CN109831600A - A kind of method that photoelectric follow-up avoids picture from moving during target approaches - Google Patents
A kind of method that photoelectric follow-up avoids picture from moving during target approaches Download PDFInfo
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- CN109831600A CN109831600A CN201910147887.XA CN201910147887A CN109831600A CN 109831600 A CN109831600 A CN 109831600A CN 201910147887 A CN201910147887 A CN 201910147887A CN 109831600 A CN109831600 A CN 109831600A
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Abstract
The invention discloses a kind of photoelectric follow-ups to avoid the method as shifting during target approaches, for photoelectric follow-up during target approaches, when rack and target relative velocity are excessive, it will appear as moving this problem of phenomenon, using increasing an optimal step size before position ring controller in photoelectric follow-up control framework as shift controller is avoided as shifting problem.Implement step: firstly, optimal step size as shift controller calculate current time position ring controller input optimal step size, the step-length meet system it is maximum allowable as move in the case where, keep the response of system most fast；Then, optimal step size determines according to current miss distance and optimal step size the input of position ring controller as shift controller, and is sent to position ring.Method proposed by the present invention solves the problems, such as picture shifting of photoelectric follow-up during target approaches, has both the rapidity of response and the advantages such as overshoot is small, and realize convenient for engineering.
Description
Technical field
The invention belongs to photoelectric follow-up control fields, and in particular to a kind of photoelectric follow-up is in target approaches process
The middle method reduced as moving.
Background technique
As move refers to that relative motion occurs in camera focal plane for target picture point, be one kind frequently appear in space camera,
Aerial camera, weapon sight take aim at system etc. based on the physical phenomenon in the electro-optical system imaging process of motion carrier, can generate hangover,
The problems such as object edge is fuzzy, gray scale is untrue reduces image quality.To improve image quality, scientific research personnel is for different
Application scenarios take different image shift compensation methods.Li Yongchang et al. is directed to space remote sensing camera, takes adjustment camera and surveys
The mode of pendulum moves " wide visual field remote sensing camera image motion velocity model and compensation policy " to offset satellite motion bring picture, and Wuhan is big
Learn journal, 2018,43 (8): 1278-1286.), Fu Jinbao, Li Kairui et al. swing control using corner reflector for aerial camera
System balance picture processed moves (pair treasure etc., " the aerial camera image shift compensation complex controll based on friction feedforward ", electronic surveying and instrument
Device journal, 2014,06；Li Kairui etc., " the aerial camera image shift compensation mechanism detection method research based on image analysis ", optics
With photoelectron technology, 2015,05.) Zhang Qingsheng et al. sees the image jitter problem taken aim in system for low altitude high-shooting weapon, take
With the method for replacing present image corresponding region with the immediate previous frame image region of target template in present image, to image
Stablized.(Zhang Qingsheng etc., " mentioned image stabilization techniques that low altitude high-shooting weapon sees system of taking aim at ", optical technology, 2002,03) remove this
Except, there are also mechanical image shift compensation methods, integrate image shift compensation method, digital image shift compensation method (Zhang Yuxin etc., " image shift compensation
The development and prospect of technology ", Chinese Optical and Application Optics, 2010,02.).
Photoelectric follow-up as a kind of high-precision tracking observation equipment, be widely used in scientific research, aerospace,
The fields such as accurate measurement.In the object tracking process of photoelectric follow-up, camera acquires target image information, extracts miss distance
It is sent to position ring controller, and then controls gantry motion, the rack optical axis is made to follow line of sight, it is both final to reach unanimity.
Enter photoelectric follow-up visual field from target, be zero to object missing distance, this process is referred to as target approaches process.Photoelectricity with
Track system is during target approaches, if rack and target relative velocity are excessive, can also generate as moving phenomenon.Original photoelectricity
In tracking system, for the opposite angular speed for limiting the rack optical axis and line of sight, the input of defined position ring controller is generallyd use
The method of signal step-length provides a fixed step-length Step, when object missing distance Δ θ is less than Step, will directly miss the target
It measures Δ θ and is sent into position ring controller, when miss distance is greater than Step, Step is sent into position ring controller.
Photoelectric follow-up proposed by the present invention avoids during target approaches as the method moved being that design one is optimal
Step-length calculates current time optimal step size Step (t) in real time as shift controller, when object missing distance Δ θ is less than Step (t),
Miss distance Δ θ is directly sent into position ring controller, when miss distance is greater than Step (t), Step (t) is sent into position ring control
Device.It is published at present to reduce in the document as moving, it there is no similar method.
