CN109708659A - A kind of distributed intelligence photoelectricity low latitude guard system - Google Patents
A kind of distributed intelligence photoelectricity low latitude guard system Download PDFInfo
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Abstract
The invention discloses a kind of distributed intelligence photoelectricity low latitude guard systems, imaging system is distributed including the photoelectricity based on laser active illumination, and server and display and control terminal, photoelectricity is distributed imaging system and passes through LAN connection server and display and control terminal, display and control terminal obtains business information by connection server and realizes human-computer interaction, and photoelectricity distribution imaging system includes single station photodetection subsystem of multiple distributed settings.This system includes work step following six: system detection and parameter configuration, photodetection low target, distributed subsystem scheduling of resource, binocular/multi-vision visual imaging, target video automatically track evidence obtaining and human-computer interaction and intergrated information display.
Description
Technical field
The present invention relates to low latitude unmanned air vehicle technique control field more particularly to a kind of distributed intelligence photoelectricity low latitude protection systems
System.
Background technique
In recent years, civilian small miniature drone development is swift and violent, and unmanned plane quantity is at geometric growth, and the management of unmanned plane
Serious lag.Unmanned plane " black to fly ", " disorderly flying " phenomenon are got worse, flight safety of the unmanned plane to civil aviation, military aviation
Constitute new threat.It is counted according to FAA, the event that annual unmanned plane influences flight is more than 1000, is and is in rise year by year
Gesture.It is seriously threatened it can be seen that unmanned plane produces aviation safety, how effectively to detect, identify and monitor low latitude unmanned plane,
Existing technology and equipment is relied on, carries out mature, reliable and inexpensive detection system for ensureing that civil aviaton, army flight safety has
Significance.
Currently, single to the detection of small miniature drone target, identification and monitoring means, it is difficult to realize to unmanned plane target
Quick three-dimensional positioning is effectively monitored to target classification identification, to cooperation unmanned plane, it is difficult to be reached round-the-clock all weather operations and be wanted
It asks.For existing system generally using radar as core detection system, price is more expensive.Patent CN101285883 proposes one kind
Mobile radar bird-exploring device is only able to achieve target two-dimensional detection, can not achieve target classification identification；Patent CN106932753A
It is proposed a kind of anti-UAV system based on UAV's telecomma signal monitoring, direction cross positioning, the system investigative range
Small, positioning accuracy is poor, cannot obtain unmanned plane identity information；In addition, patent CN205958746U propose it is a kind of include radar and
The anti-unmanned plane detection system of photoelectricity, the system is when visual condition is bad, it is difficult to realize target identification, it cannot be to cooperative target
It is monitored.
Summary of the invention
To solve the above-mentioned problems, the present invention proposes a kind of distributed intelligence photoelectricity low latitude guard system, including based on sharp
The photoelectricity distribution imaging system and server and display and control terminal of light active illumination, the photoelectricity distribution imaging system pass through office
Domain net connection server and display and control terminal, the display and control terminal are also connect with server；The photoelectricity is distributed imaging system
Single station photodetection subsystem of multiple distributed settings.
Distributed intelligence photoelectricity low latitude guard system includes following several work steps:
S1. system detection and parameter configuration: system boots up self-test, working condition is entered when without exception, and carry out work ginseng
Number configuration, the running parameter configuration including each single station photodetection subsystem and server；
S2. photodetection low target: single station photodetection subsystem executes comprehensive automatic search and finds low latitude invasion
Target, receive server passback target track or location information after, capture target simultaneously it is tracked and is identified, on
The pose and characteristic information for reporting target are to server, then judge whether to intercept the target, finally calculate the landing place of target；?
