CN109507687B - Search and tracking integrated device and implementation method thereof - Google Patents
Search and tracking integrated device and implementation method thereof Download PDFInfo
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- CN109507687B CN109507687B CN201910031900.5A CN201910031900A CN109507687B CN 109507687 B CN109507687 B CN 109507687B CN 201910031900 A CN201910031900 A CN 201910031900A CN 109507687 B CN109507687 B CN 109507687B
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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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- 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
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention discloses a search and tracking integrated device, which comprises a two-dimensional servo turntable, an imaging detection module, a search module and a control module, wherein the two-dimensional servo turntable is connected with the imaging detection module; the two-dimensional servo turntable is used for driving the search module and the imaging detection module to execute rotation along an azimuth axis and a pitching axis; the imaging detection module is used for realizing real-time imaging detection of an aerial flying target and sending image data to the control module; the searching module is used for executing a searching function on the dynamic flying target and transmitting the searched target data information to the control module; the control module is used for receiving the target data information sent by the search module and transmitting the target data information to the two-dimensional servo turntable, receiving and processing the image data sent by the imaging detection module, resolving the pointing deviation and transmitting the pointing deviation to the two-dimensional servo turntable. The device of the invention enables the searching and photoelectric tracking to work cooperatively on the same platform through the space optimization layout, the searching module and the photoelectric detector have mutually non-shielding visual fields, the structure is more compact, and the space requirement for arrangement is low.
Description
Technical Field
The invention relates to the technical field of detection and tracking, in particular to a search and tracking integrated device and an implementation method thereof.
Background
The existing searching and photoelectric tracking equipment are independent systems:
1) The searching device is mainly divided into photoelectric searching device and searching radar. Search radars can be divided into phased array search modules and machine scan radars. The machine-sweeping radar comprises a radar antenna and a scanning turntable, and performs 360-degree scanning in a mechanical rotation mode; the phased array search module rotates the microwave beam by using a phased array to realize 360-degree scanning.
2) Photoelectric tracking devices are widely used for tracking of an airborne target. The device mainly comprises a photoelectric detector and a two-dimensional servo turntable. The two-dimensional servo turntable comprises a T-shaped structure and a U-shaped structure. The photoelectric tracking device can also be used for laser emission aiming by adding an optical transmission channel.
In the prior art, the search device and the photoelectric tracking device are not integrated together due to the lack of an integrated design technology, which causes the following problems:
1) In order to avoid the mutual shielding of visual fields during arrangement, the search module and the photoelectric tracking equipment are required to be installed on two platforms with a larger distance, so that the required arrangement field is larger;
2) Because the searching module and the photoelectric tracking equipment are positioned on the two platforms, the coordinate systems of the searching module and the photoelectric tracking equipment are inconsistent, and the coordinate systems of the two sets of equipment are required to be calibrated after each layout is finished, so that the time and the labor are consumed;
3) Because errors exist in the coordinate acquisition and analysis processes of the system, errors exist in target position data between the search module and the photoelectric tracking equipment, and the success rate of target guiding tasks during linkage operation of the search module and the photoelectric tracking equipment is low.
Disclosure of Invention
The invention aims to overcome the defects in the background art, and provides a searching and tracking integrated device and an implementation method thereof, wherein the searching and tracking integrated device adopts an integrated structural design, and can cooperatively work on the same platform through space optimization layout, and the searching module and the photoelectric detector have the advantages of no shielding of the visual field, more compact structure and low space requirement for arrangement; meanwhile, the equipment is positioned on the same rotating platform, the relative coordinate systems are consistent, the equipment can work in a combined mode without calibration, and the layout efficiency and the task success rate of target guidance can be greatly improved.
In order to achieve the technical effects, the invention adopts the following technical scheme:
the searching and tracking integrated device comprises a two-dimensional servo turntable, an imaging detection module, a searching module and a control module; the two-dimensional servo turntable is used for driving the search module and the imaging detection module to rotate along the azimuth axis and the pitching axis so as to realize the pointing and tracking of an aerial flying target; the imaging detection module is used for realizing real-time imaging detection of an aerial flying target and sending image data to the control module; the searching module is used for executing a searching function on the dynamic flying target and transmitting the searched target data information to the control module; the control module is used for receiving the target data information sent by the search module, transmitting the target data information to the two-dimensional servo turntable, controlling the two-dimensional servo turntable to track the flying target, receiving and processing the image data sent by the imaging detection module, resolving the pointing deviation and transmitting the pointing deviation to the two-dimensional servo turntable; when the imaging detection system is used, the search module searches the target through continuous scanning, and once the target is found, the control module calculates the azimuth of the target and sends the azimuth to the two-dimensional servo turntable to guide the two-dimensional servo turntable to drive the imaging detection module to track the target in real time.
