CN111554080A - Photoelectric pod data acquisition system - Google Patents
Photoelectric pod data acquisition system Download PDFInfo
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- CN111554080A CN111554080A CN202010666964.5A CN202010666964A CN111554080A CN 111554080 A CN111554080 A CN 111554080A CN 202010666964 A CN202010666964 A CN 202010666964A CN 111554080 A CN111554080 A CN 111554080A
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/06—Non-electrical signal transmission systems, e.g. optical systems through light guides, e.g. optical fibres
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/10—Adaptations for transmission by electrical cable
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/22—Adaptations for optical transmission
Abstract
The invention discloses a photoelectric pod data acquisition system, which comprises: the data acquisition module is used for acquiring and transmitting attitude data and video stream data; the load processing submodule is used for packaging the attitude data and the video stream data into an acquisition data packet and transmitting the acquisition data packet; and the user system is used for receiving the acquisition data packet and generating an instruction data packet. According to the invention, various acquired data are transmitted to the load processing sub-module and are uniformly packaged into the acquired data packet, and the acquired data packet is transmitted to the user system through the uniform network line, so that the anti-interference capability during data transmission is improved, the signal-to-noise ratio of data signals is improved, the problems of easy interference with other equipment, high production complexity and the like caused by the fact that various interface lines are connected to an external user system are avoided, and the photoelectric pod load system is ensured to have low cost, high reliability and high adaptability.
Description
Technical Field
The invention relates to the technical field of airborne photoelectric pod, in particular to a photoelectric pod data acquisition system.
Background
The photoelectric pod can complete the searching and tracking of targets on unmanned planes, manned planes, ships, vehicles and other platforms. The load platform flies and runs in various environments, for example, on the load platform, the vibration is large, the structural space is compact, and the limit to the weight is extremely high; vibration conditions are also extremely severe on vehicle platforms. The reliability requirements for the electronics of the optoelectronic pod are therefore extremely high.
At present, the video transmission mode of the photoelectric pod adopts HDMI and other modes. In these communication systems, video is generally transmitted using SDI/PLN, and SDI signals are extremely likely to interfere with satellite positioning signals such as GPS/BD, and thus have high requirements for interference resistance of coaxial cables. Meanwhile, the photoelectric pod needs to use a slip ring because the course of the photoelectric pod needs to be ensured to complete N × 360 rotation, and the slip ring capable of passing through the SDI signal is large in size, high in cost, heavy in weight and troublesome in assembly compared with the slip ring without the SDI signal. In order to ensure the reliability of the SDI signal in a vibration environment, connectors used by the SDI are heavy, and the photoelectric pod for transmitting videos by adopting the PLN also has the same problem. For the photoelectric pod system using HDMI signal transmission, the HDMI signal transmission has high frequency, many lines, and easily interfered signals, and the HDMI signal is very easily interfered with satellite positioning signals such as GPS and BD, so the connector used for matching the HDMI signal to solve the above problems is very heavy. Meanwhile, for servo control signals of the photoelectric pod, communication interfaces such as RS232/RS485/RS422/CAN and the like need to be used independently, and the interfaces have low communication baud rate and large delay.
In summary, the conventional photoelectric pod has the problems of multiple interface lines, various types, poor anti-interference capability, easy interference with other equipment and high production complexity, and meanwhile, the conventional photoelectric pod has high requirements on connectors, is complex to use and has high maintenance cost.
Disclosure of Invention
In view of this, the invention provides a photoelectric pod data acquisition system, which solves the problems of multiple interface lines, complicated types and poor interference resistance of the conventional photoelectric pod.
In order to solve the above problems, the technical scheme of the invention is to adopt a photoelectric pod data acquisition system, which comprises: the data acquisition module is used for acquiring and transmitting acquired data; the load processing submodule is used for packaging the acquired data into an acquired data packet and transmitting the acquired data packet; and the user system is used for receiving the acquisition data packet and generating an instruction data packet.
