, in the step C, the azimuth of the director when the director points to the bow is 0 degrees, the X axis points to the bow direction, the Y axis corresponds to the pitch angle, the azimuth angle q of the outer ring of the director rotates anticlockwise along the Z axis to be positive, and the pitch angle n rotates anticlockwise along the Y axis to be positive.
The invention has the following beneficial effects: in the process that the shipborne photoelectric reconnaissance equipment acquires distance information by adopting a rapid video ranging mode based on target video image extraction, when a certain deviation exists between the acquired target pixel height and the actual pixel height due to ship swinging, the real-time correction method for the video distance estimation of the shipborne photoelectric reconnaissance equipment is adopted to correct the target image height in real time in a ship swinging state, so that the accuracy of distance estimation is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a real-time correction method for video distance estimation of a shipborne photoelectric reconnaissance device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of object space vectors under a geodetic coordinate system in an embodiment of the invention;
FIG. 3 is a schematic view of a hull pitch angle P and a roll angle R under a deck coordinate system in an embodiment of the invention;
FIG. 4 is a schematic diagram of a coordinate system of a detector in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiment of the invention, a real-time correction method for video distance estimation of ship photoelectric reconnaissance equipment is provided, as shown in fig. 1, the method comprises the following steps of firstly, processing video image data of an object to be measured, which is acquired by the photoelectric reconnaissance equipment, to obtain the number of pixel lines N of the acquired video image in the horizontal direction; step two, calculating the height h of the video image of the measured object by the formula h-LxN, wherein L represents the height value of a single pixel of the acquired video image, and N represents the pixel line number N of the video image in the horizontal direction determined by the step one; step three, the calculated height h of the video image of the measuring object caused by the ship swing is deviated from the actual image height of the measuring object, the calculated height of the video image of the measuring object is corrected in real time, and the image rotation angle theta caused by the ship swing is calculated; step four, the corrected height of the video image of the measuring object is
Step five, when the object to be measured is judged to be not shielded, the h' obtained in the step four is utilized, and the object to be measured and the photoelectric reconnaissance device are calculated through the following formulaRelative distance value D' between the devices, where H denotes the actual height of the object to be measured (measured by the operator), f denotes the focal length of the objective of the photoelectric scout device:
step six, when the object to be measured is judged to be partially shielded, utilizing H' obtained in the step four, and calculating a relative distance value D between the object to be measured and the photoelectric reconnaissance equipment by the following formula, wherein H represents the actual height of the object to be measured, f represents the focal length of an objective lens of the photoelectric reconnaissance equipment, and HsVertical height of the rangefinder of the photoelectric reconnaissance apparatus relative to sea level:
further, the third step specifically includes: as shown in FIGS. 2-4, step A, determining the object space vector as
Step B, deck coordinate system (0-X)/-Y/-Z/) Next, if the ship pitch angle is P, the roll angle is R, and the bow angle is 0, then the object vector is:
step C, the direction indicator is installed at the position without shielding of the ship deck, the azimuth angle of an outer ring of the direction indicator is q, the pitch angle is n (the azimuth is 0 degrees when the direction indicator points to the bow of the ship, the X axis points to the bow direction of the ship, the Y axis corresponds to the pitch angle, the counterclockwise rotation of the q axis along the Z axis is positive, the counterclockwise rotation of the n axis along the Y axis is positive), as the detector is installed on the pitching package of the inner frame of the direction indicator, the coordinate system of the detector (0-X) is//-Y//-Z//) In accordance with the coordinate system of the pointer, the transformation matrix S from the coordinate system of the deck to the coordinate system of the detector is
So the detector coordinate system (0-X)//-Y//-Z//) The lower image-side vector is:
the required relief angle is then:
further, in the step B, the ship pitch angle P corresponds to the Y axis, and the counterclockwise rotation along the Y axis is positive, and the roll angle R corresponds to the X axis, and the counterclockwise rotation along the X axis is positive.
Further, in the step C, when the direction indicator points to the bow, the azimuth is 0 °, the X axis points to the bow direction, the Y axis corresponds to the pitch angle, the azimuth angle q of the outer ring of the direction indicator rotates counterclockwise along the Z axis as positive, and the pitch angle n rotates counterclockwise along the Y axis as positive.
