CN112799051B - Automatic capturing and tracking method and system for low-speed small target - Google Patents
Automatic capturing and tracking method and system for low-speed small target Download PDFInfo
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- CN112799051B CN112799051B CN202011552980.8A CN202011552980A CN112799051B CN 112799051 B CN112799051 B CN 112799051B CN 202011552980 A CN202011552980 A CN 202011552980A CN 112799051 B CN112799051 B CN 112799051B
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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
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
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Abstract
The invention provides a method and a system for automatically capturing and tracking low-slow small targets. And then, judging whether the tracked target is correct or not by a preset algorithm and utilizing the tracking state, the current direction of the target reported by the radar and the direction of the target tracked by the photoelectric equipment. And when the tracking is wrong, the tracking is automatically cancelled, and the tracking is acquired again. And when the tracking is correct, the target is identified, the target type is judged, the safe target cancels the tracking, the information is returned, and the target of the next batch is guided to automatically lock and track. And (4) giving out early warning for the dangerous target, tracking all the time and countering the dangerous target.
Description
Technical Field
The invention relates to the technical field of security protection, in particular to a method and a system for automatically capturing and tracking low-speed small targets.
Background
Along with the development of science and technology, the unmanned aerial vehicle such as 'low-speed small' and the like develops rapidly, and the application field and the application of the unmanned aerial vehicle are diversified day by day. Some uses are good, but some uses can cause harm, such as using unmanned aerial vehicle to obtain secret, invading other people's privacy, interfering with normal aviation, etc.
For these situations, low and slow small targets need to be supervised and detected and found in time to prevent harm. However, the low-speed small target has the characteristics of small volume and irregular movement, and is difficult to artificially detect and search. At present, a method and a system for finding a target by using a radar to guide photoelectric steering to the target are also available in the market, but manual participation is needed, and people find the target to find the target and trigger tracking. The photoelectric tracking before the target is cancelled manually when the target is switched, the next target is found, the tracking is triggered, the manual operation is strong, time and labor are wasted, and the cost and the energy are too large.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method and a system for automatically capturing and tracking a low-slow small target, which can implement unattended monitoring of the low-slow small target, and implement automatic capturing, automatic tracking, automatic cancellation and automatic switching of the monitoring process during monitoring.
In order to achieve the purpose, the invention is realized by the following technical scheme: a low-slow small target automatic acquisition tracking method comprises the following steps:
s1: calibrating the radar and the photoelectric equipment by adopting a unified coordinate system;
s2: when a target enters a radar monitoring area, the radar acquires longitude and latitude height information of the target, generates target data and reports the target data to the photoelectric equipment;
s3: converting the longitude and latitude height of the photoelectric equipment and target data reported by a radar, and calculating a field angle, an azimuth angle and a pitch angle of the photoelectric equipment suitable for the current target distance;
s4: according to the calculated angle of view, azimuth angle and pitch angle of the photoelectric equipment suitable for the current target distance, angle positioning and angle of view positioning are carried out on the photoelectric equipment, so that the in-place precision is achieved;
s5: triggering a tracking and capturing command after the photoelectric equipment reaches the in-place precision, and returning to a tracking state and a miss distance after the photoelectric equipment captures a target;
s6: determining whether the currently captured target is a correct target according to the real-time target position monitored by the photoelectric equipment and the real-time target position reported by the radar, and correspondingly adjusting the tracking state of the photoelectric equipment to keep the photoelectric equipment in the tracking state;
s7: and after the photoelectric equipment is stored in a tracking state, capturing a target picture according to the miss distance returned in real time, identifying the target picture by using a preset target identification service, and judging whether the target is a threat target.
Further, the step S1 includes:
and (4) performing static calibration on the photoelectric equipment, and adjusting zero points of the photoelectric equipment and the radar to be in the north-correcting direction.
Further, the step S3 includes:
converting the longitude and latitude height of the photoelectric equipment and the longitude and latitude height information of the target reported by the radar, and calculating the north azimuth angle, the pitch angle and the distance of the target relative to the photoelectric equipment;
and calculating a view angle suitable for the current target distance according to the distance and view angle calculation relationship by utilizing the relationship between the distance and the view angle.
