CN112630773A - Photoelectric tracking and control equipment based on common-frame radar composite detection - Google Patents
Photoelectric tracking and control equipment based on common-frame radar composite detection Download PDFInfo
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- CN112630773A CN112630773A CN202011482569.8A CN202011482569A CN112630773A CN 112630773 A CN112630773 A CN 112630773A CN 202011482569 A CN202011482569 A CN 202011482569A CN 112630773 A CN112630773 A CN 112630773A
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- 230000003287 optical effect Effects 0.000 description 25
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Abstract
The invention discloses photoelectric tracking and control equipment based on common-frame radar composite detection, which comprises a photoelectric tracking rotary table, a common-frame radar, a target distance measuring machine, a primary tracking system and a fine tracking system, wherein the photoelectric tracking rotary table is used for carrying out photoelectric tracking on a target; the common radar and the target range finder are respectively connected with the photoelectric tracking rotary table; the photoelectric tracking rotary table comprises a pitching shaft system, a horizontal shaft system and an angle measuring unit, wherein the pitching shaft system is used for pitching rotation of the rotary table, and the horizontal shaft system is used for horizontal rotation of the rotary table; the initial tracking system comprises an infrared tracking imaging camera, a visible light tracking imaging camera and an adjusting movable mirror, can display the shape of a target and obtain the miss distance information of the target, and feeds the miss distance information back to the angle measuring unit of the photoelectric tracking rotary table to track the target in real time; the fine tracking system comprises a transmitting telescope, a fine tracking short wave camera, a visible light fine tracking camera, a fast reflecting mirror, a motor and the like; the invention realizes the function of multi-mode composite detection integration, and has high tracking and striking precision and the like.
Description
Technical Field
The invention relates to the field of photoelectric tracking, in particular to photoelectric tracking and control equipment based on common-frame radar composite detection.
Background
The beam control and tracking equipment (ATP for short) is an important component of laser weapons and multifunctional laser combat vehicles, and is aimed at transmitting high-energy laser to transmitting telescope through relay transmission optical path, and focusing it on far-field target to implement target strike and destroy. The main function of the system is to complete the functional links of high-power laser transmission, pointing control, target identification and tracking, active illumination, aiming, striking and the like.
At present, ATP equipment has the problems of large and heavy structure, low integration level, high use cost, single combat application environment, low working efficiency, improved space for target capture, tracking and hitting precision and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides photoelectric tracking and control equipment based on common-frame radar composite detection, realizes the function of integrating multimode composite detection, and has high tracking and striking precision and the like.
The purpose of the invention is realized by the following scheme:
the photoelectric tracking and control equipment based on the common-frame radar composite detection comprises a photoelectric tracking rotary table, a common-frame radar, a target distance measuring machine, a primary tracking system and a fine tracking system; the common radar and the target range finder are respectively connected with the photoelectric tracking rotary table; the photoelectric tracking rotary table comprises a pitching shaft system, a horizontal shaft system and an angle measuring unit, wherein the pitching shaft system is used for pitching rotation of the rotary table, and the horizontal shaft system is used for horizontal rotation of the rotary table; the initial tracking system comprises an infrared tracking imaging camera, a visible light tracking imaging camera and an adjusting movable mirror, can display the shape of a target and obtain the miss distance information of the target, and feeds the miss distance information back to the angle measuring unit of the photoelectric tracking rotary table to track the target in real time; the fine tracking system comprises a transmitting telescope, a fine tracking short wave camera, a visible light fine tracking camera, a quick reflection mirror and a motor, the fine tracking system can display the shape of a target and output miss distance information of the target, the transmitting telescope is connected with a photoelectric tracking rotary table, the quick reflection mirror is connected with the motor in a transmission mode, the quick reflection mirror, the fine tracking short wave camera and the visible light fine tracking camera are driven by the motor to achieve a control closed loop, and high-frequency shaking of images guided by the primary tracking system can be corrected in real time.
Furthermore, the common radar and the photoelectric tracking rotary table are arranged in a pitching axis system and a horizontal axis system, and scanning beams of the radar can rotate along with the photoelectric tracking rotary table.
Further, after the common-frame radar tracks a far-field target and continuously tracks the far-field target, the target distance measuring machine measures the distance of the target in real time, feeds the distance information of the target back to the infrared tracking imaging camera and the visible light tracking imaging camera in the primary tracking system, and focuses in real time.
