CN112394382A - Long-time shielding resistant low-slow small target tracking device and method - Google Patents
Long-time shielding resistant low-slow small target tracking device and method Download PDFInfo
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Abstract
The invention provides a long-time shielding resistant low-slow small target tracking device and method, and aims to solve the technical problem that the existing photoelectric tracking device cannot realize whole-course tracking monitoring of a shielding unmanned aerial vehicle. The invention adopts a combined detection mode of the photoelectric search tracking device and the monitoring type unmanned aerial vehicle, finds, identifies and tracks the target of the black-flying unmanned aerial vehicle through the photoelectric search tracking device, obtains the three-dimensional coordinate and the track of the black-flying unmanned aerial vehicle, performs relay tracking by the monitoring type unmanned aerial vehicle on duty above a monitoring area after the target flies into a building background, and combines the photoelectric search tracking device and the monitoring type unmanned aerial vehicle together to form the complete flight track and flight parameters of the black-flying unmanned aerial vehicle, thereby providing effective evaluation data for evaluation of threat level of the black-flying unmanned aerial vehicle and effectively solving the problem that single photoelectric detection has monitoring blind areas such as building background shading and the like.
Description
Technical Field
The invention belongs to the technical field of photoelectric tracking, and relates to a method for photoelectric searching, identifying and tracking an unmanned aerial vehicle.
Background
The low-slow small target is a general term of low-altitude, slow-speed and small-sized targets, and generally, a low-altitude flying object with the flying height of less than 1000m, the flying speed of less than 200 kilometers and the radar reflection area of less than two square meters is called the low-slow small target. The low-slow small targets mainly comprise low-slow small aircrafts such as a part of civil unmanned aerial vehicles and aviation models, and low-altitude flyers such as flying birds and kites, and have the characteristics of low takeoff requirement, strong lift-off suddenness, difficulty in finding and disposing and the like.
The existing low-slow small target detection mode mainly comprises a radar mode and a photoelectric mode, the radar has the advantages of long detection distance, no weather influence and the like, but the angle measurement precision is low, and the method can not adapt to the conditions of complex backgrounds such as cities and the like. The photoelectric detection angle measurement and distance measurement precision is high, clear imaging can be carried out on the target, the type of the target is further identified, and meanwhile tracking of the unmanned aerial vehicle target under the urban complex background can be achieved through multispectral fusion and an advanced algorithm.
Because urban environment has numerous buildings, the threat unmanned aerial vehicle can shuttle among the numerous buildings, so that the tracking process of the photoelectric tracking device is often shielded by the buildings, and the whole-process tracking, threat level evaluation and effective interception of the shielded unmanned aerial vehicle can not be realized. Therefore, more advanced detection and tracking means are needed to monitor low-speed small targets in real time in a whole process.
Disclosure of Invention
The invention provides a long-time shielding resistant low-slow small target tracking device and method, and aims to solve the technical problem that the existing photoelectric tracking device cannot realize whole-course tracking monitoring of a shielding unmanned aerial vehicle.
The technical scheme of the invention is as follows:
a low-slow small target tracking device capable of resisting long-term shielding comprises a photoelectric search tracking device;
the photoelectric searching and tracking device comprises a rotary table, a controller and an upper computer;
the turntable comprises a turntable body, and a multiband spectral imaging module, an infrared imaging module, a laser ranging module and an image fusion plate which are arranged on the turntable body;
the controller comprises a time sequence control board, an image analysis board, a servo driver, a turntable servo control board and a GPU image processing platform;
it is characterized in that:
the photoelectric searching and tracking device also comprises a first differential GPS and a first wireless instruction transceiving device; a guidance algorithm for generating a guidance instruction runs on the GPU image processing platform;
the low-slow small target tracking device also comprises a monitoring type unmanned aerial vehicle;
the monitoring type unmanned aerial vehicle is a long-endurance hybrid wing unmanned aerial vehicle, and a small-sized photoelectric pod, a second differential GPS and a second wireless instruction receiving and transmitting device are mounted on the long-endurance hybrid wing unmanned aerial vehicle;
the second differential GPS is used for positioning the current position of the monitoring type unmanned aerial vehicle and providing a data source for the guidance algorithm; the second wireless instruction transceiver is used for receiving a guidance instruction from the photoelectric searching and tracking device and simultaneously issuing differential GPS positioning data of the photoelectric searching and tracking device.
