CN111624592A - Low-altitude target detection method and system based on multi-source detector - Google Patents
Low-altitude target detection method and system based on multi-source detector Download PDFInfo
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Abstract
A low-altitude target detection method and system based on a multi-source detector comprise the following steps: each detection station device respectively detects and measures the distance of the acquired image of the target appearing in the field of view; obtaining position information of the target relative to each detection station device; each detection station device uploads the detected target position information to an instruction control subsystem, the instruction control subsystem determines coordinates of a target geocentric coordinate system according to the target position information uploaded by each detection station device, the target geocentric coordinates are converted into target GPS information, and angle information of a target relative to each detection station device is converted respectively; the instruction control subsystem determines that the detected target meets the preset requirement according to the target GPS information; and issuing the angle information of the target relative to each detection station device to a disposal subsystem, and linking the disposal subsystem with the detection station devices which stably track the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem.
Description
Technical Field
The invention relates to the technical field of target imaging detection, in particular to a low-light-level video image noise reduction processing method and system based on gradient information.
Background
In recent years, unmanned aerial vehicles are constantly present in the sight of people. Besides being widely applied in military, the unmanned aerial vehicle also rapidly expands in civil market scale. Civil unmanned aerial vehicle not only wide application is taken photo by plane, all has unmanned aerial vehicle's shadow in fields such as agriculture and forestry plant protection, safety law enforcement, environmental protection scientific research, mineral resources exploration, calamity emergency rescue, petroleum pipeline patrols line, frontier defense, maritime affairs patrol. According to incomplete statistics, the consumption-level unmanned aerial vehicle in China reaches hundreds of thousands of unmanned aerial vehicles at present, the unmanned aerial vehicle is in a doubled growth trend every year, the unmanned aerial vehicle heat tide which is rapidly popularized brings unprecedented challenges to security work of all countries, and worry about safety problems of the unmanned aerial vehicle of all countries is caused. To summarize, the drone security issues are mainly focused on the following aspects:
(1) there is a risk of leakage of national and military secrets. Some confidential sensitive areas, such as korean green tile platform, french alice palace, paris tower, american white palace, japanese first phase mansion, etc., all suffer from unauthorized intrusion by an unknown unmanned aerial vehicle;
(2) there is a possibility of jeopardizing public safety. Frequent unmanned aerial vehicle falling accidents occur in various regions, and the information that the unmanned aerial vehicle interferes with the civil aircraft is also endless;
(3) there is a problem of infringing privacy. Such as unmanned aerial vehicles that circle around outside of district high-rise buildings and office buildings.
The multi-source detector detects target position information simultaneously observed by a plurality of active/passive detection stations (radar detection stations, photoelectric detection stations and radio detection stations) which are reasonably distributed and mutually communicated, and integrates target three-dimensional position information with certain precision so as to be used by target capture or trapping and other treatment equipment. The medium and low altitude target tracking technology has interdisciplinary characteristics and wide application prospect, is one of the research directions in the detection and tracking field, is concerned by researchers at home and abroad, and becomes a research hotspot in the fields of target detection and tracking and image processing. The small air targets such as the countering unmanned aerial vehicle are used as an emerging subject and relate to weather factors with randomness and great complexity. Although a plurality of detection methods for small low-altitude targets such as unmanned aerial vehicles have emerged so far, the methods have certain limitations:
firstly, a target equipped with radio interference equipment cannot detect the target by using a traditional radar detection method;
secondly, the positioning and tracking precision can not meet the requirement.
The positioning and tracking method for the small middle and low altitude targets still needs to be continuously developed and improved at the two points, so that it is very necessary to find a more effective positioning and tracking method.
Disclosure of Invention
The invention aims to solve the technical problem of providing a low-altitude target detection method and system based on a multi-source detector, fusing position information of a measurement target of an active detection station and a passive detection station, realizing advantage complementation and obtaining accurate position information of the target through information fusion calculation.
