CN108761750B - Search and tracking integrated camera - Google Patents
Search and tracking integrated camera Download PDFInfo
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- CN108761750B CN108761750B CN201810945438.5A CN201810945438A CN108761750B CN 108761750 B CN108761750 B CN 108761750B CN 201810945438 A CN201810945438 A CN 201810945438A CN 108761750 B CN108761750 B CN 108761750B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/02—Catoptric systems, e.g. image erecting and reversing system
- G02B17/06—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror
- G02B17/0626—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror using three curved mirrors
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/02—Catoptric systems, e.g. image erecting and reversing system
- G02B17/06—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror
- G02B17/0647—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror using more than three curved mirrors
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Abstract
The invention discloses a search and tracking integrated camera. The camera has two working modes of wide area searching and key tracking, the sub-optical system of the wide area searching working mode is shared with the large-caliber optical element of the sub-optical system of the key tracking working mode, the working modes are switched by using the optical element with the complex curved surface movable together, the image quality of the sub-optical systems of the two working modes is ensured, a design scheme is provided for the wide area searching and key tracking integrated camera, and compared with the design scheme that the current wide area searching and key tracking detection imaging system adopts a multi-camera matching combination, the design scheme can reduce the volume weight of the instrument of the searching and tracking detection imaging system.
Description
Technical Field
The invention belongs to the field of optical system design, and provides a novel design idea for searching and tracking an imaging optical system.
Background
The space-based searching and tracking imaging system plays an important role in the aspects of accurate guidance, target tracking and the like. In order to achieve wide-area search detection of targets, the working field of view of the search camera used to detect targets needs to be large enough; in order to achieve target tracking and recognition, higher resolution imaging detection of the target is required to observe more details of the target. Wide-area detection and tracking systems based on conventional single-aperture imaging techniques typically utilize multiple camera matching partners, including one large field-of-view camera and one or more tracking cameras, to achieve multi-target searching and tracking. The large-field camera scans and detects the target, and the high-resolution camera realizes high-resolution imaging on the target by moving or adjusting the focal length. The matching work of a plurality of cameras can have the difficulties of large volume of a searching and tracking imaging system, high inter-camera calibration precision, cooperative control of target matching and cameras of each camera and the like.
The searching camera of the space-based searching and tracking system can adopt off-axis three-mirror optical system one-dimensional optical imaging and scanning imaging of a one-dimensional motion mechanism, so that a large field of view is searched. Because of its large working field of view, the search camera comprises at least two relatively large optical mirrors. The tracking camera is required to have higher resolution than the search camera because of the application requirements of target tracking and identification. According to a theoretical formula that the optical resolution is inversely proportional to the optical caliber, the resolution of the tracking camera is higher than that of the searching camera by a factor of more, and the optical caliber of the tracking camera is larger than that of the searching camera by a factor of more, so that the optical caliber of the tracking camera is larger than that of the searching camera. The scheme of matching and combining multiple cameras is adopted to realize the problems of large volume and heavy weight of a wide area searching and key tracking detection imaging system.
Disclosure of Invention
On the basis of researching a large-view-field searching camera and a high-resolution tracking camera, the invention skillfully utilizes the structural characteristics of the two functional camera optical systems, combines the two into one, and forms the optical system of the searching and tracking imaging integrated camera, thereby reducing the volume and the weight of the wide-area searching and key tracking detection imaging system.
The invention discloses a search and tracking integrated camera, which has two working modes of wide area search and key tracking; the sub-optical system of the wide area search working mode is shared with the large-caliber optical element of the sub-optical system of the key tracking working mode, and the optical paths of the sub-optical systems in the two working modes are overlapped; the optical elements with complex curved surfaces and movable in a common mode are used for switching the working modes, so that the image quality of the optical systems in the two working modes is ensured.