Further, the motor comprises a voice coil motor.
And further, the system comprises an illumination laser device which is used for carrying out laser illumination on the target and tracking the target in real time by matching with a primary tracking system and a fine tracking system.
Further, the horizontal shaft system comprises a horizontal rotating motor, a power supply slip ring and a sealing ring; the pitching axis system comprises a pitching rotating double motor and a dynamic sealing ring.
Further, the angle measuring unit includes an encoder.
Furthermore, after the common-frame radar obtains target information, a control loop is formed by the common-frame radar and an encoder of the photoelectric tracking rotary table, the direction and the pitching of the photoelectric tracking rotary table are adjusted and the photoelectric tracking rotary table is aligned to a target, then the common-frame radar shifts to an infrared tracking imaging camera and a visible light tracking imaging camera of the primary tracking system to obtain image information of the target, and after primary tracking, the target is transferred to the fine tracking system through guidance.
Further, the short wave camera of the fine tracking system is used at night, and the visible light fine tracking camera is used in the day.
The invention has the beneficial effects that:
(1) the invention realizes the function of multimode composite detection integration, has high tracking and striking precision, realizes the deviation correction of an optical axis and a visual axis by using the fast reflecting mirror and the moving mirror, and has the advantages of miniaturization, high integration level, simple system and easy realization; the tracking radar is placed on the light beam tracking and control equipment for tracking scanning detection, so that the beam of the tracking radar is reduced, and the cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of the apparatus of the present invention; (ii) a
FIG. 2 is a diagram of the optical system structure of the apparatus of the present invention;
in the figure, 1-transmitting telescope, 2-pitching axis system, 3-common radar, 4-infrared tracking imaging camera, 5-target distance measuring machine, 6-lighting laser device, 7-visible light tracking imaging camera and 8-horizontal axis system; 21-QBH laser emission head, 22-collimating lens group, 23-reflector, 24-beam expanding system, 25-reflector, 26-spectroscope, 27-imaging spectroscope, 28-pyramid prism, 9-fine tracking short wave camera, 10-visible light fine tracking camera, 11-two-dimensional adjusting movable mirror, 12-two-dimensional adjusting movable mirror, 13-emission window mirror, 14-guiding light, 15-emission telescope secondary mirror, 16-fast reflector and 17-emission telescope primary mirror.
Detailed Description
All features disclosed in all embodiments in this specification, or all methods or process steps implicitly disclosed, may be combined and/or expanded, or substituted, in any way, except for mutually exclusive features and/or steps.
As shown in fig. 1 and 2, the photoelectric tracking and control equipment based on the common-frame radar composite detection comprises a photoelectric tracking rotary table, a common-frame radar 3, a target distance measuring machine 5, a primary tracking system and a fine tracking system; the common radar 3 and the target range finder 5 are respectively connected with the photoelectric tracking rotary table; the photoelectric tracking rotary table comprises a pitching axis system 2, a horizontal axis system 8 and an angle measuring unit, wherein the pitching axis system 2 is used for pitching rotation of the rotary table, and the horizontal axis system 8 is used for horizontal rotation of the rotary table; the initial tracking system comprises an infrared tracking imaging camera 4, a visible light tracking imaging camera 7 and an adjusting movable mirror, can display the shape of a target and obtain the miss distance information of the target, and feeds back the miss distance information to the angle measuring unit of the photoelectric tracking rotary table to track the target in real time; the fine tracking system comprises a transmitting telescope 1, a fine tracking short wave camera 9, a visible light fine tracking camera 10, a quick reflecting mirror 16 and a motor, the fine tracking system can display the shape of a target and the miss distance information of the output target, the transmitting telescope 1 is connected with a photoelectric tracking rotary table, the quick reflecting mirror 16 is connected with a motor in a transmission mode, the quick reflecting mirror 16, the fine tracking short wave camera 9 and the visible light fine tracking camera 10 are driven by the motor to realize a control closed loop, and high-frequency shaking of images guided by the primary tracking system can be corrected in real time.
Furthermore, the common radar 3, the pitching axis system 2 and the horizontal axis system 8 of the photoelectric tracking rotary table are common, and the scanning beam of the radar can rotate along with the photoelectric tracking rotary table.
Further, after the common-frame radar 3 tracks a far-field target and continuously tracks the far-field target, the target distance measuring machine 5 measures the distance of the target in real time, feeds the distance information of the target back to the infrared tracking imaging camera 4 and the visible light tracking imaging camera 7 in the primary tracking system, and focuses in real time.