Further, the two-dimensional servo turntable comprises an azimuth axis driving motor, a pitching axis driving motor and a rack, wherein the rack is used for providing mounting support for each functional module, and an imaging detection module mounting seat is arranged on a pitching axis of the rack (namely, the pitching axis of the two-dimensional servo turntable); a search module mounting seat is arranged on a frame azimuth axis (namely a two-dimensional servo turntable azimuth axis), and a mounting platform of an azimuth axis driving motor, a pitching axis driving motor and a control module is arranged in the frame; the azimuth axis driving motor is arranged in the frame and used for driving the imaging detection module and the search module to rotate around the azimuth axis direction; the pitching axis driving motor is arranged in the frame and used for driving the imaging detection module to rotate around the pitching axis.
Furthermore, the two-dimensional servo turntable and the searching module are provided with independent rotating shafts, and the two-dimensional servo turntable drives the imaging detection module to rotate around the azimuth axis and the pitching axis of the two-dimensional servo turntable so as to capture and track a target; the search module is arranged on the azimuth axis turntable of the two-dimensional servo turntable, rotates along the azimuth axis of the two-dimensional servo turntable along with the two-dimensional servo turntable, and simultaneously rotates and scans around the azimuth axis of the search module independently.
Further, the imaging detection module is mounted on an imaging detection module mounting seat, and the imaging detection module is composed of one or more optical imaging detectors.
Further, the optical imaging detector is a visible light imaging detector, a glimmer imaging detector, an infrared imaging detector, a telescope or a range finder.
Furthermore, the optical imaging detector is also provided with a laser emission unit, so that the searching and tracking integrated device can be used for photoelectric tracking aiming and laser emission.
Furthermore, an optical transmission channel is arranged on the two-dimensional servo turntable, a window serving as a laser entering channel is reserved on the side surface of the bottom of the two-dimensional servo turntable, and interference and damage treatment on a dynamic target can be realized by adding a laser source.
Furthermore, the searching module is fixed on the azimuth axis of the two-dimensional servo turntable through a searching module mounting seat, and the searching module is staggered in the height direction when being mounted with the imaging detection module.
Further, the searching module is one of photoelectric searching equipment, a mechanical scanning radar or a phased array scanning radar.
Meanwhile, the invention also discloses a method for realizing the search and tracking integrated device, which comprises the following steps:
A. the searching module executes searching scanning on the dynamic target;
B. the search module sends the alarm information and the target position to the control module when finding the target;
C. the control module sends the processed target position as guiding information to the two-dimensional servo turntable, and the two-dimensional servo turntable drives the azimuth axis and the pitching axis to rotate according to the guiding information so as to drive the imaging detection module to point to the target;
D. the imaging detection module carries out imaging detection on the target and sends video information to the control module;
E. the control module processes the video information, extracts a flying target in the video, calculates target aiming deviation, and drives the two-dimensional servo turntable to rotate according to the deviation amount, so that high-precision tracking of the flying target is realized.
Specifically, in step C, the control module receives the target position sent by the search module, performs coordinate conversion processing, converts the target position based on the radar coordinate system to the target position based on the two-dimensional servo turntable coordinate system, and sends the processed target position as guiding information to the two-dimensional servo turntable, and the coordinate system is converted into general knowledge, which is not described herein.
In step E, the processing of the received video information by the control module mainly includes extracting a dynamic object in the video image, and obtaining a pixel position (x 1 ，y 1 ) And is aligned with the pixel position (x 0 ，y 0 ) Subtracting to obtain aiming deviation (x 1 -x 0 ，y 1 -y 0 ) And converts the deviation into an angular aiming deviation (theta x ，θ y ) The specific conversion formula is as follows,
where (α, β) is the field angle of the detector of the imaging detection module and (m, n) is the number of detector pixels of the imaging detection module.
The control module obtains the angular aiming deviation (θ x ，θ y ) Thereafter, the deviation (θ x ，θ y ) As a control quantity, the azimuth motor drives the two-dimensional servo turntable to rotate along an azimuth axis, and the pitching motor drives the two-dimensional servo turntable to rotate along a pitching axis, so that closed-loop control is realized, wherein a closed-loop control algorithm belongs to a general technology and is not repeated herein.
During the movement of the target, the high-precision tracking of the target is maintained through the image processing and the closed-loop control, namely, the target is ensured to be always positioned at the center cross.
