CN112164196B - Intrusion target alert positioning device and method based on photoelectric imaging technology - Google Patents
Intrusion target alert positioning device and method based on photoelectric imaging technology Download PDFInfo
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- CN112164196B CN112164196B CN202011039880.5A CN202011039880A CN112164196B CN 112164196 B CN112164196 B CN 112164196B CN 202011039880 A CN202011039880 A CN 202011039880A CN 112164196 B CN112164196 B CN 112164196B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19608—Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19617—Surveillance camera constructional details
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19617—Surveillance camera constructional details
- G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19617—Surveillance camera constructional details
- G08B13/19632—Camera support structures, e.g. attachment means, poles
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19639—Details of the system layout
- G08B13/19645—Multiple cameras, each having view on one of a plurality of scenes, e.g. multiple cameras for multi-room surveillance or for tracking an object by view hand-over
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses an intrusion target warning positioning device and method based on a photoelectric imaging technology, wherein the device comprises a photoelectric scanner, a photoelectric sighting instrument and an information processor; the photoelectric scanner and the photoelectric sight-sight instrument are separately erected at a certain distance; a scanning camera of the photoelectric scanner realizes airspace detection in a continuous turnover manner and outputs a panoramic scanning image, when a target detection circuit of the photoelectric scanner detects a moving target from the panoramic image, the target angle is pointed and sent to the photoelectric sight aiming instrument, and the photoelectric sight aiming instrument points to a specified target to perform image recognition and tracking angle measurement on the target; the information processor receives continuous angle measurement data of the same target from the photoelectric scanner and the photoelectric sight-sighting instrument and then realizes the function of omnidirectional multi-target warning positioning; the photoelectric scanner in the device realizes large-range monitoring by adopting turnover scanning, realizes target identification and positioning by adopting the photoelectric sighting instrument, has full-time warning detection capability after adopting the infrared imaging sensor, and has far higher target identification capability than a radar system.
Description
Technical Field
The invention belongs to the technical field of security monitoring, and particularly relates to an intrusion target warning positioning device and method.
Background
In the field of security applications, a large-scale warning from the ground to the air needs to be performed on key areas to prevent illegal intrusion of vehicles, personnel and aircrafts. Particularly, with the widespread of small-sized unmanned aerial vehicles in recent years, the events of illegal activities performed by the small-sized unmanned aerial vehicles are endless and cause great loss (for example, serious potential safety hazards and major activity potential safety hazards are caused by environmental threat and smuggling, unauthorized flying in no-fly areas near airports and the like), and the pressure and the daily increase of the warning detection of the unmanned aerial vehicles are coped with.
At present, an all-dimensional large-range detection warning task is usually executed by a warning radar, and a radar system has the defects of difficult judgment of target properties, high low-speed target alarm leakage rate under an ultra-low altitude complex background and the like; in addition, in many radio regulated areas, the radar transmission power is strictly limited, so that the detection capability of the radar cannot meet the use requirement.
The photoelectric system has the characteristics of passive detection and high-resolution imaging, and has good target identification capability under a complex background condition, so the photoelectric system is widely applied to the field of security protection. In addition to radar systems, there are currently no other systems available that are suitable for performing a wide range of surveillance tasks that have both target location and target identification capabilities.
Disclosure of Invention
In order to solve the problems, the invention provides a method for detecting an invading target close to a monitoring area and accurately tracking, positioning and identifying a target in a full monitoring area by matching a photoelectric scanner based on a photoelectric imaging technology with a plurality of photoelectric sightseeing instruments.
