CN111999882A - Large-view-field long-wave infrared cloud-penetrating early warning method attached to tracking telescope - Google Patents
Large-view-field long-wave infrared cloud-penetrating early warning method attached to tracking telescope Download PDFInfo
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- CN111999882A CN111999882A CN202010745034.9A CN202010745034A CN111999882A CN 111999882 A CN111999882 A CN 111999882A CN 202010745034 A CN202010745034 A CN 202010745034A CN 111999882 A CN111999882 A CN 111999882A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/16—Housings; Caps; Mountings; Supports, e.g. with counterweight
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/12—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices with means for image conversion or intensification
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
Abstract
The invention discloses a large-field-of-view long-wave infrared cloud-penetrating early warning method attached to a tracking telescope, and belongs to the field of aerospace measurement and control. Firstly, a large-view-field long-wave infrared camera is additionally arranged beside a lens of a tracking telescope, and the tracking telescope and the long-wave infrared camera are connected to a computer. Then, through multi-region shooting azimuth marks, comparing shaft angle encoder data of the long-wave infrared camera, and calibrating the main mirror half view field of the large view field long-wave infrared camera to be 0.1 degree. The tracking telescope transmits the azimuth angle and the pitch angle of the target flying object to the computer, and meanwhile, the long-wave infrared camera transmits the cloud image to the computer. And the computer extrapolates the track of the target according to the azimuth angle and the pitch angle, extracts the contour of the cloud image around the extrapolated track of the target and judges whether the extrapolated track of the target and the edge contour of the cloud have intersection. If yes, giving out early warning information; otherwise, no processing is performed. The invention solves the problems of target rendezvous early warning and target capturing by large-field search.
Description
Technical Field
The invention belongs to the field of aerospace measurement and control, and particularly relates to a large-field-of-view long-wave infrared cloud-penetrating early warning method attached to a tracking telescope.
Background
The tracking telescope is a high-precision measuring instrument, and the tracking strategy, the image processing and the utilization of the tracking telescope are all closely related to the characteristics of a target and a background. Because the field of view of the tracking telescope is small, in the process of monitoring and automatically tracking a target, if the background brightness changes obviously due to cloud penetration, the brightness and definition of the target can change violently, the target cannot be extracted or is extracted wrongly at the target position, and equipment tracking jitter or the target is lost.
Disclosure of Invention
The invention provides a large-view-field long-wave infrared cloud-penetrating early warning method attached to a tracking telescope, aiming at solving the problems that a large-view-field cloud picture in the direction of an optical axis is difficult to measure, a target can penetrate through a cloud, and early warning cannot be timely performed.
The large-view-field long-wave infrared cloud-penetrating early warning method specifically comprises the following steps:
the method comprises the following steps that firstly, a large-view-field long-wave infrared camera is fixedly arranged beside a lens of a tracking telescope, and the tracking telescope and the long-wave infrared camera are connected to a computer.
When the long-wave infrared camera is installed, the center of the view field of the long-wave infrared camera is consistent with the optical axis of the tracking telescope, and the view field of a lens of the long-wave infrared camera is not lower than 20 degrees and not more than 30 degrees.
Step two, through multi-area shooting azimuth indexes, comparing shaft angle encoder data of the long-wave infrared camera, and calibrating the half-view-field calibration precision of a main mirror of the large-view-field long-wave infrared camera by 0.1 degree;
after the tracking telescope tracks the target flying object, transmitting the azimuth angle and the pitch angle of the tracked target flying object to a computer;
fourthly, the computer extrapolates the track according to the azimuth angle and the pitch angle which are transmitted in real time to obtain an extrapolated track of the target;
fifthly, shooting the cloud of the sky by the long-wave infrared camera, and transmitting the shot image to the computer;
step six, the computer utilizes an edge detection operator to extract the contour of the cloud image around the extrapolation track of the target;
the specific process of the edge detection operator is as follows: firstly, setting a basic threshold value of a cloud layer, setting different thicknesses of the cloud layer as different gray values, and deleting the part of the gray value smaller than the threshold value to finally obtain the cloud outline.
Step seven, the computer judges whether the extrapolated track of the target and the edge contour of the cloud have intersection, if so, the target is about to penetrate the cloud, and early warning information is given out, so that the early warning purpose is achieved; otherwise, no processing is performed.
The invention has the advantages that:
the invention relates to a large-view-field long-wave infrared cloud-penetrating early warning method attached to a tracking telescope, which utilizes a large-view-field long-wave infrared camera with higher cost performance, is convenient to install, simple in processing of cloud contour line extraction images, simple in target motion trajectory extrapolation and cloud contour line intersection method, and can solve the problems of early warning of cloud-penetrating of a tracking target by an optical device, early warning of intersection with targets such as the sun and the moon, target searching and capturing in a large view field and the like.