Compared with the prior art, the invention has the following beneficial effects:
the searching and tracking integrated device adopts a novel two-dimensional servo turntable structure, realizes the searching and photoelectric tracking integrated design, ensures that the two devices can work cooperatively on the same platform, has compact structure and has low space requirement for arrangement; meanwhile, the space optimization layout with staggered height is adopted, the visual fields are not blocked, and searching and tracking can be synchronously realized in 360-degree azimuth;
in the searching and tracking integrated device, a mode that the searching module directly guides the photoelectric tracking and aiming device (the two-dimensional servo turntable and the imaging detection module) is adopted, after an aerial target is obtained, the data is directly forwarded through the control module, the azimuth of the target is sent to the photoelectric tracking and aiming device, the photoelectric tracking and aiming device is guided to track the target in real time, and the tracking response speed is high.
Drawings
Fig. 1 is a front view of a search tracking integrated device of the present invention.
FIG. 2 is a side view of the search tracking integrated device of the present invention.
Fig. 3 is a schematic view of the corresponding rotation axes in the search tracking integrated device of the present invention.
Fig. 4 is a schematic workflow diagram of the search tracking integrated device of the present invention.
FIG. 5 is a schematic view of a video image interface of an integrated search and tracking device in operation, in accordance with an embodiment of the present invention.
Reference numerals: the device comprises a 1-two-dimensional servo turntable, a 2-imaging detection module, a 3-search module, a 4-search module mounting seat, a 5-two-dimensional servo turntable azimuth axis, a 6-two-dimensional servo turntable pitching axis, a 7-search module azimuth axis, an 8-video image interface, a 9-image center cross and a 10-target.
Detailed Description
The invention is further illustrated and described below in connection with the following examples of the invention.
Examples:
embodiment one:
as shown in fig. 1 and 2, a search and tracking integrated device basically comprises a two-dimensional servo turntable 1, an imaging detection module 2, a search module 3 and a control module.
The two-dimensional servo turntable 1 is used for driving the searching module 3 and the imaging detection module 2 to rotate along a two-dimensional servo turntable azimuth axis 5 and a two-dimensional servo turntable pitching axis 6, and the target flying in the air is pointed and tracked. The two-dimensional servo turntable 1 comprises an azimuth axis driving motor, a pitching axis driving motor and a rack.
In particular, the chassis adopts a new configuration design for providing mounting support for each functional module. An imaging detection module mounting seat is arranged on the pitching axis of the frame; a search module mounting seat 4 is arranged on the azimuth axis of the frame, and the search module mounting seat 4 is connected with the bottom of the search module 3; an azimuth axis driving motor, a pitching axis driving motor and a control module mounting platform are arranged in the frame.
The azimuth axis driving motor is used for driving the imaging detection module 2 and the search module 3 to rotate around the azimuth axis 5 direction of the two-dimensional servo turntable, and is arranged on an installation platform in the frame. The pitching axis driving motor is used for driving the imaging detection module 2 to rotate around the pitching axis 6 of the two-dimensional servo turntable. The pitching axis driving motor is arranged on an installation platform in the frame.
The imaging detection module 2 is used for realizing real-time imaging detection of an air target and sending image data to the control module, and specifically comprises one or more optical imaging detectors. The imaging detection module 2 is arranged on an imaging detection module mounting seat on a pitching axis 6 of the two-dimensional servo turntable, and can rotate along with the two-dimensional servo turntable 1 around a azimuth axis 5 of the two-dimensional servo turntable and the pitching axis 6 of the two-dimensional servo turntable.
The search module 3 is used for executing a search function for dynamic targets and transmitting the searched target data information to the control module. The search module 3 is fixed on the azimuth axis 5 of the two-dimensional servo turntable through the search module mounting seat 4. The searching module 3 and the imaging detection module 2 are staggered in the height direction when being installed, and the two fields of vision are not blocked.
Specifically, as shown in fig. 3, the two-dimensional servo turntable 1 and the search module 3 have independent rotation axes. The two-dimensional servo turntable 1 drives the imaging detection module 2 to rotate around a two-dimensional servo turntable azimuth axis 5 and a two-dimensional servo turntable pitching axis 6, so that capturing and tracking of a target are realized; the search module 3 is mounted on the azimuth axis turntable of the two-dimensional servo turntable 1, and rotates along the azimuth axis 5 of the two-dimensional servo turntable along with the two-dimensional servo turntable 1, while the search module 3 independently rotates and scans around the azimuth axis 7 of the search module.
