CN109738163A - One kind being applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device - Google Patents
One kind being applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device Download PDFInfo
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- CN109738163A CN109738163A CN201910041940.8A CN201910041940A CN109738163A CN 109738163 A CN109738163 A CN 109738163A CN 201910041940 A CN201910041940 A CN 201910041940A CN 109738163 A CN109738163 A CN 109738163A
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Abstract
The present invention proposes a kind of applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device.By introducing reference laser in electro-optical tracking device, the position of benchmark luminous point picture is extracted in detector to obtain system image rotation angle, the effective miss distance for the image rotation that disappears is obtained using method of multiblade coordinates.The miss distance can be used as the tracking error control amount of photoelectric follow-up.The angle measurement device for not needing rotating platform provides angle information amount in real time, it is only necessary to the amount of relative rotation angle beta of real-time detection reference light picture point and reference zero point moment reference light picture point on the detector.The rotation angle includes the amount of relative rotation between the rotation amount information and system light path internal mirror of the Multi-dimension Motion Platform, generates spin matrix, the original miss distance (γ of the matrix premultiplication by rotation angle βy,γz), finally obtain racemization miss distance (γy1,γz1).This method is simple and racemization is missed the target accuracy of measurement height, precision are not influenced by factors such as rotating platform installation accuracy, angle measurement device angle measurement accuracys.
Description
Technical field
The invention belongs to the technical fields such as optical engineering, tracing control, and in particular to one kind is applied to electro-optical tracking device
In disappear image rotation miss distance acquisition methods.
Background technique
The image rotation that disappears miss distance acquisition methods are applied to electro-optical tracking device system to the tracing control of target.Target light passes through
The Multi-dimension Motion Platform, which reaches detector imaging, can generate rotation, and extracted target picture point miss distance is caused to contain motion platform
Rotational motion information, the not real motion feature of reflection target, the miss distance information without racemization cannot function as system
Error is controlled, system tracking failure is otherwise caused.Previous light beam racemization generally uses hardware light beam despinner or software motion flat
Two methods of platform Angle Information, wherein containing transmission mechanisms such as gears inside light beam despinner, the movement of transmission mechanism is uneven
It surely will affect the stability of target picture point；And the Angle Information method of motion platform is used to will receive angular measurement sensor angle measurement accuracy
Influence, and only include that the rotation angle information of motion platform should comprising the rotation information between internal mirror
Method is also influenced by system equipment motion platform orthogonality to a certain extent, has very high requirement to system adjustment precision.And
The image rotation processing that disappears is carried out to miss distance using method of the invention, it is simple and easy, do not need the angle measurement letter of motion platform sensor
Breath, it is only necessary to which detector provides location information, and reliability is further promoted, and angle measurement accuracy is also above previous side
Method.
Summary of the invention
For above disappear image rotation method the technical issues of, propose it is a kind of be easier to realize be applied to electro-optical tracking device in disappear
The miss distance acquisition methods of image rotation, this method can fundamentally solve the above problems.
In order to achieve the object of the present invention, the present invention provide it is a kind of be easier to realize be applied to disappear picture in electro-optical tracking device
Miss distance acquisition methods are revolved, solving technical solution used by its technical problem includes: transmitting beam of laser as reference light,
Laser beam coupling after collimation is introduced electro-optical tracking device by laser, beam collimation mirror and pyramid mirror by the entrance pupil front end of system
System；Tracking equipment starts before tracking target, image point position of the calibration record reference laser beam on detector target surface coordinate system
Information forms a vector OP with detector target surface zero point of reference frame0；When target picture enters system detector, by image procossing system
System obtains the original miss distance information (γ of the target with image rotation under detector target surface coordinate systemy,γz), the detection base from the moment
The position of quasi- laser picture point forms vector OP with detector target surface zero point of reference frame1, calculate vector OP0With vector OP1Angle
β.Coordinate spin matrix R is formed by angle ββ, the original miss distance information (γ of premultiplication targety,γz), obtain the image rotation miss distance that disappears
Information (γy1,γz1)。
Wherein, the laser beam of introducing needs to adjust the angle of light beam and the system optical axis according to the visual field ω of device systems, makes
The image point position P of reference laser on the detector0(y, z) range finder co-ordinate zero point O (0,0) is greater than 2/3rds visual fields.
