CN109799522A - More visual field multiple targets quick taking turn method automatically - Google Patents
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Abstract
The invention discloses a kind of more visual field multiple targets quick taking turn methods automatically, comprising: positions to tracking target, obtains the location information that tracking target is inscribed in different motion；Track is established to each tracking target according to the location information under the tracking target different moments of acquisition, it observes in current field and Trajectory Prediction is carried out to the track of targets other outside visual field while tracking target, according to the target sequences and real-time predicted position in memory list, the period is switched fast observation automatically；When automatically switching the memory target in any memory list of observation in order, suitable visual field is calculated according to the memory target and carrier aircraft current location, memory target is automatically adjusted to and blur-free imaging and is of moderate size in visual field；Target is detected, is transferred to tracking automatically if identifying successfully, if not searching target automatically adjusts sensor field of view, increases search range.The present invention is realized to tracking while target inside and outside visual field, promotes reconnaissance efficiency.
Description
Technical field
The invention belongs to target prediction search and track algorithm fields more particularly to a kind of applied in airborne photoelectric gondola
More visual field multiple targets quick taking turn method automatically.
Background technique
No matter multiple target tracking problem at military or civilian aspect suffers from very extensive application, such as in military aspect
Ballistic missile defense, air-borne early warning, air attack (Multi-target Attacking), marine surveillance (water surface naval vessel or submarine), battlefield prison
Depending on (ground tank or aerospace plane), civilian aspect includes air traffic control etc..Usually infrared and Visible Light Reconnaissance, monitoring
Farther out, since atmosphere has attenuation to infrared and visible light radiation, the visual target of system, background are bright for equipment distance objective
Degree contrast is remarkably decreased, and increases difficulty for the multiple target tenacious tracking under complex background.
Airborne photoelectric gondola integrates optics, machinery, automatic control and mechanics of communication, is the important of aerospace field
Search, reconnaissance equipment are scouted in application in actual search, multiple target needs are often occurred and are combined, but cannot be same
The case where visual field covers, therefore, tracking while in order to realize more visual field multiple targets, it is necessary to which automatic wheel is implemented to multiple targets
Patrol monitoring.
Summary of the invention
The automatic quick taking turn side that the purpose of the present invention is to provide a kind of multiple target distributions in the case of different visual fields
Method is traced and monitored while realizing multiple targets.
Used technical solution is the present invention in order to reach the goal:
A kind of more visual field multiple targets quick taking turn method automatically is provided, comprising the following steps:
Tracking target is positioned, the location information that tracking target is inscribed in different motion is obtained；
Track is established to each tracking target according to the location information under the tracking target different moments of acquisition, observation is current
Trajectory Prediction is carried out to the track of targets other outside visual field while tracking target in visual field, photoelectric platform is according in memory list
Target sequences and real-time predicted position, the period is switched fast observation automatically；
It is current according to the memory target and carrier aircraft when automatically switching the memory target in any memory list of observation in order
Position calculates suitable visual field, is automatically adjusted to memory target and blur-free imaging and is of moderate size in visual field；Then start to detect
Target is transferred to tracking automatically if identifying successfully, if not searching target automatically adjusts sensor field of view, increases search model
It encloses, if repeated detection judges that target is lost without target.
Connect above-mentioned technical proposal, to tracking target position when, handled using fixed length sliding window method, specifically according to
The historical data time from as far as close, selecting the data of regular length to carry out least square resolving in order, at next moment,
When obtaining new object location data, using the data that the time in the new target data replacement sliding window is farthest, to constantly update
Data.
Above-mentioned technical proposal is connect, when adjusting the blur-free imaging in visual field, with specific reference to the position of prediction target and carrier aircraft
Information calculates distance between the two, using distance as the index for adjusting suitable observation visual field.
