CN109116372A - Target simulation method, system and the device of infrared follow-up device - Google Patents
Target simulation method, system and the device of infrared follow-up device Download PDFInfo
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- CN109116372A CN109116372A CN201811058270.2A CN201811058270A CN109116372A CN 109116372 A CN109116372 A CN 109116372A CN 201811058270 A CN201811058270 A CN 201811058270A CN 109116372 A CN109116372 A CN 109116372A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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- Computer Networks & Wireless Communication (AREA)
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The present invention provides a kind of target simulation methods of infrared follow-up device comprising the steps of: step S1: obtaining the flight parameter of simulated target, the flight parameter includes initial time t0；Step S2: according to the technical parameter of the infrared follow-up device of acquisition, t at any one time is obtained, simulated target is in the information as the direct imaging position in plane；Step S3: t is obtained0To the time of t, turntable turns data；Step S4: according to the data of turning of the information of direct imaging position and turntable, simulated target is obtained in the information as the actual imaging position in plane.Correspondingly, the present invention also provides the target simulation systems and device of a kind of infrared follow-up device.The present invention can arbitrarily set flight parameter, such as initial position, flying speed, course angle of target etc. by software programming, and the target motion conditions restricted gender that can be simulated is small, be not necessarily to other development equipment.
Description
Technical field
The present invention relates to infrared acquisition fields, and in particular, to a kind of target simulation method, the system of infrared follow-up device
And device.
Background technique
Whether civil systems or military systems, the infrared tracking system in system detected by Target under Complicated Background and
Track algorithm captures the target in simultaneously tenacious tracking visual field, and according to system requirements, target information is supplied to its in system
His equipment.Generally for the closed loop test for completing system function, need to construct a set of moving target simulation system.Moving target mould
Quasi- system cost is high, and its test case that can be provided is limited, and can only simulate several case of motion, it cannot be guaranteed that being
The integrality of unified test examination.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of target simulation sides of infrared follow-up device
Method, system and device.
The target simulation method of the infrared follow-up device provided according to the present invention comprising the steps of:
Step S1: obtaining the flight parameter of simulated target, and the flight parameter includes initial time t0；
Step S2: according to the technical parameter of the infrared follow-up device of acquisition, t at any one time is obtained, simulated target is in picture
The information of direct imaging position in plane；
Step S3: t is obtained0To the time of t, turntable turns data；
Step S4: according to the data of turning of the information of direct imaging position and turntable, simulated target is obtained on as plane
Actual imaging position information.
Preferably, the flight parameter also includes the following contents: initial oblique distance R0, initial azimuth A0, the initial angle of site
E0, simulated target with respect to infrared follow-up device meet head on flight when heading with respect to course angle ψ that optical axis is directed toward, simulated target
Flying speed v；
The technical parameter of the infrared follow-up device includes the following contents: infrared detector pixel number M × N, infrared view
Field size α × β, optical system focal length f and pixel dimension μ；
Wherein, M, N are respectively column pixel number, row pixel number；α, β are respectively azimuth direction field angle, height direction visual field
Angle；The column position of direct imaging position, line position set respectively m ', n '；
The data of turning of the turntable include the following contents: turning azimuth measurement Δ A and Δ E is measured in the angle of site；
The column position of actual imaging position, line position set respectively m, n.
Preferably, in the step S4, actual imaging position calculates as follows:
The target simulation method of infrared follow-up device also includes step S5: according to the information of actual imaging position, being generated folded
Added with the IR Scene image of simulated target；It calculates and obtains simulated target azimuthWith the simulated target angle of site
Preferably, in the step S2, direct imaging position is obtained by following either step:
Step S2.1: enabling ψ=90 °, and simulated target azimuth direction velocity component is v, and height direction velocity component is 0, presses
Following formula calculates direct imaging position:
Step S2.2: enabling ψ=0 °, and simulated target azimuth direction velocity component is 0, and height direction velocity component is v, by with
Lower formula calculates direct imaging position:
The present invention also provides a kind of target simulation systems of infrared follow-up device, comprising with lower module:
Module M1: obtaining the flight parameter of simulated target, and the flight parameter includes initial time t0；
Module M2: according to the technical parameter of the infrared follow-up device of acquisition, t at any one time is obtained, simulated target is in picture
The information of direct imaging position in plane；
Module M3: t is obtained0To the time of t, turntable turns data；
Module M4: according to the data of turning of the information of direct imaging position and turntable, simulated target is obtained on as plane
Actual imaging position information.