In this step, as long as target enters single station photodetection subsystem detection viewing field, i.e., image is recorded and mark mesh in real time
Target location information；
S3. distributed subsystem scheduling of resource: the target relevant information that server is reported according to single station photodetection subsystem,
The orientation and pitch information of target is roughly calculated, and combines the relative position of each single station photodetection subsystem, starting is for the first time
Detect single station photodetection subsystem around single station photodetection subsystem of target；
S4. binocular/multi-vision visual imaging: the multistation photoelectricity being made of two or more single station photodetection subsystems
Detection subsystem is directed toward by the working condition and the optical axis that configure adjacent sites, and using the image-forming principle of camera, passes through binocular
Or multi-vision visual realizes the position measurement of target；
S5. target video automatically tracks evidence obtaining: according to target bearing, pitching and the location information obtained, being converted into photoelectricity and turns
Platform and camera control parameter realize the blur-free imaging to target；Image procossing is carried out again, and estimating target motion parameter adjusts light
Electric turntable and camera control parameter, realization automatically track the video of target；
S6. human-computer interaction and intergrated information display: display and control terminal is read and the comprehensive letter of fused target in display server
Breath, cartographic information and system instantaneous operating conditions information.
Further, single station photodetection subsystem includes: ray machine rack, measurement TV subsystem, laser lighting
Subsystem, servo subsystem, Master Communications subsystem and image recording subsystem, the Master Communications subsystem connection service
Device, display and control terminal, ray machine rack, measurement TV subsystem, laser lighting subsystem and servo subsystem, described image record point
System connection measurement TV subsystem and servo subsystem, the servo subsystem are also connect with ray machine rack.
Further, in the step S2, single photodetection subsystem of standing executes following steps:
S21. in the first stage of target flight, single station photodetection subsystem executes comprehensive automatic search and finds at this time
The target of low latitude invasion；
S22. in the second stage of target flight, single photodetection subsystem of standing receive the target of server passback track or
After location information, ray machine rack of quickly turning round is directed toward target, confirms and captures target；
S23. in the phase III of target flight, single photodetection subsystem of standing carries out tenacious tracking to target, establishes target and fly
Row information, and target is identified and confirmed, while reporting the pose and characteristic information of target, situation and threat level, with
And the track and heading of target flight, and target of extrapolating enters position and the moment of fourth stage；
S24. in the fourth stage of target flight, it is confirmed whether to intercept target, if you need to intercept counter, single photoelectricity of standing is visited
Survey subsystem other than keeping target following and information to export, must also be observed in this stage and record entire interception process；
S25. calculate target landing place, when the pitch angle of target be less than certain numerical value when, that is, show target landed or
Person has been in landing state.
Further, in the step S2, server executes following steps:
Target detection: realizing background estimating using based on anisotropy background forecast, obtains entering mesh using low latitude after residual image
Target height characteristic, gray-scale watermark, scene prior information and prospect change information further reject false target, then lead to
Crossing the accumulative detection of multiframe reduces false-alarm probability；
Target following: server returns target bearing and pitch information, be converted into the camera of measurement TV subsystem focal length and
The velocity of rotation and rotation direction of the photoelectric turntable of servo subsystem, then estimating target motion parameter adjust camera focal length and light
The velocity of rotation and rotation direction of electric turntable, real-time tracking target；
Feature extraction: collecting the image of the largely unmanned plane under different conditions, angle and illumination condition and flying bird, in this, as
Target image carries out pretreatment as positive sample to them, and collects a large amount of background image as negative sample；Profile is used again
The identification feature of feature, shape feature, statistical nature, entropy feature and GMM parameter attribute as target；
Target identification: the identification feature of target being input in SVM classifier and is trained, and utilizes trained svm classifier
Device carries out Classification and Identification to target.
Further, in the step S2, single photodetection subsystem of standing is reported to the content of server in addition to target
Pose and characteristic information, further includes: the coordinate information of single station photodetection subsystem and the view of system configuration information and target
Frequency information.
Further, the system configuration information of single station photodetection subsystem includes the system for measuring TV subsystem
Focal length, front size and number of pixels and the photoelectric turntable of servo subsystem are directed toward.
Further, the display and control terminal includes that functional areas menu bar, system parameter setting area, system monitoring information are shown
Area, system comprehensive situation information display area and photoelectric video information display area.