Above-mentioned technical proposal is connect, when adjusting visual field, records coordinates of targets T (x in the case of Current observation target blur-free imagingT,
yT,zT), carrier aircraft coordinate P (xP,yP,zP) and visual field H, the prediction coordinate of current target to be observed is T ' (x ', y ', z '), carrier aircraft and
The distance between Current observation target is S, and the distance between carrier aircraft and target to be observed are S ', corresponds to the suitable of target to be observed
Visual field is H ', then has following relationship:
Photoelectric platform automatically adjusts field angle according to above formula behind orientation where alignment target, is transferred to target search, is working as
It include gray feature, shape feature, textural characteristics according to clarification of objective information, as differentiation target and background in preceding image
Judgement foundation, will meet judgement foundation target marked as mesh 20 to be tracked, real-time modeling method.
Above-mentioned technical proposal is connect, in tracking space, if target has exceeded investigative range for a period of time, deleting should
Targetpath, to reduce unnecessary computing cost.
Connect above-mentioned technical proposal, when being tracked to multiple target, photoelectric platform to N number of target timesharing carry out acquisition and tracking,
Consecutive tracking simultaneously establishes track, carries out track amendment to target by the secondary tune side of a ship, while carrying out course extrapolation to other targets,
N number of target circulation is calculated.
Above-mentioned technical proposal is connect, during multiple target tracking, photoelectric platform automatic cycle switches observed object, in photoelectricity
Platform switches observed direction to when setting the goal, according to the current GPS coordinate of carrier aircraft, the attitude angle of carrier aircraft, photoelectric platform side
Parallactic angle, pitch angle and predicted position to be set the goal seek current time carrier aircraft and target link under earth coordinates
Azimuth and pitch angle are rotated to the orientation.
The beneficial effect comprise that: the automatic taking turn of more visual fields, multiple target may be implemented in the present invention, to distribution
It is relatively wide, multiple targets that single visual field can not cover, respectively to each target following, position and establish track, in observation visual field
While interior target, continue to calculate remaining outer targetpath of visual field, according to target sequences and real-time predicted position in memory list,
Period guides photoelectric platform to be switched fast observation automatically, monitoring while realizing multiple and different visual field targets with this.The present invention is also
The automatic adjusument of taking turn target search visual field may be implemented.In conjunction with the location information of carrier aircraft and taking turn target, taking turn mesh is searched for
Sensor field of view is adaptively adjusted when mark, guarantees target blur-free imaging in visual field, is of moderate size, is convenient for target detection, if view
Target is not detected in, is increased visual field step by step automatically and is searched for target, increases target search probability.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the automatic taking turn workflow schematic diagram of multiple target of the embodiment of the present invention；
Relation schematic diagram of the Fig. 2 between target of the embodiment of the present invention and photoelectric platform；
Fig. 3 is that target of the embodiment of the present invention positions schematic diagram；
Fig. 4 (a) is multiple target tracking of embodiment of the present invention schematic diagram one；
Fig. 4 (b) is multiple target tracking of embodiment of the present invention schematic diagram two；
Fig. 5 is multiple target tracking of embodiment of the present invention flow diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Present invention is generally directed in reconnaissance flight task, airborne photoelectric platform is in face of with being distributed middle low speed wide, more than quantity
Face/sea suspicious object traces and monitors more difficult the problem of taking into account simultaneously, to each observed object tracking and positioning and establishes track, root
According to the motion conditions of targetpath prediction visual field External Memory target, realizes to being tracked while target inside and outside visual field, promoted and scouted
Efficiency.
More visual field multiple targets of the embodiment of the present invention quick taking turn method automatically, basic process is as shown in Figure 1, specific packet
Include following steps:
S1, tracking target is positioned, obtains the location information that tracking target is inscribed in different motion；
S2, track is established to each tracking target according to the location information under the tracking target different moments of acquisition；
Trajectory Prediction, light are carried out to the track of targets other outside visual field while tracking target in S3, observation current field
Level platform is switched fast observation according to the target sequences and real-time predicted position in memory list, period automatically；
When the memory target in any memory list is observed in S3, in order automatic switchover, according to the memory target and carrier aircraft
Current location calculates suitable visual field, is automatically adjusted to memory target and blur-free imaging and is of moderate size in visual field；
S4, start to detect target, tracking is transferred to automatically if identifying successfully, if not searching target automatically adjusts sensing
Device visual field increases search range, if repeated detection judges that target is lost without target.