According to the formula
It can be seen that when θ is 10 degrees, the corrected error can theoretically be reduced by 1.54%, thereby reducing the error of the target estimated distance.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (3)
1. A real-time correction method for video distance estimation of ship photoelectric reconnaissance equipment is characterized by comprising the following steps of firstly, processing video image data of an object to be measured, which is acquired by photoelectric reconnaissance equipment, to obtain the number N of pixel rows of an acquired video image in the horizontal direction; step two, calculating the height h of the video image of the measured object by the formula h-L multiplied by N, wherein L represents the height value of single pixel of the collected video image, and N represents the pixel line number of the video image along the horizontal direction determined by the step oneN; step three, the calculated height h of the video image of the measuring object caused by the ship swing is deviated from the actual image height of the measuring object, the calculated height of the video image of the measuring object is corrected in real time, and the image rotation angle theta caused by the ship swing is calculated; step four, the corrected height of the video image of the measuring object is
Step five, when the object to be measured is judged to be not shielded, utilizing H 'obtained in the step four, and calculating a relative distance value D' between the object to be measured and the photoelectric reconnaissance equipment by the following formula, wherein H represents the actual height of the object to be measured, and f represents the focal length of an objective lens of the photoelectric reconnaissance equipment:
step six, when the object to be measured is judged to be partially shielded, utilizing H' obtained in the step four, and calculating a relative distance value D between the object to be measured and the photoelectric reconnaissance equipment by the following formula, wherein H represents the actual height of the object to be measured, f represents the focal length of an objective lens of the photoelectric reconnaissance equipment, and HsVertical height of the rangefinder of the photoelectric reconnaissance apparatus relative to sea level:
the third step specifically comprises: step A, determining an object space vector of 0-X-Y-Z in the geodetic coordinate system
Step B, deck coordinate system (0-X)/-Y/-Z/) Next, if the ship pitch angle is P, the roll angle is R, and the bow angle is 0, then the object vector is:
step C, the direction indicator is installed at the position without shielding of the ship deck, the azimuth angle of an outer ring of the direction indicator is q, the pitch angle is n (the azimuth is 0 degrees when the direction indicator points to the bow of the ship, the X axis points to the bow direction of the ship, the Y axis corresponds to the pitch angle, the counterclockwise rotation of the q axis along the Z axis is positive, the counterclockwise rotation of the n axis along the Y axis is positive), as the detector is installed on the pitching package of the inner frame of the direction indicator, the coordinate system of the detector (0-X) is//-Y//-Z//) In accordance with the coordinate system of the pointer, the transformation matrix S from the coordinate system of the deck to the coordinate system of the detector is
So the detector coordinate system (0-X)//-Y//-Z//) The lower image-side vector is:
the required relief angle is then:
2. the method for real-time correction of video distance estimation of ship photoelectric scout equipment according to claim 1, wherein in the step B, the ship pitch angle P corresponds to the Y-axis and is positive when rotating counterclockwise along the Y-axis, the roll angle R corresponds to the X-axis and is positive when rotating counterclockwise along the X-axis.
3. The method for correcting video distance estimation of ship photoelectric reconnaissance equipment in real time according to claim 2, wherein in the step C, the azimuth when the director points to the bow is 0 °, the X axis points to the bow direction, the Y axis corresponds to the pitch angle, the azimuth angle q of the outer ring of the director rotates counterclockwise along the Z axis to be positive, and the pitch angle n rotates counterclockwise along the Y axis to be positive.
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| CN108989796A (en) | 2018-08-09 | 2018-12-11 | 浙江大华技术股份有限公司 | A kind of image capture device selection method and device |
| CN112672281B (en) * | 2020-12-24 | 2022-11-01 | 中航贵州飞机有限责任公司 | Method for binding photoelectric reconnaissance equipment installation error by utilizing radio link |
| CN115856875A (en) * | 2023-02-20 | 2023-03-28 | 和普威视光电股份有限公司 | Ship height measuring method, system and device based on radar photoelectric linkage |
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