Optionally, the data acquisition module is in communication connection with the load processing submodule, the load processing submodule is in network connection with the user system through a network line, and the network line of the load processing submodule is connected with the user system through an azimuth slip ring.
Optionally, the data acquisition module comprises a posture acquisition control unit and a distance measurement unit, wherein the posture acquisition control unit comprises a servo drive board unit, a servo motor unit, an angle measurement unit and an inertial sensor unit.
Optionally, the collected data includes pose data, state data, and video stream data, and the data collection module further includes a camera unit, and when the camera unit collects the video stream data and transmits the video stream data to the load processing sub-module, the load processing sub-module processes and encodes the video stream data, and compresses/adds SEI data in the encoded video stream data to generate a collected data packet.
Optionally, the laser ranging unit includes a laser ranging machine and a laser pointer, where, when the user system transmits a command data packet to the load processing sub-module, the load processing sub-module parses the command data packet and transmits a ranging command to the laser ranging machine and/or transmits a status command to the laser pointer, and the ranging data acquired by the laser ranging machine and the status data of the laser pointer are transmitted to the load processing sub-module, generate an acquisition data packet, and transmit the acquisition data packet to the user system.
Optionally, when the angle measuring unit and the inertial sensor unit generate attitude data and transmit the attitude data to the servo drive board unit, the servo drive board unit generates control information and transmits the control information to the servo motor unit, and transmits the attitude data generated by the angle measuring unit and the inertial sensor unit to the load processing subsystem.
Optionally, the SEI data at least includes ranging data collected by the laser rangefinder, status data collected by the laser pointer, angle data collected by the angle measurement unit, and inertial data collected by the inertial sensor unit.
Optionally, the processing of the video stream data by the payload processing sub-module includes: video enhancement, video segmentation, target detection and target tracking.
Optionally, the load processing sub-module establishes instruction communication connection with the servo drive board unit, the laser ranging unit and the camera unit through an RS232/RS422/RS485/CAN/SPI interface.
Optionally, the load processing sub-module establishes a video stream data communication connection with the camera unit through an HDMI/MIPI/LVDS interface.
The photoelectric pod data acquisition system has the advantages that various acquired data are transmitted to the load processing sub-modules and are uniformly packaged into the acquired data packets, and the acquired data packets are transmitted to the user system through a uniform network line, so that the anti-interference capability during data transmission is improved, the signal-to-noise ratio of data signals is improved, the problems that other equipment is easily interfered and the production complexity is high due to the fact that various interface lines are connected to an external user system are solved, and the photoelectric pod load system is low in cost, high in reliability and high in adaptability.
Drawings
FIG. 1 is a simplified modular connection diagram of the optoelectronic pod data acquisition system of the present invention;
FIG. 2 is a simplified modular connection diagram of the system of the present invention as applied to a two-axis two-frame photovoltaic pod system;
FIG. 3 is a simplified flow diagram of the present invention for processing video stream data;
FIG. 4 is a simplified block diagram of the camera unit of the present invention;
FIG. 5 is a simplified block diagram of a servo drive plate unit of the present invention;
FIG. 6 is a simplified block diagram of a laser rangefinder of the present invention;
FIG. 7 is a simplified block diagram of a laser pointer of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, an optoelectronic pod data acquisition system includes: the data acquisition module is used for acquiring and transmitting acquired data; the load processing submodule 1 is used for packaging the acquired data into an acquired data packet and transmitting the acquired data packet; and the user system 2 is used for receiving the acquisition data packet and generating an instruction data packet. The data acquisition module is in communication connection with the load processing submodule 1, the load processing submodule 1 is in network connection with the user system 2 through a network line 11, and the network line 11 of the load processing submodule 1 is connected with the user system 2 in a direction slip ring mode.