In the above method, specifically:
1. target positions
In three dimensions, mobile by carrier aircraft for fixed target, the orientation of target is repeatedly measured in different location
And height, in conjunction with information such as the longitude and latitude of airborne platform, flying speed, flying heights, asked using non-linear least square iteration
Solve the position of target.Nonlinear least squares fitting is common estimation method in target positioning.
As shown in Fig. 2, setting position vector of the target under geographic coordinate system as X=[x, y, z], aircraft can be in A, B, C
Etc. the measurement that multiple points carry out target position.xi,yi,ziRespectively position of the aircraft under the geographic coordinate system of measurement position i is sat
Mark.Then azimuth φ of the aircraft in measurement position ii, elevation angle βiThe relationship of measurement data and X are as follows:
φi=arctg (y-yi/x-xi)+ni
Remember vector function f (x)={ φi(x),βi(x) }, then have:
F (X)=1/2f (x)TF (x) is minimization F (X), calculates the gradient of F (X):
Then the orientation problem, which can be converted into, asks estimation X={ x, y, z }, makes F (x)=0.
It is solved using Gauss-Newton method.
The convergence rate and convergence of Newton iteration method are influenced by initial value.Due to being Passive Positioning, lack distance letter
Breath, can not obtain the initial estimation of target, so the method that we take is: by equation
{φi=arctg (y-yi/x-xi)+niTransformation are as follows: sin φix-cosφiY=sin φixi-cosφiyiBy multiple groups
Measurement data can be obtained equation group and be expressed as follows:
Initial estimation x, y are solved using linear least-squares, thenThere is initial estimation sharp again
Location information of the target under corresponding geographic coordinate system can be found out with Gauss-Newton iteration.
It is obtained in the different survey station geographical locations due to measurement amount of the unmanned plane in continuous flight course.
Due to the variation in survey station geographical location, the measurement data for obtaining different survey stations is needed to be transformed into the geographic coordinate system of central station
It goes, we stand centered on selecting initial survey station.By gi(i-th survey station of geographic coordinate system) is transformed into g0(geographic coordinate system central station)
Transition matrix are as follows:
Wherein Δ λ=λ0-λi, λ0、L0Centered on stand longitude, latitude, λi、LiFor i-th survey station longitude, latitude.
In order to solve target warp, latitude information, need by target under geographic coordinate system position vector X=[x, y,
Z] transform to position vector X under earth coordinatese=[xe, ye, ze], transformation matrix are as follows:
λ in formula,Longitude, latitude for aircraft.
Position vector X of the known target under earth coordinatese=[xe, ye, ze], then the warp, latitude of available target
Are as follows:
2. location algorithm optimizes
Since the location information that least square method resolves target needs multiple groups observation, photoelectric platform in position fixing process
Tracking mode is remained to target, it is contemplated that the Up-to-date state of the observation data acquired when being positioned to moving target, using fixed length
Sliding window method is handled, i.e., selects the data of regular length to carry out in order minimum from as far as close according to historical data time
Two multiply resolving, when obtaining new object location data at next moment, utilize the number that the time in data replacement sliding window is farthest
According to constantly updating data in this approach, guarantee the Up-to-date state of data, also ensure that historical data too remote cannot participate in resolving
So that the currently practical state estimation deviation to target is larger.
In to target position fixing process, track can be moved in the location information building of different historical junctures according to target,
It is predicted with location information of the historical data before current time to target current time.