The technical scheme of the invention is as follows:
an intrusion target warning and positioning device based on a photoelectric imaging technology comprises an information processor, a photoelectric scanner and at least one photoelectric sighting instrument; the photoelectric scanner and the photoelectric sight-sight instrument are in information interaction with the information processor in a cable or wireless mode; the photoelectric scanner and the photoelectric sight-sighting instrument are erected at a certain distance, and a connecting line between erection points forms an observation base line;
the photoelectric scanner comprises a scanner camera, an electric control rotary table and an azimuth angle measuring component; the scanning camera scans in the horizontal direction under the drive of the electric control turntable to realize the periodic scanning imaging of the warning area; the azimuth angle measuring component realizes the measurement of the scanning azimuth angle parameters; the range of surveillance in the pitch direction is determined by the vertical field of view of the scanning camera;
the photoelectric sight comprises a video camera, a video tracker, an image display, a sight pitching inclination angle measuring component, a sight azimuth director and a processor; scene image information shot by a video camera is input into a video tracker, the video tracker automatically tracks an invading target in a scene image, and the angular tracking deviation amount of the invading target relative to an aiming point is calculated; the image display displays an aiming point and a scene image; the observation instrument pitch inclination angle measurement assembly and the observation instrument azimuth director respectively measure a pitch observation angle and an azimuth observation angle corresponding to the aiming point, and the processor respectively corrects the pitch observation angle and the azimuth observation angle according to the angle tracking deviation amount to obtain a target pitch observation angle and a target azimuth observation angle of the observation instrument;
the information processor detects an invasion target from a scanning image output by the photoelectric scanner, reads a scanner target azimuth observation angle and a scanner target elevation observation angle of the invasion target, sends the observation angles to the photoelectric sight-seeing instrument and guides the photoelectric sight-seeing instrument to intercept the target;
and the information processor calculates and obtains the position parameters of the invading target according to the scanner position observation angle, the scanner target pitching observation angle, the sighting instrument target position observation angle and the length data of the observation base line of the same target.
In the intrusion target warning positioning device based on the photoelectric imaging technology, the photoelectric scanner and the information processor are structurally integrated.
In the intrusion target warning positioning device based on the photoelectric imaging technology, the photoelectric sight instrument is a handheld portable system structurally.
In the device for warning and positioning the intrusion target based on the photoelectric imaging technology, the photoelectric sighting instrument is erected on the tripod, and the observation instrument pitching inclination angle measuring assembly and the observation instrument orientation director are arranged on the observation instrument base of the tripod.
In the above intrusion target alert positioning apparatus based on the photoelectric imaging technology, the scanning camera is formed by combining a plurality of imaging sensors, and each imaging sensor images a field of view with a different viewing angle in the vertical direction.
In the above intrusion target alert positioning device based on the photoelectric imaging technology, the photoelectric scanner further comprises a pitching adjustment mechanism for driving the scanning camera to adjust the pitching direction.
The intrusion target alert positioning device based on the photoelectric imaging technology further comprises a display control computer, wherein the display control computer is used for displaying images of the scanning camera and the video camera, and scanning azimuth angle parameters, a sighting instrument target pitching observation angle, a sighting instrument target azimuth observation angle, an angle tracking deviation amount and position information of the intrusion target.
In the intrusion target alert positioning device based on the photoelectric imaging technology, the imaging sensors of the scanning camera and the video camera are infrared sensors.
An intrusion target alert positioning method based on a photoelectric imaging technology comprises the following steps:
【1】 A scanning camera of the photoelectric scanner completes the periodic detection of the warning area and outputs a scanning image to the information processor;
【2】 After the information processor detects an invasion target in an image output by the photoelectric scanner, outputting a target azimuth observation angle and a target pitching observation angle of the scanner to the photoelectric sight-seeing instrument;
【3】 An operator operates a photoelectric sighting instrument to point to a target area according to a target azimuth observation angle of a scanner and a target pitching observation angle of the scanner, after a target image is observed through an image display, an aiming point is roughly aligned to the target, a video tracker is started to intercept and lock an invaded target, a pitching inclination angle measuring component of the sighting instrument and a sighting instrument azimuth director are respectively measured to obtain a pitching observation angle and an azimuth observation angle corresponding to the aiming point, and a processor respectively corrects the pitching observation angle and the azimuth observation angle according to an angle tracking deviation amount and continuously outputs a target pitching observation angle of the sighting instrument and a target azimuth observation angle parameter of the sighting instrument;
【4】 And the information processor receives the target azimuth observation angle of the scanner, the target pitching observation angle of the sighting device, the target azimuth observation angle of the sighting device and the length of an observation baseline at the same moment, and calculates to obtain the position parameters of the invading target.