The sub-optical system of the wide area searching working mode adopts a COOK type one-dimensional large-view-field off-axis three-reflection optical structure, as shown in figure 1, a target light beam is converged on a long linear array focal plane 4 through an A reflector 1, a B1 reflector 2.1 of a B element and a C reflector 3. The mirror A1, the mirror B1 2.1 and the mirror C3 are the primary mirror, the secondary mirror and the triple mirror of the triple-mirror optical system in sequence, wherein the element A1 and the element C3 are two large-caliber optical mirror elements. In this mode, the a element 1 is a target beam energy collecting element.
The sub-optical system for the key tracking working mode is based on a coaxial optical structure similar to an R-C system of a two-back system and a back optical path system, as shown in fig. 1, the sub-optical system comprises an A reflecting mirror 1, a B2 reflecting mirror 2.2 and a B3 reflecting mirror 2.3 of a B element, a C reflecting mirror 3 and an optical element 5, and target beams of the key tracking area are collected by the energy of the A element 1 and the C element 3 and then are converged on an area array focal plane 6 by the optical system, wherein the A element 1 and the C element 3 are main mirror systems of the optical system for the working mode. Since the a-element 1 and the C-element 3 are not necessarily homomorphic optical mirror elements, the secondary mirror system that mates with them is a complex optical mirror element comprising two complex-shaped B2 mirrors 2.2 and B3 mirrors 2.3, with multiple degrees of freedom.
The B element is an optical element which is formed by integrating a plurality of complex curved surface shapes and comprises a B1 reflecting mirror (2.1), a B2 reflecting mirror (2.2), a B3 reflecting mirror (2.3) and a moving mechanism (2.4), and the physical space among the A reflecting mirror 1, the B element 2 and the C reflecting mirror 3 is a shared space area of the optical system in the two working modes, namely the optical system in the key tracking working mode overlaps with the optical path of the optical system in the wide area searching working mode.
In the working process, the movable complex curved surface shape integral optical B element is used for switching the working modes, so that the image quality of the optical system in the two working modes is ensured. The specific structure and the implementation method are that the position of the B element (2) is moved through operations such as translation or rotation of the motion mechanism (2.4), so that the B1 reflecting mirror 2.1, the A reflecting mirror 1 and the C reflecting mirror 3 form a sub-optical system meeting the image quality requirement of a wide area searching working mode, the camera is in the wide area searching working mode, the B2 reflecting mirror 2.2, the B3 reflecting mirror 2.3, the A reflecting mirror 1, the C reflecting mirror 3 and the optical element 5 form a sub-optical system meeting the image quality requirement of the key tracking working mode, and the camera is in the key tracking working mode.
According to the structural characteristics of the wide-field three-reflection optical system, the aperture diaphragm thereof is placed at the position of the B1 reflecting mirror 2.1 of the B element serving as the secondary mirror, the effective caliber of the optical system is smaller than the short side dimension of the A reflecting mirror 1 serving as the primary mirror thereof, and according to the structural characteristics of the two-reflection system-added optical path system, the aperture diaphragm thereof is placed at the positions of the A element 1 and the C element 3 serving as the primary mirror system, the effective caliber of the optical system is equal to the equivalent caliber formed by the A element 1 and the C element 3, whereby the effective caliber of the visible tracking mode optical system is larger than the caliber of the searching mode optical system, as shown in fig. 4. According to the inverse relation θ=1.22λ/D of the optical angle resolution θ of the optical system and the optical aperture D, the spatial resolution of the tracking mode optical system is higher than that of the search mode optical system.
The searching and tracking integrated camera based on the invention is placed on a two-dimensional high-precision motion platform (a satellite platform or a two-dimensional rotation adjustable platform) with azimuth and elevation, or a two-dimensional mirror scanning pointing mechanism with azimuth and elevation is arranged in front of the camera, so that the two-dimensional platform or mechanism is matched with the camera to realize the large-view-field searching and tracking function. In the searching mode, the line-field camera realizes one-dimensional optical imaging, and scans in the direction perpendicular to the line-field by means of a two-dimensional platform or mechanism to realize two-dimensional large-field searching and acquire a searching image (as shown in the left diagram of fig. 5). After the target to be detected is obtained in the search image, the camera is switched to a tracking mode, the working view field of the tracking camera is positioned to the target area to be detected by means of a two-dimensional platform or mechanism and moves along with the target, the tracking camera has a relatively smaller working view field, but the resolution is relatively higher, the tracking image (as shown in the right diagram of fig. 5) can be obtained, and the requirements of target tracking and recognition are met.
