CN111612835A - System and method suitable for extended target tilt tracking - Google Patents

System and method suitable for extended target tilt tracking Download PDF

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CN111612835A
CN111612835A CN202010507655.3A CN202010507655A CN111612835A CN 111612835 A CN111612835 A CN 111612835A CN 202010507655 A CN202010507655 A CN 202010507655A CN 111612835 A CN111612835 A CN 111612835A
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CN111612835B (en
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杨奇龙
马晓燠
王韬
郑茹文
魏胜
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Chongqing Jiguang Technology Co.,Ltd.
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Abstract

The invention provides a system and a method suitable for extended target tilt tracking, which are characterized in that after most tilt errors are preliminarily corrected through a mass center closed loop, an image matching algorithm is used for template calculation, the image matching algorithm is successfully applied to extended target tracking, and the problem of mass center offset of the extended target tracking is solved.

Description

System and method suitable for extended target tilt tracking
Technical Field
The invention relates to the technical field of optical wavefront inclination detection, in particular to a system and a method suitable for expanding target inclination tracking.
Background
Atmospheric turbulence severely affects astronomical observations and laser long-distance transmission, and adaptive systems reduce the adverse effects of turbulence by detecting and correcting in real time. The wavefront error tilt caused by atmospheric turbulence accounts for 86.9% of the total. Wavefront tilt correction is an important loop in adaptive systems.
With the continuing development of astronomy and other disciplines, the imaging requirements for adaptive optics have also evolved from single star imaging to imaging of detailed resolution targets. Because the target field angle is large, the shape changes rapidly, and the target shape and position change continuously, the current centroid algorithm tilt calculation is not suitable for tracking the extended target.
The image matching algorithm has the basic principle that a template is selected from an existing database or an acquired image frame, and the position of a pixel block matched with the template in a detected frame is determined through a certain algorithm. The algorithm determines the position deviation through template matching, so the algorithm can be used for tracking the extended target. The template of the image matching algorithm can be obtained from the measured frame at any time for updating, so the image matching algorithm can be used for tracking the target with frequently changed shape. The image matching algorithm has the advantage that the centroid algorithm does not have in the aspect of tracking the extended target.
Although the image matching algorithm has such advantages in the aspect of expanding the tracking of the target, the image matching algorithm has a disadvantage that the dynamic range is small, and the tracked target and the template matched with the tracked target are required to be completely in the detection field of view in work so as to obtain the correct position deviation. The existence of atmospheric disturbance prevents the target from being imaged in the same visual field continuously, so that the target can be imaged on the detector continuously and stably, which is the premise of applying an image matching algorithm closed loop.
Disclosure of Invention
The invention provides a system and a method suitable for extending target tilt tracking, which mainly solve the technical problems that: in the current self-adaptive optical system, the tilt tracking algorithm based on the centroid algorithm aims at the problem that the centroid is deviated when an extended target works, so that accurate tracking cannot be performed.
In order to solve the technical problem, the invention provides a system suitable for the tilt tracking of an extended target, which comprises a tilt mirror, a wavefront tilt sensor, a data processing control module and a tilt mirror driver, wherein the tilt mirror driver is connected with the wavefront tilt sensor;
the inclined reflector is used for reflecting incident light to the wavefront inclination sensor and acquiring an image signal to be detected through the wavefront inclination sensor;
the data processing control module is used for executing the following first iteration steps: calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal according to the first wavefront inclination error, and sending the first control signal to a tilting mirror driver; the tilting mirror driver controls the tilting mirror to move according to the first control signal so as to perform preliminary correction on an incident light signal; until the wavefront residual of the preliminarily corrected image meets the set requirement;
after the first iteration step processing is performed to enable the wavefront residual of the preliminarily corrected image to meet the set requirement, the data processing control module is further configured to execute a second iteration step as follows: acquiring a template of a target image and an image after preliminary correction, determining the position of the target in the image after preliminary correction by using an image matching algorithm, and calculating a second wavefront tilt error based on a pre-calibrated position; generating a second control signal based on the second wavefront tilt error, and sending the second control signal to a tilt mirror driver; and the tilting mirror driver controls the movement of the tilting mirror according to the second control signal to realize secondary correction.