The invention has the following beneficial technical effects:
the invention realizes the omnibearing multi-target warning positioning function of a warning area by the technical scheme of combining a photoelectric scanner and a plurality of photoelectric sightseeing instruments; the device adopts a photoelectric fully-passive detection technology, does not have electromagnetic energy emission, and is particularly suitable for the security application requirements of radio controlled areas. Because of the adoption of the high-resolution photoelectric sight-sighting instrument, the target identification capability is far higher than that of a radar system.
The invention adopts the photoelectric scanner and the photoelectric sight-sight instrument which are arranged at intervals or a plurality of photoelectric sight-sight instruments which are separately erected to measure the data of the same target and calculate the target distance by a triangulation method, thereby being a three-coordinate detection system which can obtain the azimuth angle, the elevation angle and the distance quantity of the target.
Thirdly, after the angle information of the target is acquired by adopting an unattended photoelectric scanner, an operator of the photoelectric sight-seeing instrument is guided to search the target; the video tracker is arranged in the sighting device, assists operators to accurately track the dynamic target, and is simple and convenient to operate and high in target angle pointing data measurement accuracy.
Drawings
FIG. 1 is a schematic diagram of an intrusion target alert positioning apparatus according to the present invention;
FIG. 2 is a schematic view of the principle of the observation and aiming instrument of the present invention;
FIG. 3 is a schematic diagram of the angular tracking deviation of the sighting device of the present invention;
FIG. 4 is a schematic view of the principle of the view finder with a tripod according to the present invention;
FIG. 5 is a schematic diagram of the intrusion target location calculation of the present invention;
FIG. 6 is a schematic diagram of an intrusion target warning positioning device using multiple sighting instruments according to the present invention;
the reference numbers are as follows: 1-a photoelectric scanner; 2-a photoelectric sight-sighting instrument; 2 a-photoelectric sight A; 2B-a photoelectric sight B; 3-an information processor; 4-displaying and controlling the computer; 5-a power supply; 6-Observation of baseline; 7-target horizontal plane projection point; 11-a scanning camera; 12-an electrically controlled turntable; 13-a turntable base; 131-scanner azimuth drive motor; 132-a scanner azimuth angle assembly; 14-a tripod; 15-scanner cable; 16-scanner azimuth axis; 17-scanner base point; 171-scanner target azimuth observation angle; 172-scanner target elevation observation angle; 173-horizontal projection distance of target from scanner; 21-a video camera; 22-a video tracker; 23-image display; 231-angular tracking deviation amount; 232-aiming point; 24-a pitching inclination angle measuring component of the sighting device; 25-view the appearance azimuth director; 26-a connector of a sighting device; 27-a battery; 28-observation instrument base point; a 281 sighting device target azimuth observation angle; 282-sighting device target pitching observation angle; 283-horizontal projection distance between the target and the sighting device; 29-sight line cable; 31-a sight base; 32-sightseeing tripod.
Detailed Description
As shown in fig. 1, the intrusion target warning and positioning device of the present invention comprises a display control computer 4, a power supply 5, an information processor 3, a photoelectric scanner 1 and at least one photoelectric sighting device 2; the photoelectric scanner 1 and the photoelectric sighting device 1 are erected at a certain distance and are electrically connected with the information processor 3 in a cable or wireless mode; the coordinate of the projection point of the photoelectric scanner 1 on the horizontal plane is defined as a scanner base point 17, the coordinate of the projection point of the photoelectric sight on the horizontal plane is defined as a sight base point 28, and the connection line of the scanner base point 17 and the sight base point 28 forms an observation base line 6; the photoelectric scanner 1 is connected with the information processor 3 through a scanner cable 15, and the photoelectric sight-seeing instrument 2 is connected with the information processor 3 through a sight-seeing instrument cable 29;
the photoelectric scanner 1 comprises a scanning camera 11, an electric control turntable 12 and an azimuth angle measuring component 132; the scanner 11 is installed on the electronic control revolving stage 12, the said electronic control revolving stage 12 is connected with the rotating shaft of the scanner azimuth driving motor 131, the stator of the azimuth driving motor 131 couples to base 13 of revolving stage, the base 13 of revolving stage is installed on tripod 14; the rotating shaft of the scanner azimuth driving motor 131 is also connected with a scanner azimuth angle measuring component 132, and the axis of the scanner azimuth angle measuring component 132 is vertical to the horizontal plane; when the wired communication mode is adopted, the scanner camera 11 is electrically connected to the information processor 3 through the scanner cable 15, and the scanned image information and the angle information of the scanner azimuth measuring angle assembly 132 are output through the scanner cable 15. The photoelectric scanner 1 is an unattended device.