Simultaneously as the influence of the factors such as installation, angle measurement, when being observed to target, the sight line of photoelectric platform
There are certain angular deviation, error angle mβIt is represented by following formula:
In above formula, earth radius r is definite value 6356km, is exact value；Aircraft flight height H and pitch angle β is measured value,
All there is certain error, error equation enters as follows:
The passive ranging precision of photoelectric platform depends primarily on the attitude of flight vehicle of higher installation accuracy, real-time high-precision
Data, and the processing method to data.Certain in a flash, the relationship of ground object and photoelectric platform is as shown in figure 3, D is sea
Face object, since load space pitch angle β and carrier aircraft fly high H, all there is a certain error, leads to Passive Positioning result D
The certain deviation that will appear of position, its deviation range as shown in the figure is in oval S, therefore positioning accuracy can be outer with the maximum of S
Radius of circle RS is met to indicate.
Due on be easy during target Continuous tracking by aspect mutation, target is blocked etc. influences, cause to see
The introducing of wrong data causes it to join together with historical location data if cannot identify wrong data in time in measured data
With calculating, then larger impact can be brought to final positioning result.
Assuming that the position error transverse of target is R, current location is predicted with each historical juncture location information of target
Point is P (PB,PL,PH), the actual location result at target current time is P ' (Pb,Pl,Ph), by the two coordinate by geocentric coordinate system
It converts to using current point under the earth coordinates of origin, if future position coordinate is (x, y), actual point coordinate is (x ', y '), such as
Fruit meets following formula
|x-x′|>R
Or | y-y ' | > R
It then can be determined that current positioning result error transfinites, which should be rejected, while with the prediction bits of the point
It sets and current location is replaced to enter in sliding window, continue the target positioning operation of subsequent time.
If current positioning result error does not transfinite, then Data Fusion is done to prediction result and actual result, assigns
It gives two and orders the same weight, positioning result and prediction result of the midpoint of two o'clock as current time are taken, so as to improve data knot
The stability of fruit.
3. track is fitted
In view of target can be simulated under three shaftings of northeast day earth coordinates with uniformly accelerated motion model, by mesh
The coordinate value being marked in tracking phase projects under the northeast day earth coordinates where the location point of tracking finish time,
The relationship that position and time are set up under tri- reference axis of xyz can obtain respectively with the motion profile of conic section simulated target
To following relational expression:
From the above equation, we can see that each conic section includes 3 unknown parameters, target can be obtained under tracking mode not
Coordinate value under in the same time is repeatedly observed target, therefore there are redundant observations to improve the fitting precision of curve
It is as follows to be established error equation by value for all observations:
AX=L
Wherein, A and L represents known parameters matrix composed by observation, and X represents coefficient ai,bi,ci, 1,2,3 institute of i=
The unknown matrix number of composition, solves error equation with least square method, the optimal estimation solution of available unknown parameter
Using the optimal estimation of unknown parameter, the spatial position P of T moment target can have both been predictedT=(XT,YT,ZT),
In
Target position at this time is still coordinate of the target under the earth coordinates of northeast day will be eastern using matrix rotation
Northern day coordinate system is rotated to geocentric coordinate system, can be obtained the high coordinate of longitude and latitude of T moment target.
4. multiple target tracking
Multiple target tracking is the process of a recursion, whole flow process such as Fig. 4 (a), shown in 4 (b), and photoelectric platform is to N first
A target timesharing carries out acquisition and tracking, consecutive tracking and establishes track.Track amendment is carried out to target n by the secondary tune side of a ship, together
When to other targets carry out course extrapolation, to N number of target circulation calculate, by adjust the side of a ship search target process it is as shown in Figure 5.?
Track space in, if target has exceeded investigative range for a period of time, delete the targetpath, by reduce it is unnecessary in terms of
Calculate expense.