According to the invention, various collected data are transmitted to the load processing submodule 1 and are uniformly packaged into collected data packets, and the collected data packets are transmitted to the user system 2 through the uniform network line 11, so that the anti-interference capability during data transmission is improved, the signal-to-noise ratio of data signals is improved, the problems of easy interference with other equipment, high production complexity and the like caused by the fact that various interface lines are connected to the external user system 2 are avoided, and the photoelectric pod load system is ensured to have low cost, high reliability and high adaptability.
Further, the data acquisition module includes a posture acquisition control unit 31 and a laser ranging unit 32. As shown in fig. 5, when the angle measurement unit and the inertial sensor unit generate attitude data and transmit the attitude data to the servo drive board unit, the servo drive board unit generates control information and transmits the control information to the servo motor unit, and transmits the attitude data generated by the angle measurement unit and the inertial sensor unit to the load processing subsystem; as shown in fig. 6 and 7, when the user system 2 transmits a command data packet to the load processing sub-module 1, the load processing sub-module 1 parses the command data packet and transmits a distance measurement command to the laser distance measuring machine and/or transmits a status command to the laser pointer, and the distance measurement data collected by the laser distance measuring machine and the status data of the laser pointer are transmitted to the load processing sub-module 1, generate a collection data packet, and transmit the collection data packet to the user system 2.
Further, the collected data includes pose data, status data and video stream data, and the data collecting module further includes a camera unit 33, as shown in fig. 3 and 4, in the case that the camera unit 33 collects the video stream data and transmits the video stream data to the load processing submodule 1, the load processing submodule 1 processes and encodes the video stream data, and compresses/adds SEI data in the encoded video stream data to generate a collected data packet. The imaging unit 33 includes a visible light imaging unit 33 and an infrared imaging unit 33. The SEI data is a user-defined data segment and at least comprises one or more of servo motor state data, angle measuring unit state data, inertial sensor unit state data, camera unit 33 state data, laser range finder state data, range finding data collected by the laser range finder, state data collected by the laser indicator, angle data collected by the angle measuring unit and inertial data collected by the inertial sensor unit.
Further, the payload processing sub-module 1 processes the video stream data, including the following steps: video enhancement, video segmentation, target detection, target tracking, and the like. The video stream data collected by the camera unit 33 may be divided into two paths: the high-code-rate video stream data and the low-code-rate video stream data are used for data processing, the low-code-rate video stream data are directly transmitted to the user system 2 through the load processing submodule, and the real-time performance and the effectiveness of the user system 2 for receiving the video stream data can be effectively improved under the guarantee of the network line 11. Specifically, the acquisition data packet may be composed of video stream data containing SEI data. The acquisition data packet can also be composed of one or more of ranging data acquired by the laser ranging machine, state data acquired by the laser indicator, angle data acquired by the angle measuring unit and inertia data acquired by the inertia sensor unit, and can be realized by generating a corresponding instruction data packet according to the actual requirements of a user.
To facilitate understanding of the technical solution of the present application, as shown in fig. 2, the technical solution of the present application is applied to a two-axis two-frame photovoltaic pod system as an example. The data acquisition module, the load processing submodule 1, the data acquisition module and a connecting circuit of the load processing submodule 1 are all packaged in the photoelectric pod load bin 4, a network circuit 11 of the load processing submodule 1 is in network communication connection with an external user system 2 through an azimuth slip ring, and due to the fact that the anti-interference capacity is strong during optical fiber signal transmission, the photoelectric pod system using the technical scheme can use the azimuth slip ring with small size and weight to carry out signal transmission, and the signal-to-noise ratio of data signals received by the external user system 2 is still high when the azimuth slip ring with small size and weight is used. Wherein, the network line 11 may be a 4-wire hundred mega network line or an 8-wire giga network line; the azimuth slip ring can use an azimuth slip ring with an outer diameter of 12mm-22 mm.
