CN108614273B - Airborne dual-waveband photoelectric wide-area reconnaissance and tracking device and method - Google Patents
Airborne dual-waveband photoelectric wide-area reconnaissance and tracking device and method Download PDFInfo
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- CN108614273B CN108614273B CN201611129165.4A CN201611129165A CN108614273B CN 108614273 B CN108614273 B CN 108614273B CN 201611129165 A CN201611129165 A CN 201611129165A CN 108614273 B CN108614273 B CN 108614273B
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Abstract
The invention discloses an airborne dual-waveband photoelectric wide-area reconnaissance and tracking device, which comprises: a photoelectric turret (1); the optoelectronic turret (1) comprises: the system comprises a visible light television (3), a thermal infrared imager (4), a gyro assembly (5), a servo module (6), an angle measuring module (9), a control management module (10), an image processing and tracking module (11) and a communication interface module (12); the servo module (6) is used for driving a sight line of the photoelectric turret (1) to search or track a target; the angle measuring module (9) is used for measuring the angular position of the servo module (6) and determining the real-time pointing direction of the aiming line; the control management module (10) is used for controlling the switching of the photoelectric turret (1) between a wide area searching mode and a tracking monitoring mode; receiving data of the image processing and tracking module (11) and the angle measuring module (9) for data processing; and sent to the servo module (6) and to said image processing and tracking module (11).
Description
Technical Field
The invention relates to the technical field of airborne photoelectric reconnaissance, tracking and monitoring, in particular to an airborne dual-waveband photoelectric wide-area reconnaissance and tracking device and method, which can realize quick imaging search and stable tracking of sea surface and ground targets and greatly improve the use efficiency of the device in marine and ground search and rescue.
Background
In the face of increasing search and rescue tasks at sea, the search and rescue capacity of sea and ground targets can be expected to be remarkably improved through airborne photoelectric detection equipment equipped on an airborne platform. At present, airborne photoelectric detection equipment capable of being equipped with unmanned aerial vehicles, helicopters and medium-high speed fixed wing aircrafts generally adopts a spherical photoelectric turret, and is equipped with a visible light camera and a thermal infrared imager as imaging detection equipment and a laser range finder as distance measurement equipment.
The main problems of the existing airborne photoelectric detection equipment are as follows:
1. the airborne photoelectric detection equipment has single function. The airborne photoelectric detection equipment with the functions of tracking and monitoring sea surface targets and ground targets does not have the rapid searching capability, and the airborne photoelectric reconnaissance system executing the reconnaissance action task only considers how to rapidly image and detect in a large range and does not have the target tracking function.
2. The airborne remote tilt camera based on photosensitive film (Long Range Obblique Photography (LOROP) was developed to meet the need for fast acquisition of images of large areas of enemy over high altitudes and distances, and can obtain clear high resolution pictures in 10-50 nautical miles outside the target area. with the maturity of the photo imaging detectors, photo imaging detectors are gradually used instead of photosensitive film. such airborne photo detection systems are mainly characterized by Long optical focal length + scanning imaging, such as U.S. Pat. Nos. 6,366,734B1, U.S. Pat. Nos. 6,374,047B1, U.S. Pat. No.6,477,326B1, U.S. Pat. No.6,694,094B2, U.S. Pat. No.6,65071. this group of patent publications discloses an airborne and infrared band dual band optical and infrared band optical system using Cassegrain optical system, preferably, such airborne and infrared band optical system, such as airborne and infrared band optical focal length 2 (7.7,2132, 7, therefore, the device can be used only in good weather with little or no cloud layer shielding, and if the device is used under a cloud layer (such as under the flying height of 1000 m), the ratio V/H (speed-height ratio) of the flying speed V to the flying height H is too large due to long focal length and small field of view, thereby causing missed scanning. This makes it difficult to meet the demand for search and rescue on the sea or on the land in various weather conditions.
3. The scanning modes of the prior airborne photoelectric reconnaissance system for rapid scanning imaging are mainly two types: the scanning of the imaging area is realized by the push-broom type scanning which is realized by the forward movement of the airplane, and the scanning of the aiming line of the photoelectric imaging equipment is realized by the swing-broom type scanning which is realized by repeatedly performing left-right movement scanning along the direction vertical to the airplane course while keeping the forward movement of the airplane. Because the sweep scanning enlarges the scanning imaging range, the search efficiency is high, and the scanning imaging mode mainly adopted by the prior reconnaissance system is adopted. But the disadvantage of the sweep scanning is that: when the airplane moves forward, the sight line of the photoelectric imaging detection equipment moves left and right in a direction perpendicular to the course of the airplane for scanning, so that the distance between the photoelectric imaging detection equipment and a detected target is continuously changed, and the imaging resolution of an image obtained by the equipment is continuously changed along with the change of a left scanning angle and a right scanning angle. This brings adverse effect to the airborne reconnaissance system, especially when searching for the sea, the target that needs to be detected is bigger or smaller, and the incessant change of resolution ratio may lead to missing the police to detecting the target, has reduced the wide area reconnaissance ability and the efficiency of airborne reconnaissance system. Meanwhile, the obtained image with constantly changing resolution ratio is not beneficial to image integration and processing of the detection area in the later period.