The invention discloses a low-altitude target detection method based on a multi-source detector, which comprises the following steps:
each detection station device respectively detects and measures the distance of the acquired image of the target appearing in the field of view; obtaining position information of the target relative to each detection station device;
each detection station device uploads the detected target position information to an instruction control subsystem, the instruction control subsystem determines coordinates of a target geocentric coordinate system according to the target position information uploaded by each detection station device, the target geocentric coordinates are converted into target GPS information, and angle information of a target relative to each detection station device is converted respectively;
the instruction control subsystem determines that the detected target meets the preset requirement according to the target GPS information; and issuing the angle information of the target relative to each detection station device to a disposal subsystem, and linking the disposal subsystem with the detection station devices which stably track the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem.
Preferably, the method further comprises, before:
positioning each detection station device, acquiring the position information of each detection station device, converting the acquired position information into a geocentric coordinate, calibrating the detection station devices, and realizing network communication among the detection station devices.
Preferably, the position information of the target with respect to each detection station device comprises:
azimuth, pitch, and skew.
Preferably, the calibrating the probing station apparatus comprises:
and leveling the detection station equipment horizontally and correcting north in azimuth.
Preferably, the detecting and ranging of the acquired image of the target appearing in the field of view by each detection station device respectively comprises:
each detection station device detects and segments the acquired image of the target appearing in the field of view and realizes stable tracking and continuous distance measurement of the target.
Preferably, before converting the target geocentric coordinates into target GPS information, the method further includes: and performing smooth filtering on the target geocentric coordinates.
Preferably, the probing station apparatus comprises one or more of: a medium wave infrared detector, a visible light detector, an infrared and visible light band back imaging detector; an X-band radar detector; an omnidirectional multi-band passive radio detector; a full-band electromagnetic interference detector.
Preferably, after the calibrating the detection station device, the method further comprises:
verifying, by the testing drone, performance indicators for each probe device, the performance indicators including one or more of: a probe tracking capability of the probe device; information handling capabilities of the probe device; a range of the detector device; information fusion capability of the detector device.
Preferably, the determining that the detected target meets the preset requirements comprises:
and comparing the target track recorded information with the target track and analyzing the error, and if the error angle of the target is less than or equal to a preset threshold value, judging that the tracking precision of the target reaches the standard and meets the preset requirement.
In a second aspect, the present invention further provides a low-altitude target detection system based on a multi-source detector, including: the system comprises a plurality of detection station devices, a command control subsystem and a disposal subsystem;
each detection station device respectively detects and measures the distance of the acquired image of the target appearing in the field of view; obtaining position information of the target relative to each detection station device;
each detection station device uploads the detected target position information to an instruction control subsystem, the instruction control subsystem determines coordinates of a target geocentric coordinate system according to the target position information uploaded by each detection station device, the target geocentric coordinates are converted into target GPS information, and angle information of a target relative to each detection station device is converted respectively;
the instruction control subsystem determines that the detected target meets the preset requirement according to the target GPS information; and issuing the angle information of the target relative to each detection station device to a disposal subsystem, and linking the disposal subsystem with the detection station devices which stably track the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem.
Compared with the prior art, the invention has the following advantages:
firstly, the invention provides a new target detection method, which is characterized in that a multi-source detector which is discretely distributed at a certain angle or distributed at the same position with a target independently observes the target and uploads detection information to a command control subsystem, and the command control subsystem processes and distributes multi-source real-time measurement data, so that the detection information is converted and shared, and the detection precision and visibility of the system are improved.
In the invention, the detection and disposal of the low-altitude target based on the multi-source detector are implemented by fusing the position information of the measurement target of the active detection station and the passive detection station, so that the advantage complementation is realized, the accurate position information of the target is obtained through information fusion calculation, the method is an indispensable link for the detection and disposal of the low-altitude small target, the reference is provided for the detection and disposal of other multi-source low-altitude targets, and the method has a great engineering application value.