Preferably, the flight parameter also includes the following contents: initial oblique distance R0, initial azimuth A0, the initial angle of site
E0, simulated target with respect to infrared follow-up device meet head on flight when heading with respect to course angle ψ that optical axis is directed toward, simulated target
Flying speed v；
The technical parameter of the infrared follow-up device includes the following contents: infrared detector pixel number M × N, infrared view
Field size α × β, optical system focal length f and pixel dimension μ；
Wherein, M, N are respectively column pixel number, row pixel number；α, β are respectively azimuth direction field angle, height direction visual field
Angle；The column position of direct imaging position, line position set respectively m ', n '；
The data of turning of the turntable include the following contents: turning azimuth measurement Δ A and Δ E is measured in the angle of site；
The column position of actual imaging position, line position set respectively m, n.
Preferably, in the module M4, actual imaging position calculates as follows:
The target simulation system of infrared follow-up device also includes module M5: according to the information of actual imaging position, being generated folded
Added with the IR Scene image of simulated target；It calculates and obtains simulated target azimuthWith the simulated target angle of site
Preferably, in the module M2, direct imaging position is obtained by following any module:
Module M2.1: enabling ψ=90 °, and simulated target azimuth direction velocity component is v, and height direction velocity component is 0, presses
Following formula calculates direct imaging position:
Module M2.2: enabling ψ=0 °, and simulated target azimuth direction velocity component is 0, and height direction velocity component is v, by with
Lower formula calculates direct imaging position:
It include infrared follow-up device and turntable the present invention also provides a kind of target simulator of infrared follow-up device,
Infrared follow-up device is mounted on turntable；
The infrared follow-up device includes infrared optical system, infrared detector and signal processing circuit；Signal processing electricity
Road includes the target simulation system of above-mentioned infrared follow-up device.
It preferably, also include host computer；
The infrared follow-up device is connect by the CAN bus communication interface of setting with turntable；Infrared follow-up device passes through
The CAN bus communication interface of setting is connect with SDI video interface with the host computer；
The infrared detector includes infrared focal plane array detector.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention can arbitrarily set the flight parameter of target by software programming, for example, initial position, flying speed,
Course angle etc., the target motion conditions restricted gender that can be simulated is small, is not necessarily to other development equipment；
2, it has no special requirements to place, facility requirements, it is easy to use, it is at low cost, as having for moving target simulation system
Effect supplement, can be improved the integrality of system testing.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the specific implementation flow of the target simulation method of infrared follow-up device of the present invention；
Fig. 2 is the interface relationship figure of infrared follow-up device and host computer, turntable；
Fig. 3 is optical system imaging schematic illustration, and initial time target images in p through optical system on as plane0
Point；T moment target images in p through optical system on as plane1Point.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
As shown in Figure 1, the target simulation method of infrared follow-up device provided by the invention comprising the steps of: step S1:
The flight parameter of simulated target is obtained, the flight parameter includes initial time t0；Step S2: it is filled according to the infrared track of acquisition
The technical parameter set obtains t at any one time, and simulated target is in the information as the direct imaging position in plane；Step S3: it obtains
Take t0To the time of t, turntable turns data；Step S4: turning data according to the information of direct imaging position and turntable,
Simulated target is obtained in the information as the actual imaging position in plane.
In embodiment, the flight parameter also includes the following contents: initial oblique distance R0, initial azimuth A0, the initial angle of site
E0, simulated target with respect to infrared follow-up device meet head on flight when heading with respect to course angle ψ that optical axis is directed toward, simulated target
Flying speed v；The technical parameter of the infrared follow-up device includes the following contents: infrared detector pixel number M × N, infrared
Visual field size α × β, optical system focal length f and pixel dimension μ；Wherein, M, N are respectively column pixel number, row pixel number；α, β points
It Wei not azimuth direction field angle, height direction field angle；The column position of direct imaging position, line position set respectively m ', n '；It is described
The data of turning of turntable include the following contents: turning azimuth measurement Δ A and Δ E is measured in the angle of site；The column of actual imaging position
Respectively m, n are set in position, line position.
In the step S4, actual imaging position calculates as follows:
The target simulation method of infrared follow-up device also includes step S5: according to the information of actual imaging position, being generated folded
Added with the IR Scene image of simulated target；It calculates and obtains simulated target azimuthWith the simulated target angle of siteIn the step S2, direct imaging position is obtained by following either step:
Step S2.1: enabling ψ=90 °, and simulated target azimuth direction velocity component is v, and height direction velocity component is 0, presses
Following formula calculates direct imaging position:
Step S2.2: enabling ψ=0 °, and simulated target azimuth direction velocity component is 0, and height direction velocity component is v, by with
Lower formula calculates direct imaging position:
Correspondingly, the present invention also provides a kind of target simulation systems of infrared follow-up device, comprising with lower module: module
M1: obtaining the flight parameter of simulated target, and the flight parameter includes initial time t0；Module M2: according to acquisition it is infrared with
The technical parameter of track device obtains t at any one time, and simulated target is in the information as the direct imaging position in plane；Module
M3: t is obtained0To the time of t, turntable turns data；Module M4: according to turning for the information of direct imaging position and turntable
Data obtain simulated target in the information as the actual imaging position in plane.
