CN107741175A - A kind of artificial intelligence fine sight method and system - Google Patents
A kind of artificial intelligence fine sight method and system Download PDFInfo
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- CN107741175A CN107741175A CN201710988153.5A CN201710988153A CN107741175A CN 107741175 A CN107741175 A CN 107741175A CN 201710988153 A CN201710988153 A CN 201710988153A CN 107741175 A CN107741175 A CN 107741175A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The embodiment of the present invention is directed to the automatic identification of organism, point technique field, specifically a kind of artificial intelligence fine sight method and system.Including：Collection image information simultaneously establishes coordinate system；Record the coordinate parameters of target point position and obtain the distance parameter of target；Carry out first time aiming；To the instantaneous aiming laser of the objective emission and carry out calculating simulation trajectory；If the instantaneous aiming laser hits the target, carrying out second according to the coordinate parameters of the target aims at, and prepares to shoot；If the miss target of the instantaneous aiming laser, re-starts above-mentioned steps.Compared with prior art, the present invention can play the high accuracy identification to target and aim at, the significance level of target can also be calculated automatically and select fire order, simulating trajectory is carried out especially by instantaneous aiming laser, automatic fire hit rate of the prior art can be increased substantially, so as to substantially increase the practicality of the embodiment of the present invention.
Description
Technical field
The embodiment of the present invention is directed to the automatic identification of organism, point technique field, and specifically a kind of artificial intelligence is accurate
Method of sight and system.
Background technology
With the continuous progress of science and technology, unmanned development trend is presented in battlefield, and unmanned, intelligentized weapon layer goes out not
Thoroughly, which includes automatic identification and the armament systems aimed at are carried out to target for secondary fire weapon.
But automaticity, effective discrimination, the pointing accuracy that current automatic identification aims at armament systems still could not
Reach the requirement of actual combat, the development of serious weapons tight weapon automation, its major technique difficulty comes from two aspects：On the one hand
It is that effective recognition accuracy to target is more quick to site environment (such as weather, light, target number and target range)
Sense, it is vulnerable to the interference of complex environment and produces erroneous judgement or fail to judge；On the other hand it is that target is taken aim at after to target identification
In accurate process by site environment influenceed and the action row state of target and produce larger collimating fault, make automatic aiming shape
With illusory.
Therefore, needing invention one kind badly can not be disturbed and to Motion parameters and fine sight by other factors such as environment
Method and system could solve above-mentioned technical problem.
The content of the invention
Do not disturbed by other factors such as environment and to Motion parameters and accurately taken aim at the embodiments of the invention provide a kind of
Accurate method and system could solve above-mentioned technical problem.
In a first aspect, the invention provides a kind of artificial intelligence fine sight method, methods described includes：Gather in the visual field
The image information of environment simultaneously establishes coordinate system；Analyzing and processing described image INFORMATION DISCOVERY target and the coordinate ginseng for recording target point position
Number and the distance parameter for obtaining target；Judge run-home and first time aiming is carried out to it；It is instantaneous to the objective emission
Aiming laser simultaneously carries out calculating simulation trajectory；If the instantaneous aiming laser hits the target, according to the seat of the target
Mark parameter and carry out second of aiming, and prepare to shoot；If the miss target of the instantaneous aiming laser, reanalyses place
Reason described image INFORMATION DISCOVERY target simultaneously records the coordinate parameters of new target point position, and is sat according to the target point position of gained twice
Mark calculates the lead needed for aiming at and draws aiming point position coordinate parameters；Again to the instantaneous aiming laser of the objective emission and meter
Simulating trajectory is calculated, if the instantaneous aiming laser hits the target, is carried out again according to aiming point position coordinate parameters
Secondary aiming, and prepare to shoot, if the miss target of the instantaneous aiming laser, re-starts above-mentioned steps.
Under normal conditions, selected in the collection visual field during the image information of environment according to ambient lighting
Specific image acquisition device is selected, for example prioritizing selection IR picture signals capture card is carried out when illuminance is less than 0.1Lux/F1.2
Image information collecting, and the prioritizing selection RGB image data acquisition card when illuminance is not less than 0.1Lux/F1.2.