The invention has the following advantages over the prior art:
1. simply by virtue of reference laser and detector as angle measurement tool, just it is capable of measuring to obtain system equipment multi-dimensional movement flat
The motion information of platform, compared to existing use light beam despinner and using for the angle measurement of angle measurement device, this method is simple and easy,
And good economy performance；
2. passing through whole system optical path using reference laser beam, the motion information of the Multi-dimension Motion Platform is not only contained, also
Internal system image rotation noise as caused by external environmental interference is contained, the image rotation angle precision and tracking accuracy measured wants high
In existing method；
3. comparing the method for using the angle measurement of angle measurement device to disappear image rotation, this method is using the preceding picture for only needing calibration system equipment
Revolve zero point, be not required to demarcate influence of the direction of motion to image rotation of each motion platform, can greatly save in use time cost and
High reliablity.
Detailed description of the invention
Fig. 1 is the layout signal of the miss distance acquisition methods proposed by the present invention applied to the image rotation that disappears in electro-optical tracking device
Figure, wherein 1 is primary mirror, and 2 be laser, and 3 be beam collimation mirror, and 4 be benchmark source of parallel light, and 5 be pyramid mirror, and 6 be secondary mirror, and 7 are
Detection system.
Fig. 2 is telescope (pitching shafting) and detector coordinates system schematic diagram.
Fig. 3 is the image rotation miss distance coordinate rotation solution schematic diagram that disappears.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
Miss distance acquisition methods proposed by the present invention applied to the image rotation that disappears in electro-optical tracking device, comprising: in system
Laser beam coupling after collimation is introduced electro-optical tracking device system by laser 2, beam collimation mirror 3 and pyramid mirror 5 by entrance pupil front end
System；Benchmark source of parallel light 4 is formed by laser 2 and beam collimation mirror 3, tracking equipment starts before tracking target, calibration record base
Image point position information of the quasi- laser beam on the detector target surface coordinate system of detection system 7, with detector target surface zero point of reference frame
Form vector OP0；When target picture enters the detector of detection system 7, by image processing system acquisition in detector target surface coordinate
The original miss distance information of target under system with image rotation detects the position of reference laser picture point, with detector target surface from the moment
Zero point of reference frame forms vector OP1, calculate vector OP0With vector OP1Angle β.Coordinate spin matrix R is formed by angle ββ,
The original miss distance information (γ of premultiplication targety,γz), obtain the image rotation miss distance information (γ that disappearsy1,γz1)。
Specific step is as follows:
Step 1: the miss distance for providing the image rotation that is applied to disappear in electro-optical tracking device of the invention according to Fig. 1 and Fig. 2 obtains
The schematic layout pattern and telescope (i.e. pitching shafting) and detector coordinates system schematic diagram of the reference laser optical path of method, by small-sized
The benchmark source of parallel light 4 that laser 2 and beam collimation mirror 3 form is installed on the front end of electro-optical tracking device, and installation site is such as
Shown in Fig. 2；Collimation laser original direction is backed into tracking system by being installed on the pyramid mirror 5 above electro-optical tracking device, such as
Shown in Fig. 1.Fig. 1 shows the integral layout of reference laser optical path.Fig. 2 shows the coordinate system of telescope and detector, two
A coordinate system all uses right-handed coordinate system.
Step 2: providing telescope of the invention (i.e. pitching shafting) and detector coordinates system schematic diagram according to fig. 2, rotate
The motion platform of device systems, such as azimuth axle and pitching shafting make telescope coordinate system and detector coordinates system keep one
It causes.The angle in initial adjustment collimation laser source and the system optical axis, makes the picture point of collimation laser be located at 1 position, i.e. detector is sat
The dead-center position for marking system, shows that collimated laser beam is consistent with the system optical axis at this time；Adjust collimation laser source and the system optical axis
Angle, make the picture point of collimation laser be moved to 2 points or 2 ' point positions.Wherein 2 points and 2 ' points setting in 2/3 visual field of system with
Outer position avoids the extraction to target imaging and miss distance from impacting on the one hand far from target picture point, on the other hand remote
Vector OP can be improved from detector coordinates zero point O0With vector OP1Calculation accuracy.
Step 3: providing telescope of the invention (i.e. pitching shafting) respectively with Fig. 3 according to fig. 2 and detector coordinates system shows
The image rotation miss distance coordinate that is intended to and disappears rotation solves schematic diagram, is extracted to demarcate and record to collimate by detector image processing system and be swashed
2 points of light image or 2 ' points position (shown in Fig. 2), the picture point are equal to collimation laser picture point P in Fig. 30(y, z), as shown in figure 3, with
Detector target surface zero point of reference frame O (0,0) forms vector OP0.Fig. 3 shows reference laser and mesh on system detector target surface
Mark the position miss distance information of picture point.