Finally, compared with the existing air target positioning and tracking mode with radio interference, the invention has strong anti-interference performance.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a flow chart of a low-altitude target detection method based on a multi-source detector according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a multi-source detector-based low-altitude target detection system according to an embodiment of the present invention;
FIG. 3 is a flowchart of a low-altitude target detection method based on a multi-source detector according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Fig. 1 is a flowchart of a low-light level video image noise reduction processing method based on gradient information according to an embodiment of the present invention, and a low-altitude target detection method based on a multi-source detector according to an embodiment of the present invention includes:
s101, each detection station device respectively detects and measures the distance of the acquired image of the target appearing in the field of view; obtaining position information of the target relative to each detection station device;
s102, uploading the detected target position information to an instruction control subsystem by each detection station device, determining a target geocentric coordinate system coordinate by the instruction control subsystem in combination with the target position information uploaded by each detection station device, converting the target geocentric coordinate into target GPS information, and respectively converting angle information of a target relative to each detection station device;
s103, determining that the detected target meets a preset requirement by the command control subsystem according to the target GPS information; and issuing the angle information of the target relative to each detection station device to a disposal subsystem, and linking the disposal subsystem with the detection station devices which stably track the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem.
In the embodiment of the present invention, before step S101, the method further includes:
s0, positioning each detection station device, acquiring the position information of each detection station device, converting the acquired position information into a geocentric coordinate, calibrating the detection station devices, and realizing network communication among the detection station devices.
In this embodiment of the present invention, the position information of the target with respect to each detection station device in step S101 includes:
azimuth, pitch, and skew.
In this embodiment of the present invention, the calibrating the probe station device in step S0 includes:
and leveling the detection station equipment horizontally and correcting north in azimuth.
In this embodiment of the present invention, the step S101 of detecting and ranging, by each detection station device, an acquired image of a target appearing in a field of view respectively includes:
each detection station device detects and segments the acquired image of the target appearing in the field of view and realizes stable tracking and continuous distance measurement of the target.
In this embodiment of the present invention, before converting the target geocentric coordinate into the target GPS information in step S102, the method further includes: and performing smooth filtering on the target geocentric coordinates.
As shown in fig. 1, fig. 2 and fig. 3, the embodiment of the present invention takes three probe station devices as an example to illustrate the probing process:
accurately positioning three detection station equipment to acquire position information LBH of the detection station equipment1、LBH2And LBH3And converted into geocentric coordinates S1(x1,y1,z1)、S2(x2, y2, z2) and S3(x3, y3, z3) leveling the equipment of the detection stations horizontally and correcting north in azimuth, realizing network communication among the three detection stations, transmitting target detection information in real time and providing a prerequisite for fusing target position information and decision;
the photoelectric detection station device detects and divides the acquired image of the target appearing in the field of view, stably tracks and continuously measures distance to obtain the position of the target relative to S1Position information AER of1(azimuth, pitch, skew); the detection equipment of the radar detection station detects the target relative to the S in a Doppler positioning mode2Position information AER of2(azimuth, pitch, skew); the radio detection station captures electromagnetic waves of a special frequency band in a radio detection mode and measures the relative position of a target to S3Position information AE (azimuth angle, pitch angle);
target information detected by each detection station is uploaded to a command control subsystem, and coordinates T (x) of a target geocentric coordinate system are fused in real time by combining position information of the detection stationst,yt,zt)，For the fused target geocentric coordinate information T (x)t,yt,zt) Carrying out smooth filtering and converting the information into target GPS information, and simultaneously accurately converting accurate angle information of a target relative to each detection station;
the finger control subsystem performs fusion processing and decision making on target information, sends accurate target angle information to the disposal subsystem in real time after confirming that a detected target meets requirements, and links the disposal subsystem with the photoelectric subsystem which stably tracks the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem, and starts electromagnetic interference to implement a countermeasure on the target.
In an embodiment of the invention, the probe station arrangement comprises one or more of the following: a medium wave infrared detector, a visible light detector, an infrared and visible light band back imaging detector; an X-band radar detector; an omnidirectional multi-band passive radio detector; a full-band electromagnetic interference detector.