The beneficial effects of the present invention are: low latitude protection is realized by a kind of distributed photoelectric detecting system, compared to existing
Technology path, such as: low-altitude detection radar and frequency spectrum detecting system composition protection for, have at low cost, strong operability
And the advantage that can be layouted extensively.Meanwhile system does not emit electromagnetic wave externally, in the higher occasion of installation electromagnetical environment service requirement
Has stronger adaptability.
Detailed description of the invention
Fig. 1 is system physical composition block diagram；
Fig. 2 is single station photoelectric detecting system composition block diagram；
Fig. 3 is system each unit crosslinking relationship；
Fig. 4 is single station photodetection subsystem work flow diagram；
Fig. 5 is low latitude invader testing process；
Fig. 6 is intrusion target tracking workflow；
Fig. 7 is the target's feature-extraction based on SVM；
Fig. 8 is low latitude invader identification process；
Fig. 9 is multistation networking photodetection subsystem work schematic diagram；
Figure 10 is that the unmanned plane of view-based access control model system flies hand positioning schematic diagram.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, this hair of Detailed description of the invention is now compareed
Bright specific embodiment.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The present invention, i.e., described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually here
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations.Therefore, with
Under the range of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings,
But it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not making wound
Every other embodiment obtained under the premise of the property made is worked, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figure 1, distributed intelligence photoelectricity low latitude guard system, including the photoelectricity distribution imaging system based on laser active illumination
System and server and display and control terminal, photoelectricity are distributed imaging system by LAN connection server and display and control terminal, show control eventually
End is also connect with server, and photoelectricity distribution imaging system includes single station photodetection subsystem of multiple distributed settings, specifically
:
Single station photodetection subsystem receives the control instruction and realization that display and control terminal issues: the capture of low latitude intrusion target, target
Detection, evidence obtaining and tracking, laser active illumination and intrusion flight target identification.
Local area network is that whole system is the data such as control instruction, business datum, system state data and long-range update upgrading
Physical link is provided.
Server receives and stores the image information that single station photodetection subsystem obtains, in conjunction with each single station photodetection
Distributed photoelectric detecting system is realized in coordinate information, running parameter and the target bearing of acquisition and range information of subsystem
Resource management and traffic control；The return data for also receiving the photonics of invader, analyzes return data, completes
The work such as analyte detection, feature extraction, identification, tracking and evidence obtaining are invaded, and save corresponding business datum；Form the comprehensive report of target
Literary information, including the comprehensive point track of target, classification, identity information and tracking video information；Load offline 2/3D cartographic information, root
Working condition detection is carried out according to instruction, forms self-test information；By target integrated information, map environment information, work state information
Comprehensive display and control terminal is transferred to be shown.
Comprehensive display and control terminal carries out human-computer interaction, is configured to system operational parameters, target information that system is obtained,
Video information, cartographic information, work state information are shown.
In addition, this system further includes the power supply for system components power supply, the interrelated relationship of each component units of system, letter
It is as shown in Figure 3 to cease interactive relation.
Embodiment 2
The present embodiment is the optimal enforcement example based on embodiment 1, as shown in Fig. 2, single station photodetection subsystem includes: ray machine machine
Frame, measurement TV subsystem, laser lighting subsystem, servo subsystem, Master Communications subsystem and image recording subsystem, it is main
Control communication subsystem connection server, display and control terminal, ray machine rack, measurement TV subsystem, laser lighting subsystem and servo
Subsystem, image recording subsystem connection measurement TV subsystem and servo subsystem, servo subsystem also connect with ray machine rack
It connects.Specifically, ray machine rack provides support for system；It measures TV subsystem and realizes target imaging, and is complete by multi-vision visual
It is measured at object pose；Laser lighting subsystem increases measurement TV under conditions of visibility is low, through illumination light filling means
The detectivity of subsystem；Servo subsystem realizes two-freedom SERVO CONTROL, and adjustment measurement TV subsystem optical axis is directed toward；It is main
It controls communication subsystem and realizes complete machine control and communication function；Image recording subsystem is the storage system of system, storage equipment fortune
The image for acquiring or recording during row.