Summary of the invention
The technical problem to be solved by the present invention is photoelectric follow-up is during target approaches, if rack and target
Relative velocity is excessive, and within the camera exposure time, target picture point moving distance in camera focal plane is larger, reduces into image quality
Amount, and then influence the extraction of miss distance information.
The technical solution adopted by the present invention to solve the technical problems is: one variable step size of design is real as shift controller
When calculating position ring controller input quantity current time optimal step size Step (t), when object missing distance Δ θ is less than Step (t)
When, miss distance Δ θ is directly sent into position ring controller, when miss distance is greater than Step (t), Step (t) is sent into position ring
Controller.By the speed of related movement of input limitation the rack optical axis and line of sight of adjusting position ring controller, and then subtract
The distance that target picture point moves in camera focal plane in the small camera exposure time reduces as moving, improves image quality.
Control system frame of the present invention is as shown in Fig. 1: θTFor target optical axis Angle Position, θ is to work as forebay
Optical axis Angle Position, Δ θ are the miss distance that CCD camera detects, CimFor as shift controller, Δ θpGiven, the C for position ringpFor position
Set ring controller, ωTGiven, the C for speed ringvFor speed ring controller, GvFor speed ring controlled device, ω is when forebay speed
Degree.
A kind of photoelectric follow-up of the present invention avoids the method as moving during target approaches, using following steps reality
It is existing:
Step (1) increases an optimal step size picture shifting in photoelectric follow-up control framework before position ring controller
Controller；
Step (2) sets target that M allows as photoelectric follow-up in camera focal plane imaging position maximum inter-pixel
Difference, TsFor the sampling period of camera, | Gp(t) | it is position ring controller current gain, as shift controller calculating current time is optimal
Step-length
Step (3), as shift controller according to current optimal step size Step (t) restriction site ring controller input Δ θp(t):
When object missing distance Δ θ is less than Step (t), miss distance is directly sent into position ring controller, i.e. Δ θp(t)=Δ θ；When missing the target
When amount is greater than Step (t), Step (t) is sent into position ring controller, i.e. Δ θp(t)=Step (t).
Realization principle of the present invention: target approaches process is as shown in Fig. 2, position ring controller is missed the target according to current target
Amount adjustment shelf position, makes object missing distance Δ θ be reduced to 0.In this course, if Δ θ is in image X-axis and Y direction
Component is respectively Δ θx_o、Δθy_o, Δ θx(ΔTs)、Δθy(ΔTs) it is target each sampling period in image X-axis and Y-axis side
To mobile distance, if Δ θx(ΔTs)、Δθy(ΔTs) being no more than fixed step size M, then the picture of target is moved in permissible range
It is interior, do not influence image quality；Otherwise, the picture of target, which moves, exceeds permissible range, can reduce image quality, and then influence target and miss the target
The extraction of amount.The present invention increases by one as shift controller in system control block figure before position ring controller, guarantee target
Picture within the time for exposure, which moves, is no more than M pixel, it may be assumed that
For the realization for guaranteeing formula (1), Δ θ is inputted by controller firstpTo the collected object missing distance Δ of CCD camera
θ open-loop transfer function Gp_openAre as follows:
In above formula, e-τsFor CCD sampling delay.In real system, speed loop bandwidth is much higher than position loop gain, so
In the bandwidth of operation of position ring, speed ring can be equivalent to the amplifier that a gain is 1, therefore formula (2) can simplify are as follows:
Input Δ θpStep response Δ θi(t) are as follows:
L in above formula-1Indicate pull-type inverse transformation.
If the position ring sampling period is Ts, CCD exposure cycle is also Ts, it is ensured that the condition of image clearly is in the time for exposure
It is no more than M pixel as moving:
|Δθi(nTs)-Δθi[(n-1)Ts]|≤δ(nTs) M, (i=x, y) (5)
It is transformed to complex frequency domain i.e.:
To guarantee in the case where image clearly, target close to picture centre, is designed as shift controller C as soon as possibleimMake Δ
θp(s)=Cim[Δ θ (s)]:
Time domain is returned to, by function Δ θp(t)=Cim[Δ θ (t)] is designed as a clip functions, amplitude limit value Step,
Expression formula are as follows:
According to above formula, | Δ θ (t) | (6) formula can become when > Step:
In real system, for the phase margin for guaranteeing position ring, controller replaces integral element using inertial element:
So under open loop situations, CpIt is that speed ring gives ω in the step response that amplitude is StepT:
The angular velocity omega of rackTThe curve changed over time is as shown in Fig. 3, it can be seen that even if position ring is given as
The fixed step signal of amplitude, ωTStill t can increase at any time, lower limit Stepkp, the upper limit is
Step size and the relationship as shifting are as shown in Figure 4.If Step > M/Tskp, then it is not avoided that anyway as shifting problem；IfWith the presence or absence of being to change over time as shifting problem；IfThen problem can be moved to avoid picture, but being in response to can be very slow.In real system, response is considered
The setting of rapidity requirement, Step can be big as far as possible.To guarantee ωT(t)≤M/Ts, designing time-varying optimal step size Step (t) should make:
In above formula | Gp(t) | it is position ring real-time gain, expression formula is
Current time optimal step size Step (t) is first sought as the realization of shift controller uses, is limited according still further to optimal step size
Calculating position ring controller inputs Δ θp(t) sequence carries out, and the program frame of specific implementation is as shown in Fig. 5.