The scanner 11 completes the periodic detection of the alert airspace and outputs the scanning image by the continuous azimuth revolving or the reciprocating sector scanning under the driving of the scanner azimuth driving motor 131, and the azimuth angle measuring component 132 realizes the measurement of the scanning azimuth angle parameter. The vertical spatial detection range is determined by the parameters of the optical lens assembly of the scanner 11. Take the design of a vertical resolution 1200 pixel detector adopted by the scanning camera 11, a vertical field of view is designed to be 16 degrees and continuous rotation as an example: the instantaneous field of view is 0.23mrad, the detection distance of a target (a small 4-rotor unmanned aerial vehicle) with the geometric size of 0.3m x 0.3m can reach more than 1.3km, if the lower edge of the vertical field of view of the scanning camera 11 is arranged at 0 DEG, 16 DEG is the upper edge of the detection range of a vertical airspace, and the height of the target at the position of 1.3km is 350 meters, so that the design can carry out all-dimensional effective detection on the small target with the distance of 1.3km and the flying height of less than 350 meters.
Preferably, the scanner 11 is formed by combining a plurality of imaging sensors, and the plurality of imaging sensors respectively detect and image different angles in the vertical direction, so as to improve the vertical spatial detection range.
As another preferable mode, the photoelectric scanner 1 further includes a tilt adjustment mechanism that drives the scanning camera 11 to be adjusted in a tilt direction; the pitching adjusting mechanism drives the scanning camera 11 to perform pitching adjustment, and performs time-sharing spatial detection imaging on airspaces with different elevation angles, so that the vertical airspace detection range is enlarged.
As shown in fig. 2 and 3, the photoelectric sight 2 includes a video camera 21, a video tracker 22, an image display 23, a sight pitch inclination measurement assembly 24, a sight azimuth director 25, a sight coupler 26, an internal processor, and a battery 27; the photoelectric sight apparatus 2 can be integrated, such as a hand-held or shoulder-mounted integrated structure, or can be a split structure, and the video camera 21, the sight apparatus pitch inclination angle measurement assembly 24 and the sight apparatus orientation pointer 25 are integrated on other devices and connected with other components of the photoelectric sight apparatus 2 in a wired or wireless manner.
Scene image information shot by the video camera 21 is input into the video tracker 22, the video tracker 22 automatically tracks an intrusion target in a scene image and calculates an angular tracking deviation 231 of the target relative to an aiming point 232, and the scene image, the aiming point 232, the angular tracking deviation 231 and other display information are displayed through the image display 23; graphic display information such as aiming point 232 is generated by video tracker 22; the photoelectric sighting device 2 is provided with a sighting instrument pitching inclination angle measuring component 24 and a sighting instrument direction director 25, the sighting instrument pitching inclination angle measuring component 24 and the sighting instrument direction director 25 respectively measure and obtain a pitching observation angle and a direction observation angle corresponding to a sighting point 232, the internal processor respectively corrects the pitching observation angle and the direction observation angle according to the angle tracking deviation 231 to obtain a sighting instrument target pitching observation angle 282 and a sighting instrument target direction observation angle 281; the scene image, the sightseeing target pitch observation angle 282 and sightseeing target azimuth observation angle 281, and the pointing angle information of the aiming point 232 are output through the sightseeing connector 216 and the sightseeing cable 29.
As shown in fig. 4, the observation instrument is preferably mounted on a tripod for observation, and the observation instrument pitch tilt angle measurement assembly 24 and the observation instrument azimuth pointer 25 are provided on the observation instrument base 31 of the observation instrument tripod 32. The operator can track the intrusion target by adjusting the sight base 31.
The information processor 3 is used for receiving various information of the photoelectric scanner 1, the photoelectric sight-seeing instrument 2 and the display control computer 4 and finishing information interaction among the photoelectric scanner 1, the photoelectric sight-seeing instrument 2 and the display control computer 4.