To achieve equal resolution scan imaging, previous airborne reconnaissance systems, such as U.S. Pat. No.6,130,705, utilize multiple sequential images of the scan imaging and aircraft INS/GPS information or other information to calculate the system-to-target distance, which is used to drive the zoom lens to the appropriate focal length to achieve the desired resolution. However, the method has the disadvantage that the system is required to adjust the scanning rate of the left and right movement of the sight line at any moment so as to avoid missing scanning.
4. There is also an important problem associated with performing aerial reconnaissance that is motion compensation. The motion compensation means that during the integration period (or exposure period) of the photoelectric imaging detector of the photoelectric imaging detection device, the movement of an imaging point of a target on the photosensitive surface of the photoelectric imaging detector caused by the movement of an airplane and the aiming line scanning is eliminated through mechanical or electronic means, so that the clear imaging of the target is realized.
At present, there are two main motion compensation technology systems applied to an airborne reconnaissance system, specifically as follows:
1) a fly-back step-and-gaze system. In this system, a gimbal servo system drives a line of sight of a photo-imaging detector device in a continuously non-stop scanning motion, the gimbal servo system motion being compensated by a fly-back mirror during integration of the photo-imaging detector. Therefore, the fly-back mirror is activated during integration and moves in the opposite direction to the scanning direction of the gimbal servo system to achieve a fixed boresight orientation of the optoelectronic imaging detection device. For example, the system described in U.S. Pat. No. pub.no. US 2013/0142500a1 uses two independent fly-back mirrors to compensate for airplane motion and left-right scanning motion perpendicular to airplane heading, respectively, and the system described in U.S. Pat. No. 8,928,750B uses one fly-back mirror with two degrees of freedom to compensate for airplane motion and left-right scanning motion perpendicular to airplane heading simultaneously. The defects are that additional software and hardware facilities are required, the volume, weight and cost of the system are increased, and the reliability is reduced.
2) Electronic motion compensation is a system that is also referred to as Time Delay Integration (TDI) motion compensation. In the system, a gimbal servo system drives a line of sight of a photoelectric imaging detection device to continuously scan, and charges in a pixel are controlled by a reading circuit of the photoelectric imaging detection device to move to the next adjacent pixel along a scanning direction during integration of the photoelectric imaging detection device, wherein the charge moving speed is equal to the moving speed of an imaging point on a photosensitive surface, so that the scanning motion is compensated. This is the process described in U.S. Pat. No.5,155,597 and U.S. Pat. No.6,256,057. Since the method is implemented in a processing algorithm within the photo imaging detector, there is no additional size and weight penalty. The electronic motion compensation is only suitable for a Charge Coupled Device (CCD), and the current area array infrared focal plane device and a Complementary Metal Oxide Semiconductor (CMOS) device cannot adopt the technology.
Therefore, the current adopted motion compensation technology has the defects that only image blurring caused by forward motion of the airplane and left and right scanning motion perpendicular to the course of the airplane are mainly compensated, and a corresponding motion compensation technology system is selected without aiming at the type of a used device, so that the system is large in size, heavy and high in cost.
Disclosure of Invention
The invention aims to overcome the defects of the conventional airborne reconnaissance system, and provides an airborne dual-band photoelectric reconnaissance and tracking device adopting a turret structure, which can realize imaging scanning search in more than two optical bands respectively or simultaneously while keeping the conventional tracking and monitoring capability.
In order to achieve the above object, the present invention provides an airborne dual-band photoelectric wide-area detecting and tracking apparatus, comprising: a photoelectric turret 1; the photoelectric turret 1 comprises: the system comprises a visible light television 3, a thermal infrared imager 4, a gyro assembly 5, a servo module 6, an angle measurement module 9, a control management module 10, an image processing and tracking module 11 and a communication interface module 12; it is characterized in that the preparation method is characterized in that,
the visible light television 3 is used for detecting and imaging visible light and near infrared bands;
the thermal infrared imager 4 is used for detecting and imaging a medium wave infrared or long wave infrared band;
the gyro assembly 5 is used for detecting the attitude change rate of the inner ring gimbal 7 and the outer ring gimbal 8 during swinging and controlling the servo module 6 to realize stable aiming lines;
the servo module 6 is used for receiving data of the control management module 10 and driving the aiming line of the photoelectric turret 1 to search or track a target;
the angle measuring module 9 is used for measuring the angular position of the servo module 6, determining the real-time pointing direction of the aiming line and sending the real-time pointing direction to the control management module 10;
the image processing and tracking module 11 is configured to process pictures and/or videos acquired by the visible light television 3 and the thermal infrared imager 4, and includes: target detection, discrimination, association and target position calculation; and sends the processed data to the control management module 10;
the communication interface module 12 is configured to send navigation information provided by an onboard inertial navigation system 13 to the control management module 10;
the control management module 10 is used for controlling the photoelectric turret 1 to switch between two working modes, namely a wide area search mode and a tracking monitoring mode, receiving the data of the image processing and tracking module 11 and the angle measuring module 9, and processing the data; and sent to the servo module 6 and to said image processing and tracking module 11.