In order to meet the detection requirement in the embodiment of the invention, the detection wavelength of a medium-wave infrared detector is in a wave band of 3-5 microns, the detection of a visible light detector is in a wave band of 0.4-0.8 microns, and the coaxiality of a rear imaging optical detector of the infrared wave band and the visible light wave band is superior to 5'; the center frequency of the X-band radar detector is 10.5GHz, and the acting distance to a low-altitude target with the RCS of 0.01 is more than 3 km; the detection distance of the omnidirectional multi-band passive radio detector is more than 5 km; the working distance of the full-band electromagnetic interference detector is more than 3 km.
In this embodiment of the present invention, after the calibrating the probe station device in step S0, the method further includes:
verifying, by the testing drone, performance indicators for each probe device, the performance indicators including one or more of: a probe tracking capability of the probe device; information handling capabilities of the probe device; a range of the detector device; information fusion capability of the detector device.
In the embodiment of the present invention, the determining that the detected target meets the preset requirement in step S103 includes:
and comparing the target track recorded information with the target track and analyzing the error, and if the error angle of the target is less than or equal to a preset threshold value, judging that the tracking precision of the target reaches the standard and meets the preset requirement.
As shown in fig. 2, an embodiment of the present invention provides a low-altitude target detection system based on a multi-source detector, including: the system comprises a plurality of detection station devices, a command control subsystem and a disposal subsystem;
each detection station device respectively detects and measures the distance of the acquired image of the target appearing in the field of view; obtaining position information of the target relative to each detection station device;
each detection station device uploads the detected target position information to an instruction control subsystem, the instruction control subsystem determines coordinates of a target geocentric coordinate system according to the target position information uploaded by each detection station device, the target geocentric coordinates are converted into target GPS information, and angle information of a target relative to each detection station device is converted respectively;
the instruction control subsystem determines that the detected target meets the preset requirement according to the target GPS information; and issuing the angle information of the target relative to each detection station device to a disposal subsystem, and linking the disposal subsystem with the detection station devices which stably track the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem.
Example one
The following describes the key contents of the multi-source detector-based low-altitude target detection and handling in detail by taking three detection occupation devices as examples.
The detection station S1, the detection station S2 and the detection station S3 are calibrated, and detection tracking and handling capacity, action distance and information fusion capacity of the S1 equipment, the S2 equipment and the S3 equipment are verified through cooperation with small aerial targets (test unmanned planes).
Searching and finding a non-cooperative target (target unmanned aerial vehicle) through a visible light optical system and a radar detection system, uploading target position information to a central control subsystem after the target is found, tracking in real time and converging target information (geocentric system coordinate T (x)t,yt,zt) Fusing out the target trajectory (GPS information).
Comparing the track recording information of a non-cooperative target (target unmanned aerial vehicle) with the fused target track and analyzing errors, if the error between the position information of the target at 5km and the fused information is less than 1.45m, namely the error angle is less than or equal to 1', judging that the tracking precision reaches the standard, wherein the system can be used for tracking and countering low and medium-altitude small targets in the modes of driving away, capturing and the like; thus, the working process of the multi-source detection and disposal system is completed.
Example two
Referring to fig. 1 and fig. 2, a multi-source detector positioning method according to an embodiment of the present invention is described below.
Selecting any two detection stations (taking a photoelectric detection station and a radar detection station as examples) in the multi-source detection stations, wherein the coordinates are S1(x1,y1,z1) And S2(x2,y2,z2) Two stations measuring the same object E (x)e,ye,ze) Respectively α in azimuth and pitch1、α2And β1、β2。
The geometric relationship shown in FIG. 2, target E (x)e,ye,ze) Given by:
wherein tan is tangent function, cot is cotangent function, photoelectric and radar detection station equipment position measurement and angle measurement are mutually independent, and (x) can be deduced according to measurement error theorye,ye,ze) Variance of positioning error
Is usually used
To describe the three-dimensional geometric distribution of the positioning error, the size of the GDOP is related to the relative distance between the measuring station and the target, the length of the base line of the two stations, and is also related to the station address error and the angle measurement error. The closer and the closer the relative distance areThe longer the base length of the station, the smaller the measurement error, but this depends on the distribution station, independent of the system itself.