Drawings
FIG. 1 is a flow chart of a long-wave infrared cloud-through early warning method of a large field of view attached to a tracking telescope according to the present invention;
FIG. 2 is a schematic view of a device for long-wave infrared cloud-through early warning of a large field of view added to a tracking telescope according to the present invention;
FIG. 3 is a diagram showing the actual effect of the large field of view long-wave infrared camera added to the tracking telescope of the present invention;
fig. 4 is a schematic diagram of the early warning of cloud penetration of a target obtained by processing an infrared image according to the present invention.
Detailed Description
The present invention will be described in further detail and with reference to the accompanying drawings so that those skilled in the art can understand and practice the invention.
The invention provides a large-field-of-view long-wave infrared cloud-penetrating early warning method attached to a tracking telescope, which is different from independent operation of a meteorological cloud picture device by using the meteorological image cloud measuring device as a reference, a large-view-field long-wave infrared camera is additionally arranged beside a lens of the optical measurement tracking telescope to measure a large-view-field cloud picture near an optical axis of the optical lens in real time, the cloud cover and the edge of the cloud are identified, and meanwhile, on the basis of extrapolating the motion track of a target (normally tracked target is usually near the center of a visual field), judging the cloud passing condition in front of the target motion track, giving early warning for the cloud passing condition or other conditions of the target within a certain time, reserving coping time, the method has the advantages that strategies such as target tracking, image processing, screen projection display switching and the like are adjusted, the occurrence of the conditions of manual and foot disorder and misappropriation is avoided, and meanwhile, the application of target searching and capturing, early warning of passing the sun and the like is considered.
The large-field-of-view long-wave infrared cloud-penetrating early warning method comprises the following specific steps as shown in fig. 1:
step one, a large-view-field long-wave infrared camera is fixedly and additionally arranged beside a lens cone of a tracking telescope, and the tracking telescope and the long-wave infrared camera are connected to a computer.
As shown in fig. 2 and 3, the installation position and the circuit layout of the camera are based on the condition that the normal operation of the equipment is not influenced, the long-wave infrared camera is firm and does not shield the view field of the long-wave infrared camera, and the center of the view field of the long-wave infrared camera is confirmed to be consistent with the optical axis of the tracking telescope before installation and fixation.
Considering the artificial reaction time of tracking strategy adjustment before and after cloud penetration and large-screen projection switching, the leisurely handling can be guaranteed only by the lead of more than 2s, the tracking angular speed is calculated according to the common condition of 5 degrees/s, the selection of the lens view field of the long-wave infrared camera is not less than 20 degrees, the sensitivity and the spatial resolution angle are considered, and the view field is not more than 30 degrees.
From the analysis of the brightness data of the cloud and the sky background, the long-wave infrared has higher sensitivity to the cloud, and the cloud detection requirements of the day and the night can be considered. The uncooled long-wave infrared detector has high cost performance, small size, lens, mounting rack, cable and the like, generally not more than 400g, is convenient to hang beside a lens cone of a tracking telescope, and has small influence on the lens cone due to large size of the tracking telescope.
Besides being installed beside a lens barrel of a tracking telescope, the system also needs a control processing computer for controlling the long-wave infrared camera to work, setting parameters, collecting infrared images, receiving equipment angle and time data, sending out early warning signals, cloud position and time information, displaying a work interface, marked infrared images, processing information and the like.
The control processing computer is connected with the telescope through an IP network, receives optical measurement information sent by the telescope in real time, interprets and acquires current telescope visual axis pointing information including absolute time and azimuth angles, pitching angles and the like according to an information transmission protocol, and sends cloud entering/cloud exiting information including alarm types, cloud entering/cloud exiting relative time, azimuth angles, pitching angles, early warning point cloud relative cloud amount (brightness) information and the like to the telescope according to the protocol.
Step two, through multi-area shooting azimuth indexes, comparing shaft angle encoder data of the long-wave infrared camera, and calibrating the half-view-field calibration precision of a main mirror of the large-view-field long-wave infrared camera by 0.1 degree;
the long-wave infrared camera accesses the measured infrared cloud image and the shaft angle encoder, time and the like of the equipment into a computer, acquires the image (according to the image interface of the camera) through an image acquisition card or a network card and the like, and processes the image.
The method comprises the steps of considering that a long-wave infrared camera needs to obtain position and time information of cloud-through early warning, calibrating the camera to obtain a main point pixel position of a long-wave infrared image, wherein the main point calibration precision requirement is not high, the requirement can be met by 0.1 degrees (a main mirror half view field), obtaining information such as angle equivalent and image surface rotation angle corresponding to an image pixel, namely a deviation angle value of any pixel on a calibration image relative to the main point, calibrating an azimuth mark capable of being shot through multiple areas in the view field, comparing axial angle encoder data of equipment, and meeting the calibration requirement.