Embodiment 3
The present embodiment is the optimal enforcement example based on embodiment 2, as shown in figure 4, the specific works of single station photodetection subsystem
Process is as follows:
1) in the AB stage of target flight, single station photodetection subsystem executes comprehensive automatic search and finds that low latitude enters at this time
The target invaded；
2) in the BC stage of target flight, single photodetection subsystem of standing receives the track or position letter of the target of server passback
After breath, ray machine rack of quickly turning round is directed toward target, confirms and captures target；
3) in the CD stage of target flight, single photodetection subsystem of standing carries out tenacious tracking to target, establishes target flight letter
Breath, and target is identified and confirmed, while reporting pose and characteristic information, situation and threat level and the mesh of target
The track and heading of flight are marked, and target of extrapolating enters position and the moment in DE stage；
4) in the DE stage of target flight, it is confirmed whether to intercept target, if you need to intercept counter, single photodetection subsystem of standing
System other than keeping target following and information to export, must also be observed in this stage and record entire interception process；
5) calculate target landing place, when the pitch angle of target be less than certain numerical value when, that is, show target landed or
It has been in landing state.
It needs to record image, and mark in real time as long as target enters detector field of view in above each stage
The location information of target, so as to subsequent analysis evidence obtaining.
Embodiment 4
The present embodiment is the optimal enforcement example based on embodiment 3, executes its specific workflow in singly station photodetection subsystem
During, it is specific as follows in the detection of server sync performance objective, target following, feature extraction and object recognition task:
1) target detection
Small in staring imaging or initial guide image-forming condition, invading unmanned plane or flying bird target is in Small object form in visual field.
For the Classification and Identification and tracking for realizing low latitude invader, the first small target deteection under completion complex background.During tracking,
It can include in the sky, ground sundries in visual field in the imaging system of big visual field since platform has very strong mobility, and
And scene changes are quickly.Background estimating is realized using based on anisotropy background forecast, is entered after obtaining residual image using low latitude
False mesh further is rejected in height characteristic, flying object gray-scale watermark, scene prior information and the prospect variation etc. for invading object
Mark.False-alarm probability is reduced by the accumulative detection of multiframe, realizes the detection of low latitude intrusion target.Low latitude invader testing process, such as Fig. 5
It is shown.
2) target following
Server returns target bearing, pitch information, is converted into the photoelectric turntable control parameter and measurement TV of servo subsystem
The camera control parameter of subsystem specifically includes photoelectric turntable velocity of rotation, rotation direction, camera focal length, to realize to target
Blur-free imaging.Estimating target motion parameter adjusts photoelectric turntable and camera control parameter, realizes to Automatic Target Tracking.Enter
Target following workflow is invaded, as shown in Figure 6.Since low latitude invader flight path has certain time variation, big boundary is smart
Serial unmanned plane has the movement such as hovering, acceleration, deceleration, and the operation characteristic of birds is more complicated, and flying speed is also faster.Base
It is equal that acceleration zero-mean in Singer model is improved to self adaptable acceleration in the Kalman Prediction filtering algorithm of statistical model
Value, it is believed that the acceleration of target subsequent time can only in the neighborhood of current acceleration so that tracking accuracy and performance obtain compared with
It is big to improve.In binocular vision system, realize that the details of low latitude invader is imaged using monocular, and other vision system is to mesh
Mark carries out wide field staring imaging, realizes the tracking of invasion point target, effectively reduces the difficult point and system turntable of Tracking
The cost of design.
3) feature extraction
In order to avoid influence of noise image quality, the loss of feature is caused, using contour feature, shape feature, statistical nature, entropy
The identification feature of feature, GMM parameter attribute as target, will be in this, as the input of SVM classifier.It collects and largely exists first
The target images such as unmanned plane, flying bird under different conditions, angle and illumination condition carry out pretreatment as positive sample to them；
A large amount of background image is collected as negative sample.The feature of training sample is obtained by extracting above-mentioned target signature, is input to SVM
It is trained in training aids, as shown in Figure 7.