Further, the distance and the angle of view calculation are as follows:
α＝2*atan(B/(2*D))*180/PI/θ；
where α is a field angle suitable for the current target distance, B is a target width, D is a distance of the target with respect to the optoelectronic device, and θ is a target proportion.
Further, the step S4 includes:
comparing the real-time direction and the field angle of the target returned by the photoelectric equipment with the field angle of the photoelectric equipment, which is obtained by calculation and is suitable for the current target distance, judging that the error is smaller than a preset threshold value, and if so, enabling the angle and the field angle of the current photoelectric equipment to be in place; if not, adjusting the angle and the field angle of the photoelectric equipment according to the calculated field angle of the photoelectric equipment suitable for the current target distance until the photoelectric equipment reaches the in-place precision.
Further, the step S6 includes:
if the photoelectric equipment is in a tracking state currently, comparing the real-time direction of the target monitored by the photoelectric equipment with the real-time direction of the target reported by the radar, and if the error is within 2 visual angles, determining that the tracked target is correct and keeping the photoelectric equipment in the tracking state;
if the error exceeds 2 visual angles, the tracking is considered to be wrong, and the photoelectric equipment cancels the tracking; and at the moment, entering an untracked state and re-receiving the target data reported by the radar.
Further, when the photoelectric equipment is kept in a tracking state, angle positioning is not carried out any more, and only automatic zooming of a lens is carried out; the photoelectric equipment calculates the distance between the current target and the target in real time, and when the distance is larger than a preset distance, the field angle is adjusted once according to preset parameters.
Further, after step S7, the method further includes:
if the target is a threat target, continuously tracking and recording the video and sending an alarm through the photoelectric equipment, and connecting preset anti-braking, high-power pulse and laser equipment for striking interference;
and if the target is a non-threat target, cancelling tracking, and receiving the target data reported by the radar again by the photoelectric equipment.
Further, the target data is stored in a guidance data list that sorts the target data according to target distance, target flight direction, and speed.
Correspondingly, the invention also discloses an automatic capturing and tracking system of the low-slow small target, which comprises the following components:
and the calibration unit is used for calibrating the radar and the photoelectric equipment by adopting a unified coordinate system.
And the data reporting unit is used for acquiring longitude and latitude height information of the target by the radar after the target enters the radar monitoring area, generating target data and reporting the target data to the photoelectric equipment.
And the calculation unit is used for converting the longitude and latitude height of the photoelectric equipment and target data reported by the radar, and calculating a field angle, an azimuth angle and a pitch angle of the photoelectric equipment suitable for the current target distance.
And the positioning unit is used for carrying out angle positioning and field angle positioning on the photoelectric equipment according to the calculated field angle, azimuth angle and pitch angle of the photoelectric equipment suitable for the current target distance, so that the photoelectric equipment can reach the in-place precision.
And the data returning unit is used for triggering a tracking and capturing command after the photoelectric equipment achieves the in-place precision, and returning the tracking state and the miss distance after the photoelectric equipment captures the target.
And the state adjusting unit is used for determining whether the currently captured target is a correct target or not according to the real-time target position monitored by the photoelectric equipment and the real-time target position reported by the radar, and correspondingly adjusting the tracking state of the photoelectric equipment to keep the photoelectric equipment in the tracking state.
And the identification unit is used for screenshot a target picture according to the miss distance returned in real time after the photoelectric equipment is stored in the tracking state, identifying the target picture by using a preset target identification service and judging whether the target is a threat target.
And the reverse unit is used for continuously tracking the target video and sending an alarm through the photoelectric equipment, and is connected with preset reverse, high-power pulse and laser equipment for striking interference.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a method and a system for automatically capturing and tracking low and slow small targets. And then, judging whether the tracked target is correct or not by a preset algorithm and utilizing the tracking state, the current direction of the target reported by the radar and the direction of the target tracked by the photoelectric equipment. And when the tracking is wrong, the tracking is automatically cancelled, and the tracking is acquired again. And when the tracking is correct, the target is identified, the type of the target is judged, the safe target cancels the tracking, the information is returned, and the target of the next batch is guided to automatically lock and track. And (4) giving out early warning for the dangerous target, tracking all the time and countering.