Step 4: providing the image rotation miss distance coordinate rotation that disappears of the invention according to Fig. 3 solves schematic diagram, when target picture enters
System detector obtains the original miss distance information of the target with image rotation under detector target surface coordinate system by image processing system
(γy,γz), the position P of reference laser picture point is detected from the moment1(y ', z '), with detector target surface zero point of reference frame O shape
At vector OP1。
Step 5: providing the image rotation miss distance coordinate rotation that disappears of the invention according to Fig. 3 solves schematic diagram, by angle formulae β
=acos (OP0,OP1)=(OP0·OP1)/(|OP0|·|OP1|) calculate vector OP0With vector OP1Angle β.By two vectors
Multiplication cross judges that angle β is clockwise or counterclockwise, if vector OP0In two elements be (y, z), vector OP1In two elements be (y ',
Z '), seeking the cross product of two vectors is OP0×OP1=(yz ')-(y ' z).If cross product OP0×OP1> 0, indicate that angle β is inverse
Hour hands, then coordinate spin matrix is Rβ=[cos β, sin β；-sinβ,cosβ].If cross product OP0×OP1< 0, indicate that angle β is
Clockwise, then coordinate spin matrix is Rβ=[cos (- β), sin (- β)；-sin(-β),cos(-β)].
Step 6: providing the image rotation miss distance coordinate rotation that disappears of the invention according to Fig. 3 solves schematic diagram, coordinate spin matrix
RβThe original miss distance information (γ of premultiplication targety,γz) to get to the miss distance information (γ for the image rotation that disappearsy1,γz1)=Rβ·(γy,
γz)。
Embodiment described above is only limitted to explain that the present invention, protection scope of the present invention should include the whole of claim
Content, and the full content of the claims in the present invention can be thus achieved by embodiment person skilled in art.
Claims (2)
1. one kind is applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device characterized by comprising transmitting is a branch of to swash
Light is coupled the laser beam after collimation by laser, beam collimation mirror and pyramid mirror in the entrance pupil front end of system as reference light
Introduce electro-optical tracking device system；Tracking equipment starts before tracking target, and calibration record reference laser beam is sat in detector target surface
Mark the image point position information P fastened0(y, z) forms vector OP with detector target surface zero point of reference frame O (0,0)0；Target picture enters
System detector obtains the original miss distance information of the target with image rotation under detector target surface coordinate system by image processing system
(γy,γz), the position P of reference laser picture point is detected from the moment1(y ', z '), with detector target surface zero point of reference frame O shape
At vector OP1, calculate vector OP0With vector OP1Angle β；Coordinate spin matrix R is formed by angle ββ, by matrix RβPremultiplication
The original miss distance information (γ of targety,γz), obtain the image rotation miss distance information (γ that disappearsy1,γz1)。
2. according to claim 1 be applied to the image rotation miss distance acquisition methods that disappear in electro-optical tracking device, it is characterised in that:
The laser beam of introducing needs to adjust the angle of light beam and the system optical axis according to the visual field ω of device systems, is detecting reference laser
Image point position P on device0(y, z) range finder co-ordinate zero point O (0,0) is greater than 2/3rds visual fields.
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| CN110608717A (en) * | 2019-09-19 | 2019-12-24 | 中国科学院长春光学精密机械与物理研究所 | Method and system for tracking horizontal telescope image elimination rotation target and electronic equipment |
| CN110715795A (en) * | 2019-10-14 | 2020-01-21 | 中国科学院光电技术研究所 | Calibration and measurement method for fast reflector in photoelectric tracking system |
| CN111879338A (en) * | 2020-07-28 | 2020-11-03 | 安徽中科美络信息技术有限公司 | Electronic map-based driving track planning compensation method and device |
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| CN113237439A (en) * | 2021-04-30 | 2021-08-10 | 长春理工大学 | Decoupling tracking method of periscopic laser communication terminal |
| CN113608186A (en) * | 2021-09-13 | 2021-11-05 | 中国工程物理研究院应用电子学研究所 | Calibration method for radar system and photoelectric imaging system |
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| CN110715795A (en) * | 2019-10-14 | 2020-01-21 | 中国科学院光电技术研究所 | Calibration and measurement method for fast reflector in photoelectric tracking system |
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| CN113188765A (en) * | 2021-04-23 | 2021-07-30 | 长光卫星技术有限公司 | Test system for MTF and anti-dispersion test of visible light detector |
| CN113237439A (en) * | 2021-04-30 | 2021-08-10 | 长春理工大学 | Decoupling tracking method of periscopic laser communication terminal |
| CN113237439B (en) * | 2021-04-30 | 2022-07-15 | 长春理工大学 | Decoupling tracking method of periscopic laser communication terminal |
| CN113608186A (en) * | 2021-09-13 | 2021-11-05 | 中国工程物理研究院应用电子学研究所 | Calibration method for radar system and photoelectric imaging system |
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