Furthermore, the small photoelectric pod adopts a two-axis four-frame structure.
The invention also provides a method for realizing low-slow small target tracking based on the long-time shielding resistant low-slow small target tracking device, which is characterized by comprising the following steps of:
1) the system initialization comprises the steps that an upper computer sets a searching airspace range and sends a target searching instruction to a controller of the photoelectric searching and tracking device;
2) the controller receives a target searching instruction, sets a searching airspace range according to a scheme, and controls the rotary table to search the target;
3) the controller identifies the target searched by the rotary table, and if the target is detected, the step 4) is carried out; if the target is not detected, returning to the step 2);
4) the controller sends the identified target information to the upper computer, and classifies the searched targets by utilizing deep learning to identify threat levels;
5) after confirming the target, the upper computer sends a target tracking instruction to the controller;
6) the controller receives the target tracking instruction and controls the rotary table to capture and track the target;
7) the turntable measures the slant distance of a target through a laser ranging module on the turntable, calculates the three-dimensional coordinate of the target relative to the turntable by combining the azimuth angle and the pitching angle, and obtains the estimated three-dimensional coordinate of the target in a ground coordinate system after coordinate conversion;
8) the monitoring unmanned aerial vehicle transmits self differential GPS positioning information to the controller, and the controller forms a guidance instruction according to the estimated three-dimensional coordinate of the target in the ground coordinate system and the self differential GPS positioning information of the monitoring unmanned aerial vehicle and transmits the guidance instruction to the monitoring unmanned aerial vehicle;
9) the monitoring type unmanned aerial vehicle receives the guidance instruction, approaches to a target according to the guidance instruction, and enters step 10 if the monitoring type unmanned aerial vehicle reaches the position above the target; if the monitoring type unmanned aerial vehicle does not reach the target overhead, returning to the step 8);
10) the photoelectric searching and tracking device sends an active tracking instruction to the monitoring type unmanned aerial vehicle, and the monitoring type unmanned aerial vehicle captures a target to the center of a pod view field by using a small photoelectric pod on the monitoring type unmanned aerial vehicle to lock the target;
11) the monitoring type unmanned aerial vehicle actively tracks the target;
12) judging whether the target enters the field of view of the photoelectric searching and tracking device again, if so, entering a step 13); if not, returning to the step 11);
13) judging whether the target enters the field of view of the photoelectric searching and tracking device again, if so, entering a step 13); if not, returning to the step 11);
13) judging whether to stop tracking the target, if so, ending the process; if not, returning to the step 6).
Further, the step 11) is specifically: the monitoring type unmanned aerial vehicle obtains the flight track of the target unmanned aerial vehicle according to self direction pitching encoder information and laser ranging information which are obtained by measuring an airborne small-sized photoelectric pod under the self difference GPS coordinate and the accurate tracking condition, the monitoring type unmanned aerial vehicle wirelessly sends the flight track information of the target unmanned aerial vehicle to the photoelectric searching and tracking device for track synthesis, and the monitoring type unmanned aerial vehicle tracks the target unmanned aerial vehicle according to the track synthesized by the photoelectric searching and tracking device.
The invention has the beneficial effects that:
the invention adopts a combined detection mode of the photoelectric search tracking device and the monitoring type unmanned aerial vehicle, finds, identifies and tracks the target of the black-flying unmanned aerial vehicle through the photoelectric search tracking device, obtains the three-dimensional coordinate and the track of the black-flying unmanned aerial vehicle, performs relay tracking by the monitoring type unmanned aerial vehicle on duty above a monitoring area after the target flies into a building background, and combines the photoelectric search tracking device and the monitoring type unmanned aerial vehicle together to form the complete flight track and flight parameters of the black-flying unmanned aerial vehicle, thereby providing effective evaluation data for evaluation of threat level of the black-flying unmanned aerial vehicle and effectively solving the problem that single photoelectric detection has monitoring blind areas such as building background shading and the like.
Drawings
FIG. 1 is a block diagram of the low-slow small target tracking device of the invention with long-term occlusion resistance.
FIG. 2 is a schematic diagram of a connection relationship between components of the low-slow small target tracking device with long-term occlusion resistance.