4) target identification
It is first away from after according to binocular or more range estimations after realizing target detection under large viewing field condition in order to identify low latitude invader
Beginning range information realizes system zoom, and the system focal length of tracking camera is adjusted in conjunction with image definition evaluation index.To invader
After carrying out blur-free imaging, Image Acquisition is realized, do premise preparation to carry out invader identification.Target based on statistical-simulation spectrometry
Recognizer regards target identification as distinguishes type belonging to target from sample, it is desirable that with a large amount of before to target identification
Sample trains the classifier of the target, utilizes the trained object classifiers to carry out Classification and Identification.Target is realized using SVM
Identification, for the identification process of invader, as shown in Figure 8.
Embodiment 5
The present embodiment is the optimal enforcement example based on embodiment 4, distributed subsystem scheduling of resource:
After singly station photodetection subsystem detects low latitude invader for certain, itself coordinate information, system configuration information are reported
(including measure TV subsystem system focal length, front size and number of pixels and the turntable of servo subsystem be directed toward) and
Invader is roughly calculated in video information to server, the detection of server performance objective, tracking, feature extraction and identification mission
Orientation and pitch information, and the relative position distribution in the orientation, pitch information and each single station photodetection subsystem is combined to open
Single station photodetection subsystem around the dynamic single station photodetection subsystem for detecting invader for the first time, is realized to invader
Capture, tracking and identification.
Embodiment 6
The present embodiment is the optimal enforcement example based on embodiment 5, and binocular/multi-vision visual is imaged:
Multistation photodetection subsystem is that the working condition and the optical axis by configuring adjacent sites are directed toward, former using the imaging of camera
Reason realizes that the position of invasion unmanned plane measures by binocular/multi-vision visual.Multistation photodetection subsystem by two or two with
On single station photodetection subsystem composition, pass through photodetection in optical calibrating means record station in singly station installation process
Its relative coordinate system is mapped under the body coordinate system at protection scene by the relative pose information between system, realizes multi-site
Joint monitoring forms more mesh monitoring.Using multi-vision visual, wider field range on the one hand is realized by Multi-sensor Fusion means
Interior low-altitude surveillance, until the entire low latitude range at covering monitoring scene；In addition, multi-vision visual is realized in networking detection, using more
The working mechanism visually felt realizes unmanned plane Absolute position measurement, provides speed, angular speed, the distance of unmanned plane for display and control terminal
Etc. flight informations.
Embodiment 7
The present embodiment is the optimal enforcement example based on embodiment 6, and target video automatically tracks evidence obtaining:
According to the target bearing of acquisition, pitching, range information, it is converted into photoelectric turntable velocity of rotation and rotation direction and picture
Machine focal length realizes the blur-free imaging to target, carries out Real-Time Forensics to low latitude intrusion event.Image procossing is carried out, estimates target
Kinematic parameter, adjusts photoelectric turntable, camera control parameter, and realization automatically tracks the video of target.In binocular vision system
In tracking application for, using monocular realize low latitude invader details be imaged, and other vision system to target carry out
Wide field staring imaging, realizes the tracking of invasion point target, effectively reduces the difficult point and system turret design of Tracking
Cost.
Embodiment 8
The present embodiment is the optimal enforcement example based on embodiment 7, and unmanned plane flies hand position estimation:
Illustrate the system flow of multistation associated working by taking binocular vision as an example, as shown in figure 9, when unmanned plane appears in some website
Visual field in when, be directed toward according to optical axis and the position that occurs on detector target surface of point target substantially resolve unmanned plane current sub
System ontology measures the initial orientation and pitching under coordinate system.Relative coordinate allotment adjacent sites according to adjacent sites participate in
Target acquisition, tracking and identification are invaded, it is first under adjacent sites measurement coordinate system to convert solution invasion unmanned plane by relative coordinate
Beginning orientation and pitching, and its running parameter is configured, ray machine rack head is turned by servo subsystem control and is combined with current site
Low latitude invasion unmanned plane is imaged, the angle information for reading servo subsystem after stablizing imaging is realized, in conjunction between website
Relative position and invasion unmanned plane absolute position speculate unmanned plane fly hand position.