The invention realizes that the photoelectric equipment automatically captures the tracking target and automatically cancels tracking and switches the target after the photoelectric equipment is guided by the radar.
Therefore, compared with the prior art, the invention has prominent substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
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, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method according to a first embodiment of the present invention.
FIG. 2 is a flow chart of a method according to a second embodiment of the present invention.
FIG. 3 is a system block diagram of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
The first embodiment is as follows:
the automatic capturing and tracking method for the low-slow small target shown in fig. 1 comprises the following steps:
s1: and calibrating the radar and the photoelectric equipment by adopting a unified coordinate system.
And (4) performing static calibration on the photoelectric equipment, and adjusting zero points of the photoelectric equipment and the radar to be in the north direction.
S2: and when the target enters a radar monitoring area, the radar acquires longitude and latitude height information of the target, generates target data and reports the target data to the photoelectric equipment.
The target data are stored in a guide data list, and the guide data list is used for sequencing the target data according to the target distance, the target flight direction and the target speed.
S3: and converting the longitude and latitude height of the photoelectric equipment and target data reported by a radar, and calculating a field angle, an azimuth angle and a pitch angle of the photoelectric equipment suitable for the current target distance.
Firstly, the longitude and latitude height of the photoelectric equipment and the longitude and latitude height information of the target reported by the radar are used for conversion, and the north azimuth angle, the pitch angle and the distance of the target relative to the photoelectric equipment are calculated. Then, a viewing angle suitable for the current target distance is calculated from the distance-viewing angle calculation relationship using the distance-viewing angle relationship.
The distance and the field angle are calculated as follows:
α＝2*atan(B/(2*D))*180/PI/θ；
in the above formula, α is a field angle suitable for the current target distance, B is a target width, D is a distance of the target with respect to the optoelectronic device, and θ is a target proportion.
S4: and according to the calculated angle of view, azimuth angle and pitch angle of the photoelectric equipment suitable for the current target distance, carrying out angle positioning and angle of view positioning on the photoelectric equipment to ensure that the photoelectric equipment reaches the in-place precision.
Specifically, the method comprises the following steps: comparing the real-time direction and the field angle of the target returned by the photoelectric equipment with the field angle of the photoelectric equipment, which is obtained by calculation and is suitable for the current target distance, judging that the error is smaller than a preset threshold value, and if so, enabling the angle and the field angle of the current photoelectric equipment to be in place; if not, adjusting the angle and the field angle of the photoelectric equipment according to the calculated field angle of the photoelectric equipment suitable for the current target distance until the photoelectric equipment reaches the in-place precision.
S5: and after the photoelectric equipment reaches the in-place precision, triggering a tracking and capturing command, and returning to a tracking state and a miss distance after the photoelectric equipment captures the target.
S6: and determining whether the currently captured target is a correct target according to the real-time target position monitored by the photoelectric equipment and the real-time target position reported by the radar, and correspondingly adjusting the tracking state of the photoelectric equipment to keep the photoelectric equipment in the tracking state.
If the photoelectric equipment is in a tracking state at present, comparing the real-time position of the target monitored by the photoelectric equipment with the real-time position of the target reported by the radar, and if the error is within 2 field angles, determining that the tracked target is correct, and keeping the photoelectric equipment in the tracking state. If the error exceeds 2 field angles, the tracking is considered to be wrong, and the photoelectric equipment cancels the tracking. And at this time, entering an untracked state, and re-receiving the target data reported by the radar.
When the photoelectric equipment is kept in a tracking state, angle positioning is not carried out any more, and only automatic zooming of the lens is carried out; the photoelectric equipment calculates the distance between the current object and the target in real time, and when the distance is larger than a preset distance, the field angle is adjusted once according to preset parameters.
S7: and after the photoelectric equipment is stored in a tracking state, capturing a target picture according to the miss distance returned in real time, identifying the target picture by using a preset target identification service, and judging whether the target is a threat target.
S8: if the target is a threat target, continuously tracking and recording the video and sending an alarm through the photoelectric equipment, and connecting preset anti-braking, high-power pulse and laser equipment for striking interference; and if the target is a non-threat target, cancelling tracking, and receiving the target data reported by the radar again by the photoelectric equipment.