In the above technical solution, the apparatus further includes: and the display control module 2 is connected with the communication interface module 12 and is used for displaying the video image and the working state acquired by the photoelectric turret 1, receiving an operation control instruction of an operator and finishing image processing and calculation.
In the above technical solution, the visible light television 3 includes: the photoelectric turret comprises an optical lens 14 capable of transmitting visible light and near infrared light and a CCD camera 15 with TDI motion compensation capability, wherein the CCD camera 15 adopts a large-area array CCD detector, charge reading is carried out along the vertical direction, charge output can be carried out at two ends in the vertical direction, the vertical direction of the CCD camera 15 is arranged along the turret azimuth scanning direction, and the TDI motion compensation direction is consistent with the photoelectric turret 1 along the azimuth scanning direction.
In the above technical solution, the thermal infrared imager 4 includes: an infrared optical lens 19 which can transmit medium wave infrared or long wave infrared, a reflector 20, an optical retrace mirror 21 and an infrared focal plane detector 22; the optical fly-back mirror 21 performs a sweeping motion during integration of the infrared focal plane detector 22, the sweeping motion being in accordance with the azimuthal scanning of the photoelectric turret 1, but in the opposite direction to the scanning direction.
In the above technical solution, the servo module 6 includes: the inner ring universal frame 7 and the outer ring universal frame 8 form a two-shaft four-frame stable platform; the inner ring universal frame 7 comprises an inner pitching ring frame and an inner azimuth ring frame, wherein the visible light television 3 and the thermal infrared imager 4 are arranged on the inner ring universal frame 7; the outer ring gimbal 8 follows the inner ring gimbal 7 and comprises an outer pitching ring frame and an outer orientation ring frame.
In the above technical solution, the angle measuring module 9 includes: an angular position sensor mounted on each ring carriage of the servo module 6.
Based on the device, when the device is in a wide area search mode, the invention also provides an airborne dual-waveband photoelectric wide area reconnaissance and tracking method, which comprises the following steps:
step 1) stabilizing the aiming line of the photoelectric turret 1;
the control management module 10 realizes the stability of the aiming line of the photoelectric turret 1 by using the information acquired from the gyro assembly 5, the servo system 6 and the angle measuring unit 9 and adopting a current loop and speed loop double-loop control method;
step 2) adjusting the aiming line of the photoelectric turret 1 to a desired geographical area;
the control management module 10 is configured to generate the scanning target position according to the operator instruction as follows: longitude λrLatitude LrHeight HrThe current geographic coordinate of the carrier provided by the airborne inertial navigation system 13 is longitude lambdatLatitude LtHeight HtConverting the scanning target position and the current geographic coordinate of the carrier into a rectangular coordinate system of the earth, and respectively expressing the coordinates as a vector [ x ]r yr zr]TAnd [ x ]t yt zt]TThen the vector between two points is represented as:
this vector is expressed in the line of sight coordinate system as:
wherein R is the slant distance from the carrier to the scanning target position,
a coordinate conversion matrix from a terrestrial coordinate system to a sight line coordinate system;
and 3) determining the scanning speed of the aiming line of the photoelectric turret 1 during searching.
In the above technical solution, the step 3) specifically includes:
step 3-1) calculating the target movement speed caused by the rotation of the aiming line of the photoelectric turret 1;
the target movement speed caused by the rotation of the sighting line of the photoelectric turret 1 meets the Coriolis theorem:
in the formula, rs＝[0 0 R]T，
Is a coordinate transformation matrix, omega, from a line of sight coordinate system to a navigational coordinate systemsAngular velocity of movement of line of sight, rnA target vector under a navigation coordinate system;
setting the target angular velocity caused by the rotation of the sight line to be omegas＝[ωx ωy ωz]TAnd then:
then there is
Step 3-2) calculating the target speed caused by the translation of the carrier
VEIs east speed, V, of the carrier in a navigation coordinate systemNThe north speed of the carrier under a navigation coordinate system;
step 3-3) calculating the scanning speed;
the speed of movement V of the point of intersection of the line of sight with the ground on the geographic surface is caused by the rotation of the line of sight and the translation of the vehicle, and is therefore such that it is possible to determine the speed of movement VnComprises the following steps:
during the scanning process, the movement speed V of the intersection point of the aiming line and the ground on the geographic surface is requirednThe speed in the azimuth direction is the motion compensation speed omega of the visible light television 3 and the thermal infrared imager 4 in one dimension0The pitch motion velocity is theoretically zero, so there are:
based on the device, when the device is in a tracking and monitoring mode, the invention provides an airborne dual-band photoelectric wide-area reconnaissance and tracking method, which comprises the following steps:
step 1) calculating the position of a target, and automatically tracking the target;
after searching for a found target in an image obtained by the visible light television 3 and/or the thermal infrared imager 4 and giving a tracking target position according to the image processing and tracking module 11, the photoelectric turret 1 is switched to automatic tracking, the image processing and tracking module 11 continuously extracts the target from a current frame image obtained by the visible light television 3 and/or the thermal infrared imager 4, and calculates the target position;
step 2), compensating the motion of the carrier;
the airborne inertial navigation 13 provides east speed V of the carrier under a navigation coordinate systemEAnd north velocity VNThe angle measuring module 9 gives the current aiming line direction of the photoelectric turret 1, generates the compensation speed of the photoelectric turret 1 for adjusting the aiming line, and eliminates the plane translation in the automatic tracking process; the compensation speed is as follows:
the invention has the advantages that:
1. the device of the invention realizes the integration of the searching and tracking functions of the airborne photoelectric equipment, and improves the use efficiency of the equipment;
the device can realize local area scanning and wide area scanning functions besides gaze tracking, and during scanning, the device realizes azimuth sector scanning or circumferential scanning in a geographic coordinate system;
2. the method of the invention realizes the near-constant resolution imaging detection of the search area and improves the search efficiency;
the method has the advantages brought by near-constant resolution scanning: firstly, the influence of image motion blur caused by plane translation is eliminated; secondly, the influence of the aircraft angular motion on the scanning track is isolated, and the scanning track cannot be influenced by the change of the aircraft attitude angle; thirdly, the scanning coverage efficiency is high, the scanning track is basically the superposition of the arc belt, the overlapping rate is reduced, and the scanning efficiency is improved; and fourthly, the resolution of each acquired image is approximately equal, and the images with similar resolutions are spliced to generate a wide-area situation map, so that the image processing and the automatic extraction and identification of the interested target are facilitated, and the search efficiency on the sea and the land is remarkably improved.