Drawings
Fig. 1 is a diagram of a wide area search and emphasis tracking integrated camera.
Fig. 2 is a diagram of a search operation mode sub-optical system.
Fig. 3 is a diagram of a tracking mode of operation sub-optical system.
Fig. 4 is a schematic diagram of optical aperture usage.
FIG. 5 is a schematic diagram of a wide area search image and a regional high resolution key tracking image.
Fig. 6 is a layout diagram of the mirror relative positions of the optical elements of the search and tracking integrated camera body.
Fig. 7 is a search camera diagram.
Fig. 8 is a tracking camera diagram.
Detailed Description
Based on the scheme design thought of the invention, a set of scanning, searching and tracking integrated camera optical system is designed. The camera consists of a COOK type off-axis three-reflection optical system and an R-C-like optical system, wherein the layout diagram of the relative position relation of optical elements of a main body of the system is shown as figure 6, and a wide-area target beam is converged on a long-line focal plane 4 by the optical system after being collected by energy of an A reflector 1; the sub-optical system of the key tracking working mode is an optical system similar to an R-C structure and comprising an A reflector 1, a B2 reflector 2.2 and a B3 reflector 2.3 of a B element 2, a C reflector 3 and an optical element 5, and light beams of a key tracking area are collected by the energy of the A reflector 1 and the C reflector 3 and then are converged on an area array focal plane 6 by the optical system; the mirror A1, the element B2 and the mirror C3 are optical elements shared by two working mode sub-optical systems, and the physical space among the mirror A1, the element B2 and the mirror C3 is a shared space area of the two working mode sub-optical systems;
the B element 2 is an optical element comprising a plurality of complex curved surface shape co-bodies of a B1 reflecting mirror 2.1, a B2 reflecting mirror (2.2, a B3 reflecting mirror 2.3) and a moving mechanism 2.4, the position of the B element 2 is moved through the translational or rotational operation of the moving mechanism 2.4, the B1 reflecting mirror 2.1, the A reflecting mirror 1 and the C reflecting mirror 3 form an optical system meeting the image quality requirement of a wide area searching working mode, the camera is in the wide area searching working mode, the B2 reflecting mirror 2.2, the B3 reflecting mirror 2.3, the A reflecting mirror 1, the C reflecting mirror 3 and the optical element 5 form an optical system meeting the image quality requirement of the key tracking working mode, and the camera is in the key tracking working mode.
The a element 1 and the C element 3 are off-axis high order aspherical mirrors. The B element 2 consists of four parts, including a free-form surface B1 reflecting mirror 2.1 of the search camera, a free-form surface B2 reflecting mirror 2.2 used by the tracking camera in pairing with the A element 1, a free-form surface B3 reflecting mirror 2.3 used by the tracking camera in pairing with the C element 1 and a movement mechanism 2.4. The kinematic system 2.4 is in the position shown in the figure when the camera is operating in the search mode and the kinematic system 2.4 is momentarily rotated 90 degrees when the camera is operating in the tracking mode.
The design result of the COOK type off-axis three-mirror optical system of the search camera is shown in fig. 7, and the structural parameters of the sub-optical system of the search camera are shown in the following table. The optical field of view of the search system is 14 degrees and the angular resolution is 1.2E-4rad.