The second embodiment:
as shown in fig. 2, the embodiment provides an automatic capturing and tracking method for a low-slow small target, which includes the following steps:
1. and calibrating the radar and the photoelectric equipment by adopting a unified coordinate system. And performing static calibration on the photoelectric equipment to enable the zero point of the photoelectric equipment to be north.
2. And after the radar is started, capturing a target in the monitoring area, acquiring position information of the target, and reporting the position information to the photoelectric equipment.
3. The longitude and latitude height information of the photoelectric equipment and the longitude and latitude height information of the target reported by the radar are converted, the north direction, the pitching and the distance of the target relative to the photoelectric equipment are calculated, and the angle of view suitable for the current distance is calculated by utilizing the relation between the distance and the angle of view. The distance and field angle calculation is as follows:
field angle =2 atan (target width/(2 distance)) 180/PI/target ratio.
4. And performing angle positioning and field angle positioning on the photoelectric equipment according to the calculation result of the last step, and then judging whether the angle and the field angle are in place or not according to the real-time direction and the field angle returned by the photoelectric equipment.
5. And triggering a tracking and capturing command after the photoelectric equipment reaches the in-place precision. And after tracking the upper target, the photoelectric equipment returns to the tracking state and the miss distance. When the target is in a tracking state, the real-time position of the photoelectric equipment is compared with the real-time position reported by the radar, and the tracked target is considered to be correct within 2 field angles. When the error exceeds 2 visual angles, the tracking is considered to be wrong, and the tracking is cancelled. At this point, the lock is placed in an untracked state and the boot data is reused for locking. In the tracking state, the angle is not positioned any more, only automatic zooming is performed, and the viewing angle is adjusted once when the calculated distance exceeds 50m (adjusted according to the need of the user). The target is ensured to keep a proper size in the visual field, and the function of automatic zooming is realized, so that the stable tracking of the photoelectric equipment is ensured.
6. In stable tracking, the target can be scratched and tracked according to the returned miss distance, and the target is identified by using the target identification service. And judging whether the target is threatened or not, if so, continuously tracking and recording the video and giving an alarm, informing the platform to control other equipment or personnel to handle, and connecting a reverse system, a high-power pulse, a laser device and the like to attack interference. And (4) canceling tracking for a non-threat target, and switching to other guiding data for guiding.
The list of guidance data may be ordered according to target distance, target flight direction, speed, etc. The target can be switched without identification service, when the guiding data changes, the difference between the current tracking target and the guiding target is larger than 2 field angles, at the moment, a command for canceling the tracking is automatically triggered, the next target is tracked, the current tracking is automatically canceled, and the next target tracking is switched.
In addition, it should be particularly noted that in this embodiment, the target batch data reported by the radar is used to perform danger level sorting by automatically tracking, capturing, and canceling tracking. Optoelectronic devices need to have the ability to track objects. Some photoelectric devices are provided with tracking modules at the front ends, and some photoelectric devices adopt software for tracking. After the target is locked, the photoelectric device can stably track the target, and most photoelectricity has the capability.
Example three:
correspondingly, as shown in fig. 3, the present invention also discloses an automatic capturing and tracking system for low-slow small targets, comprising:
and the calibration unit is used for calibrating the radar and the photoelectric equipment by adopting a unified coordinate system.
And the data reporting unit is used for acquiring longitude and latitude height information of the target by the radar after the target enters the radar monitoring area, generating target data and reporting the target data to the photoelectric equipment.
And the calculation unit is used for converting the longitude and latitude height of the photoelectric equipment and target data reported by the radar, and calculating a field angle, an azimuth angle and a pitch angle of the photoelectric equipment suitable for the current target distance.
And the positioning unit is used for carrying out angle positioning and view angle positioning on the photoelectric equipment according to the calculated view angle, azimuth angle and pitch angle of the photoelectric equipment suitable for the current target distance, so that the photoelectric equipment can reach the in-place precision.
And the data returning unit is used for triggering a tracking and capturing command after the photoelectric equipment reaches the in-place precision, and returning to the tracking state and the miss distance after the photoelectric equipment captures the target.