3. The method of the invention adopts different motion compensation mechanisms to realize bidirectional motion compensation, thereby improving the scanning efficiency of the system, reducing the volume and weight of the system and improving the reliability;
the visible light television adopts TDI motion compensation technology, a flyback reflector is integrated in the infrared thermal imager, so that the CCD and the infrared focal plane device ensure that an optical axis and an imaged area are relatively static within integration time, wide area scanning and local area scanning imaging are realized, the capability of azimuth bidirectional scanning is realized, and the scanning efficiency of the system is improved.
4. The device of the invention has the capability of fast searching under any field angle;
the two sensors of the device can simultaneously or respectively clearly image in any visual field (the device realizes motion compensation), the problem of mismatch between a high speed-height ratio (the ratio of the flying speed V to the flying height H) and a photoelectric sensor visual field caused by the aircraft under the condition of medium and low altitude is solved, the missing scanning of sea and ground targets is avoided, and the searching capability is improved.
5. The device of the invention has the capability of rapidly searching in more than two light wave bands such as visible light, medium wave/long wave and the like, and improves the target identification and detection capability.
Drawings
FIG. 1 is a schematic diagram of the components of an airborne dual-band photoelectric wide-area detection and tracking device according to the present invention;
FIG. 2 is a schematic diagram of a visible-light television according to the present invention;
FIG. 3 is a schematic diagram of the infrared thermal imager of the present invention;
FIG. 4 is a scanning trace diagram obtained by the near constant resolution scanning control method of the present invention;
FIG. 5 is a schematic view of coverage of a circular arc scanning area under a coordinate system of a carrier;
FIG. 6 is a schematic view of the apparatus of the present invention performing near constant resolution scanning perpendicular to the aircraft flight heading;
FIG. 7 is a schematic view of a scanning area of a conventional apparatus in which the scanning direction is perpendicular to the heading of an aircraft.
The attached drawings are as follows:
1. photoelectric turret 2, control display module 3, visible light television 4 and thermal infrared imager
5. Gyro assembly 6, servo module 7, inner ring gimbal 8 and outer ring gimbal
9. Angle measuring module 10, control management module 11 and image processing and tracking module
12. Communication interface module 13, airborne inertial navigation 14, optical lens 15 and CCD camera
16. CCD region 17, imaging pixel region 18, TDI pixel region covered by optical lens
19. Infrared optical lens 20, reflector 21, optical retrace mirror 22 and infrared focal plane detector
Detailed Description
The invention is described in further detail below with reference to the drawings and preferred embodiments.
As shown in fig. 1, an onboard dual-band photoelectric wide-area detecting and tracking apparatus, the apparatus includes: the device comprises a photoelectric turret 1 and a display control module 2; the photoelectric turret 1 comprises: the system comprises a visible light television 3, a thermal infrared imager 4, a gyro assembly 5, a servo module 6, an angle measurement module 9, a control management module 10, an image processing and tracking module 11 and a communication interface module 12;
as shown in fig. 2, the visible light television 3 has a motion compensation function, is a camera capable of both staring at and imaging and detecting, and rapidly scanning and imaging and detecting, and the operating band is visible light and near infrared band detection, and includes: an optical lens 14 transparent to visible light and near infrared, and a CCD camera 15 with TDI motion compensation capability. The CCD camera 15 adopts a large-area array CCD detector, the number of pixels of the CCD detector is N (horizontal) multiplied by M (vertical), charge reading is carried out along the vertical direction, both ends can carry out charge output in the vertical direction, the vertical direction of the CCD camera 15 is arranged along the turret azimuth scanning direction, the TDI motion compensation direction is consistent with the photoelectric turret 1 along the azimuth scanning direction, the video output format of the imaging pixel region 17 is determined to be M1 (horizontal) multiplied by N1 (vertical), the TDI pixel region 18 determines the TDI motion compensation stage number to be M2, and the specific sizes of the imaging pixel region 17 and the TDI pixel region 18 can be adjusted according to the use requirements.