In an embodiment of the present invention, during the artificial intelligence fine sight, in analyzing and processing described image information
Before also need to judge the state of described image information, the state include the focal length state, exposure status, backlight state of image with
And objective contour display effect state.
In a possible design, if the focal length state of the state including image, exposure status, backlight state with
And objective contour display effect is not in good state, in order to improve the accuracy of identification, first to above-mentioned before the analysis information of next step
State is adjusted, and the above-mentioned state of image is analyzed and processed again after reaching optimum degree.
Under normal circumstances, to after the image information collecting in the visual field through often occurring that it is multiple that target be present, because
This, during the analyzing and processing described image INFORMATION DISCOVERY target judge of target in the embodiment of the present invention
Number, if target number is more than 1, distance and translational speed to multiple targets carry out calculating hit probability, by hit probability
Put in order as priority, put in order according to described in and the target is aimed at one by one.
In an embodiment of the present invention, the distance parameter for obtaining target uses dual camera telemetry.Its principle is
In the case of the inside and outside parameter of known video camera, perspective projection matrix camera calibration is calculated, according to image coordinate system
With the relation of world coordinate system, then range information can be obtained.In binocular vision, video camera photographs same object simultaneously
Two images of different angle, by same point, positional information can calculate its three-dimensional seat in world coordinates in two images
Mark.
Second aspect, the embodiment of the present invention additionally provide a kind of artificial intelligence fine sight system, and it includes：Image information
Acquisition module, it is configured to be acquired the image information of environment in the visual field, produces original for the image information that identifies target
Data；Image Information Processing analysis module, it is configured to that described image information is analyzed and handled, is included in described image letter
Coordinate system is established in breath, from described image information identify the target to be aimed at and record target point position coordinate and
Obtain the distance parameter of target；Instantaneous aiming laser transmitter module, is configured to the instantaneous aiming laser of objective emission；Real information
Acquisition module, it is configured to perceive external environmental condition and target bearing information, to determine the target point position of the record
Whether coordinate and target actual point position are consistent, and the landing point coordinates of the collection instantaneous aiming laser.
In an embodiment of the present invention, described image information acquisition module includes RGB image data acquisition card and IR images
Data acquisition card, MEMS image collection assemblies, the RGB image data acquisition card and IR picture signals capture card are used for environment
Image information be acquired, compile, store and transmit, the MEMS image collection assemblies be used for gather is believed by RGB image
Number capture card or the image information of IR picture signals capture card transmission, and confirm described image information state, then by the figure
As information transfer to Image Information Processing analysis module.
In an embodiment of the present invention, described image information process analysis module includes being used for being adopted by described image information
The CPU+GPU processors that the image information that collection module transfer goes out is handled and analyzed, the CPU+GPU processors are to identifying
The target of described image information simultaneously analyzes the normal condition of the target and the trajectory of calculating simulation.
In an embodiment of the present invention, the real information acquisition module includes laser calibrator and environmental analysis component,
The laser calibrator is irradiated target by launching transient laser；The environmental analysis component can be obtained in external environment
Firing data comprising wind speed, rainfall, humidity, temperature, atmospheric pressure, koniology content is transmitted to the CPU+GPU
Reason device carries out analysis and calculates simulating trajectory.
In an embodiment of the present invention, described image information acquisition module also includes DSP image processors and light filling dress
Put, when the MEMS image collection assemblies judge because of the exposure of described image information and backlight situation and caused by identify difficulty when lead to
The light compensating apparatus is crossed to carry out light filling and adjust the focal length of described image information, sharpness by the DSP image processors
It is made into optimum efficiency state.