In Fig. 5, multiple target tracking process specifically includes the following steps:
S501, starting multiple target tracking；
S502, judge whether targetpath is effective；It is transferred to step S503 if effectively, if being otherwise transferred to step S514 judgement
Whether all lot number tracks are all invalid, if so then execute step S515 pattern switching to manual control, if being otherwise transferred to step S513；
When S503, targetpath are effective, to capture time, build ETS estimated time of sailing etc. and initialize；
S504, the switching of video main channel, image sensor field of view transformation；
S505, geographic tracking is carried out；
S506, judge whether geographic tracking error is less than threshold value, if so, being transferred to step S507, be transferred to step if not
S505；
(wave door refers to the similar box pattern drawn on the image, and tracking target has been that aid prompting is made for S507, image wave door
With) activation, start-up trace；
S508, whether effectively to judge to capture in target continuous time (such as 1s)；If so, being transferred to step S509；If it is not,
Then it is transferred to step S508；
S509, capture target continuous time in it is effective when, further judge capture target it is whether effective, if so, being transferred to
Step S516 removes the lot number track effective marker, is then transferred in step S502；
S510, when capturing target effective, then servo tracking target；
S511, judgement build boat whether certain time (such as 5min), if be otherwise transferred to execute step S510；If then turning
Enter step S512；
S512, servo tracking is closed；
S513, replacement target lot number.
5. automatic adjusument target search visual field
During multiple target tracking, photoelectric platform automatic cycle switches observed object, realizes more visual field multiple targets with this
While monitor.Switch observed direction extremely when setting the goal, according to the current GPS coordinate of carrier aircraft, the appearance of carrier aircraft in photoelectric platform
State angle, the azimuth of photoelectric platform, pitch angle and predicted position to be set the goal, seek current time carrier aircraft and target link
Azimuth and pitch angle under earth coordinates are rotated to the orientation.
In order to guarantee target in visual field blur-free imaging, be of moderate size, photoelectric platform according to prediction target and itself position
Confidence breath calculates distance between the two, using distance as the index for adjusting suitable observation visual field.
Coordinates of targets T (x in the case of record Current observation target blur-free imagingT,yT,zT), carrier aircraft coordinate P (xP,yP,zP)
Prediction coordinate with visual field H, current target to be observed is T ' (x ', y ', z '), and the distance between carrier aircraft and Current observation target are
S, the distance between carrier aircraft and target to be observed are S ', and the suitable visual field of corresponding target to be observed is H ', then have following relationship:
Photoelectric platform automatically adjusts field angle according to above formula behind orientation where alignment target, is transferred to target search.Working as
It include gray feature, shape feature, textural characteristics etc. according to clarification of objective information, as differentiation target and back in preceding image
The judgement foundation of scape will meet the target of judgement foundation as target to be tracked, real-time modeling method.
The automatic taking turn of more visual fields, multiple target may be implemented in the present invention.It is wider to distribution, what single visual field can not cover
Multiple targets, respectively to each target following, position and establish track, observe visual field in target while, continue calculate view
Remaining over-the-counter targetpath, according to target sequences and real-time predicted position in memory list, the period guides photoelectric platform fast automatically
Speed switching observation, monitoring while realizing multiple and different visual field targets with this.
Further, targetpath high-precision forecast may be implemented in the present invention.Bian Jianhang is positioned to tracking target side, it is in office
It anticipates the moment, current predictive position is sought with the historical location data of target, missed in conjunction with systems such as airborne photoelectric platform posture, angle measurements
Difference building observation error is oval, does data fusion to current true positioning result, and rejecting error transfinites positioning result, improves stabilization
Property.Using target current location point as reference point, the historical movement of fit object is distinguished under three shaftings using multinomial model
Track fitting precision is improved in track.