Optionally, the data processing control module includes a first data processing control module and a second data processing control module, and the tilt mirror driver includes a first tilt mirror driver and a second tilt mirror driver;
the first data processing control module is configured to perform the first iteration step, and send the first control signal to the first tilt mirror driver; the first tilting mirror driver controls the tilting mirror to move according to the first control signal; until the wavefront residual of the preliminarily corrected image meets the set requirement; the second data processing control module is configured to perform the second iteration step, send the second control signal to the second tilting mirror driver, and control the movement of the tilting mirror by the second tilting mirror driver according to the second control signal.
Optionally, the data processing control module is configured to utilize the following centroid algorithm formulas (1) and (2):
Figure BDA0002527115400000021
Figure BDA0002527115400000031
calculating the actual coordinate position of the centroid corresponding to the image signal to be measured, wherein X and Y are respectively the abscissa and ordinate of the centroid, IijFor each pixel gray scale, XiAnd YjRespectively the abscissa and ordinate of the corresponding point;
and comparing the actual centroid coordinate position with a preset centroid coordinate position to obtain a first wavefront inclination error of the image signal to be detected.
Optionally, the data processing control module is configured to calculate a centroid offset between the actual centroid coordinate position and a preset centroid coordinate position, so as to obtain a first wavefront tilt error of the image signal to be detected.
Optionally, the data processing control module is configured to utilize the following image matching algorithm formula (3) or (4):
Figure BDA0002527115400000032
Figure BDA0002527115400000033
calculating the error D (i, j) between the template of the target image and each region of the preliminarily corrected image;
and D (i, j) with the minimum error value is selected as the position of the target in the image after the preliminary correction.
The invention also provides a method suitable for the extended target tilt tracking, which comprises the following steps:
acquiring an image signal to be detected, and executing the following first iteration steps: calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal according to the first wavefront inclination error, and performing preliminary correction on the wavefront signal by controlling the movement of the tilting mirror; until the wavefront residual of the preliminarily corrected image meets the set requirement;
after the wavefront residual of the image after the initial correction meets the set requirement through the processing of the first iteration step, executing the following second iteration step: acquiring a template of a target image and an image after preliminary correction, determining the position of the target in the image after preliminary correction by using an image matching algorithm, and calculating a second wavefront tilt error based on a pre-calibrated position; and generating a second control signal based on the second wavefront tilt error, and performing secondary correction on the image signal to be detected by controlling a tilting mirror.
Optionally, the calculating, by using a centroid algorithm, a first wavefront tilt error of the image signal to be detected includes:
using the following centroid algorithm equations (5) and (6):
Figure BDA0002527115400000041
Figure BDA0002527115400000042
calculating the actual coordinate position of the centroid corresponding to the image signal to be measured, wherein X and Y are respectively the abscissa and ordinate of the centroid, IijFor each pixel gray scale, XiAnd YjRespectively the abscissa and ordinate of the corresponding point;
and comparing the actual centroid coordinate position with a preset centroid coordinate position to obtain a first wavefront inclination error of the image signal to be detected.
Optionally, the comparing the actual centroid coordinate position with a preset centroid coordinate position to obtain a first wavefront tilt error of the image signal to be detected includes:
and calculating the centroid offset between the actual centroid coordinate position and a preset centroid coordinate position to obtain a first wavefront tilt error of the image signal to be detected.
Optionally, the template for acquiring the target image includes:
and selecting an image from the image signal to be detected after the processing and correction of the previous iteration cycle as a template of the target image in the process of executing the second iteration step.
Optionally, the determining, by using an image matching algorithm, the position of the target in the preliminarily corrected image includes:
using the following image matching algorithm equation (7) or (8):
Figure BDA0002527115400000043
calculating the error D (i, j) between the template of the target image and each region of the preliminarily corrected image;
and D (i, j) with the minimum error value is selected as the position of the target in the image after the preliminary correction.