Fig. 3 is a schematic diagram of a surveillance drone according to the invention.
FIG. 4 is a schematic diagram of the operation of the low-slow small target tracking device with long-term occlusion resistance.
FIG. 5 is a flowchart of the operation of the low-slow small target tracking device of the present invention with long-term occlusion resistance.
Fig. 6 is a schematic structural diagram of the photoelectric pod of the present invention.
Fig. 7 is a schematic diagram of the joint measurement of the photoelectric search tracking device and the monitoring type unmanned aerial vehicle in the invention.
Fig. 8 shows the simulation track of the combined measurement of the photoelectric search tracking device and the monitoring type unmanned aerial vehicle in the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the long-term occlusion resistant low-slow small target tracking device provided by the invention comprises a photoelectric search tracking device and a monitoring type unmanned aerial vehicle.
The photoelectric searching and tracking device comprises a rotary table, a controller, an upper computer and accessories (a keyboard and a mouse display and an isolated power supply).
The turntable is mainly used for target searching imaging, tracking imaging, laser ranging and executing searching and tracking actions. The rotary table comprises a load assembly and a rotary table body; the load assembly is an executing part of the photoelectric search tracking device for photoelectric measurement, and mainly comprises a multiband spectral imaging module (consisting of three detectors and a multiband spectral imaging zoom lens), an infrared imaging module (consisting of an infrared camera and a lens), a laser ranging module and an image fusion plate; the multi-band spectral imaging module and the infrared imaging module are jointly used for carrying out multispectral detection on the target unmanned aerial vehicle under the complex background, wherein the multi-band spectral imaging module is used for acquiring multispectral images of the target, and the infrared imaging module is used for acquiring infrared images of the target; the laser ranging module is used for measuring the slant distance of the target unmanned aerial vehicle; the image fusion plate is used for compressing images collected by the multiband spectral imaging module and the infrared imaging module, converting the images into optical fiber signals and transmitting the optical fiber signals to the image analysis plate in the controller. In order to realize the stability of the platform under the vehicle-mounted condition, an azimuth gyro and a pitching gyro are also arranged on the turntable body. In order to prevent the natural heat dissipation effect of the load assembly from being poor, a heat dissipation fan interface and a heat dissipation fan installation position are reserved on the load assembly structure. The turntable body adopts the existing unit as a bearing mechanism of the load assembly, and can execute azimuth and pitching rotation actions under the instruction of the controller, so that the load assembly can perform scanning search and tracking. The turntable body mainly comprises a frame main body, and an orientation motor and an encoder, a pitching motor and an encoder, an orientation gyroscope, a pitching gyroscope, an orientation photoelectric slip ring, a pitching photoelectric slip ring, a differential GPS module and a fiber-optic gyroscope north seeker which are arranged on the frame main body, wherein the differential GPS module is used for positioning the photoelectric search tracking device and obtaining accurate coordinates of the photoelectric search tracking device; the fiber optic gyroscope north finder is used for measuring an included angle between the zero position of the azimuth encoder and a north reference; and the azimuth gyro signal and the pitching gyro signal are respectively transmitted to a gyro compensation control board in the controller through the square photoelectric slip ring and the pitching photoelectric slip ring.
The controller mainly performs image processing and target recognition, control of searching and tracking modes of the photoelectric searching and tracking device, control of the multiband spectral imaging module, the infrared imaging module and the laser ranging module, and information interaction with an upper computer. The controller comprises a GPU image processing platform, a wireless instruction transceiver, a time sequence control board, a turntable servo control board, a gyro compensation control board, a servo driver, an image analysis board and a power module; the wireless command transceiver is used for sending a guidance command to the monitoring type unmanned aerial vehicle and receiving differential GPS coordinate information returned by the monitoring type unmanned aerial vehicle; the time sequence control panel is used for providing control time sequences for the GPU image processing platform and the turntable servo control panel; the turntable servo control board is used for carrying out servo control on the turntable body; the gyro compensation control board is used for processing gyro signals of the azimuth gyro and the pitching gyro, performing image stabilization compensation calculation, and transmitting the calculation result to the turntable servo control board for servo feedback control; the servo driver is a power driving mechanism of an azimuth motor and a pitching motor; the image analysis board is used for decompressing the compressed image transmitted by the image fusion board and transmitting the compressed image to the GPU image processing platform; the power supply module is used for converting the voltage of an external isolation power supply and supplying power to each module in the controller; and the GPU image processing platform is used for carrying out image processing on the decompressed image, controlling the laser ranging module, receiving the laser ranging result and generating a guidance instruction.