The connecting circuit of the data acquisition module and the load processing submodule 1 comprises: the load processing submodule 1 establishes instruction communication connection with the servo drive board unit, the laser ranging unit 32 and the camera unit 33 through an RS232/RS422/RS485/CAN/SPI interface, and the load processing submodule 1 establishes video stream data communication connection with the camera unit 33 through an HDMI/MIPI/LVDS interface.
The above is only a preferred embodiment of the present invention, and it should be noted that the above preferred embodiment should not be considered as limiting the present invention, and the protection scope of the present invention should be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and these modifications and adaptations should be considered within the scope of the invention.
Claims (10)
1. An optoelectronic pod data acquisition system, comprising:
the data acquisition module is used for acquiring and transmitting acquired data;
the load processing submodule is used for packaging the acquired data into an acquired data packet and transmitting the acquired data packet;
and the user system is used for receiving the acquisition data packet and generating an instruction data packet.
2. The data acquisition system of claim 1, wherein the data acquisition module is communicatively coupled to the load processing sub-module, the load processing sub-module is networked to the user system via a network link, and the network link of the load processing sub-module is coupled to the user system via an azimuth slip ring.
3. The data acquisition system of claim 2, wherein the data acquisition module comprises a posture acquisition control unit and a laser ranging unit, wherein the posture acquisition control unit comprises a servo drive board unit, a servo motor unit, an angle measurement unit and an inertial sensor unit.
4. The data acquisition system according to claim 3, wherein the acquisition data includes pose data, status data and video stream data, and the data acquisition module further includes a camera unit, and in a case where the camera unit acquires the video stream data and transmits the video stream data to the load processing submodule, the load processing submodule processes and encodes the video stream data, and compresses/adds SEI data in the encoded video stream data to generate an acquisition data packet.
5. The data acquisition system as claimed in claim 4, wherein the laser ranging unit comprises a laser ranging machine and a laser pointer, wherein when the user system transmits a command data packet to the load processing sub-module, the load processing sub-module parses the command data packet and transmits a ranging command to the laser ranging machine and/or transmits a status command to the laser pointer, and the ranging data acquired by the laser ranging machine and the status data of the laser pointer are transmitted to the load processing sub-module, generate an acquisition data packet and then transmitted to the user system.
6. The data acquisition system according to claim 5, wherein when the angle measurement unit and the inertial sensor unit generate attitude data and transmit the attitude data to the servo drive board unit, the servo drive board unit generates control information and transmits the control information to the servo motor unit, and transmits the attitude data generated by the angle measurement unit and the inertial sensor unit to a load processing subsystem.
7. The data acquisition system according to claim 6, wherein the SEI data comprises at least ranging data acquired by the laser rangefinder, status data acquired by the laser pointer, angle data acquired by the goniometer unit, and inertial data acquired by the inertial sensor unit.
8. The data acquisition system of claim 7, wherein the payload processing sub-module processing the video stream data comprises: video enhancement, video segmentation, target detection and target tracking.
9. The data acquisition system of claim 8, wherein the load processing submodule establishes command communication connections with the servo drive board unit, the laser ranging unit and the camera unit through an RS232/RS422/RS485/CAN/SPI interface.
10. The data acquisition system of claim 9, wherein the payload processing sub-module establishes a video stream data communication connection with the camera unit via an HDMI/MIPI/LVDS interface.
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| CN202010666964.5A CN111554080A (en) | 2020-07-13 | 2020-07-13 | Photoelectric pod data acquisition system |
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| CN202010666964.5A CN111554080A (en) | 2020-07-13 | 2020-07-13 | Photoelectric pod data acquisition system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113347390A (en) * | 2021-05-28 | 2021-09-03 | 珠海紫燕无人飞行器有限公司 | POS information link transmission system and method thereof |
| WO2023029567A1 (en) * | 2021-08-30 | 2023-03-09 | 成都纵横自动化技术股份有限公司 | Visualization method and system for various data collected by sensor |
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