Further, the motor comprises a voice coil motor.
Further, the system comprises an illumination laser device 6 which is used for carrying out laser illumination on the target and tracking the target in real time by matching with a primary tracking system and a fine tracking system.
Further, the horizontal shaft system 8 comprises a horizontal rotating motor, a power supply slip ring and a sealing ring; the pitching shafting 2 comprises pitching rotating double motors and dynamic sealing rings.
Further, the angle measuring unit includes an encoder.
Further, after the common radar 3 obtains target information, a control loop is formed with an encoder of the photoelectric tracking rotary table, the direction and the pitching of the photoelectric tracking rotary table are adjusted and the target is aligned, then the common radar changes duty to the infrared tracking imaging camera 4 and the visible light tracking imaging camera 7 of the primary tracking system to obtain image information of the target, and after primary tracking, the target is transferred to the fine tracking system through guidance.
Further, the short wave camera 9 of the fine tracking system is used at night, and the visible light fine tracking camera 10 is used in the day.
In the working process of the invention:
correcting an optical axis, namely, emitting guide light by adopting any one of the devices, guiding the light by the arranged fast reflection mirror 16 and the Kude optical path, and then reaching the visible light fine tracking camera 10 in the fine tracking system, wherein the visible light fine tracking camera is used as a calibration error of the optical axis to output the miss distance of an image; when the photoelectric tracking rotary table rotates horizontally and in a pitching mode, a certain axial difference exists between a mechanical axis and an optical axis of the rotary table, the mechanical axis and the optical axis are reflected on the visible light fine tracking camera 10 and have a certain deviation with a calibrated optical axis center, the miss distance of an image is output after image decoupling, the miss distance is provided for the two-dimensional adjusting movable mirror 11 and the two-dimensional adjusting movable mirror 12, and the value of the miss distance on the visible light fine tracking camera 10 is the minimum by adjusting the pitching and horizontal directions of the two-dimensional adjusting movable mirror 11 and the two-dimensional adjusting movable mirror 12, so that the correction of the optical axis is realized.
After optical axis correction, the device is adopted to emit main laser, the main laser is collimated by the reflector 23, the collimated laser passes through the beam expanding system 24 and is reflected to the spectroscope 26 by the reflector 25, part of weak light transmitted by the spectroscope 26 is refracted and reflected by the pyramid prism 28 and returns to the fine tracking short wave camera 9, the fine tracking short wave camera 9 and the collimating lens group 22 are used for forming a control closed loop system, wherein the collimating lens group 22 is a two-dimensional electric adjusting lens group, the minimum miss distance on the fine tracking short wave camera 9 is realized by adjusting the collimating lens group 22, and the calibration of the angle deviation of an emission optical axis, an imaging optical axis and a turntable mechanical axis in a complex environment, particularly when the temperature difference is large and the vibration environment is strong is realized.
After the axis is calibrated, after a target is captured by a search radar submodule of the common radar 3, information of the target is fed back to a tracking radar submodule of the common radar 3, the tracking radar submodule realizes control closed loop through an angle decoder of a photoelectric tracking rotary table, the photoelectric tracking rotary table rotates by a decoupling numerical value, the tracking target is pointed to, capture of the target is realized, after the target is pointed, the target is subjected to real-time ranging through a target ranging machine 5, and distance information of the target relative to the equipment is obtained after ranging; at the moment, the visible light tracking camera 7 and the infrared tracking imaging camera 4 of the primary tracking system realize real-time zooming and focusing on an object under a specified target, and a clear target image can be obtained after zooming and focusing, so that real-time primary tracking on the target is realized.