Table 1: searching for camera sub-optical system structural parameters
| Parameters (parameters) | Main mirror A element (1) | Secondary mirror B1 reflector (2.1) | Three-mirror C element (3) |
| Surface type | Even aspherical surface | Even aspherical surface | Even aspherical surface |
| Radius of curvature/mm | -224.322 | -113.857 | -221.260 |
| Mirror spacing/mm | -66.665 | 66.655 | -65.240 |
| Radius/mm | 62.292 | 10.657 | 44.762 |
| Conic | -3.734 | -19.540 | 4.781 |
| Coefficient value of 4 th order term | -2.455E-008 | -1.319E-006 | 1.587E-007 |
| Coefficient value of 6 th order term | 4.795E-013 | 1.237E-009 | 1.910E-011 |
| Coefficient value of 8 th order term | / | / | 4.105E-015 |
The design of the R-C-like optical system of the tracking camera is shown in fig. 8, wherein the primary mirror system of the system comprises an a element 1 and a C element 3 and is shared with the search camera, the parameters of which are shown in table 1, and the secondary mirror system consists of a B2 mirror 2.2 paired with the a element 1 and a B3 mirror 2.3 paired with the C element 1, the structural parameters of which are shown in table 2 below. The field of view of the tracking system is 0.1 degrees and the angular resolution is 5.6E-5rad.
Table 2: tracking minor system structural parameters of a camera sub-optical system
| Parameters (parameters) | Secondary mirror B2 reflector (2.2) | Secondary mirror B3 reflector (2.3) |
| Radius of curvature/mm | 33.000 | 23.500 |
| Distance to primary mirror/mm | 130.000 | 125.000 |
| Quadric surface coefficient | 128.954 | -66.162 |
| Coefficient value of quadratic term | -2.806E-004 | 1.794E-004 |
| Coefficient value of fourth term | -1.109E-003 | 2.950E-004 |
| Coefficient value of the sixth order term | 1.986E-005 | -2.197E-006 |
| Coefficient value of octave | 5.958E-006 | / |
| Coefficient value of ten times term | 2.578E-007 | / |
| Coefficient of ten quadratic termsValue of | -2.087E-007 | / |
| Coefficient value of ten-fourth term | 9.723E-009 | / |
| Coefficient value of the nineteenth term | -9.672E-010 | / |
Claims (1)
1. A search and tracking integrated camera, characterized by:
the sub-optical system of the search and tracking integrated camera in the wide-area search working mode and the sub-optical system of the key tracking working mode share a large-caliber optical element; the specific structural form of the overlapping of the light paths of the sub-optical systems in the two working modes is as follows: the sub-optical system of the wide area searching working mode is a COOK type three-reflection optical system comprising an A reflector (1), a B1 reflector (2.1) of a B element (2) and a C reflector (3), and wide area target light beams are collected by the energy of the A reflector (1) and then are converged on a long linear array focal plane (4) by the optical system; the sub-optical system of the key tracking working mode is an optical system similar to an R-C structure and comprising an A reflector (1), a B2 reflector (2.2) and a B3 reflector (2.3) of a B element (2), a C reflector (3) and an optical element (5), and light beams of the key tracking area are collected by the energy of the A reflector (1) and the C reflector (3) and then are converged on an area array focal plane (6) by the optical system; the mirror A (1), the element B (2) and the mirror C (3) are optical elements shared by the two working mode sub-optical systems, and the physical space between every two elements of the mirror A (1), the element B (2) and the mirror C (3) is a shared space area of the two working mode sub-optical systems;
the B element (2) is an optical element comprising a plurality of complex curved surface shape co-bodies of a B1 reflecting mirror (2.1), a B2 reflecting mirror (2.2), a B3 reflecting mirror (2.3) and a moving mechanism (2.4), the position of the B element (2) is moved through translation or rotation operation of the moving mechanism (2.4), the B1 reflecting mirror (2.1), the A reflecting mirror (1) and the C reflecting mirror (3) form an optical system meeting the image quality requirement of a wide area searching working mode, the camera is in the wide area searching working mode, and the B2 reflecting mirror (2.2), the B3 reflecting mirror (2.3), the A reflecting mirror (1), the C reflecting mirror (3) and the optical element (5) form an optical system meeting the image quality requirement of the important tracking working mode, so that the camera is in the important tracking working mode.
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| CN110941075B (en) * | 2019-11-28 | 2022-07-05 | 中国科学院微电子研究所 | Reflective optical system and installation and adjustment testing method thereof |
| CN114185162B (en) * | 2021-11-16 | 2022-09-16 | 中国科学院上海技术物理研究所 | Simple search and tracking integrated optical system |
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