The upper computer and the keyboard and mouse display unit are used for displaying the search image and the tracking image, manually confirming the target, and setting relevant parameters of search and tracking and controlling the mode. As shown in fig. 3, the monitoring type unmanned aerial vehicle is a long-endurance hybrid wing unmanned aerial vehicle, on which an airborne small-sized photoelectric pod, a second differential GPS and a second wireless command transceiver are mounted;
the hybrid wing is a combination of a four-rotor wing and a fixed wing which can take off and land vertically, a solar cell panel is arranged on the fixed wing, the monitoring type unmanned aerial vehicle can maintain long-time endurance flight by means of the solar cell panel after taking off, the four rotor wings for taking off and landing vertically do not work in a patrol state, and the monitoring type unmanned aerial vehicle patrols and flies along the periphery of a monitoring area at a higher speed; under the condition of tracking the black unmanned aerial vehicle, the monitoring type unmanned aerial vehicle is mainly driven by four rotors for vertical take-off and landing, and the flight is stable, so that the airborne small-sized photoelectric pod can realize the tracking of the black unmanned aerial vehicle.
The small photoelectric pod is arranged on the long-endurance hybrid wing unmanned aerial vehicle and is used for tracking the black-flying unmanned aerial vehicle in a monitoring area; the small photovoltaic pod is a conventional unit, the composition of which is shown in fig. 6.
And a second differential GPS installed on the hybrid wing unmanned aerial vehicle during long endurance is used for positioning the current position of the monitoring type unmanned aerial vehicle and providing a data source for a guidance algorithm.
And the second wireless instruction transceiver mounted on the hybrid wing unmanned aerial vehicle in long endurance is used for receiving a guidance instruction from the photoelectric search tracking device and simultaneously issuing differential GPS positioning data of the hybrid wing unmanned aerial vehicle to the photoelectric search tracking device.
Fig. 4 is a schematic working diagram of the long-term shielding resistant low-slow small target tracking device, and the positioning accuracy of the photoelectric search tracking device and the monitoring type unmanned aerial vehicle can be improved by adding a ground differential GPS base station.
As shown in fig. 5, the working process of the present invention:
1) initializing a system: the method comprises the steps of system erection, connection and leveling; powering up a system and self-checking each module; the upper computer sets parameters such as a search airspace and the like, sends a target search instruction, and the monitoring type unmanned aerial vehicle takes off and patrols along the periphery of a monitoring area;
2) the controller receives a search instruction sent by the upper computer and controls the rotary table to search the target according to a set search airspace range;
3) the controller identifies the searched target, and if a suspected target is detected, the step d) is carried out; if the target is not detected, returning to the step 2);
4) the controller sends the identified target information to the upper computer, and classifies the targets by deep learning to identify threat levels;
5) after the upper computer confirms the target, a target tracking instruction is sent;
6) the controller receives a target tracking instruction sent by the upper computer, controls the rotary table to capture and track a target, and utilizes the laser ranging module to perform laser ranging, adaptive zooming or manual zooming through the upper computer in the tracking process;
7) the photoelectric searching and tracking device measures the slant range of the target unmanned aerial vehicle through laser ranging, the GPU image processing platform calculates the three-dimensional coordinate of the target unmanned aerial vehicle relative to the photoelectric searching and tracking device through combining the azimuth and the pitching angle, and the estimated three-dimensional coordinate of the target unmanned aerial vehicle in a ground coordinate system can be obtained after coordinate conversion because the coordinate of the photoelectric searching and tracking device can be obtained through a differential GPS;
8) a wireless communication link exists between the monitoring unmanned aerial vehicle and the photoelectric searching and tracking device, the self differential GPS positioning information can be transmitted to the photoelectric searching and tracking device, a GPU image processing platform in the photoelectric searching and tracking device forms a guidance instruction according to the coordinates of the target unmanned aerial vehicle and the estimated three-dimensional coordinates of the GPS of the monitoring unmanned aerial vehicle in a ground coordinate system, and the guidance instruction is transmitted to the monitoring unmanned aerial vehicle to guide the monitoring unmanned aerial vehicle to approach the sky above the target unmanned aerial vehicle;