Compared with prior art, beneficial effects of the present invention are as follows：There is provided by using the embodiment of the present invention artificial
Intelligent fine sight method and system, the high accuracy identification to target can be played and aimed at, additionally it is possible to automatic calculating target
Significance level and select fire order, especially by instantaneous aiming laser carry out simulating trajectory, pass through this verification step, energy
Automatic fire precision of the prior art is enough increased substantially, so as to substantially increase the practical level of the embodiment of the present invention.Remove
Outside this, the embodiment of the present invention also has automaticity high, by the way that the image information after collection is modified and can improved
The identification precision of image, it disclosure satisfy that round-the-clock automatic aiming shooting demand.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of artificial intelligence fine sight method in the embodiment of the present invention；
Fig. 2 is the principle schematic of artificial intelligence fine sight system in the embodiment of the present invention；
Fig. 3 is the structural representation of artificial intelligence fine sight system in the embodiment of the present invention；
The display schematic diagram of terminal interface when Fig. 4 a are multiple targets of the embodiment of the present invention；
The display schematic diagram of terminal interface when Fig. 4 b are intellectual analysis target of the embodiment of the present invention；
Fig. 5 a are a kind of surface structure schematic diagram under a kind of direction of the embodiment of the present invention；
Fig. 5 b are a kind of surface structure schematic diagram under another kind of embodiment of the present invention direction；
Fig. 6 is a kind of use state diagram of the embodiment of the present invention.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example only part of the embodiment of the present invention, rather than whole embodiments.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Do not disturbed by other factors such as environment and to Motion parameters and accurately taken aim at the embodiments of the invention provide a kind of
Accurate method and system are used for solving above-mentioned technical problem.
As shown in figure 1, Fig. 1 is the schematic flow sheet of artificial intelligence fine sight method in the embodiment of the present invention, the present invention
A kind of artificial intelligence fine sight method is provided, methods described may include steps of：
Step S100：Gather the image information of environment in the visual field and establish coordinate system.
In a kind of preferred embodiment of the present invention, image information collecting is carried out using dual camera, twin camera collection is
In order to establish a kind of corresponding relation between three-dimensional world coordinate and two dimensional image coordinate.System carries out figure using two video cameras
As collection, the distance between two video cameras (i.e. baseline distance) is set, gathers the mark before being placed on video camera simultaneously with video camera
Earnest, the distance of target can be calculated by the differential seat angle between the image acquired in two video cameras.Meanwhile it will collect
Image information carry out gray processing processing become the black white image that computer can identify.
Step S200：Judge whether the state of described image information meets processing standard.
If meeting processing standard, next step is carried out；If not meeting processing standard, step S210 is carried out, here
Whether focal length state, exposure status, backlight state and the objective contour display effect state that processing standard includes image reach
Processing requirement.
Step S210, if not meeting processing standard, described image information is handled.
In a kind of preferred embodiment of the present invention, in order to improve the processing degree of accuracy to image information, it is necessary in analysis institute
Pre-processed before stating image information, analysis in advance includes focal length state, exposure status, backlight state and the target of image
These states of profile display effect state, if do not meet certain standard image state this it is handled, processing
Method includes carrying out light filling processing, the adjustment of focal length, image virtualization by DSP image processors and infrared transmitter and sharpened
Deng.
Step S300：Analyzing and processing described image INFORMATION DISCOVERY target simultaneously records coordinate parameters and the acquisition of target point position
The distance parameter of target.
Specifically, in an embodiment of the present invention, the implementation of the step can be compared at present using a variety of
Ripe technology, for example IMAQ is carried out to target by two or more video cameras, due between known video camera
Distance, demarcation is compared with the image acquired in video camera, while multiple images are superimposed to form disparity map, on image
Feature analyzed and find target, finally obtain the coordinate and distance of target.In the process, if it find that target
Number be more than 1, then need to carry out calculating hit probability according to the translational speed and distance of target, and according to the height of hit probability
The low arrangement for being shot at order, it can also carry out manually selecting fire order by operating personnel., can be with the present embodiment
Target is made whether by infrared ray be organism checking, so as to avoid differentiating inorganic matter into target.
Step S400：Judge run-home and first time aiming is carried out to it.
In a possible design, this sighting device is placed on the weapon pedestal that can be adjusted, such as automatically
Head etc., the coordinate and distance of target so are being obtained, automatic aiming is carried out after being calculated by shooting formula.
Step S500：To the instantaneous aiming laser of the objective emission and carry out calculating simulation trajectory.