In embodiment, the flight parameter also includes the following contents: initial oblique distance R0, initial azimuth A0, the initial angle of site
E0, simulated target with respect to infrared follow-up device meet head on flight when heading with respect to course angle ψ that optical axis is directed toward, simulated target
Flying speed v；The technical parameter of the infrared follow-up device includes the following contents: infrared detector pixel number M × N, infrared
Visual field size α × β, optical system focal length f and pixel dimension μ；Wherein, M, N are respectively column pixel number, row pixel number；α, β points
It Wei not azimuth direction field angle, height direction field angle；The column position of direct imaging position, line position set respectively m ', n '；It is described
The data of turning of turntable include the following contents: turning azimuth measurement Δ A and Δ E is measured in the angle of site；The column of actual imaging position
Respectively m, n are set in position, line position.
In the module M4, actual imaging position calculates as follows:
The target simulation system of infrared follow-up device also includes module M5: according to the information of actual imaging position, being generated folded
Added with the IR Scene image of simulated target；It calculates and obtains simulated target azimuthWith the simulated target angle of siteIn the module M2, direct imaging position is obtained by following any module:
Module M2.1: enabling ψ=90 °, and simulated target azimuth direction velocity component is v, and height direction velocity component is 0, presses
Following formula calculates direct imaging position:
Module M2.2: enabling ψ=0 °, and simulated target azimuth direction velocity component is 0, and height direction velocity component is v, by with
Lower formula calculates direct imaging position:
It include infrared follow-up device and turntable the present invention also provides a kind of target simulator of infrared follow-up device,
Infrared follow-up device is mounted on turntable；The infrared follow-up device includes at infrared optical system, infrared detector and signal
Manage circuit；Signal processing circuit includes the target simulation system of above-mentioned infrared follow-up device.The target mould of infrared follow-up device
Quasi- device also includes host computer；The infrared follow-up device is connect by the CAN bus communication interface of setting with turntable；It is red
Outer tracking device is connect by the CAN bus communication interface of setting with SDI video interface with the host computer.Preferably,
The infrared detector includes infrared focal plane array detector.
In practical application, detection, tracking of the infrared follow-up device for aerial suspicious object, what is generated is infrared
Scene image includes background and target two parts, and background is sky cloud background, and target is aircraft figure, and target is in the picture
Position determined by m, n.CAN bus communication interface is for obtaining the current azimuth of turntable and the angle of site.CAN bus communication connects
Mouth is for sending azimuth and the angle of site of simulated target, and SDI video interface is for sending Infrared video image.
Preferred embodiment:
The infrared follow-up device uses amorphous silicon uncooled detector, and service band is 8~12 μm, and pixel number is 384
× 288, pixel dimension is 25 μm, and optical system focal length 45mm, F number is 0.6, and infrared visual field size is 12 ° × 9 °, described infrared
Measuring device is not less than 12km to fixed wing aircraft classification target tracking range.It defines azimuth direction to be positive to the right, height direction
It is positive downwards, field of view center is 0 ° of azimuth, 0 ° of the angle of site.Defining the image upper left corner is coordinate (0,0).
FIG. 1 to FIG. 3 is please referred to, the target simulation method of infrared follow-up device includes the following steps:
Step 1: the flight parameter of simulated target, flying speed 260m/s, oblique distance 10km are set.Enable t0Moment is 0
Moment, target course are 90 °, and azimuth is -6 °, and the angle of site is 3 °；
Step 2: according to the technical parameter of infrared follow-up device, at the t=0.04s moment, simulated target as in plane at
As line position sets n ', column position m ' are as follows:
M '=2；
N '=240；
Step 3: turntable is in t-t0The azimuth measurement Δ A turned in moment is -1 °, angle of site measurement Δ E is -0.5 °,
Then target imaging position m, n are as follows:
M=34；
N=256；
Step 4: being superimposed sky cloud background and simulated target in infrared image, and wherein simulated target is aircraft figure, mesh
Mark coordinate (256,34) in the picture.
Calculate the azimuth of simulated target, the angle of site are -4.94 °, 3.5 °, by the azimuth of target, height angle information
And infrared image is uploaded to host computer.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of target simulation method of infrared follow-up device, which is characterized in that comprise the steps of:
Step S1: obtaining the flight parameter of simulated target, and the flight parameter includes initial time t0；
Step S2: according to the technical parameter of the infrared follow-up device of acquisition, t at any one time is obtained, simulated target is as plane
On direct imaging position information；
Step S3: t is obtained0To the time of t, turntable turns data；
Step S4: according to the data of turning of the information of direct imaging position and turntable, simulated target is obtained as the reality in plane
The information of border imaging position.