The invention has the beneficial effects that:
the system comprises a tilting mirror, a wavefront tilt sensor, a data processing control module and a tilting mirror driver; the inclined reflector is used for reflecting incident light to the wavefront inclination sensor and acquiring an image signal to be detected through the wavefront inclination sensor; the data processing control module is used for executing the following first iteration steps: calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal according to the first wavefront inclination error, and sending the first control signal to the inclination mirror driver; the tilting mirror driver controls the tilting mirror to move according to the first control signal so as to perform preliminary correction on the incident light signal; until the wavefront residual of the preliminarily corrected image meets the set requirement; after the first iteration step processing is performed to enable the wavefront residual of the preliminarily corrected image to meet the set requirement, the data processing control module is further configured to execute a second iteration step as follows: acquiring a template of a target image and an image after preliminary correction, determining the position of a target in the image after preliminary correction by using an image matching algorithm, and calculating a second wavefront tilt error based on a pre-calibrated position; generating a second control signal based on the second wavefront tilt error, and sending the second control signal to the tilt mirror driver; and the tilting mirror driver controls the movement of the tilting mirror according to the second control signal to realize secondary correction. According to the method, after most of tilt errors are preliminarily corrected through the mass center closed loop, the template is taken for calculation through an image matching algorithm, the image matching algorithm is successfully applied to the extended target tracking, and the problem of mass center deviation in the extended target tracking is solved.
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FIG. 1 is a schematic structural diagram of a system suitable for extended target tilt tracking according to a first embodiment;
FIG. 2 is a schematic structural diagram of another system suitable for extended target tilt tracking according to the first embodiment;
fig. 3 is a flowchart illustrating a method for extended target tilt tracking according to a second embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following detailed description and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
the atmospheric turbulence seriously affects astronomical observation and long-distance laser transmission, and the self-adaptive system reduces the adverse effect of the atmospheric turbulence by real-time detection and correction. The wavefront error tilt caused by atmospheric turbulence accounts for 86.9% of the total. Wavefront tilt correction is an important loop in adaptive systems. With the continuing development of astronomy and other disciplines, the imaging requirements for adaptive optics have also evolved from single star imaging to imaging of detailed resolution targets. The common centroid algorithm is not ideal for such target tracking because the imaging target shape and position are constantly changing.
The method aims to solve the problem of centroid deviation in the work of an extended target in the existing self-adaptive optical system based on the centroid algorithm tilt tracking algorithm. The embodiment provides a system suitable for the tilt tracking of an extended target, and an image matching algorithm is applied to the tracking of the target with detail resolution, so that the tracking effect is better. Referring to fig. 1, the system mainly includes a tilting mirror 11, a wavefront tilt sensor 12, a data processing control module 13, and a tilting mirror driver 14; wherein:
the inclined reflector 11 is used for reflecting incident light to the wavefront inclination sensor 12, and acquiring an image signal to be detected through the wavefront inclination sensor 12;
the data processing control module 13 is configured to perform a first iteration of the steps: calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal based on the first wavefront tilt error and sending it to the tilt mirror driver 14; the tilting mirror driver 14 controls the movement of the tilting mirror in accordance with the first control signal to perform a preliminary correction on the incident light signal; until the wavefront residual of the image after the preliminary correction meets the set requirement. The setting requirement can be flexibly set according to the actual situation, for example, a wave front residual threshold value is set, and the meeting of the setting requirement means that the wave front residual of the primarily corrected image is less than or equal to the setting wave front residual threshold value.
After the first iteration step processing is performed so that the wavefront residual of the preliminarily corrected image meets the setting requirement, the data processing control module 13 is further configured to perform a second iteration step as follows: acquiring a template of a target image and the image after the primary correction, determining the position of the target in the image after the primary correction by using an image matching algorithm, and calculating a second wavefront tilt error based on a pre-calibrated position; and generates a second control signal based on the second wavefront tilt error and sends the second control signal to the tilt mirror driver 14; the tilting mirror driver 14 controls the movement of the tilting mirror based on the second control signal, and performs the second correction.
The wavefront tilt sensor 12 is composed of a collimating lens 121 and a photodetector 122, and the change of the displacement of the light spot on the photodetector 122 can reflect the wavefront tilt error.
Wherein the data processing control module 13 is configured to utilize the following centroid algorithm equations (9) and (10):
Figure BDA0002527115400000061
Figure BDA0002527115400000062
calculating the actual coordinate position of the centroid corresponding to the image signal to be measured, wherein X and Y are respectively the abscissa and ordinate of the centroid, IijFor each pixel gray scale, XiAnd YjRespectively the abscissa and ordinate of the corresponding point;
and comparing the actual centroid coordinate position with a preset centroid coordinate position to obtain a first wavefront inclination error of the image signal to be detected.