In order to verify the accuracy in above-mentioned steps, prioritizing selection is to objective emission laser conduct in embodiments of the present invention
Verification method, and the mode for launching instantaneous aiming laser in actual combat has the advantages that disguise is strong.
The two kinds of results drawn according to step S500, carry out following step respectively：
Step S510：If the instantaneous aiming laser hits the target, carried out according to the coordinate parameters of the target
Second of aiming, and prepare to shoot.
If the instantaneous aiming laser hits the target, prove that the result of aiming for the first time is completely correct, so penetrating
Hit and be also bound to hit the mark.
If the miss target of the instantaneous aiming laser, re-executes step S100.
As can be seen here, the core technology in the embodiment of the present invention is by launching instantaneous aiming laser come to automatic aiming
Result verified, target is irradiated with imperceptibility using instantaneous aiming laser, once instantaneous aiming laser
The target component obtained by automatic aiming can effectively be irradiated to target, then means ball firing successful hit target
Probability be almost absolutely, so as to substantially increase automatic aiming shooting the probability of success.
Other, based on above-mentioned artificial intelligence fine sight method, the embodiment of the invention also discloses a kind of artificial intelligence
Fine sight system, as shown in Fig. 2 Fig. 2 is the structural representation of artificial intelligence fine sight system in the embodiment of the present invention, its
Including：For being acquired to the image information of environment in the visual field, image information initial data for identifying target is produced
Image information collecting module；For described image information to be analyzed and handled, it is included in establish in described image information and sits
Mark system, the target to be aimed at is identified from described image information and records the coordinate of target point position and obtains target
The Image Information Processing analysis module of distance parameter；For launching mould to the instantaneous aiming laser of the instantaneous aiming laser of objective emission
Block；For being perceived to external environmental condition and target bearing information, to determine the target position coordinate of the record and mesh
Mark whether actual point position is consistent, and the real information acquisition module of the landing point coordinates of the collection instantaneous aiming laser.
In the present embodiment, accompanying drawing 3 is refer to, described image information acquisition module 100 can be adopted including RGB image signal
Truck 110 and IR picture signals capture card 120, MEMS image collection assemblies 130, the RGB image data acquisition card 110 and IR
Picture signal capture card 120 is used to the image information of environment is acquired, compiled, stored and transmitted, the MEMS images
Acquisition component 130 is used to gather the image information transmitted by RGB image data acquisition card 110 or IR picture signals capture card 120,
And confirm described image information state, then by described image information transfer to Image Information Processing analysis module 200.Usual feelings
Under condition, in the collection visual field during the image information of environment, specific IMAQ is selected according to ambient lighting
Device, for example prioritizing selection IR picture signals capture card 120 carries out image information collecting when illuminance is less than 0.1Lux/F1.2,
The benefit that image information collecting is carried out by IR picture signals capture card 120 is that target is not easy when can not only tackle low irradiance
It was found that also having because target is organism, there is very strong infra-red radiation, carry out catching target energy using these infra-red radiations
Enough substantially reduce the misclassification rate of target, and the prioritizing selection RGB image data acquisition card when illuminance is not less than 0.1Lux/F1.2
110.In addition, described image information acquisition module 100 also includes DSP image processors 140 and the benefit including infrared transmitter
Electro-optical device 150, when the MEMS image collection assemblies 130 are judged because of exposure or the backlight of described image information situations such as and caused by
Light filling can be carried out when identifying difficult by the light compensating apparatus 150 and by the DSP image processors 140 by the figure
Focal length, sharpness as information etc. are adjusted to optimum efficiency state, in favor of follow-up analyzing and processing.
Further, described image information process analysis module 200 includes being used for by described image information acquisition module
The CPU+GPU processors that 100 image informations transmitted out are handled and analyzed, the CPU+GPU processors are to identifying
State the target of image information and analyze the normal condition of the target and the trajectory of calculating simulation.
In an embodiment of the present invention, the real information acquisition module 300 includes laser calibrator 310 and environmental analysis
Component 320, the laser calibrator are irradiated target by launching transient laser；The environmental analysis component can obtain outer
Transmitted in boundary's environment comprising wind speed, rainfall, humidity, temperature, atmospheric pressure, the firing data of koniology content to described
CPU+GPU processors carry out analysis and calculate simulating trajectory.