9) the monitoring unmanned aerial vehicle receives the guidance instruction, approaches a target according to the guidance instruction, and enters step 10 if the monitoring unmanned aerial vehicle reaches the position above the target unmanned aerial vehicle; if the monitoring unmanned aerial vehicle does not reach the overhead of the target unmanned aerial vehicle, returning to the step 8);
10) a GPU image processing platform in the photoelectric search tracking device sends an active tracking instruction to a monitoring type unmanned aerial vehicle, the monitoring type unmanned aerial vehicle controls a small photoelectric pod to rotate, a target unmanned aerial vehicle is captured to the center of the field of view of the pod, and the target is locked;
11) the monitoring type unmanned aerial vehicle actively tracks the target;
the method comprises the following steps that a monitoring unmanned aerial vehicle obtains a flight track of a target unmanned aerial vehicle according to self-direction pitching encoder information and laser ranging information obtained by measurement of an airborne small-sized photoelectric pod under the conditions of self-difference GPS coordinates and accurate tracking, the monitoring unmanned aerial vehicle wirelessly sends the flight track information of the target unmanned aerial vehicle to a photoelectric searching and tracking device for track synthesis, and the monitoring unmanned aerial vehicle tracks the target unmanned aerial vehicle according to the track synthesized by the photoelectric searching and tracking device; 12) judging whether the target reenters the visual field of the photoelectric searching and tracking device by a controller in the photoelectric searching and tracking device, and if so, entering step 13); if not, returning to the step 11);
13) a controller in the photoelectric search tracking device judges whether to stop tracking the target, if so, the process is ended; if not, returning to the step 6);
the guidance principle of the invention is as follows:
1) ground coordinate system
And taking the point of the photoelectric tracking device as the origin of coordinates O of a ground coordinate system, wherein the Y axis points to the north, the X axis points to the east, and the Z axis is determined according to the right-hand rule. The position attitude, the speed, the angular speed and the like of the target unmanned aerial vehicle are measured relative to the coordinate system, the differential GPS installed on the monitoring unmanned aerial vehicle obtains the original coordinates relative to WGS84 (world geodetic coordinate system), the differential GPS on the photoelectric tracking device obtains the coordinates of the photoelectric tracking device relative to WGS84, and finally all the coordinates are converted into a ground coordinate system through coordinate conversion.
2) Body coordinate system
The fuselage coordinate system links firmly on control type unmanned aerial vehicle, and origin of coordinates O is located control type unmanned aerial vehicle's barycenter department, and the X axle is in control type unmanned aerial vehicle's plane of symmetry to be on a parallel with control type unmanned aerial vehicle's design axis, directional aircraft nose the place ahead. The Y-axis is perpendicular to the symmetrical plane of the monitoring unmanned aerial vehicle body and points to the right side of the body. The Z axis is in the symmetric plane of the monitoring type unmanned aerial vehicle, is vertical to the XOY plane and points to the lower part of the monitoring type unmanned aerial vehicle.
The photoelectric searching and tracking device is a measuring base station, the position coordinate of the measuring base station is obtained by a differential GPS, and the differential position coordinate of the current measuring base station i is set as (x)i(t),yi(t),zi(t)), after the photoelectric searching and tracking device aims at the target, the laser range finder measures the target slant distance R (t) in real time, meanwhile, the GPU image processing platform reads out the azimuth encoder value alpha (t) after north-pointing correction corresponding to the current moment, reads out the pitch encoder value beta (t) at the current moment, and then the coordinate of the target unmanned aerial vehicle under the WGS84 coordinate system is observed by the photoelectric searching and tracking systemIs (x)0(t),y0(t),z0(t)), the expression is as follows:
after the monitoring unmanned aerial vehicle takes off, the real-time coordinate of the monitoring unmanned aerial vehicle is acquired by a differential GPS (global positioning system) carried by the body, the monitoring unmanned aerial vehicle sends the self coordinate to a photoelectric searching and tracking device, the photoelectric searching and tracking device generates a guidance instruction according to the self coordinate of the monitoring unmanned aerial vehicle and the coordinate of the target unmanned aerial vehicle under a WGS84 coordinate system, and the monitoring unmanned aerial vehicle is guided to approach the target unmanned aerial vehicle according to the guidance track. When the distance between the monitoring unmanned aerial vehicle and the target unmanned aerial vehicle is smaller than a certain threshold value, the photoelectric pod is started to search the target unmanned aerial vehicle, the target unmanned aerial vehicle is captured to the center of the field of view of the pod, and the target is locked.