2. the target simulation method of infrared follow-up device according to claim 1, which is characterized in that the flight parameter is also
Include the following contents: initial oblique distance R0, initial azimuth A0, initial angle of site E0, simulated target meets head on respect to infrared follow-up device
Flying speed v of the heading with respect to course angle ψ, simulated target that optical axis is directed toward when flight；
The technical parameter of the infrared follow-up device includes the following contents: infrared detector pixel number M × N, infrared visual field are big
Small α × β, optical system focal length f and pixel dimension μ；
Wherein, M, N are respectively column pixel number, row pixel number；α, β are respectively azimuth direction field angle, height direction field angle；Directly
It is connected into the column position of image position, line position sets respectively m ', n '；
The data of turning of the turntable include the following contents: turning azimuth measurement Δ A and Δ E is measured in the angle of site；
The column position of actual imaging position, line position set respectively m, n.
3. the target simulation method of infrared follow-up device according to claim 2, which is characterized in that in the step S4,
Actual imaging position calculates as follows:
The target simulation method of infrared follow-up device also includes step S5: according to the information of actual imaging position, generation is superimposed with
The IR Scene image of simulated target；It calculates and obtains simulated target azimuthWith the simulated target angle of site
4. the target simulation method of infrared follow-up device according to claim 2, which is characterized in that in the step S2,
Direct imaging position is obtained by following either step:
Step S2.1: enabling ψ=90 °, and simulated target azimuth direction velocity component is v, and height direction velocity component is 0, by following
Formula calculates direct imaging position:
Step S2.2: enabling ψ=0 °, and simulated target azimuth direction velocity component is 0, and height direction velocity component is v, by following public affairs
Formula calculates direct imaging position:
5. a kind of target simulation system of infrared follow-up device, which is characterized in that comprising with lower module:
Module M1: obtaining the flight parameter of simulated target, and the flight parameter includes initial time t0；
Module M2: according to the technical parameter of the infrared follow-up device of acquisition, t at any one time is obtained, simulated target is as plane
On direct imaging position information；
Module M3: t is obtained0To the time of t, turntable turns data；
Module M4: according to the data of turning of the information of direct imaging position and turntable, simulated target is obtained as the reality in plane
The information of border imaging position.
6. the target simulation system of infrared follow-up device according to claim 5, which is characterized in that the flight parameter is also
Include the following contents: initial oblique distance R0, initial azimuth A0, initial angle of site E0, simulated target meets head on respect to infrared follow-up device
Flying speed v of the heading with respect to course angle ψ, simulated target that optical axis is directed toward when flight；
The technical parameter of the infrared follow-up device includes the following contents: infrared detector pixel number M × N, infrared visual field are big
Small α × β, optical system focal length f and pixel dimension μ；
Wherein, M, N are respectively column pixel number, row pixel number；α, β are respectively azimuth direction field angle, height direction field angle；Directly
It is connected into the column position of image position, line position sets respectively m ', n '；
The data of turning of the turntable include the following contents: turning azimuth measurement Δ A and Δ E is measured in the angle of site；
The column position of actual imaging position, line position set respectively m, n.
7. the target simulation system of infrared follow-up device according to claim 6, which is characterized in that in the module M4,
Actual imaging position calculates as follows:
The target simulation system of infrared follow-up device also includes module M5: according to the information of actual imaging position, generation is superimposed with
The IR Scene image of simulated target；It calculates and obtains simulated target azimuthWith the simulated target angle of site
8. the target simulation system of infrared follow-up device according to claim 6, which is characterized in that in the module M2,
Direct imaging position is obtained by following any module:
Module M2.1: enabling ψ=90 °, and simulated target azimuth direction velocity component is v, and height direction velocity component is 0, by following
Formula calculates direct imaging position:
Module M2.2: enabling ψ=0 °, and simulated target azimuth direction velocity component is 0, and height direction velocity component is v, by following public affairs
Formula calculates direct imaging position:
9. a kind of target simulator of infrared follow-up device, which is characterized in that include infrared follow-up device and turntable, it is infrared with
Track device is mounted on turntable；
The infrared follow-up device includes infrared optical system, infrared detector and signal processing circuit；Signal processing circuit packet
Target simulation system containing infrared follow-up device described in any one of claim 5 to 8.
10. the target simulator of infrared follow-up device according to claim 9, which is characterized in that also include upper meter
Calculation machine；
The infrared follow-up device is connect by the CAN bus communication interface of setting with turntable；Infrared follow-up device passes through setting
CAN bus communication interface connect with SDI video interface with the host computer；
The infrared detector includes infrared focal plane array detector.
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| CN109116372B (en) | 2020-05-29 |
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