The control module is used for receiving the target data information sent by the search module 3 in the search stage, transmitting the target data information to the two-dimensional servo turntable 1 and controlling the two-dimensional servo turntable 1 to track a target; meanwhile, the control module is used for receiving and processing the image data sent by the imaging detection module 2 in the tracking stage, resolving the pointing deviation and transmitting the pointing deviation to the two-dimensional servo turntable 1. The control module is arranged on an installation platform inside the two-dimensional servo turntable 1.
Preferably, in the present embodiment, the searching module 3 adopts one of a photoelectric searching device, a mechanical scanning radar, or a phased array scanning radar.
In particular, the imaging detection module 2 may employ one or more of a visible light imaging detector, a low-light imaging detector, an infrared imaging detector, a telescope, and a range finder.
Meanwhile, by adding an optical transmission channel in the two-dimensional servo turntable 1 and adding a laser emission unit on the imaging detection module 2, the searching and tracking integrated device of the embodiment can be further used for photoelectric tracking aiming and laser emission. In the preferred embodiment, a window is reserved on the side surface of the bottom of the two-dimensional servo turntable 1 and is used as a window for a laser entering channel, and by adding a laser light source, the interference and damage treatment on a dynamic target can be realized.
Example two
As shown in fig. 4, after the search module 3 obtains the target information in operation, the search tracking integrated device of the first embodiment directly transmits the azimuth angle, pitch angle and distance information of the target to the photoelectric tracking device, and the specific working procedure is as follows:
step one: the searching module 3 performs searching scanning on the dynamic target;
step two: once the search module 3 finds the moving target, it sends target information (alarm information and target position) to the control module;
step three: the control module sends the processed target position as guiding information to the two-dimensional servo turntable 1, and the two-dimensional servo turntable 1 drives the azimuth axis and the pitching axis to rotate according to the guiding information so as to drive the imaging detection module 2 to point to the target;
step four: the imaging detection module 2 carries out imaging detection on the target and sends video information to the control module;
step five: the control module processes the video information: and extracting a flying target in the video, solving target aiming deviation, and driving the two-dimensional servo turntable 1 to rotate according to the deviation, so as to realize high-precision tracking of the flying target.
Specifically, in the third step, the control module receives the target position sent by the search module 3, then performs coordinate conversion processing, converts the target position based on the radar coordinate system to the target position based on the coordinate system of the two-dimensional servo turntable 1, and sends the processed target position as guiding information to the two-dimensional servo turntable 1, so that the coordinate system is converted into general knowledge, which is not described herein.
As shown in fig. 5, in step five, the processing of the received video information by the control module mainly includes extracting the dynamic object 10 in the video image interface 8 first, and obtaining the pixel position (x 1 ，y 1 ) And is aligned with the pixel position (x 0 ，y 0 ) Subtracting to obtain aiming deviation (x 1 -x 0 ，y 1 -y 0 ) And converts the deviation into an angular aiming deviation (theta x ，θ y ) The specific conversion formula is as follows,
where (α, β) is the field angle of the detector of the imaging detection module 2, and (m, n) is the number of detector pixels of the imaging detection module 2.
The control module obtains the angular aiming deviation (θ x ，θ y ) Thereafter, the deviation (θ x ，θ y ) As a control quantity, the azimuth motor drives the two-dimensional servo turntable 1 to rotate along an azimuth axis, and the pitching motor drives the two-dimensional servo turntable 1 to rotate along a pitching axis, so that closed-loop control is realized, wherein a closed-loop control algorithm belongs to a general technology and is not repeated herein.
During the movement of the object, a high precision tracking of the object is maintained by the aforementioned image processing and closed loop control, i.e. it is ensured that the object is always located at the image center cross 9.
From the above, in the searching and tracking integrated device, the relative coordinate system of the searching module 3 and the photoelectric tracking and aiming device is consistent, the device can work jointly without calibration, and the success rate of the target guiding task is over 90% after the test measurement shows that the equipment arrangement time is reduced from 3 hours to 0.5 hour.
It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.