The main limitation of the two-station positioning mode is that when the target position deviates from the baseline normal direction, the length of the baseline is shortened, the target positioning accuracy is reduced, the effective detection distance of the system is reduced, and the target position cannot be positioned particularly when the target position is close to +/-180 degrees, according to the projection relation. Empirically, in order to make the target positioning error (CEP) reach the same order of magnitude as the deviation of the angle measurement precision projection line, the included angle of each station position relative to the measurement target should be no less than 30 °.
EXAMPLE III
The embodiment of the invention provides a low-altitude target detection system based on a multi-source detector.
When the detection station equipment adopts the optical detector, the optical detector is used for collecting optical signals radiated, reflected and scattered by the scenery in the field of view and converting the optical signals into image electric signals to be output. The optical detector may include an infrared detector and a visible light detector. The infrared detector can use a front stage in a Cassegrain form with a medium wave or long wave band and a caliber of 220 mm; the visible light detector can be a continuous zooming television camera. The optical detector is made of an infrared detector and has the same optical axis. The photoelectric servo turntable mainly comprises: a horizontal double-shaft tracking frame (a shaft system, a torque motor, an encoder, a limiting mechanism and the like) and a servo controller. The tracking frame is a horizontal double-shaft tracking frame and comprises a vertical shaft system, a horizontal shaft system, a photoelectric encoder, a direct-current torque motor, a leveling support mechanism, a locking mechanism, a limiting mechanism, an optical lens mounting mechanism and the like. The device is an installation bearing platform for an infrared detector and a visible light detector, mainly completes the precise leveling of a system and the precise measurement of the direction of a visual axis, and drives a detection station device to realize the capture and tracking of a target. The vertical shaft limiting mechanism comprises a software limiting mechanism and an electric limiting mechanism, and the horizontal shaft limiting mechanism comprises an electric limiting mechanism, a software limiting mechanism and a buffer damping mechanical limiting mechanism, so that the double shafts of the tracking frame can be ensured to safely rotate within a working angle range; the tracking frame shaft system is driven by a torque motor, and the motor is rigidly connected with the horizontal shaft and the vertical shaft, so that the rigidity of the system is improved. In addition, an on-board optical fiber transmission communication system, a focusing and dimming control system, an environmental control system and other electric control systems are also arranged in the electric control box around the tracking frame.
When the detection station equipment adopts the radar detector, the weight of the whole radar detector does not exceed 35kg, and the radar detector can be mounted on a tripod or a vehicle. The monitoring radar used by the radar detector is an integrated whole machine, and the subsystem comprises: antenna feeder, servo, transmitting, receiving, signal processing, terminal control display, monitoring, power supply and the like. The whole radar is integrated into single equipment, so that the radar is convenient to carry, install and remove and has high reliability.
When the detection station equipment adopts a Radio detector, the Radio detector adopts a Cognitive Radio Protocol Cracking (CRPC) technology to detect, identify, position, defend and control the low-altitude small unmanned aerial vehicle. The radio detector can carry out passive detection, distinguish friend or foe, accurate strike or high-power interference to the unmanned aerial vehicle in protected area to give unmanned aerial vehicle's direction, can be used to the low latitude safety defense of airport, prison, important base, stadium and major activity occasion.
The target disposal subsystem is full-band adjustable central frequency point electromagnetic interference, can interfere with a same frequency band control signal in real time after frequency band power is started, and cuts off a new type of communication between the ground and the air of the low-altitude small unmanned aerial vehicle; and meanwhile, the unmanned aerial vehicle has a GPS trapping function, can send a trapped GPS signal to the small unmanned aerial vehicle, and lands the signal in a specified area.