On the basis of the present embodiment, what can also be improved has addition to set additional control modules 400, described additional
Control module 400 can include voice interactive system 410, information output system 420, communication system 430 and stocking system 440 etc.
Other end control systems, wherein, the effect of the voice interactive system 410 is that neighbouring user can be by voice pair
The system is controlled or issued an order, and realizes that the present apparatus performs task jointly with personnel；Described information output system 420 can
The image information got is transmitted to headquarter or user terminal by wired or wireless form, such as operating personnel
In display device, Figure of description 4a and 4b, terminal circle when showing multiple targets in Figure of description 4a specifically can refer to
The display schematic diagram in face, the display schematic diagram of terminal interface when Figure of description 4b shows intellectual analysis target, in the present invention
During specific implementation, especially need the target shot for it is multiple when, the embodiment of the present invention can according to target away from
Calculating hit probability is carried out from translational speed, arrangement fire order is carried out according to the size of hit probability, behaviour can also be passed through
Make personnel to carry out actively selecting fire order, specific selection mode there can be diversified forms, and relatively conventional is to pass through touch
Display screen is manually selected, and this operation is also more accurately and quickly, while touch display screen can be with this dress of real-time display
Put the specific action during automatic aiming is shot.The communication system 430 after headquarter or terminal obtain relevant information
It can establish and connect with headquarter or terminal, can be performed in special circumstances according to the order that headquarter or terminal are assigned
Task；The stocking system 440 can store to the significant data in aimed fire overall process, to prevent from exporting in information
Loss of data is caused during the system failure.
In order that embodiments of the invention are more easily understood, as supplement, Fig. 5 a, Fig. 5 b are additionally provided in the present embodiment
And Fig. 6, Fig. 5 a and Fig. 5 b show the surface structure schematic diagram of the embodiment of the present invention.It can be arranged to have in the specific implementation
There is the structure of goggles, display screen, operating personnel can replace existing illuminating weapon sight by the present apparatus, pass through display screen
Shown target is aimed at, and can substantially reduce the difficulty aimed at by visual observation in the prior art,
Fig. 6 show its it is coaxial with firearms be arranged on weapon, certainly, the embodiment of the present invention can also apply to a variety of
In weapon, such as the weapon such as unmanned plane, machine gun weapon station, do not list one by one herein.
In summary, compared with prior art, by the present invention in that the artificial intelligence essence provided with the embodiment of the present invention
True method of sight and system, the high accuracy identification to target can be played and aimed at, additionally it is possible to the automatic important journey for calculating target
Spend and select fire order, carry out simulating trajectory especially by instantaneous aiming laser, can increase substantially in the prior art
Automatic fire hit rate, so as to substantially increase the practicality of the embodiment of the present invention.In addition, the embodiment of the present invention also has
There is automaticity high, the identification precision of image, Neng Gouman can be improved by being modified to the image information after collection
The round-the-clock automatic aiming shooting demand of foot.
Claims (10)
- A kind of 1. artificial intelligence fine sight method, it is characterised in that methods described includes：Gather the image information of environment in the visual field and establish coordinate system；Analyzing and processing described image INFORMATION DISCOVERY target simultaneously records the coordinate parameters of target point position and obtains the distance ginseng of target Number；Judge run-home and first time aiming is carried out to it；To the instantaneous aiming laser of the objective emission and carry out calculating simulation trajectory；If the instantaneous aiming laser hits the target, carrying out second according to the coordinate parameters of the target aims at, and Prepare shooting；If the miss target of the instantaneous aiming laser, reanalyse processing described image INFORMATION DISCOVERY target and record The coordinate parameters of new target point position, and the lead according to needed for the target position coordinate of gained twice calculates aiming draws and taken aim at Position coordinate parameters on schedule；Again to the instantaneous aiming laser of the objective emission and calculating simulation trajectory, if the instantaneous aiming Target described in laser hits, then aimed at again according to aiming point position coordinate parameters, and prepare to shoot, if the wink When the miss target of aiming laser, then re-start above-mentioned steps.