Claims (8)
1. The searching and tracking integrated device is characterized by comprising a two-dimensional servo turntable, an imaging detection module, a searching module and a control module; the two-dimensional servo turntable is used for driving the searching module and the imaging detection module to execute rotation along the azimuth axis of the two-dimensional servo turntable and the pitching axis of the two-dimensional servo turntable, so that the aerial flying target is pointed and tracked; the imaging detection module is used for realizing real-time imaging detection of an aerial flying target and sending image data to the control module; the searching module is used for executing a searching function on the dynamic flying target and transmitting the searched target data information to the control module; the control module is used for receiving the target data information sent by the search module, transmitting the target data information to the two-dimensional servo turntable, controlling the two-dimensional servo turntable to track the flying target, receiving and processing the image data sent by the imaging detection module, resolving the pointing deviation and transmitting the pointing deviation to the two-dimensional servo turntable;
the two-dimensional servo turntable comprises an azimuth axis driving motor, a pitching axis driving motor and a rack, wherein the rack is used for providing mounting support for each functional module, and an imaging detection module mounting seat is arranged on the pitching axis of the rack; a search module mounting seat is arranged on the azimuth axis of the frame, and a mounting platform of an azimuth axis driving motor, a pitching axis driving motor and a control module is arranged in the frame;
the azimuth shaft driving motor is arranged in the frame and used for driving the imaging detection module and the search module to rotate around the azimuth shaft direction of the two-dimensional servo turntable; the pitching shaft driving motor is arranged in the frame and used for driving the imaging detection module to rotate around the pitching shaft of the two-dimensional servo turntable;
the two-dimensional servo turntable and the search module are provided with independent rotating shafts, the search module is installed on the azimuth shaft of the two-dimensional servo turntable through the installation seat of the search module, rotates along the azimuth shaft of the two-dimensional servo turntable along with the two-dimensional servo turntable, simultaneously and independently rotates and scans around the azimuth shaft of the search module, and the two-dimensional servo turntable drives the imaging detection module to rotate around the azimuth shaft of the two-dimensional servo turntable and the pitching shaft of the two-dimensional servo turntable, so that capturing and tracking of a target are realized.
2. The integrated search and tracking device of claim 1, wherein the imaging detection module is mounted on an imaging detection module mount, the imaging detection module being comprised of one or more optical imaging detectors.
3. The integrated search and tracking device of claim 2, wherein the optical imaging detector is a visible light imaging detector, a low-light imaging detector, an infrared imaging detector, a telescope, or a range finder.
4. The integrated search and tracking device according to claim 2, wherein the optical imaging detector is further provided with a laser emitting unit.
5. The integrated search and tracking device according to claim 2, wherein the two-dimensional servo turntable is provided with an optical transmission channel, and a window serving as a laser entering channel is reserved on the bottom side surface of the two-dimensional servo turntable.
6. The integrated search and tracking device according to claim 1, wherein the search module is fixed on an azimuth axis of the two-dimensional servo turntable through a search module mounting seat, and the search module is staggered in a height direction when being mounted with the imaging detection module.
7. The integrated search and tracking apparatus of any one of claims 1 to 6, wherein the search module is one of a photoelectric search device, a mechanically scanned radar, or a phased array scanned radar.
8. The method for implementing a search and tracking integrated device according to any one of claims 1 to 7, comprising the steps of:
A. the searching module executes searching scanning on the dynamic target;
B. the search module sends the alarm information and the target position to the control module when finding the target;
C. the control module sends the processed target position as guide information to the two-dimensional servo turntable, and the two-dimensional servo turntable drives the two-dimensional servo turntable azimuth axis and the two-dimensional servo turntable pitching axis to rotate according to the guide information so as to drive the imaging detection module to point to the target;
D. the imaging detection module carries out imaging detection on the target and sends video information to the control module;
E. the control module processes the video information, extracts a flying target in the video, calculates target aiming deviation, and drives the two-dimensional servo turntable to rotate according to the deviation amount, so that high-precision tracking of the flying target is realized.
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| CN112034893A (en) * | 2019-05-18 | 2020-12-04 | 九江精密测试技术研究所 | T-shaped structure searching and turning platform |
| CN111006651B (en) * | 2019-11-22 | 2022-06-10 | 西安翔迅科技有限责任公司 | Target tracking data recording portable device and observing and tracking equipment |
| CN111147136B (en) * | 2019-11-26 | 2021-12-31 | 武汉华中天经通视科技有限公司 | Device and method for quickly and asynchronously positioning large-angle laser target |
| CN111336983A (en) * | 2019-12-24 | 2020-06-26 | 哈尔滨新光光电科技股份有限公司 | Dynamic tracking and aiming method and system for optical system |
| CN112164196B (en) * | 2020-11-17 | 2022-06-14 | 杨荣 | Intrusion target alert positioning device and method based on photoelectric imaging technology |
| CN112630773A (en) * | 2020-12-16 | 2021-04-09 | 航天科工微电子系统研究院有限公司 | Photoelectric tracking and control equipment based on common-frame radar composite detection |
| CN113759376B (en) * | 2021-09-22 | 2023-09-19 | 上海无线电设备研究所 | Autonomous detection imaging integrated radar device |
| CN117269953A (en) * | 2023-11-23 | 2023-12-22 | 武汉工程大学 | Distributed radar guided photoelectric tracking and identifying device and method |
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