As shown in fig. 6, the small-sized photoelectric pod on the monitoring type unmanned aerial vehicle adopts the existing two-axis four-frame structure, and the two-axis four-frame stabilization mode is widely applied to a high-precision photoelectric stabilization system. The system adopts a coarse-fine combination stabilizing mode, and has obvious superiority in structure compared with the traditional two-shaft two-frame system. The main points are as follows: 1) the motion isolation is good, and the stability and the precision are high; 2) the locking phenomenon of the ring frame of the stable system at high elevation angle can be avoided; 3) the power and volume of the motor can be reduced.
The outer frame is a coarse stabilizing system, the inner frame is a fine stabilizing system, a stabilized load and a gyroscope are mounted on the inner ring frame, the gyroscope is respectively sensitive to interference motions in the pitching and azimuth axial directions, and deviation signals are respectively sent to the inner ring azimuth and pitching motors through stabilizing loops to counteract the interference. When the base is disturbed, the optical axis deviates from the original inertia space due to friction constraint coupling and geometric constraint coupling. After the gyro mounted on the inner ring frame receives the interference rate, the inner azimuth ring motor and the inner pitching ring motor are driven to generate a compensation rate which is equal to the interference rate in magnitude and opposite in direction, so that the interference rate is counteracted, and the optical axis is kept stable. Meanwhile, the outer ring frame keeps the inner pitching and the outer pitching and the azimuth ring frame parallel along with an error signal of the inner ring frame, and simultaneously ensures that the inner pitching and the inner azimuth axis are always kept vertical, thereby reducing geometric coupling. The two coarse and fine stabilizing systems are relatively independent, the inner ring is an independent gyro stabilizing system, and the outer ring is a follow-up system which follows the inner ring.
The position coordinates of the monitoring unmanned aerial vehicle are acquired by a differential GPS, and the differential position coordinates of the current monitoring unmanned aerial vehicle are set as (x)1i(t),y1i(t),z1i(t)), after the monitoring unmanned aerial vehicle aims at the target, the laser range finder aims at the target slant distance R in real time1(t) measuring, and reading out the azimuth angle alpha after the north-pointing correction of the optical axis corresponding to the current time through the inner and outer azimuth encoders1(t) reading out the optical axis pitch angle value beta at the current moment through the internal and external pitch encoders1(t), the coordinates of the target drone observed by the monitoring drone under the WGS84 coordinate system are (x)1(t),y1(t),z1(t)), the expression is as follows:
the final measurement track of the target unmanned aerial vehicle is the track (x) of the target unmanned aerial vehicle measured by the photoelectric searching and tracking device0(t),y0(t),z0(t)) and a target drone trajectory (x) measured by the monitoring drone1(t),y1(t),z1(t)) was synthesized. If the photoelectric searching and tracking device is used independently for measurement, when the target unmanned aerial vehicle is shielded by a building, the track of the shielding part cannot be obtained, and the target can be lost by the photoelectric searching and tracking device under the condition of long-time shielding.
Fig. 7 and 8 are simulation diagrams of the photoelectric search tracking device and the monitoring type unmanned aerial vehicle jointly detecting the movement track of the target unmanned aerial vehicle. Under the condition that the building background does not shield the target unmanned aerial vehicle, the detection track of the photoelectric search tracking device is taken as a main point, under the condition that the building background shields the target unmanned aerial vehicle, the monitoring type unmanned aerial vehicle detects the motion track of the target unmanned aerial vehicle, and finally, the detection track of the photoelectric search tracking device and the detection track of the monitoring type unmanned aerial vehicle are combined into the motion track of the target unmanned aerial vehicle.