After the initial tracking of the target is realized, the target is transferred to the transmitting telescope 1, the Kude light guide light path, the spectroscope 26, the imaging spectroscope 27, the fine tracking short wave camera 9, the visible light fine tracking camera 10, the fast reflecting mirror 16 and the display of the fine tracking system by the initial tracking system, and a clear image of an amplified object is obtained on a display control screen of the display; when an object moves in real time, the target distance measurement is realized through the target distance measuring machine 5, the obtained distance information is fed back to the infrared tracking imaging camera 4 and the visible light tracking camera 7 of the primary tracking system, the infrared tracking imaging camera 4 is mainly used at night, and the visible light tracking camera 7 is used in the day; when an object moves, an imaging camera of the primary tracking system obtains miss distance of the image, miss distance information is fed back to a decoder of a horizontal motor and a pitching motor of a tracking photoelectric tracking rotary table, two-dimensional motion of the photoelectric tracking rotary table is achieved, the object is tracked in real time, obtained distance information is simultaneously fed back to a focusing assembly of the imaging camera of the fine tracking system, when the image information of the primary tracking system is transferred to a camera of the fine tracking system, the view field of the camera of the fine tracking system is smaller than that of coarse tracking, the focal distance is larger than that of the camera of the primary tracking system, and the image of the target can be displayed clearly and fully amplified; in the fine tracking system, an imaging module of the fine tracking short wave camera 9, the visible light fine tracking camera 10, the fast reflecting mirror 16 and the voice coil motor form the fine tracking short wave camera, the tracking precision of a tracking target is reduced due to high-frequency vibration of a shaft system, optical axis drift caused by temperature change and high-frequency shake of target pointing, and the control closed loop is realized through the fast reflecting mirror driven by the voice coil motor and the fine tracking short wave camera 9 and the visible light fine tracking camera 10 of the fine tracking system, so that the high-frequency shaking of an image can be corrected in real time.
After stable and accurate tracking of the target is realized, laser is emitted by the laser emitting head 21 of any one of the devices, and the laser is emitted to the target after passing through the reflecting mirror 23, the beam expanding system 24, the spectroscope 26, the Kude light guide path, the fast reflecting mirror 16, the emission telescope secondary mirror 15 and the emission telescope primary mirror 17 in sequence; the beam expanding system 24 has the function of transmitting laser focusing, after a camera in the fine tracking system locks a target and continuously tracks the target, information fed back by the target distance measuring machine 5 is transmitted to the beam expanding system 24, the focusing is struck to transmit the target through the lens group of the focusing beam expanding system 24, and the capability of the laser is focused on the target through transmitting the laser.
In other embodiments of the present invention, as shown in fig. 1 and 2, it is a general diagram of the photoelectric tracking and control equipment of the present invention, and from this general diagram, it can be seen that it includes a transmitting telescope 1, a photoelectric tracking turntable (horizontal axis system 8 and pitch axis system 2), a common radar 3, a target distance measuring machine 5, an illumination laser device 6, and a target identification detection initial tracking system and a target identification detection fine tracking system. The target recognition detection initial tracking system comprises an infrared tracking imaging camera 4 and a visible light tracking camera 7, and the target recognition detection fine tracking system comprises a fast reflecting mirror 16, a fine tracking short wave camera 9 and a visible light fine tracking camera 10.
Fig. 2 is a diagram of an optical system of the electro-optical tracking and control apparatus of the present invention. In fig. 2, the guiding light 14 can be green light of 532nm, and after being emitted, the green light passes through the fast-reflection mirror 16 and the coude light guiding path, and then passes through the visible light fine tracking camera 10 in the fine tracking system, and the visible light fine tracking camera is used as a calibration error of an optical axis to output an off-target amount of an image; when the photoelectric tracking rotary table rotates horizontally and in a pitching mode, a certain axial difference exists between a mechanical axis and an optical axis of the rotary table, the mechanical axis and the optical axis are reflected on the visible light fine tracking camera 10 and have a certain deviation with a calibrated optical axis center, the miss distance of an image is output after image decoupling, the miss distance is provided for the two-dimensional adjusting movable mirror 11 and the two-dimensional adjusting movable mirror 12, and the value of the miss distance on the visible light fine tracking camera 10 is the minimum by adjusting the pitching and horizontal directions of the two-dimensional adjusting movable mirror 11 and the two-dimensional adjusting movable mirror 12, so that the correction of the optical axis is realized.
After the optical axis is corrected, the main laser can be output through the QBH laser emitter 21 (which can be an optical fiber laser emitter), and is collimated through the reflector 23, the collimated light passes through the beam expanding system 24 (including a focusing function), and is reflected to the spectroscope 26 through the reflector 25, part of weak light transmitted through the spectroscope 26 returns to the fine tracking short wave camera 9 after being reflected through the pyramid of the pyramid prism 28, and the fine tracking short wave camera 9 and the collimating lens group 22 jointly form a control closed loop system, wherein the collimating lens group 22 is a two-dimensional (up-down and horizontal) electric adjusting lens group, the miss distance on the fine tracking short wave camera 9 is minimum by adjusting the collimating lens group 22, and the angle deviation of an emission optical axis, an imaging optical axis and a mechanical axis of a rotary table in a complex environment, particularly when the temperature difference is large and the vibration environment is strong is realized.