For example, the CCD camera 15 selects a pixel number N (horizontal) × M (vertical) of 2758 (horizontal) × 2208 (vertical), a video output format M1 (horizontal) × N1 (vertical) of 1920 (horizontal) × 1080 (vertical), the TDI stage number M2 is 288, a video output format M1 (horizontal) × N1 (vertical) of 1280 (horizontal) × 1024 (vertical), and the TDI stage number M2 is raised to 928.
As shown in fig. 3, the thermal infrared imager 4 is a thermal infrared imager that can be stared at for imaging detection, and can also be scanned for imaging detection at a high speed for detection in a medium wave infrared or long wave infrared band, and includes: an infrared optical lens 19 which can transmit middle wave infrared or long wave infrared, a reflector 20, an optical retrace mirror 21 and an infrared focal plane detector 22. The optical retrace mirror 21 can perform sweep during the integration period of the infrared focal plane detector 22, the sweep is consistent with the azimuth scanning of the photoelectric turret 1, but the sweep direction is opposite to the scanning direction, the sweep rate is the azimuth scanning speed of the photoelectric turret 1 multiplied by the zoom ratio of the infrared optical lens 19/2, so that the imaging of the target on the focal plane of the infrared focal plane detector 22 does not move along with the azimuth scanning of the photoelectric turret 1, thereby realizing motion compensation.
The servo module 6 is used for stabilizing and driving the line of sight of the photoelectric turret 1 to search or track a target, and comprises: the inner ring universal frame 7 and the outer ring universal frame 8 form a two-shaft four-frame stable platform. The inner ring universal frame 7 comprises an inner pitching ring frame and an inner azimuth ring frame, and the visible light television 3 and the thermal infrared imager 4 are installed on the inner ring universal frame 7; the outer ring gimbal 8 follows the inner ring gimbal 7 and comprises an outer pitching ring frame and an outer orientation ring frame.
The angle measuring module 9 is used for measuring the angular position of the servo module 6, and comprises: an angular position sensor mounted on each ring carriage of the servo module 6.
The control management module 10 is used for controlling the photoelectric turret 1 to switch between two working modes, namely a wide area search mode and a tracking monitoring mode; receiving the data of the image processing and tracking module 11 and the angle measuring module 9, and processing the data; and sent to the servo module 6 and the image processing and tracking module 11; and the processing result is sent to the display control module 2 through the communication interface module 12 for display;
the image processing and tracking module 11 is configured to process pictures and/or videos acquired by the visible light television 3 and the thermal infrared imager 4, and includes: target detection, discrimination, correlation, target position calculation, and the like.
The communication interface module 12 is used for performing control information interaction with the display control module 2, transmitting a video image to the display control module 2, and receiving an onboard system control instruction, in particular navigation information provided by the onboard inertial navigation module 13.
The display control device 2 is used for displaying the video image and the working state acquired by the photoelectric turret 1, receiving an operator operation control instruction and finishing related image processing and calculation.
The airborne inertial navigation system 13 is used for directly providing navigation information of an airborne platform to the photoelectric turret 1, and the navigation information includes: the position, the heading, the attitude and the speed are integrated navigation systems of satellite navigation/inertial navigation of an airborne platform, and also can be integrated navigation systems which are arranged outside the photoelectric turret 1 and are specially used for providing navigation information for the photoelectric turret.
The airborne dual-waveband photoelectric wide-area reconnaissance and tracking device is provided with two working modes: a wide area search mode and a tracking monitoring mode. The wide area search mode is mainly used for large-area sea and land imaging search, when the device is in the wide area search mode, the visible light television 3 starts TDI motion compensation, the thermal infrared imager 4 starts the optical flyback mirror 21 to perform reverse scanning, and when the photoelectric turret 1 scans along the azimuth direction, image blurring caused by motion of a target image on a detector surface during the integration period of the CCD camera 15 and the infrared focal plane detector 22 can be compensated, so that two sensors of the visible light television 3 and the thermal infrared imager 4 can perform simultaneous or separate clear imaging in any visual field, and rapid imaging search of the device is realized; the tracking and monitoring mode is mainly used for continuously pointing the sight line of the photoelectric turret 1 to a designated target and continuously imaging and tracking the target, when the device is in the mode, the visible light television 3 closes TDI motion compensation, the thermal infrared imager 4 closes and enables the optical flyback mirror 21 to return to the original position, both the visible light television 3 and the thermal infrared imager 4 can perform staring imaging on the target, and after the operator designates the target, the photoelectric device performs real-time continuous imaging tracking and monitoring on the target. The operator switches between the wide area search mode and the tracking and monitoring mode through the display control device 2, and can also automatically switch to the tracking and monitoring mode after the target is found in the wide area search mode.
Based on the device of the embodiment, the invention provides an airborne dual-waveband photoelectric wide-area reconnaissance and tracking method, which is a control method (a near-constant resolution scanning control method for short) for realizing approximate equal resolution scanning when the device is in a wide-area search mode.