Image information of a plurality of intrusion targets is stored in the information processor 3, once the intrusion targets in the image output by the photoelectric scanner 1 are identified, the scanner target azimuth observation angle 171 and the scanner target elevation observation angle 172 where the intrusion targets are located are immediately calculated and obtained, and the obtained result is sent to the photoelectric sighting device 2; the information processor 3 receives the scanned image information from the photoelectric scanner 1 and the rotation angle information output by the scanner azimuth angle measuring component 132 during the processing and completes the following processing: detecting a target from a scanned image, and reading a scanner target azimuth observation angle 171 and a scanner target elevation observation angle 172 corresponding to the target position; then, the scanned image, the scanner target azimuth observation angle 171 and the scanner target elevation observation angle 172 are sent to the display control computer 4 and the photoelectric sighting device 2; the above process is continuously carried out in real time along with the scanning period of the photoelectric scanner. Structurally, the photoelectric scanner 1 and the information processor 3 can be integrated into a whole, and the portable and portable photoelectric scanner is convenient to carry and transport.
During application, an operator operates the photoelectric sighting device 2 to point to a target direction under the guidance of parameters of a target azimuth observation angle 171 and a target pitching observation angle 172 of the scanner, and after the operator observes a target image through the image display 23 and roughly aims at a target aiming point 232, the operator starts the video tracker 23 to intercept and continuously track the target.
The mounting distance between the electro-optical scanner 1 and the electro-optical sighting device 2 affects the target ranging accuracy even if the length of the observation baseline 6 is longer, and the ranging accuracy of the system is higher if the observation baseline 6 is longer, but the increase of the observation baseline 6 causes the time for the electro-optical sighting device 2 to intercept the target according to the scanner target azimuth observation angle 171 and the scanner target elevation observation angle 172 to increase, for example: when the horizontal field of view of the photoelectric sighting device 2 is designed to be 6 degrees and the length of the observation base line 6 is 50 meters, the photoelectric sighting device 2 points to the target direction according to the scanner target azimuth observation angle 171 and the scanner target elevation observation angle 172, at this time, the probability that a target with the distance of 1 kilometer enters the field of view of the photoelectric sighting device 2 is about 50%, at this time, the photoelectric sighting device 2 needs to be moved in a small range from left to right, the target search range is expanded, the target is intercepted, and the target interception time is increased by seconds. Therefore, the length of the observation base line 6 is not too long, and is generally set to be about one hundred meters.
After intercepting the target, the video tracker 23 continuously and automatically tracks and solves the angular tracking deviation 231 of the target relative to the aiming point 232, corrects the manual aiming deviation of the aiming point 232 in real time, obtains a target azimuth observation angle 281 of the sighting instrument and a target elevation observation angle 282 of the sighting instrument, and outputs the target azimuth observation angle and the target elevation observation angle to the information processor 3; where Δ X and Δ Y represent the deviation of the angular tracking deviation amount 231 in the horizontal and vertical directions, respectively. The information processor 3 performs distance calculation of the intrusion target in real time according to the scanner target azimuth observation angle 171, the scanner target pitch observation angle 172, the sighting instrument target azimuth observation angle 281, the sighting instrument target pitch observation angle 282, and the observation baseline length at that time, and acquires target position information.
The video tracker is a common target coordinate position detection module in a photoelectric automatic tracking system, and has the basic functions of locking and tracking a specified target in real time from continuous video images output by a camera and resolving the coordinate position of the centroid of the output target in the images, wherein the origin of coordinates in the images can be manually set, is generally arranged in the center of the images and is drawn on the images in a cross-shaped division manner so as to be convenient for an operator to observe. The device has high automatic tracking capability and tracking stability of the moving target, and is widely applied to automatic photoelectric pointing equipment.