- 2. artificial intelligence fine sight method according to claim 1, it is characterised in that the environment in the collection visual field Image information during, specific image acquisition device is selected according to ambient lighting.
- 3. artificial intelligence fine sight method according to claim 2, it is characterised in that in analyzing and processing described image letter The state of described image information is judged before breath, the state includes focal length state, exposure status, backlight state and the mesh of image Mark profile display effect state.
- 4. artificial intelligence fine sight method according to claim 1 or 2, it is characterised in that in the analyzing and processing institute Image information is stated to find judge the number of target during target, if target number more than 1, to multiple targets away from From and translational speed put in order as priority, put in order the target aimed at one by one according to described in.
- 5. artificial intelligence fine sight method according to claim 1, it is characterised in that the distance ginseng for obtaining target Number uses dual camera telemetry.
- A kind of 6. artificial intelligence fine sight system, it is characterised in that including：Image information collecting module, it is configured to be acquired the image information of environment in the visual field, produces for identifying target Image information initial data；Image Information Processing analysis module, it is configured to that described image information is analyzed and handled, is included in described image letter Coordinate system is established in breath, from described image information identify the target to be aimed at and record target point position coordinate and Obtain the distance parameter of target；Instantaneous aiming laser transmitter module, is configured to the instantaneous aiming laser of objective emission；Real information acquisition module, it is configured to perceive external environmental condition and target bearing information, to determine the note Whether the target position coordinate of record and target actual point position are consistent, and the landing point coordinates of the collection instantaneous aiming laser.
- 7. artificial intelligence fine sight system according to claim 6, it is characterised in that described image information acquisition module Including RGB image data acquisition card and IR picture signals capture card, MEMS image collection assemblies, the RGB image signal acquisition Card and IR picture signals capture card are used to the image information of environment is acquired, compiled, stored and transmitted, the MEMS figures As the image information that acquisition component is transmitted for collection by RGB image data acquisition card or IR picture signals capture card, and confirm Described image information state, then by described image information transfer to Image Information Processing analysis module.
- 8. the artificial intelligence fine sight system according to claim 6 or 7, it is characterised in that described image information processing Analysis module includes being used for the CPU+ that the image information transmitted out by described image information acquisition module is handled and analyzed GPU processors, the CPU+GPU processors are to the normal condition that identifies the target of described image information and analyze the target And the trajectory of calculating simulation.
- 9. artificial intelligence fine sight system according to claim 8, it is characterised in that the real information acquisition module Including laser calibrator and environmental analysis component, the laser calibrator is irradiated target by launching transient laser；It is described Environmental analysis component can be obtained in external environment comprising wind speed, rainfall, humidity, temperature, atmospheric pressure, koniology content Firing data transmit to the CPU+GPU processors carry out analysis calculate simulating trajectory.
- 10. artificial intelligence fine sight system according to claim 7, it is characterised in that described image information gathering mould Block also includes DSP image processors and light compensating apparatus, when the MEMS image collection assemblies are judged because of described image information Exposure and backlight situation and light filling is carried out and by the DSP image processors by the light compensating apparatus when causing to identify difficulty By the focal length of described image information, sharpness is adjusted to optimum efficiency state.
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| CN108961340A (en) * | 2018-08-09 | 2018-12-07 | 中央民族大学 | A kind of automatic fire method and device of target object |
| CN109483548A (en) * | 2018-12-21 | 2019-03-19 | 华南理工大学广州学院 | A kind of intelligent-tracking confrontation fire robot and its control method |
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| CN112857149A (en) * | 2020-11-27 | 2021-05-28 | 河北汉光重工有限责任公司 | Calibration system and method for aiming at same target by multiple devices |
| CN113983866A (en) * | 2021-10-26 | 2022-01-28 | 湖南数军物联网科技有限公司 | Automatic aiming method, firearm and computer-readable storage medium |
| CN114035186A (en) * | 2021-10-18 | 2022-02-11 | 北京航天华腾科技有限公司 | Target position tracking and indicating system and method |
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