After the axis is calibrated, after a target is captured by a search radar submodule of the common radar (3), information of the target is fed back to a tracking radar submodule, the tracking radar submodule realizes control closed loop through an angle decoder of a rotary table, the rotary table rotates through a decoupling numerical value, the tracking target is pointed to, capture of the target is realized, after the target is pointed, the target is subjected to real-time ranging through a target ranging machine 5, and distance information of the target relative to photoelectric equipment is obtained after the ranging. At the moment, the visible light tracking camera 7 and the infrared tracking imaging camera 4 realize real-time zooming and focusing on an object under a specified target, and a clear target image can be obtained after zooming and focusing, so that real-time primary tracking on the target is realized.
After the initial tracking of the target is realized, the target is transferred to the transmitting telescope 1, the kude light guide light path, the spectroscope 26, the imaging spectroscope 27, the fine tracking short wave camera 9, the visible light fine tracking camera 10, the fast reflecting mirror 16 and the display of the fine tracking system by the initial tracking system, and a clear image of an amplified object is obtained on a display control screen of the display.
When an object moves in real time, the target distance measurement is realized through the target distance measuring machine 5, the obtained distance information is fed back to the infrared tracking imaging camera 4 and the visible light tracking camera 7 of the primary tracking system, the infrared tracking imaging camera 4 is mainly used at night, and the visible light tracking camera 7 is used in the day; when an object moves, an imaging camera of the primary tracking system obtains miss distance of the image, miss distance information is fed back to a decoder of a horizontal motor and a pitching motor of a tracking photoelectric tracking rotary table, two-dimensional motion of the photoelectric tracking rotary table is achieved, the object is tracked in real time, obtained distance information is simultaneously fed back to a focusing assembly of the imaging camera of the fine tracking system, when the image information of the primary tracking system is transferred to a camera of the fine tracking system, the view field of the camera of the fine tracking system is smaller than that of coarse tracking, the focal distance is larger than that of the camera of the primary tracking system, and the image of the target can be displayed clearly and fully amplified; the beam splitter 26 can be used for high-energy main laser beam splitting and imaging light band beam splitting, and the imaging beam splitter 27 can be used for short-wave 1 um-1.3 um imaging beam splitting and visible 460nm-760nm imaging beam splitting.
In the precise tracking system, an imaging module of the precise tracking short-wave camera 9, the visible light precise tracking camera 10, the fast reflecting mirror 16 and the motor form an imaging module, the tracking precision of a tracked target is reduced due to high-frequency vibration of a shaft system, optical axis drift caused by temperature change and high-frequency jitter of target pointing, and the control closed loop is realized through the motor-driven fast reflecting mirror and the precise tracking short-wave camera 9 and the visible light precise tracking camera 10 of the precise tracking system, so that the high-frequency shaking of an image can be corrected in real time.
After the target is stably tracked, the laser emits laser through the QBH laser emitting head 21, and the laser is emitted to the target after passing through the reflecting mirror 23, the beam expanding system 24, the spectroscope 26, the Kude light guide path, the fast reflecting mirror 26, the emission telescope secondary mirror 15 and the emission telescope primary mirror 17 in sequence.
In the invention, the emission window mirror 13 is connected with the pitching axis system 2, and the beam expanding system 24 has the function of emitting laser for focusing. After the camera in the fine tracking system locks the target and continuously tracks the target, information fed back by the target distance measuring machine 5 is transmitted to the beam expanding system 24, the target is transmitted, shot and focused by the lens group of the focusing beam expanding system 24, and the laser capability is focused on the target by transmitting laser.
Other embodiments than the above examples may be devised by those skilled in the art based on the foregoing disclosure, or by adapting and using knowledge or techniques of the relevant art, and features of various embodiments may be interchanged or substituted and such modifications and variations that may be made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the following claims.
The functionality of the present invention, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium, and all or part of the steps of the method according to the embodiments of the present invention are executed in a computer device (which may be a personal computer, a server, or a network device) and corresponding software. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, or an optical disk, exist in a read-only Memory (RAM), a Random Access Memory (RAM), and the like, for performing a test or actual data in a program implementation.