And the state adjusting unit is used for determining whether the currently captured target is a correct target or not according to the real-time target position monitored by the photoelectric equipment and the real-time target position reported by the radar, and correspondingly adjusting the tracking state of the photoelectric equipment to keep the photoelectric equipment in the tracking state.
And the identification unit is used for capturing a target picture according to the miss distance returned in real time after the photoelectric equipment is stored in the tracking state, identifying the target picture by using a preset target identification service and judging whether the target is a threat target.
And the reverse unit is used for continuously tracking the target video and sending an alarm through the photoelectric equipment, and is connected with preset reverse, high-power pulse and laser equipment for striking interference.
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in the form of a software product, where the computer software product is stored in a storage medium, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like, and the storage medium can store program codes, and includes instructions for enabling a computer terminal (which may be a personal computer, a server, or a second terminal, a network terminal, and the like) to perform all or part of the steps of the method in the embodiments of the present invention. The same and similar parts in the various embodiments in this specification may be referred to each other. Especially, for the terminal embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant points can be referred to the description in the method embodiment.
In the embodiments provided by the present invention, it should be understood that the disclosed system, system and method can be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing unit, or each module may exist alone physically, or two or more modules are integrated into one unit.
Similarly, each processing unit in the embodiments of the present invention may be integrated into one functional module, or each processing unit may exist physically, or two or more processing units are integrated into one functional module.
The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
Claims (9)
1. A low-slow small target automatic acquisition tracking method is characterized by comprising the following steps:
s1: calibrating the radar and the photoelectric equipment by adopting a unified coordinate system;
s2: when a target enters a radar monitoring area, the radar acquires longitude and latitude height information of the target, generates target data and reports the target data to the photoelectric equipment;
s3: converting the longitude and latitude height of the photoelectric equipment and target data reported by a radar, and calculating a field angle, an azimuth angle and a pitch angle of the photoelectric equipment suitable for the current target distance;
s4: according to the calculated angle of view, azimuth angle and pitch angle of the photoelectric equipment suitable for the current target distance, angle positioning and angle of view positioning are carried out on the photoelectric equipment, so that the in-place precision is achieved;
s5: triggering a tracking and capturing command after the photoelectric equipment reaches the in-place precision, and returning to a tracking state and a miss distance after the photoelectric equipment captures a target;
s6: determining whether the currently captured target is a correct target according to the real-time target position monitored by the photoelectric equipment and the real-time target position reported by the radar, and correspondingly adjusting the tracking state of the photoelectric equipment to keep the photoelectric equipment in the tracking state;
s7: after the photoelectric equipment is stored in a tracking state, a target picture is captured according to the miss distance returned in real time, the target picture is identified by using a preset target identification service, and whether the target is a threat target or not is judged;
the step S6 includes:
if the photoelectric equipment is in a tracking state currently, comparing a target real-time direction monitored by the photoelectric equipment with a target real-time direction reported by a radar, and if the error is within 2 field angles, determining that the tracked target is correct, and keeping the photoelectric equipment in the tracking state;
if the error exceeds 2 visual angles, the tracking is considered to be wrong, and the photoelectric equipment cancels the tracking; and entering an untracked state, and re-receiving the target data reported by the radar.
2. The automatic acquisition and tracking method for low-slow small targets according to claim 1, wherein the step S1 comprises:
and (4) performing static calibration on the photoelectric equipment, and adjusting zero points of the photoelectric equipment and the radar to be in the north-correcting direction.
3. The method for automatically capturing and tracking the low-slow small target according to claim 1, wherein the step S3 comprises:
converting the longitude and latitude height of the photoelectric equipment and the longitude and latitude height information of the target reported by the radar, and calculating the north azimuth angle, the pitch angle and the distance of the target relative to the photoelectric equipment;
and calculating a view angle suitable for the current target distance according to the distance and view angle calculation relationship by utilizing the relationship between the distance and the view angle.
4. The method for automatically capturing and tracking the low-slow small target according to claim 3, wherein the distance and the field angle are calculated as follows:
α = 2 * atan(B / (2 * D)) * 180 / PI/θ；
where α is a field angle suitable for the current target distance, B is a target width, D is a distance of the target from the optoelectronic device, and θ is a target fraction.