As shown in fig. 5, when the information processor 3 performs the target distance solution: the horizontal plane projection point 28 of the sighting device, the horizontal plane projection point 17 of the scanner and the horizontal plane projection point 7 of the target are all defined to be on the horizontal plane, the included angle between the azimuth direction of the observation target of the photoelectric sighting device 2 and the observation base line 6 is defined as a target azimuth observation angle 281 of the sighting device, the included angle between the azimuth direction of the observation target of the photoelectric scanner 1 and the observation base line 6 is defined as a target azimuth observation angle 171 of the scanner, and according to the trigonometric function relationship, the horizontal projection distance 173 between the invading target and the scanner is as follows:
d1＝L*(sinα*sin2β)/(cosβ*sinα+cosα*sinβ)；
the horizontal projection distance 283 between the invading target and the sight-seeing instrument is as follows:
d2＝L*(sin2α*sinβ)/(cosβ*sinα+cosα*sinβ)；
wherein L is the length of the observation baseline 6; β is the scanner target azimuth observation angle 171; alpha is the observation angle 281 of the target azimuth of the sighting device; d1 is the target-to-scanner horizontal projection distance 173; d2 is the horizontal projection distance 283 between the target and the sight glass; λ is the scanner target elevation observation angle 172; theta is the observation angle of elevation of the target of the sighting device 282;
further, the linear distance of the target relative to the photoelectric sighting device and the scanner can be respectively calculated according to the known theta angle and lambda angle, and under the condition that L is known, the accurate position parameter of the invading target is obtained.
Fig. 6 shows an intrusion target warning and positioning device composed of a single photoelectric scanner and a plurality of sets of sightseeing instruments, wherein the intrusion target warning and positioning device is formed by 1 photoelectric scanner and a plurality of photoelectric sightseeing instruments working together, 2a in the figure is a photoelectric sight instrument A, and 2B is a photoelectric sight instrument B. The information processor 3 detects a plurality of targets from the scanned image of the photoelectric scanner 1, respectively allocates the scanner target azimuth observation angle 171 and the scanner target elevation observation angle 172 of different targets to the photoelectric sights in the corresponding directions according to the arrangement positions of the plurality of photoelectric sights, guides the plurality of photoelectric sights to track the targets, and realizes the all-round warning and positioning of the plurality of targets.
The invention adopts a photoelectric scanner with turnover scanning to realize large-range monitoring, adopts a photoelectric sight-sight instrument to realize target identification and positioning, adopts an infrared imaging sensor to have the all-day warning detection capability, and has the target identification capability far higher than that of a radar system.
Claims (7)
1. An intrusion target alert positioning method based on a photoelectric imaging technology is characterized by comprising the following steps: the method comprises the following steps:
【1】 Establishing an intrusion target alert positioning device based on a photoelectric imaging technology;
the intrusion target warning and positioning device comprises an information processor (3), a photoelectric scanner (1) and a plurality of photoelectric sightseeing instruments (2);
the photoelectric scanner (1) and the photoelectric sighting device (2) are in information interaction with the information processor (3) in a cable or wireless mode; the photoelectric scanner (1) and the photoelectric sighting device (2) are erected at a certain distance, and a connecting line between erection points forms an observation base line (6);
the photoelectric scanner (1) comprises a scanning camera (11), an electric control rotary table (12) and an azimuth angle measuring component (132); the scanning camera (11) scans in the horizontal direction under the driving of the electric control turntable (12) to realize the periodic scanning imaging of the warning area; the azimuth angle measurement component (132) realizes measurement of scanning azimuth angle parameters; the range of the pitch guard is determined by the vertical field of view of the scanning camera (11);
the photoelectric sighting device (2) comprises a video camera (21), a video tracker (22), an image display (23), a sighting device pitching inclination angle measuring component (24), a sighting device orientation director (25) and a processor; scene image information shot by a video camera (21) is input into a video tracker (22), an invading target in the scene image is automatically tracked by the video tracker (22), and an angle tracking deviation amount (231) of the invading target relative to an aiming point (232) is calculated; the image display (23) displays the aiming point (232) and the scene image; a pitching inclination angle measuring component (24) of the sighting instrument and a sighting instrument azimuth director (25) respectively measure and obtain a pitching observation angle and an azimuth observation angle corresponding to a sighting point (232), and a processor respectively corrects the pitching observation angle and the azimuth observation angle according to an angle tracking deviation amount (231) to obtain a sighting instrument target pitching observation angle (282) and a sighting instrument target azimuth observation angle (281);