The finger control subsystem comprises an optical fiber communication module and a main control computer subsystem, the optical fiber communication module and the main control computer subsystem are all arranged near the measuring station, and the finger control subsystem is further provided with a single rod and a computer display. The command control subsystem mainly comprises a control unit, a display unit and a communication unit, and is based on a central pivot of low-altitude target detection and disposal of a multi-source detector, controls and manages the whole system, and completes functions of remote control of the detection system, target detection, tracking, information fusion, disposal and the like.
The optical cable transmission equipment is mainly used for realizing the bidirectional transmission of signals such as high-speed data, video images, voice and the like between the detection station equipment and the adjacent detection station equipment in real time.
Of course, in other embodiments, other observation devices may also be used to implement the detection and tracking method and apparatus provided by the present invention.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Claims (10)
1. A low-altitude target detection method based on a multi-source detector is characterized by comprising the following steps:
each detection station device respectively detects and measures the distance of the acquired image of the target appearing in the field of view; obtaining position information of the target relative to each detection station device;
each detection station device uploads the detected target position information to an instruction control subsystem, the instruction control subsystem determines coordinates of a target geocentric coordinate system according to the target position information uploaded by each detection station device, the target geocentric coordinates are converted into target GPS information, and angle information of a target relative to each detection station device is converted respectively;
the instruction control subsystem determines that the detected target meets the preset requirement according to the target GPS information; and issuing the angle information of the target relative to each detection station device to a disposal subsystem, and linking the disposal subsystem with the detection station devices which stably track the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem.
2. The object detection method of claim 1, further comprising, before the method:
positioning each detection station device, acquiring the position information of each detection station device, converting the acquired position information into a geocentric coordinate, calibrating the detection station devices, and realizing network communication among the detection station devices.
3. The object detection method according to claim 1 or 2, characterized in that the position information of the object with respect to each detection station device comprises:
azimuth, pitch, and skew.
4. The object detection method of claim 2, wherein the calibrating the detection station apparatus comprises:
and leveling the detection station equipment horizontally and correcting north in azimuth.
5. The object detection method according to claim 1, wherein the each detection station apparatus respectively detecting and ranging the acquired image in which the object appears in the field of view comprises:
each detection station device detects and segments the acquired image of the target appearing in the field of view and realizes stable tracking and continuous distance measurement of the target.
6. The object detection method of claim 1, wherein converting the object geocentric coordinates to object GPS information further comprises: and performing smooth filtering on the target geocentric coordinates.
7. Object detection method according to claim 1, characterized in that the detection station arrangement comprises one or more of the following: a medium wave infrared detector, a visible light detector, an infrared and visible light band back imaging detector; an X-band radar detector; an omnidirectional multi-band passive radio detector; a full-band electromagnetic interference detector.
8. The object detection method of claim 4, further comprising, after said calibrating the detection station apparatus:
verifying, by the testing drone, performance indicators for each probe device, the performance indicators including one or more of: a probe tracking capability of the probe device; information handling capabilities of the probe device; a range of the detector device; information fusion capability of the detector device.
9. The object detection method according to claim 1, wherein determining that the detected object meets a preset requirement comprises:
and comparing the target track recorded information with the target track and analyzing the error, and if the error angle of the target is less than or equal to a preset threshold value, judging that the tracking precision of the target reaches the standard and meets the preset requirement.
10. A low-altitude target detection system based on a multi-source detector is characterized by comprising: the system comprises a plurality of detection station devices, a command control subsystem and a disposal subsystem;
each detection station device respectively detects and measures the distance of the acquired image of the target appearing in the field of view; obtaining position information of the target relative to each detection station device;
each detection station device uploads the detected target position information to an instruction control subsystem, the instruction control subsystem determines coordinates of a target geocentric coordinate system according to the target position information uploaded by each detection station device, the target geocentric coordinates are converted into target GPS information, and angle information of a target relative to each detection station device is converted respectively;
the instruction control subsystem determines that the detected target meets the preset requirement according to the target GPS information; and issuing the angle information of the target relative to each detection station device to a disposal subsystem, and linking the disposal subsystem with the detection station devices which stably track the target so as to enable the target to be always stably positioned in an action area of the disposal subsystem.
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