5. The method for automatically capturing and tracking the low-slow small target according to claim 1, wherein the step S4 comprises:
comparing the real-time direction and the field angle of the target returned by the photoelectric equipment with the field angle of the photoelectric equipment which is obtained by calculation and is suitable for the current target distance, judging that the error is smaller than a preset threshold value, and if so, ensuring that the angle and the field angle of the current photoelectric equipment are in place; if not, adjusting the angle and the field angle of the photoelectric equipment according to the field angle of the photoelectric equipment which is obtained by calculation and is suitable for the current target distance until the photoelectric equipment reaches the in-place precision.
6. The automatic capturing and tracking method for the small low-slow target according to claim 1, characterized in that when the optoelectronic device is kept in the tracking state, the angular positioning is not performed any more, and only the automatic zooming of the lens is performed; the photoelectric equipment calculates the distance between the current object and the target in real time, and when the distance is larger than a preset distance, the field angle is adjusted once according to preset parameters.
7. The method for automatically capturing and tracking a low-slow small target according to claim 1, wherein the step S7 is followed by further comprising:
if the target is a threat target, continuously tracking and recording the video and sending an alarm through the photoelectric equipment, and connecting preset anti-braking, high-power pulse and laser equipment for striking interference;
and if the target is a non-threat target, cancelling tracking, and receiving the target data reported by the radar again by the photoelectric equipment.
8. The method of claim 1, wherein the target data is stored in a guidance data list that sorts the target data according to target distance, target flight direction and speed.
9. An automatic acquisition tracking system for low and slow small targets, comprising:
the calibration unit is used for calibrating the radar and the photoelectric equipment by adopting a unified coordinate system;
the data reporting unit is used for acquiring longitude and latitude height information of a target by the radar after the target enters a radar monitoring area, generating target data and reporting the target data to the photoelectric equipment;
the calculating unit is used for converting the longitude and latitude height of the photoelectric equipment and target data reported by a radar, and calculating a field angle, an azimuth angle and a pitch angle of the photoelectric equipment suitable for the current target distance;
the positioning unit is used for carrying out angle positioning and field angle positioning on the photoelectric equipment according to the calculated field angle, azimuth angle and pitch angle of the photoelectric equipment suitable for the current target distance, so that the photoelectric equipment can reach the in-place precision;
the data return unit is used for triggering a tracking and capturing command after the photoelectric equipment achieves the in-place precision and returning to a tracking state and a miss distance after the photoelectric equipment captures a target;
the state adjusting unit is used for determining whether the currently captured target is a correct target or not according to the real-time target position monitored by the photoelectric equipment and the real-time target position reported by the radar, and correspondingly adjusting the tracking state of the photoelectric equipment to keep the photoelectric equipment in the tracking state;
the identification unit is used for screenshot a target picture according to the miss distance returned in real time after the photoelectric equipment is stored in a tracking state, identifying the target picture by using a preset target identification service and judging whether the target is a threat target or not;
and the reverse unit is used for continuously tracking the target video and sending an alarm through the photoelectric equipment, and is connected with preset reverse, high-power pulse and laser equipment for striking interference.
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| CN113518214B (en) * | 2021-05-25 | 2022-03-15 | 上海哔哩哔哩科技有限公司 | Panoramic video data processing method and device |
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| CN114219825A (en) * | 2022-02-23 | 2022-03-22 | 济南和普威视光电技术有限公司 | Target contact force tracking method and system under multiple photoelectric distributed deployments |
| CN114963879B (en) * | 2022-05-20 | 2023-11-17 | 中国电子科技集团公司电子科学研究院 | Comprehensive control system and method for unmanned aerial vehicle |
| CN115665550A (en) * | 2022-10-20 | 2023-01-31 | 山东神戎电子股份有限公司 | Focusing calibration and adjustment method in low-speed small target tracking system |
| CN116577776B (en) * | 2023-07-12 | 2023-09-22 | 中国电子科技集团公司第二十八研究所 | Multi-source main cooperative target detection and intelligent identification method and system |
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