CN113092368B - Infrared band atmospheric transmittance measurement method and system based on unmanned aerial vehicle - Google Patents
Infrared band atmospheric transmittance measurement method and system based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113092368B CN113092368B CN202110281968.6A CN202110281968A CN113092368B CN 113092368 B CN113092368 B CN 113092368B CN 202110281968 A CN202110281968 A CN 202110281968A CN 113092368 B CN113092368 B CN 113092368B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- atmospheric
- distance
- imager
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/59—Transmissivity
- G01N21/61—Non-dispersive gas analysers
Abstract
The invention provides an infrared band atmospheric transmittance rapid measurement method and system based on an unmanned aerial vehicle, which comprises the following steps: step M1: comparing the infrared radiation intensity of the laboratory unmanned aerial vehicle with the infrared radiation intensity of the outfield unmanned aerial vehicle, and extracting the atmospheric transmittance of the outfield atmosphere; step M2: obtaining the attenuation coefficient of the external field atmosphere according to the atmospheric transmittance of the external field atmosphere; step M3: and obtaining the atmospheric transmittance at any distance based on the attenuation coefficient of the external field atmosphere according to Bell's law. The invention has simple operation and low requirement on an external field acquisition system, can realize the rapid measurement of the atmospheric transmittance in special environments such as water surface, marsh and the like, and reduces the uncertainty of the measurement to about 6 percent.
Description
Technical Field
The invention relates to the technical field of atmospheric transmittance measurement, in particular to an infrared band atmospheric transmittance rapid measurement method and system based on an unmanned aerial vehicle.
Background
The influence of the atmospheric transmittance is considered when infrared radiation is transmitted in the atmosphere, such as target infrared radiation characteristic measurement, photoelectric guidance equipment development, laser ranging and the like, and the atmospheric transmittance is an important physical quantity considering the attenuation property of the infrared radiation in the atmosphere. In the military field, infrared guidance missile seeker, infrared reconnaissance equipment and the like are inevitably influenced by atmosphere when identifying, warning and searching infrared targets, and the atmospheric transmittance plays an important role in the identification, warning and searching infrared targets; in the field of astronomy, when infrared observation equipment is involved, the influence of the atmosphere also needs to be considered, and the atmospheric transmittance plays an extremely important role in the accuracy of target measurement; in the field of remote sensing, it is very important to correct atmospheric influences, and the commonly used description of atmospheric characteristic physical quantities or atmospheric transmittance is also the circle.
The currently used methods for obtaining the atmospheric transmittance include: analog simulation, software resolving and external field measurement. The simulation is usually calculated by adopting an empirical formula in the existing literature, the atmospheric transmittance is calculated by combining the spectral absorption coefficients of water vapor and carbon dioxide measured in a laboratory and the content in the atmosphere in a remote way, and the atmospheric transmittance inversion method is improved by using 3 basic parameters of near-ground air temperature, relative humidity and atmospheric pressure on the basis of a field atmospheric mode on the basis of Korea, and is convenient and quick, but the error is slightly large; the existing software for calculating the atmospheric transmittance is very many, such as: the software can only calculate the atmospheric transmittance of the software in certain typical geographic environments, so certain errors exist in use. The method for measuring the external field needs to measure the radiation characteristic of the external field under standard photoelectric equipment by photoelectric measuring equipment, and the method can measure the atmospheric transmittance by designing a multipoint mobile atmospheric transmittance measuring system on a high-precision guide rail.
Patent document CN111366254A (application number: 201811602015. X) discloses an atmospheric transmittance detection method and device. The method of the invention comprises the following steps: measuring a target to be measured by adopting a mode calculation method to obtain a mode atmospheric transmittance tau R' corresponding to the target to be measured; and obtaining a corrected atmospheric transmittance tau R = tau' x C tau corresponding to the target to be detected according to the correction coefficient Ctau. Before obtaining the corrected atmospheric transmittance τ R corresponding to the target to be detected according to the correction coefficient C τ, the method includes: and determining the correction coefficient C tau according to the actually measured atmospheric transmittance tau R0 corresponding to the standard surface source black body and the atmospheric transmittance tau R0' measured by the standard surface source black body through the mode calculation method. The device comprises a standard surface source black body, infrared measuring equipment and an atmospheric radiation transmission calculating device.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an infrared band atmospheric transmittance rapid measurement method and system based on an unmanned aerial vehicle.
The invention provides an infrared band atmospheric transmittance rapid measurement method based on an unmanned aerial vehicle, which comprises the following steps:
step M1: comparing the infrared radiation intensity of the laboratory unmanned aerial vehicle with the infrared radiation intensity of the outfield unmanned aerial vehicle, and extracting the atmospheric transmittance of the outfield atmosphere;
step M2: obtaining the attenuation coefficient of the external field atmosphere according to the atmospheric transmittance of the external field atmosphere;
step M3: and obtaining the atmospheric transmittance at any distance based on the attenuation coefficient of the external field atmosphere according to Bell's law.