After the tracking telescope tracks the target flying object, transmitting the azimuth angle and the pitch angle of the tracked target flying object to a computer;
fourthly, the computer extrapolates the track according to the azimuth angle and the pitch angle which are transmitted in real time to obtain an extrapolated track of the target;
and (3) extrapolating the moving track of the target in the long-wave infrared camera view field according to the previous moving track of the target (optical axis), wherein the extrapolation method can be linear extrapolation, polynomial extrapolation and the like, and the extrapolated track is represented by an image coordinate system in the long-wave infrared camera view field. That is, a curve is drawn on the image, and the curve is a set of pixel points with time marks:
l ═ T (x, y) ti; where (x, y) is the image pixel coordinate and ti is the relative time (relative current time) at which the trajectory corresponds.
Fifthly, shooting the cloud of the sky by the long-wave infrared camera, and transmitting the shot image to the computer;
step six, the computer utilizes an edge detection operator to extract the contour of the cloud image;
the specific process of the edge detection operator is as follows:
firstly, constructing a movable picture frame in a range near an extrapolation track, and carrying out target extraction processing on a cloud image in the frame;
then, setting basic threshold values of cloud layers, setting different cloud layer thicknesses as different gray values (namely different brightness represents different cloud layer thicknesses), identifying different cloud thickness conditions, and giving different-grade early warning prompts;
and finally, deleting the part of which the gray value is smaller than the threshold value to finally obtain the cloud outline.
The image is binarized by using different gray values, and after a binarized image is obtained, contour line extraction is performed on the image by using an edge detection operator.
G (x, y) ═ G [ f (x, y) ], where G is an edge detection operator and f (x, y) is binarized image information.
Step seven, the computer judges whether the extrapolated track of the target and the edge contour of the cloud have intersection, if so, the target is about to penetrate the cloud, and early warning information is given out, so that the early warning purpose is achieved; otherwise, no processing is performed.
The method comprises the steps of using a target motion extrapolation track and cloud contour edge intersection method to give early warning information that a target is going to pass through the cloud, as shown in figure 4, tracking the target by a tracking telescope, enabling an optical view field to move along with the target, enabling the target to be in the center position of an image in a long-wave infrared image, enabling a thick solid line to be a previous flight track of the target, enabling thick dotted lines to be extrapolated flight tracks according to the previous track, enabling dotted lines on two sides of the extrapolated track to be movable frames, extracting the contour of the cloud target edge in the movable frames, enabling the cloud to appear on the upper right side of the view field, extracting two target contour edges respectively under two different gray level thresholds, sending out cloud passing early warning information. The early warning information comprises a cloud-penetrating early warning grade, cloud-penetrating position information, time information and the like, and is marked on the image.
When (a, b) | tj and g (a, b) | tj are equal to 1, giving early warning information, and giving early warning that the cloud edge and the optical axis point to the position in the cloud or out of the cloud at the angle represented by (a, b) after tj time.
Claims (3)
1. A long-wave infrared cloud-penetrating early warning method with a large field of view attached to a tracking telescope is characterized by comprising the following specific steps:
the method comprises the following steps that firstly, a large-view-field long-wave infrared camera is fixedly and additionally arranged beside a lens of a tracking telescope, and the tracking telescope and the long-wave infrared camera are connected to a computer;
step two, through multi-area shooting azimuth indexes, comparing shaft angle encoder data of the long-wave infrared camera, and calibrating the half-view-field calibration precision of a main mirror of the large-view-field long-wave infrared camera by 0.1 degree;
after the tracking telescope tracks the target flying object, transmitting the azimuth angle and the pitch angle of the tracked target flying object to a computer;
fourthly, the computer extrapolates the track according to the azimuth angle and the pitch angle which are transmitted in real time to obtain an extrapolated track of the target;
fifthly, shooting the cloud of the sky by the long-wave infrared camera, and transmitting the shot image to the computer;
step six, the computer utilizes an edge detection operator to extract the contour of the cloud image around the extrapolation track of the target;
step seven, the computer judges whether the extrapolated track of the target and the edge contour of the cloud have intersection, if so, the target is about to penetrate the cloud, and early warning information is given out, so that the early warning purpose is achieved; otherwise, no processing is performed.
2. The long-wave infrared cloud-penetrating early warning method for the large field of view of the tracking telescope as claimed in claim 1, wherein the center of the field of view of the long-wave infrared camera is consistent with the optical axis of the tracking telescope, and the field of view of the lens of the long-wave infrared camera is not less than 20 ° and not more than 30 °.
3. The long-wave infrared cloud-penetrating early warning method with the large field of view, which is attached to a tracking telescope, as claimed in claim 1, wherein the specific process of the edge detection operator is as follows: firstly, setting a basic threshold value of a cloud layer, setting different thicknesses of the cloud layer as different gray values, and deleting the part of the gray value smaller than the threshold value to finally obtain the cloud outline.
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| CN113984763A (en) * | 2021-10-28 | 2022-01-28 | 内蒙古大学 | Visual identification-based insect repellent pesticide effect experimental device and method |
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