Specifically, the data processing control module 13 is configured to calculate a centroid offset between the actual centroid coordinate position and the preset centroid coordinate position, so as to obtain a first wavefront tilt error of the image signal to be detected.
The data processing control module 13 is configured to utilize the following image matching algorithm formula (11) or (12):
Figure BDA0002527115400000071
calculating the error D (i, j) between the template of the target image and each region of the image after the initial correction; wherein, S is the image after the preliminary correction, T is the template, and D is the correlation matrix. And D, the minimum value coordinate is the current target position.
And D (i, j) with the minimum error value is selected as the position of the target in the image after the preliminary correction. The smaller the D (i, j), the more similar the result is, so that only the smallest D (i, j) needs to be found to determine the matched subgraph position, and the matched subgraph position is taken as the target position.
And selecting an image from the image signal to be detected after the processing and correction of the previous iteration cycle as a template of the target image in the process of executing the second iteration step. The template of the image matching algorithm can be continuously updated so as to meet the requirement of tracking the extended target with frequent shape change; the method solves the problem of centroid shift in centroid algorithm tilt tracking, thereby realizing high-precision tracking of the extended target.
Optionally, in order to reduce the amount of calculation, the template may be selected and updated after a number of second iteration cycles, for example, the template of the target image may be updated every two second iteration cycles.
Referring to fig. 2, fig. 2 is another system suitable for extended target tilt tracking provided by this embodiment, in which the data processing control module 13 includes a first data processing control module 13a and a second data processing control module 13b, and the tilt mirror driver 14 includes a first tilt mirror driver 14a and a second tilt mirror driver 14 b;
the first data processing control module 13a calculates a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal based on the first wavefront tilt error and sending it to the first tilt mirror driver 14 a;
the first tilting mirror driver 14a controls the tilting mirror movement according to the first control signal;
the second data processing control module 13b is configured to obtain a template of the target image and the preliminarily corrected image, determine a position of the target in the preliminarily corrected image by using an image matching algorithm, and calculate a second wavefront tilt error based on a preliminarily calibrated position; and generates a second control signal based on the second wavefront tilt error and sends the second control signal to the second tilt mirror driver 14 b;
the second tilting mirror driver 14b controls the tilting mirror movement according to the second control signal.
The tilting mirror 11, the wavefront tilting sensor 12, the first data processing control module 13a and the first tilting mirror driver 14a are sequentially connected to form a centroid algorithm correction closed loop; the tilting mirror 11, the wavefront tilt sensor 12, the second data processing control module 13b and the second tilting mirror driver 14b are connected in sequence to form an image matching algorithm correction closed loop. The system is suitable for different light spot sizes or different characteristics, has different PID (Proportional Integral Derivative) parameter requirements, and improves the application range and the response efficiency of the system by matching different data processing control modules and tilting mirror drivers.
In this embodiment, the data processing control module includes a PID control module.
The invention provides a system suitable for extending target inclination tracking, which comprises an inclined reflector, a wave front inclination sensor, a data processing control module and an inclined mirror driver, wherein the inclined reflector is arranged on the inclined reflector; the inclined reflector is used for reflecting incident light to the wavefront inclination sensor and acquiring an image signal to be detected through the wavefront inclination sensor; the data processing control module is used for executing the following first iteration steps: calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal according to the first wavefront inclination error, and sending the first control signal to the inclination mirror driver; the tilting mirror driver controls the tilting mirror to move according to the first control signal so as to perform preliminary correction on the incident light signal; until the wavefront residual of the preliminarily corrected image meets the set requirement; after the first iteration step processing is performed to enable the wavefront residual of the preliminarily corrected image to meet the set requirement, the data processing control module is further configured to execute a second iteration step as follows: acquiring a template of a target image and an image after preliminary correction, determining the position of a target in the image after preliminary correction by using an image matching algorithm, and calculating a second wavefront tilt error based on a pre-calibrated position; generating a second control signal based on the second wavefront tilt error, and sending the second control signal to the tilt mirror driver; and the tilting mirror driver controls the movement of the tilting mirror according to the second control signal to realize secondary correction. According to the method, after most of tilt errors are preliminarily corrected through the mass center closed loop, the template is taken for calculation through an image matching algorithm, the image matching algorithm is successfully applied to the extended target tracking, and the problem of mass center deviation in the extended target tracking is solved.