Claims (4)
1. A low-slow small target tracking device capable of resisting long-term shielding comprises a photoelectric search tracking device;
the photoelectric searching and tracking device comprises a rotary table, a controller and an upper computer;
the turntable comprises a turntable body, and a multiband spectral imaging module, an infrared imaging module, a laser ranging module and an image fusion plate which are arranged on the turntable body;
the controller comprises a time sequence control board, an image analysis board, a servo driver, a turntable servo control board and a GPU image processing platform;
the method is characterized in that:
the photoelectric searching and tracking device also comprises a first differential GPS and a first wireless instruction transceiving device; a guidance algorithm for generating a guidance instruction runs on the GPU image processing platform;
the low-slow small target tracking device also comprises a monitoring type unmanned aerial vehicle;
the monitoring type unmanned aerial vehicle is a long-endurance hybrid wing unmanned aerial vehicle, and a small-sized photoelectric pod, a second differential GPS and a second wireless instruction receiving and transmitting device are mounted on the long-endurance hybrid wing unmanned aerial vehicle;
the second differential GPS is used for positioning the current position of the monitoring type unmanned aerial vehicle and providing a data source for the guidance algorithm; the second wireless instruction transceiver is used for receiving a guidance instruction from the photoelectric searching and tracking device and simultaneously issuing differential GPS positioning data of the photoelectric searching and tracking device.
2. The long-term occlusion resistant low-slow small target tracking device according to claim 1, characterized in that: the small photoelectric pod adopts a two-shaft four-frame structure.
3. A method for realizing low-slow small target tracking based on the long-time occlusion resistant low-slow small target tracking device of any one of claims 1-2 is characterized by comprising the following steps:
1) the system initialization comprises the steps that an upper computer sets a searching airspace range and sends a target searching instruction to a controller of the photoelectric searching and tracking device;
2) the controller receives a target searching instruction, sets a searching airspace range according to a scheme, and controls the rotary table to search the target;
3) the controller identifies the target searched by the rotary table, and if the target is detected, the step 4) is carried out; if the target is not detected, returning to the step 2);
4) the controller sends the identified target information to the upper computer, and classifies the searched targets by utilizing deep learning to identify threat levels;
5) after confirming the target, the upper computer sends a target tracking instruction to the controller;
6) the controller receives the target tracking instruction and controls the rotary table to capture and track the target;
7) the turntable measures the slant distance of a target through a laser ranging module on the turntable, calculates the three-dimensional coordinate of the target relative to the turntable by combining the azimuth angle and the pitching angle, and obtains the estimated three-dimensional coordinate of the target in a ground coordinate system after coordinate conversion;
8) the monitoring unmanned aerial vehicle transmits self differential GPS positioning information to the controller, and the controller forms a guidance instruction according to the estimated three-dimensional coordinate of the target in the ground coordinate system and the self differential GPS positioning information of the monitoring unmanned aerial vehicle and transmits the guidance instruction to the monitoring unmanned aerial vehicle;
9) the monitoring type unmanned aerial vehicle receives the guidance instruction, approaches to a target according to the guidance instruction, and enters step 10 if the monitoring type unmanned aerial vehicle reaches the position above the target; if the monitoring type unmanned aerial vehicle does not reach the target overhead, returning to the step 8);
10) the photoelectric searching and tracking device sends an active tracking instruction to the monitoring type unmanned aerial vehicle, and the monitoring type unmanned aerial vehicle captures a target to the center of a pod view field by using a small photoelectric pod on the monitoring type unmanned aerial vehicle to lock the target;
11) the monitoring type unmanned aerial vehicle actively tracks the target;
12) judging whether the target enters the field of view of the photoelectric searching and tracking device again, if so, entering a step 13); if not, returning to the step 11);
13) judging whether the target enters the field of view of the photoelectric searching and tracking device again, if so, entering a step 13); if not, returning to the step 11);
13) judging whether to stop tracking the target, if so, ending the process; if not, returning to the step 6).
4. The method of claim 3, wherein: the step 11) is specifically as follows: the monitoring type unmanned aerial vehicle obtains the flight track of the target unmanned aerial vehicle according to self direction pitching encoder information and laser ranging information which are obtained by measuring an airborne small-sized photoelectric pod under the self difference GPS coordinate and the accurate tracking condition, the monitoring type unmanned aerial vehicle wirelessly sends the flight track information of the target unmanned aerial vehicle to the photoelectric searching and tracking device for track synthesis, and the monitoring type unmanned aerial vehicle tracks the target unmanned aerial vehicle according to the track synthesized by the photoelectric searching and tracking device.
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