To the monitoring targets of interest of any position, once into monitoring system, the sensor of distributed arrangement passes through letter
Breath exchange, can perceive its position, and server is enable to provide optimal sensing using its location information for target following and monitoring
Device.It is as shown in Figure 10 that unmanned plane manipulator positions schematic diagram.The pose measurement of invasion unmanned plane is surveyed using binocular vision
Amount, it is assumed that the pose that the T moment is sitting in by the unmanned plane that binocular vision system measurement obtains for 1 region top, due to nobody
Machine flies hand and carries out flight operation to unmanned plane by remote-control data chain, and unmanned aerial vehicle remote control data link is to the operating distance of unmanned plane
It is limited, about 1Km.It is located at the top in 2 regions in the pose that the T+1 moment measures unmanned plane, and the T+2 moment measures nobody
The pose of machine is located at the top in 3 regions.It is assumed that the distance that unmanned plane flies hand movement is shorter, then foundation in measurement process three times
The performance indicator of detection system and the operating distance of remote-control data chain, it is known that unmanned plane flies hand position and is located at 1 region, 2 regions and 3
Three, region region repeats the region of covering, i.e. region where triangle.
Embodiment 9
The present embodiment is the optimal enforcement example based on embodiment 1, human-computer interaction and intergrated information display:
For display and control terminal using man-machine friendly interaction design, it includes functional areas menu bar, system parameter setting area, system monitoring letter
Cease viewing area, system comprehensive situation information display area and photoelectric video information display area.It is merged in display and control terminal reading service device
Target integrated information, cartographic information and real-time system work state information afterwards, and carry out intergrated information display.
The above is only a preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be at this
In the text contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection scope of appended claims of the present invention
It is interior.
In the description of the present invention, it should be noted that term " first ", " second ", " third " etc. are only used for distinguishing and retouch
It states, is not understood to indicate or imply relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be also wired connection, be also possible to be wirelessly connected.
Claims (7)
1. a kind of distributed intelligence photoelectricity low latitude guard system, which is characterized in that including the photoelectricity based on laser active illumination point
Cloth imaging system and server and display and control terminal, the photoelectricity distribution imaging system is by LAN connection server and shows
Control terminal, the display and control terminal are also connect with server；The photoelectricity distribution imaging system includes the list of multiple distributed settings
It stands photodetection subsystem；
Distributed intelligence photoelectricity low latitude guard system includes following several work steps:
S1. system detection and parameter configuration: system boots up self-test, working condition is entered when without exception, and carry out work ginseng
Number configuration, the running parameter configuration including each single station photodetection subsystem and server；
S2. photodetection low target: single station photodetection subsystem executes comprehensive automatic search and finds low latitude invasion
Target, receive server passback target track or location information after, capture target simultaneously it is tracked and is identified, on
The pose and characteristic information for reporting target are to server, then judge whether to intercept the target, finally calculate the landing place of target；?
In this step, as long as target enters single station photodetection subsystem detection viewing field, i.e., image is recorded and mark mesh in real time
Target location information；
S3. distributed subsystem scheduling of resource: the target relevant information that server is reported according to single station photodetection subsystem,
The orientation and pitch information of target is roughly calculated, and combines the relative position of each single station photodetection subsystem, starting is for the first time
Detect single station photodetection subsystem around single station photodetection subsystem of target；
S4. binocular/multi-vision visual imaging: the multistation photoelectricity being made of two or more single station photodetection subsystems
Detection subsystem is directed toward by the working condition and the optical axis that configure adjacent sites, and using the image-forming principle of camera, passes through binocular
Or multi-vision visual realizes the position measurement of target；
S5. target video automatically tracks evidence obtaining: according to target bearing, pitching and the location information obtained, being converted into photoelectricity and turns
Platform and camera control parameter realize the blur-free imaging to target；Image procossing is carried out again, and estimating target motion parameter adjusts light
Electric turntable and camera control parameter, realization automatically track the video of target；
S6. human-computer interaction and intergrated information display: display and control terminal is read and the comprehensive letter of fused target in display server
Breath, cartographic information and system instantaneous operating conditions information.