The present invention can also realize the automatic adjusument of taking turn target search visual field.In conjunction with the position of carrier aircraft and taking turn target
Information adaptively adjusts sensor field of view when searching for taking turn target, guarantee target blur-free imaging in visual field, be of moderate size, just
In target detection, if not detecting target in visual field, increases visual field step by step automatically and search for target, increase target search probability.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of more visual field multiple targets quick taking turn method automatically, which comprises the following steps:
Tracking target is positioned, the location information that tracking target is inscribed in different motion is obtained；
Track is established to each tracking target according to the location information under the tracking target different moments of acquisition, observes current field
Trajectory Prediction is carried out to the track of targets other outside visual field while middle tracking target, photoelectric platform is according to the mesh in memory list
Mark sequence and real-time predicted position, period are switched fast observation automatically；
When automatically switching the memory target in any memory list of observation in order, according to the memory target and carrier aircraft current location
Suitable visual field is calculated, memory target is automatically adjusted to and blur-free imaging and is of moderate size in visual field；Then start to detect target,
It is transferred to tracking automatically if identifying successfully, if not searching target automatically adjusts sensor field of view, increases search range, if more
Secondary detection then judges that target is lost without target.
2. more visual field multiple targets according to claim 1 quick taking turn method automatically, which is characterized in that tracking target
It when being positioned, is handled using fixed length sliding window method, specifically according to the historical data time from as far as close, selection is solid in order
The data of measured length carry out least square resolving and when obtaining new object location data, utilize the new mesh at next moment
It marks data and replaces the farthest data of time in sliding window, to constantly update data.
3. more visual field multiple targets according to claim 1 quick taking turn method automatically, which is characterized in that in adjusting visual field
Blur-free imaging when, with specific reference to the positional information calculation distance between the two of prediction target and carrier aircraft, using distance as tune
The index of the suitable observation visual field of section.
4. more visual field multiple targets according to claim 3 quick taking turn method automatically, which is characterized in that when adjusting visual field,
Coordinates of targets T (x in the case of record Current observation target blur-free imagingT,yT,zT), carrier aircraft coordinate P (xP,yP,zP) and visual field H, when
The prediction coordinate of preceding target to be observed be T ' (x ', y ', z '), the distance between carrier aircraft and Current observation target be S, carrier aircraft and to
The distance between observed object is S ', and the suitable visual field of corresponding target to be observed is H ', then has following relationship:
Photoelectric platform automatically adjusts field angle according to above formula behind orientation where alignment target, is transferred to target search, schemes currently
It include gray feature, shape feature, textural characteristics according to clarification of objective information, as sentencing for differentiation target and background as in
Certainly foundation will meet the target of judgement foundation as target to be tracked, real-time modeling method.
5. more visual field multiple targets according to claim 1 quick taking turn method automatically, which is characterized in that in tracking space
In, if target has exceeded investigative range for a period of time, the targetpath is deleted, to reduce unnecessary computing cost.
6. more visual field multiple targets according to claim 1 quick taking turn method automatically, which is characterized in that carried out to multiple target
When tracking, photoelectric platform carries out acquisition and tracking, consecutive tracking to N number of target timesharing and establishes track, by the secondary tune side of a ship to mesh
Mark carries out track amendment, while carrying out course extrapolation to other targets, calculates N number of target circulation.
7. more visual field multiple targets according to claim 1 quick taking turn method automatically, which is characterized in that in multiple target tracking
In the process, photoelectric platform automatic cycle switches observed object, switches observed direction extremely when setting the goal, according to load in photoelectric platform
The current GPS coordinate of machine, the attitude angle of carrier aircraft, the azimuth of photoelectric platform, pitch angle and predicted position to be set the goal, are asked
The azimuth and pitch angle of current time carrier aircraft and target link under earth coordinates are taken, is rotated to the orientation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110926462A (en) * | 2019-11-04 | 2020-03-27 | 中国航空工业集团公司洛阳电光设备研究所 | Ground target marking method based on airborne photoelectric detection system |
| CN114882077A (en) * | 2022-07-12 | 2022-08-09 | 中国工程物理研究院应用电子学研究所 | Target real-time tracking control method and system |
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