Firstly, the coordinate system and the coordinate conversion relationship between the coordinate systems involved in the method are described as follows:
1) an earth coordinate system e is defined, and points on the earth are represented by the earth coordinate system as longitude λ, latitude L, and altitude H, which can be measured by the airborne inertial navigation system 13. The relationship between the earth rectangular coordinate system (x, y, z) and the spherical coordinate system is as follows:
2) defining a navigation coordinate system n, adopting a east-sky-north geographic coordinate system, slowly rotating the navigation coordinate system around the earth, and transforming coordinates from an earth coordinate system e to the navigation coordinate system n into:
3) defining an aircraft body coordinate system b, wherein the aircraft nose direction is an axis y, the aircraft heading angle psi, the pitch angle theta and the roll angle gamma are measured by an airborne inertial navigation system 13, and the coordinate transformation from an aircraft navigation coordinate system n to the aircraft body coordinate system b is as follows:
4) defining a line-of-sight coordinate system s, and rotating the coordinate system along an azimuth axis
Then rotates along the pitch axis by beta0+βiThen rotates along the inner azimuth axis
If the photoelectric turret 1 is in the wide area search mode, it should rotate along the azimuth axis
This value is the angle at which the photoelectric turret 1 rotates in the azimuth direction when the visible light television 3 and the thermal infrared imager 4 finish capturing one frame of image. Coordinate transformation from the body coordinate system b to the line of sight coordinate system:
the method comprises the following steps:
step 1) stabilizing the aiming line of the photoelectric turret 1;
the control management module 10 realizes the stability of the aiming line of the photoelectric turret 1 by using the information acquired from the gyro assembly 5, the servo system 6 and the angle measuring unit 9 and adopting a current loop and speed loop double-loop control method;
step 2) adjusting the aiming line of the photoelectric turret 1 to a desired geographical area;
the control management module 10 is configured to generate the scanning target position according to the operator instruction as follows: longitude λrLatitude LrHeight HrThe current geographic coordinate of the carrier provided by the airborne inertial navigation system 13 is longitude lambdatLatitude LtHeight HtConverting the scanning target position and the current geographic coordinate of the carrier into a rectangular coordinate system of the earth by using a formula (1), and respectively expressing the coordinates as a vector [ x ]r yr zr]TAnd [ x ]t yt zt]TThen the vector between two points is represented as:
this vector is expressed in the line of sight coordinate system as:
wherein R is the slant distance from the carrier to the scanning target position,
a coordinate conversion matrix from a terrestrial coordinate system to a sight line coordinate system;
step 3) determining the scanning speed of the aiming line of the photoelectric turret 1 during searching; the method specifically comprises the following steps:
step 3-1) calculating the target movement speed caused by the rotation of the aiming line of the photoelectric turret 1;
the target movement speed caused by the rotation of the sighting line of the photoelectric turret 1 meets the Coriolis theorem:
in the formula, rs＝[0 0 R]T，
For aiming atCoordinate transformation matrix, omega, from line coordinate system to navigational coordinate systemsAngular velocity of movement of line of sight, rnA target vector under a navigation coordinate system;
setting the target angular velocity caused by the rotation of the sight line to be omegas＝[ωx ωy ωz]TAnd then:
then there is
Step 3-2) calculating the target speed caused by the translation of the carrier
VEIs east speed, V, of the carrier in a navigation coordinate systemNThe north speed of the carrier under a navigation coordinate system;
step 3-3) calculating the scanning speed;
the speed of movement V of the point of intersection of the line of sight with the ground on the geographic surface is caused by the rotation of the line of sight and the translation of the vehicle, and is therefore such that it is possible to determine the speed of movement VnComprises the following steps:
during the scanning process, the movement speed V of the intersection point of the aiming line and the ground on the geographic surface is requirednThe speed in the azimuth direction is the motion compensation speed omega of the visible light television 3 and the thermal infrared imager 4 in one dimension0The pitch motion velocity is theoretically zero, so there are:
calculation example: FIG. 4 is a diagram of simulated geographical scanning trajectory by the control method, wherein the initial conditions of the simulation are a flying height of 5km and a flying speed of 180km/h, which are basically the superposition of arc bands, the overlapping rate is reduced, and the scanning trajectory is very close to a geographical arc.
Fig. 5 is a simulation diagram of the coverage of an area scanned in an arc under a coordinate system of a carrier, in which the scanning mode can scan at equal resolution, but the scanning zones are moved due to uncompensated carrier motion, so that the scanning zones are overlapped geographically in a large range.
The near constant resolution scanning control method can obtain a near constant resolution scanning image, and the image resolution is as follows:
as shown in fig. 6, the process of performing near-constant resolution scanning by the photoelectric turret 1 perpendicular to the flight heading of the carrier is as follows: suppose the aircraft is located at O1While the photoelectric turret 1 is aimed at the line from a1The point begins to scan in a circular arc, the distance from the airplane to the ground (sea surface) is R, and b is1After that point, the aircraft arrives at O2The distance from the airplane to the ground (sea surface) is R', the photoelectric turret 1 stops scanning, starts adjusting the board and adjusts the board to b2After that point, the aircraft arrives at O3The distance from the aircraft to the ground (sea surface) is R, and then the photoelectric turret 1 is moved from b2Point start circular arc scan to a2After that point, the aircraft arrives at O4The photoelectric turret 1 stops scanning, starts adjusting the side and adjusts the side to a3After this point, the aircraft arrives at 05 and a new scan cycle is started.