2. a kind of distributed intelligence photoelectricity low latitude according to claim 1 guard system, which is characterized in that the Dan Zhanguang
Electric detection subsystem includes: ray machine rack, measurement TV subsystem, laser lighting subsystem, servo subsystem, Master Communications point
System and image recording subsystem, the Master Communications subsystem connection server, display and control terminal, ray machine rack, measurement TV
Subsystem, laser lighting subsystem and servo subsystem, described image record subsystem connection measurement TV subsystem and servo
Subsystem, the servo subsystem are also connect with ray machine rack.
3. a kind of distributed intelligence photoelectricity low latitude according to claim 2 guard system, which is characterized in that the step S2
In, single photodetection subsystem of standing executes following steps:
S21. in the first stage of target flight, single station photodetection subsystem executes comprehensive automatic search and finds at this time
The target of low latitude invasion；
S22. in the second stage of target flight, single photodetection subsystem of standing receive the target of server passback track or
After location information, ray machine rack of quickly turning round is directed toward target, confirms and captures target；
S23. in the phase III of target flight, single photodetection subsystem of standing carries out tenacious tracking to target, establishes target and fly
Row information, and target is identified and confirmed, while reporting the pose and characteristic information of target, situation and threat level, with
And the track and heading of target flight, and target of extrapolating enters position and the moment of fourth stage；
S24. in the fourth stage of target flight, it is confirmed whether to intercept target, if you need to intercept counter, single photoelectricity of standing is visited
Survey subsystem other than keeping target following and information to export, must also be observed in this stage and record entire interception process；
S25. calculate target landing place, when the pitch angle of target be less than certain numerical value when, that is, show target landed or
Person has been in landing state.
4. a kind of distributed intelligence photoelectricity low latitude according to claim 2 guard system, which is characterized in that the step S2
In, server executes following steps:
Target detection: realizing background estimating using based on anisotropy background forecast, obtains entering mesh using low latitude after residual image
Target height characteristic, gray-scale watermark, scene prior information and prospect change information further reject false target, then lead to
Crossing the accumulative detection of multiframe reduces false-alarm probability；
Target following: server returns target bearing and pitch information, be converted into the camera of measurement TV subsystem focal length and
The velocity of rotation and rotation direction of the photoelectric turntable of servo subsystem, then estimating target motion parameter adjust camera focal length and light
The velocity of rotation and rotation direction of electric turntable, real-time tracking target；
Feature extraction: collecting the image of the largely unmanned plane under different conditions, angle and illumination condition and flying bird, in this, as
Target image carries out pretreatment as positive sample to them, and collects a large amount of background image as negative sample；Profile is used again
The identification feature of feature, shape feature, statistical nature, entropy feature and GMM parameter attribute as target；
Target identification: the identification feature of target being input in SVM classifier and is trained, and utilizes trained svm classifier
Device carries out Classification and Identification to target.
5. a kind of distributed intelligence photoelectricity low latitude according to claim 2 guard system, which is characterized in that the step S2
In, single photodetection subsystem of standing is reported to the content of server in addition to the pose and characteristic information of target, further includes: Dan Zhanguang
The coordinate information and system configuration information of electric detection subsystem and the video information of target.
6. a kind of distributed intelligence photoelectricity low latitude according to claim 5 guard system, which is characterized in that the Dan Zhanguang
The system configuration information of electric detection subsystem includes system focal length, front size and the number of pixels for measuring TV subsystem, with
And the photoelectric turntable of servo subsystem is directed toward.
7. a kind of distributed intelligence photoelectricity low latitude according to claim 1 guard system, which is characterized in that the aobvious control is eventually
End include functional areas menu bar, system parameter setting area, system monitoring information display area, system comprehensive situation information display area and
Photoelectric video information display area.
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