the information processor (3) detects an invasion target from a scanning image output by the photoelectric scanner (1), reads a scanner target azimuth observation angle (171) and a scanner target elevation observation angle (172) where the invasion target is located, distributes the scanning target azimuth observation angle and the scanner target elevation observation angle to the photoelectric sightseeing instruments (2) in corresponding directions, and guides the photoelectric sightseeing instruments (2) to track the invasion target;
the information processor (3) calculates and obtains the position parameters of the invading target according to the length data of the scanner azimuth observation angle (171), the scanner target pitching observation angle (172), the sighting instrument target pitching observation angle (282), the sighting instrument target azimuth observation angle (281) and the observation baseline (6) of the same invading target;
the photoelectric sighting device (2) is integrated into a handheld or shoulder-reactance structure;
【2】 A scanning camera (11) of the photoelectric scanner (1) finishes periodic detection of the warning area and outputs a scanning image to the information processor (3);
【3】 After the information processor (3) detects an intrusion target in an image output by the photoelectric scanner (1), outputting a scanner target azimuth observation angle (171) and a scanner target elevation observation angle (172) to the photoelectric sightseeing instrument (2);
【4】 An operator operates a photoelectric sighting device (2) to point to an invasion target area according to a scanner target azimuth observation angle (171) and a scanner target pitching observation angle (172), after an invasion target image is observed through an image display (23), an aiming point (232) is roughly aligned to the invasion target, a video tracker (23) is started to intercept and lock the invasion target, a sighting device pitching inclination angle measuring component (24) and a sighting device azimuth director (25) respectively measure a pitching observation angle and an azimuth observation angle corresponding to the aiming point (232), a processor corrects the pitching observation angle and the azimuth observation angle according to an angle tracking deviation amount (231) and continuously outputs parameters of the sighting device target pitching observation angle (282) and the sighting device target azimuth observation angle (281);
【5】 The information processor receives a scanner target azimuth observation angle beta, a scanner target pitch observation angle lambda, a sighting device target pitch observation angle theta and a sighting device target azimuth observation angle alpha at the same moment, and calculates and obtains an intrusion target and scanner horizontal projection distance d1 and an intrusion target and viewer horizontal projection distance d2 respectively, wherein L is the length of an observation base line;
the calculation formula is as follows:
d1＝L*(sinα*sin2β)/(cosβ*sinα+cosα*sinβ)；
d2＝L*(sin2α*sinβ)/(cosβ*sinα+cosα*sinβ)；
and calculating to obtain accurate position parameters of the invading target according to the target pitching observation angle theta of the sighting device, the target pitching observation angle lambda of the scanner and the length L of the observation base line.
2. The method for positioning the intrusion target alert based on the optoelectronic imaging technology according to claim 1, wherein: the photoelectric scanner (1) and the information processor (3) are structurally integrated.
3. The method for positioning the intrusion target alert based on the optoelectronic imaging technology according to claim 1, wherein: the photoelectric sighting device (2) is erected on a tripod (32), and a sighting device pitching inclination angle measuring component (24) and a sighting device orientation director (25) are arranged on a sighting device base (31) of the tripod (32).
4. The method for positioning the intrusion target alert based on the photoelectric imaging technology according to claim 1, wherein: the scanning camera (11) is composed of a plurality of imaging sensors, each imaging sensor imaging a field of view of a different angle of view in the vertical direction.
5. The method for positioning the intrusion target alert based on the photoelectric imaging technology according to claim 1, wherein: the photoelectric scanner (1) also comprises a pitching adjusting mechanism for driving the scanning camera (11) to adjust the pitching direction.
6. The method for positioning the intrusion target alert based on the photoelectric imaging technology according to claim 1, wherein: the system also comprises a display and control computer (4) which is used for displaying images of the scanning camera (11) and the video camera (21), and scanning azimuth angle parameters, a target pitching observation angle (282) of the sighting instrument, a target azimuth observation angle (281) of the sighting instrument, an angle tracking deviation amount (231) and position information of the invading target.
7. The method for positioning the intrusion target alert based on the photoelectric imaging technology according to claim 1, wherein: the imaging sensors of the scanning camera (11) and the video camera (21) are infrared sensors.
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