Claims (9)
1. The photoelectric tracking and control equipment based on the combined detection of the common-frame radar is characterized by comprising a photoelectric tracking rotary table, the common-frame radar (3), a target distance measuring machine (5), a primary tracking system and a fine tracking system; the common radar (3) and the target distance measuring machine (5) are respectively connected with the photoelectric tracking rotary table; the photoelectric tracking turntable comprises a pitching axis system (2), a horizontal axis system (8) and an angle measuring unit, wherein the pitching axis system (2) is used for pitching rotation of the turntable, and the horizontal axis system (8) is used for horizontal rotation of the turntable; the primary tracking system comprises an infrared tracking imaging camera (4), a visible light tracking imaging camera (7) and an adjusting movable mirror, can display the shape of a target and obtain the miss distance information of the target, and feeds the miss distance information back to the angle measuring unit of the photoelectric tracking turntable to track the target in real time; the fine tracking system comprises a transmitting telescope (1), a fine tracking short wave camera (9), a visible light fine tracking camera (10), a quick reflection mirror (16) and a motor, the fine tracking system can display the shape of a target and the miss distance information of an output target, the transmitting telescope (1) is connected with a photoelectric tracking rotary table, the quick reflection mirror (16) is connected with a motor in a transmission manner, the quick reflection mirror (16) is driven by the motor to realize a control closed loop with the fine tracking short wave camera (9) and the visible light fine tracking camera (10), and high-frequency shaking of images guided by the fine tracking system can be corrected in real time.
2. The photoelectric tracking and control equipment based on co-mounted radar composite detection according to claim 1, characterized in that the co-mounted radar (3) is co-mounted with a pitch axis system (2) and a horizontal axis system (8) of a photoelectric tracking rotary table, and a scanning beam of the radar can rotate along with the photoelectric tracking rotary table.
3. The photoelectric tracking and control equipment based on common-frame radar composite detection is characterized in that after the common-frame radar (3) tracks a far-field target and continuously tracks the target, a target distance measuring machine (5) measures the distance of the target in real time, feeds the distance information of the target back to an infrared tracking imaging camera (4) and a visible light tracking imaging camera (7) in a primary tracking system, and focuses the distance information in real time.
4. The photoelectric tracking and control equipment based on the co-mounted radar composite detection is characterized in that the motor comprises a voice coil motor.
5. The photoelectric tracking and control equipment based on common-frame radar composite detection is characterized by comprising an illumination laser device (6) for carrying out laser illumination on a target and tracking the target in real time by matching with a primary tracking system and a fine tracking system.
6. The photoelectric tracking and control equipment based on co-mounted radar composite detection as claimed in claim 1, characterized in that the horizontal shafting (8) comprises a horizontal rotating motor, a power supply slip ring and a sealing ring; the pitching shafting (2) comprises pitching rotating double motors and dynamic sealing rings.
7. The co-ordinate-radar-composite-detection-based photoelectric tracking and control apparatus according to claim 3, wherein the angle-measuring unit includes an encoder.
8. The photoelectric tracking and control equipment based on co-frame radar composite detection as claimed in claim 7, wherein after target information is obtained by the co-frame radar (3), a control loop is formed with an encoder of the photoelectric tracking rotary table, the direction and the pitch of the photoelectric tracking rotary table are adjusted and the photoelectric tracking rotary table is aligned to a target, then shift is carried out to the infrared tracking imaging camera (4) and the visible light tracking imaging camera (7) of the primary tracking system to obtain image information of the target, and after primary tracking, the target is transferred to the fine tracking system through guidance.
9. Optoelectronic tracking and control equipment based on co-framed radar complex detection according to claim 8, characterized in that the short wave camera (9) of the fine tracking system is used at night and the visible light fine tracking camera (10) is used during day.
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| CN113608186A (en) * | 2021-09-13 | 2021-11-05 | 中国工程物理研究院应用电子学研究所 | Calibration method for radar system and photoelectric imaging system |
| CN113655473A (en) * | 2021-08-15 | 2021-11-16 | 海南三熙科技有限公司 | Coaxial double-tripod-head radar and photoelectric integrated equipment |
| CN114353596A (en) * | 2021-12-31 | 2022-04-15 | 华中科技大学 | Anti-unmanned aerial vehicle multispectral detection tracking device |
| CN114563164A (en) * | 2022-01-18 | 2022-05-31 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Multi-system laser signal environment simulation equipment |
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