The invention has the following advantages over the prior art:
1, method proposed by the present invention moves phenomenon for picture of photoelectric follow-up during target approaches, and in the past
Phenomenon is moved just for the picture of motion carrier camera as moving control method.
2, method proposed by the present invention adjusts the restriction step-length of its input signal according to the real-time gain of position ring controller,
The optimization of step-length may be implemented, realize the requirement that rapidity and minimum image are moved to greatest extent.
Detailed description of the invention
Fig. 1 is photoelectric follow-up control framework schematic diagram；
Fig. 2 is target approaches process schematic；
Fig. 3 is position ring controller CpWhen inputting the step signal that amplitude is Step, ω is exportedTVariation；
The size that Fig. 4 is Step and the relation schematic diagram as shifting；
Fig. 5 is optimal step size as shift controller program flow diagram；
Fig. 6 is target approaches process simulation experimental result in the embodiment of the present invention.
Specific embodiment
Illustrate the embodiment of the present invention below.But embodiment below is only limitted to explain the present invention, protection model of the invention
Enclosing should include the full content of claim, and this hair can be thus achieved to person skilled in art by following embodiment
The full content of bright claim.
The position ring controller of certain type photoelectric follow-upSampling period Ts=0.02s guarantees image
It is M=3pix that clearly minimum image, which moves,.K can be decompositedp=12, kI=29.4, a=0.04.It is respectively adopted without as moving control
Device, optimal step size are as shift controller and fixed step size are as these three control structures of shift controller, during comparing target approaches
Step response, wherein fixed step size as the expression formula of shift controller it is as follows:
Method proposed by the present invention is implemented as follows:
Step (1) increases an optimal step size picture shifting in photoelectric follow-up control framework before position ring controller
Controller；
Step (2), optimal step size are as shift controller calculating current time optimal step size
Step (3), as shift controller according to current optimal step size Step (t) restriction site ring controller input Δ θp(t):
It is the step signal of 128pixl (pixel value) for amplitude, the simulation experiment result is as shown in Fig. 6, no as moving control
The system of device processed reach for the first time the given time be 0.18 second, overshoot 11%, miss distance maximum frame-to-frame differences 31pixl, it is clear that as move
Phenomenon is than more serious.Use optimal step size as the system of shift controller reaches the given time for the first time as 0.84 second, overshoot 7%,
Miss distance maximum frame-to-frame differences 3pixl, as moving in control range.It is given using fixed step size as the system of shift controller reaches for the first time
The fixed time is 0.98 second, overshoot 19.5%, miss distance maximum frame-to-frame differences 4pixl, is existed slight as moving phenomenon.
The results showed that photoelectric follow-up proposed by the present invention avoids the method as moving during target approaches,
Can be in the case where guaranteeing as moving within the specified range, rapidity is good, and overshoot is also lower than other two methods.
What the present invention did not elaborated partly belongs to techniques well known.
Claims (1)
1. a kind of photoelectric follow-up avoids the method as moving during target approaches characterized by comprising
Step (1) increases an optimal step size picture shifting control in photoelectric follow-up control framework before position ring controller
Device；
Step (2) sets target that M allows as photoelectric follow-up in camera focal plane imaging position maximum interframe pixel difference, TsFor
The sampling period of camera, | Gp(t) | it is position ring controller current gain, as shift controller calculates current time optimal step size
Step (3), as shift controller according to current optimal step size Step (t) restriction site ring controller input Δ θp(t): target
When miss distance Δ θ is less than Step (t), miss distance is directly sent into position ring controller, i.e. Δ θp(t)=Δ θ；When miss distance is big
When Step (t), Step (t) is sent into position ring controller, i.e. Δ θp(t)=Step (t).
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| CN116467818A (en) * | 2023-06-19 | 2023-07-21 | 山东科技大学 | Image shift compensation parameter optimization analysis method |
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