During this scanning process, when the photoelectric turret 1 is moved from a1When the point starts to scan, the photoelectric turret 1 is a distance a1Slope of points O1a1R, from a1Point scanning to1The time taken for the point is t, the aircraft is from O1To O2，O1O2＝Vt，O2To b1Slope of points O2b1R'. Δ OO in FIG. 61b1In, O1O＝H，O1b1R, thus Ob1Comprises the following steps:
Δ OO 'in FIG. 6'1b1In (1) ═ O1O2Vt, since the photoelectric turret 1 is driven from a1Point scanning to1At times of about 10 seconds or less during which time the aircraft is flying a distance OO 'for a low speed aircraft'1Within 500m, this value is much smaller than the flight height H and the sweep to target R, hence O'2b1Can be approximated as:
Δ O in FIG. 62O′2b1In, O2b1R' is:
with a photoelectric turret 1 at1Ground resolution of points (GSD)a1，b1Ground resolution of points (GSD)b1Then, these two points represent the maximum value of the ground resolution distance, and the ground resolution distance change rate is:
calculation example:
flight height H: 5km, the skew distance R is 15km, and the flying speed V of the airplane is 180km/h is 50 m/s. Assuming a scanning speed of 30 °/s, a scanning range: as ± ψ ± 80 °, t is 160 °/30 °/s is 5.33s, so that:
if the slant distance R is 30km, the resolution at this time is changed to:
therefore, the scanning mode of the photoelectric turret 1 results in a small image resolution, and can be approximately regarded as near-constant resolution scanning.
The motion compensation technology adopted by the existing system mainly only compensates image blurring caused by forward motion of an airplane and left and right scanning motion perpendicular to the course of the airplane, wherein the scanning direction is perpendicular to the course of the airplane, as shown in fig. 7, but the distance change of each scanning area from an airplane carrier is large, so that the resolution change of an obtained scanning image is large, and the searching efficiency and the searching effect are influenced.
When the apparatus is in a tracking monitoring mode, the method comprises:
step 1) calculating the position of a target, and automatically tracking the target;
after searching for a found target in an image obtained by the visible light television 3 and/or the thermal infrared imager 4 and giving a tracking target position according to the image processing and tracking module 11, the photoelectric turret 1 is switched to automatic tracking, the image processing and tracking module 11 continuously extracts the target from a current frame image obtained by the visible light television 3 and/or the thermal infrared imager 4, and calculates the target position;
step 2), compensating the motion of the carrier;
the airborne inertial navigation 13 provides east speed V of the carrier under a navigation coordinate systemEAnd north velocity VNThe angle measuring module 9 gives the current aiming line direction of the photoelectric turret 1, generates the compensation speed of the photoelectric turret 1 for adjusting the aiming line, and eliminates the plane translation in the automatic tracking process; the compensation speed is as follows:
Claims (7)
1. an airborne dual-band photoelectric wide-area reconnaissance and tracking method is realized based on an airborne dual-band photoelectric wide-area reconnaissance and tracking device, and the device comprises: a photoelectric turret (1); the optoelectronic turret (1) comprises: the system comprises a visible light television (3), a thermal infrared imager (4), a gyro assembly (5), a servo module (6), an angle measuring module (9), a control management module (10), an image processing and tracking module (11) and a communication interface module (12);
the visible light television (3) is used for detecting and imaging visible light and near infrared bands;
the thermal infrared imager (4) is used for detecting and imaging a medium wave infrared or long wave infrared band;
the gyro assembly (5) is used for detecting the attitude change rate of the inner ring gimbal (7) and the outer ring gimbal (8) during swinging and controlling the servo module (6) to realize stable aiming lines;
the servo module (6) is used for receiving data of the control management module (10) and driving the aiming line of the photoelectric turret (1) to search or track a target;
the angle measuring module (9) is used for measuring the angular position of the servo module (6), determining the real-time pointing direction of the aiming line and sending the real-time pointing direction to the control management module (10);
the image processing and tracking module (11) is used for processing pictures and/or videos acquired by the visible light television (3) and the thermal infrared imager (4), and comprises the following steps: target detection, discrimination, association and target position calculation; and sending the processed data to the control management module (10);
the communication interface module (12) is used for sending navigation information provided by an onboard inertial navigation system (13) to the control management module (10);
the control management module (10) is used for controlling the photoelectric turret (1) to switch between a wide area search mode and a tracking monitoring mode; receiving data of the image processing and tracking module (11) and the angle measuring module (9) for data processing; and sent to the servo module (6) and to the image processing and tracking module (11);
when the apparatus is in a wide area search mode, the method comprises:
step 1) stabilizing the aiming line of the photoelectric turret (1);
the control management module (10) realizes the stability of the aiming line of the photoelectric turret (1) by utilizing the information acquired from the gyro assembly (5), the servo module (6) and the angle measuring module (9) and adopting a current loop and speed loop double-loop control method;
step 2) adjusting the aiming line of the photoelectric turret (1) to a desired geographical area;
the control management module (10) is arranged to generate scanning target positions according to the instruction of an operator as follows: longitude λrLatitude LrHeight HrThe current geographic coordinate of the carrier provided by the airborne inertial navigation (13) is longitude lambdatLatitude LtHeight HtConverting the scanning target position and the current geographic coordinate of the carrier into a rectangular coordinate system of the earth, and respectively expressing the coordinates as a vector [ x ]r yr zr]TAnd [ x ]t yt zt]TThen the vector between two points is represented as:
this vector is expressed in the line of sight coordinate system as:
wherein R is the slant distance from the carrier to the scanning target position,
a coordinate conversion matrix from a terrestrial coordinate system to a sight line coordinate system;
step 3) determining the scanning speed of the aiming line of the photoelectric turret (1) during searching;
the step 3) specifically comprises the following steps:
step 3-1) calculating the target movement speed caused by the rotation of the aiming line of the photoelectric turret (1);
the target movement speed caused by the rotation of the sighting line of the photoelectric turret (1) meets the Coriolis theorem:
in the formula, rs＝[0 0 R]T，
Is a coordinate transformation matrix, omega, from a line of sight coordinate system to a navigational coordinate systemsAngular velocity of movement of line of sight, rnA target vector under a navigation coordinate system;
setting the target angular velocity caused by the rotation of the sight line to be omegas＝[ωx ωy ωz]TAnd then:
then there are:
step 3-2) calculating the target speed caused by the translation of the carrier
VEFor the carrier at the navigation coordinatesEast speed under the tether, VNThe north speed of the carrier under a navigation coordinate system;
step 3-3) calculating the scanning speed;
the speed of movement V of the point of intersection of the line of sight with the ground on the geographic surface is caused by the rotation of the line of sight and the translation of the vehicle, and is therefore such that it is possible to determine the speed of movement VnComprises the following steps:
during the scanning process, the movement speed V of the intersection point of the aiming line and the ground on the geographic surface is requirednThe speed in the azimuth direction is the motion compensation speed omega of the visible light television (3) and the thermal infrared imager (4) in the one-dimensional direction0The pitch motion velocity is theoretically zero, so there are:
2. the airborne dual-band photoelectric wide-area reconnaissance and tracking method of claim 1, wherein the apparatus further comprises: and the display control module (2) is connected with the communication interface module (12) and is used for displaying the video image and the working state acquired by the photoelectric turret (1), receiving an operation control instruction of an operator and finishing image processing and calculation.
3. The airborne dual-band photoelectric wide-area reconnaissance and tracking method according to claim 1 or 2, wherein the visible light television (3) comprises: the photoelectric turret comprises an optical lens (14) which can penetrate through visible light and near infrared, and a CCD camera (15) with TDI motion compensation capability, wherein the CCD camera (15) adopts a large-area array CCD detector, charge reading is carried out along the vertical direction, charge output can be carried out at two ends in the vertical direction, the vertical direction of the CCD camera (15) is arranged along the azimuth scanning direction of the photoelectric turret (1), and the TDI motion compensation direction is consistent with the TDI motion compensation direction of the photoelectric turret (1) along the azimuth scanning direction.
4. The airborne dual-band photoelectric wide-area reconnaissance and tracking method according to claim 1 or 2, characterized in that the thermal infrared imager (4) comprises: an infrared optical lens (19) which can transmit medium wave infrared or long wave infrared, a reflector (20), an optical retrace mirror (21) and an infrared focal plane detector (22); the optical retrace mirror (21) can perform sweep during the integration period of the infrared focal plane detector (22), and the sweep is consistent with the azimuth scanning of the photoelectric turret (1) but opposite to the scanning direction.
5. The airborne dual-band photoelectric wide-area reconnaissance and tracking method according to claim 1 or 2, wherein the servo module (6) comprises: the inner ring universal frame (7) and the outer ring universal frame (8) form a two-axis four-frame stable platform; the inner ring universal frame (7) comprises an inner pitching ring frame and an inner azimuth ring frame, wherein the visible light television (3) and the thermal infrared imager (4) are arranged on the inner ring universal frame (7); the outer ring universal frame (8) follows the inner ring universal frame (7) and comprises an outer pitching ring frame and an outer orientation ring frame.
6. The airborne dual-band photoelectric wide-area reconnaissance and tracking method of claim 1 or 2, wherein the angle measurement module (9) comprises: an angular position sensor is mounted on each ring carrier of the servo module (6).
7. The airborne dual-band optoelectronic wide-area reconnaissance and tracking method of claim 1, when the apparatus is in a tracking monitoring mode, the method further comprising:
calculating the position of the target, and automatically tracking the target;
after searching for a found target in an image obtained by the visible light television (3) and/or the thermal infrared imager (4) according to the image processing and tracking module (11) and giving a tracking target position, the photoelectric turret (1) is switched to automatic tracking, the image processing and tracking module (11) continuously extracts the target from a current frame image obtained by the visible light television (3) and/or the thermal infrared imager (4), and calculates the target position;
compensating for the carrier motion;
the airborne inertial navigation (13) provides east speed V of the carrier under a navigation coordinate systemEAnd north velocity VNThe angle measuring module (9) gives the current aiming line direction of the photoelectric turret (1), generates the compensation speed of the photoelectric turret (1) for adjusting the aiming line, and eliminates the translation of the airplane in the automatic tracking process; the compensation speed is as follows:
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