Example two:
in this embodiment, on the basis of the first embodiment, a method for tracking tilt of an extended target is provided, please refer to fig. 3, which mainly includes the following steps:
s301, acquiring an image signal to be detected;
executing the following first iteration steps including steps S302-S304 until the wavefront residual of the preliminarily corrected image meets the set requirement:
s302, calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm;
calculating a first wavefront tilt error of the image signal to be measured by using a centroid algorithm comprises:
using the following centroid algorithm equations (13) and (14):
Figure BDA0002527115400000091
Figure BDA0002527115400000092
calculating the actual coordinate position of the centroid corresponding to the image signal to be measured, wherein X and Y are respectively the abscissa and ordinate of the centroid, IijFor each pixel gray scale, XiAnd YjRespectively the abscissa and ordinate of the corresponding point;
and comparing the actual centroid coordinate position with a preset centroid coordinate position to obtain a first wavefront inclination error of the image signal to be detected.
Optionally, comparing the actual centroid coordinate position with a preset centroid coordinate position, and obtaining a first wavefront tilt error of the image signal to be detected includes: and calculating the centroid offset between the actual centroid coordinate position and the preset centroid coordinate position to obtain a first wavefront tilt error of the image signal to be detected.
S303, generating a first control signal according to the first wavefront tilt error;
s304, primarily correcting the wavefront signal by controlling the movement of the tilting mirror;
the setting requirement can be flexibly set according to the actual situation, for example, a wave front residual threshold value is set, and the meeting of the setting requirement means that the wave front residual of the primarily corrected image is less than or equal to the setting wave front residual threshold value.
After the first iteration step processing is carried out to enable the wavefront residual of the image after the preliminary correction to meet the set requirement, executing a second iteration step comprising steps S305-S308:
s305, obtaining a template of a target image and the image after the primary correction, and determining the position of the target in the image after the primary correction by using an image matching algorithm;
wherein, the template for obtaining the target image comprises: and in the process of executing the second iteration step, selecting an image from the image signal to be detected which is processed and corrected in the previous iteration period as a template of the target image.
Wherein, the determining the position of the target in the preliminarily corrected image by using an image matching algorithm comprises:
using the following image matching algorithm formula (15) or (16):
Figure BDA0002527115400000101
Figure BDA0002527115400000102
calculating the error D (i, j) between the template of the target image and each region of the image after the initial correction; and D (i, j) with the minimum error value is selected as the position of the target in the image after the preliminary correction.
S306, calculating a second wavefront inclination error based on the pre-calibrated position;
s307, generating a second control signal based on the second wavefront inclination error;
and S308, performing secondary correction on the image signal to be detected by controlling the tilting mirror.
It will be apparent to those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented in program code executable by a computing device, such that they may be stored on a computer storage medium (ROM/RAM, magnetic disks, optical disks) and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims (10)

1. A system adapted for extended target tilt tracking comprising a tilting mirror, a wavefront tilt sensor and data processing control module, and a tilting mirror driver;
the inclined reflector is used for reflecting incident light to the wavefront inclination sensor and acquiring an image signal to be detected through the wavefront inclination sensor;
the data processing control module is used for executing the following first iteration steps: calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal according to the first wavefront inclination error, and sending the first control signal to a tilting mirror driver; the tilting mirror driver controls the tilting mirror to move according to the first control signal so as to perform preliminary correction on an incident light signal; until the wavefront residual of the preliminarily corrected image meets the set requirement;
after the first iteration step processing is performed to enable the wavefront residual of the preliminarily corrected image to meet the set requirement, the data processing control module is further configured to execute a second iteration step as follows: acquiring a template of a target image and an image after preliminary correction, determining the position of the target in the image after preliminary correction by using an image matching algorithm, and calculating a second wavefront tilt error based on a pre-calibrated position; generating a second control signal based on the second wavefront tilt error, and sending the second control signal to a tilt mirror driver; and the tilting mirror driver controls the movement of the tilting mirror according to the second control signal to realize secondary correction.
2. The system adapted for extended target tilt tracking according to claim 1, wherein the data processing control module comprises a first data processing control module and a second data processing control module, the tilt mirror driver comprises a first tilt mirror driver and a second tilt mirror driver;
the first data processing control module is configured to perform the first iteration step, and send the first control signal to the first tilt mirror driver; the first tilting mirror driver controls the tilting mirror to move according to the first control signal; until the wavefront residual of the preliminarily corrected image meets the set requirement;
the second data processing control module is used for executing the second iteration step; sending the second control signal to the second tilt mirror driver, the second tilt mirror driver controlling the tilt mirror to move according to the second control signal.
3. The system for extended target tilt tracking according to claim 1 or 2, wherein the data processing control module is configured to utilize the following centroid algorithm equations (1) and (2):
Figure FDA0002527115390000011
Figure FDA0002527115390000021
computingThe actual coordinate position of the centroid corresponding to the image signal to be measured, wherein X and Y are respectively the abscissa and ordinate of the centroid, IijFor each pixel gray scale, XiAnd YjRespectively the abscissa and ordinate of the corresponding point;
and comparing the actual centroid coordinate position with a preset centroid coordinate position to obtain a first wavefront inclination error of the image signal to be detected.
4. The system for extended target tilt tracking as claimed in claim 3, wherein the data processing control module is configured to calculate a centroid offset between the actual centroid coordinate position and a predetermined centroid coordinate position, and obtain the first wavefront tilt error of the image signal to be measured.
5. The system for extended target tilt tracking according to claim 3, wherein the data processing control module is configured to utilize the following image matching algorithm formula (3) or (4):
Figure FDA0002527115390000022
Figure FDA0002527115390000023
calculating the error D (i, j) between the template of the target image and each region of the preliminarily corrected image;
and D (i, j) with the minimum error value is selected as the position of the target in the image after the preliminary correction.
6. A method for extended target tilt tracking, comprising:
acquiring an image signal to be detected, and executing the following first iteration steps: calculating a first wavefront tilt error of the image signal to be detected by using a centroid algorithm; generating a first control signal according to the first wavefront inclination error, and performing preliminary correction on the wavefront signal by controlling the movement of the tilting mirror; until the wavefront residual of the preliminarily corrected image meets the set requirement;
after the wavefront residual of the image after the initial correction meets the set requirement through the processing of the first iteration step, executing the following second iteration step: acquiring a template of a target image and an image after preliminary correction, determining the position of the target in the image after preliminary correction by using an image matching algorithm, and calculating a second wavefront tilt error based on a pre-calibrated position; and generating a second control signal based on the second wavefront tilt error, and performing secondary correction on the image signal to be detected by controlling a tilting mirror.
7. The method for extended target tilt tracking as claimed in claim 6, wherein said calculating a first wavefront tilt error of the image signal under test using a centroid algorithm comprises:
using the following centroid algorithm equations (5) and (6):
Figure FDA0002527115390000031
Figure FDA0002527115390000032
calculating the actual coordinate position of the centroid corresponding to the image signal to be measured, wherein X and Y are respectively the abscissa and ordinate of the centroid, IijFor each pixel gray scale, XiAnd YjRespectively the abscissa and ordinate of the corresponding point;
and comparing the actual centroid coordinate position with a preset centroid coordinate position to obtain a first wavefront inclination error of the image signal to be detected.
8. The method for extended target tilt tracking as claimed in claim 7, wherein the comparing the actual centroid coordinate position with a predetermined centroid coordinate position to obtain the first wavefront tilt error of the image signal under test comprises:
and calculating the centroid offset between the actual centroid coordinate position and a preset centroid coordinate position to obtain a first wavefront tilt error of the image signal to be detected.
9. The method for extended target tilt tracking as claimed in claim 6, wherein said obtaining a template of a target image comprises:
and selecting an image from the image signal to be detected after the processing and correction of the previous iteration cycle as a template of the target image in the process of executing the second iteration step.
10. The method for extended target tilt tracking according to any one of claims 6-9, wherein said determining the position of the target in the preliminary corrected image using an image matching algorithm comprises:
using the following image matching algorithm equation (7) or (8):
Figure FDA0002527115390000033
Figure FDA0002527115390000034
calculating the error D (i, j) between the template of the target image and each region of the preliminarily corrected image;
and D (i, j) with the minimum error value is selected as the position of the target in the image after the preliminary correction.
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