Preferably, the step M1 includes:
step M1.1: time calibration is carried out on the unmanned aerial vehicle and the thermal infrared imager;
step M1.2: the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly linearly at a constant speed in an external field towards the direction of the thermal infrared imager, and meanwhile, the thermal infrared imager is used for collecting a gray image of the unmanned aerial vehicle;
step M1.3: when the unmanned aerial vehicle cannot be seen in the thermal infrared imager, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to stop and fly in the opposite direction at a constant speed until the unmanned aerial vehicle flies back to the starting position;
step M1.4: performing time matching on the unmanned aerial vehicle image recorded by the thermal infrared imager and the position and attitude data recorded by the unmanned aerial vehicle to obtain the attitude of the unmanned aerial vehicle relative to the thermal imager and the distance between the unmanned aerial vehicle and the thermal imager in each frame of image;
step M1.5: performing target extraction on the unmanned aerial vehicle image recorded by the thermal infrared imager to obtain the average imaging gray level of the unmanned aerial vehicle in each frame of image and the background gray level of the unmanned aerial vehicle;
step M1.6: according to attitude data of the unmanned aerial vehicle relative to the thermal imager, which is obtained in an external field, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to face the thermal infrared imager at the same attitude and the closest distance in a laboratory, and records gray level images of the unmanned aerial vehicle in each attitude;
step M1.7: performing target extraction on the gray level image to obtain the average gray level of unmanned aerial vehicle imaging under each posture;
step M1.8: and calculating the external field atmospheric transmittance at different distances according to the average imaging gray scale of the unmanned aerial vehicle at different distances from the laboratory to the external field in each posture and the background gray scale of the unmanned aerial vehicle in each posture.
Preferably, said step M2 comprises: and according to the calculated external field atmospheric transmittance at different distances, fitting by using a least square method to obtain a direct proportional relation of the atmospheric transmittance to the data and the distance, and obtaining the attenuation coefficient.
Preferably, the attenuation coefficient includes:
wherein β represents an attenuation coefficient; n represents the number of measurements of the atmospheric transmittance; tau. ri Denotes a distance r i Atmospheric permeability;
representing r in all measured data i Is determined by the average value of (a),
representing τ in all measurement data ri Logarithmic mean of
Preferably, the atmospheric transmittance at any distance in step M3 includes:
τ r0 ＝exp(-βr 0 ) (2)
wherein, tau r0 Denotes an arbitrary distance r 0 Atmospheric permeability in time; β represents the attenuation coefficient.
Preferably, said step M1.8 comprises:
step M1.8.1: calculating the radiation intensity of the unmanned aerial vehicle through the gray level image of the unmanned aerial vehicle measured in the outfield and the laboratory:
wherein, I T The radiation intensity of the unmanned aerial vehicle; l is a radical of an alcohol Ti The unmanned aerial vehicle radiance measured in a laboratory; l is a radical of an alcohol eye,Tj The radiation brightness of the unmanned aerial vehicle at the distance r at the entrance pupil of the thermal imager is determined; l is air,r The atmospheric background radiation brightness at a distance r; tau. r Atmospheric permeability at a distance r; s is the projection area of the unmanned aerial vehicle under a certain posture; n is the number of pixels occupied by the unmanned aerial vehicle in the thermal imager during measurement in the laboratory; when m is a distance r, the unmanned aerial vehicle occupies the number of pixels in the thermal imager;
step M1.8.2: average radiance of unmanned aerial vehicle measured in laboratory;
wherein, the first and the second end of the pipe are connected with each other,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain posture; k represents the responsivity of the thermal infrared imager, and b represents the internal noise of the thermal infrared imager;
step m1.8.3: calculating to obtain the average entrance pupil radiance according to the imaging gray scale of the unmanned aerial vehicle on the thermal infrared imager and the calibration coefficient of the thermal infrared imager;
wherein the content of the first and second substances,
representing the average imaging gray scale of the unmanned aerial vehicle in the thermal imager image;
step m1.8.4: the atmospheric background radiance is expressed as:
L air,r ＝(kG eye,B +b)·(1-τ r ) (6)
wherein, the first and the second end of the pipe are connected with each other,G eye,B representing background gray scale generated by the atmospheric background radiation brightness near the unmanned aerial vehicle in the thermal imager;
step M1.8.5: calculating to obtain the atmospheric transmittance of the distance r according to the average radiance of the unmanned aerial vehicle, the average radiance of the entrance pupil and the atmospheric background radiance during measurement in a laboratory;
wherein the content of the first and second substances,
representing the average imaging gray scale G of the unmanned aerial vehicle in the thermal imager image eye,B Representing the background gray level generated by the atmospheric background radiance near the unmanned aerial vehicle in the thermal imager image,
and the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain posture is represented.
According to the rapid infrared band atmospheric transmittance measurement system based on the unmanned aerial vehicle, the rapid infrared band atmospheric transmittance measurement method based on the unmanned aerial vehicle is applied to realize that:
a module S1: comparing the infrared radiation intensity of the laboratory unmanned aerial vehicle with the infrared radiation intensity of the outfield unmanned aerial vehicle, and extracting the atmospheric transmittance of the outfield atmosphere;
a module S2: obtaining the attenuation coefficient of the external field atmosphere according to the atmospheric transmittance of the external field atmosphere;
a module S3: and obtaining the atmospheric transmittance at any distance based on the attenuation coefficient of the external field atmosphere according to Bell's law.
Preferably, the module S1 comprises:
module S1.1: calculating the radiation intensity of the unmanned aerial vehicle through the gray level image of the unmanned aerial vehicle measured in the outfield and the laboratory:
wherein, I T The radiation intensity of the unmanned aerial vehicle; l is a radical of an alcohol Ti The unmanned aerial vehicle radiance measured in a laboratory; l is eye,Tj The radiation brightness of the unmanned aerial vehicle at the distance r at the entrance pupil of the thermal imager is determined; l is a radical of an alcohol air,r Is the atmospheric background radiance at distance r; tau. r Atmospheric permeability at a distance r; s is the projection area of the unmanned aerial vehicle under a certain attitude; n is the number of pixels occupied by the unmanned aerial vehicle in the thermal imager during measurement in the laboratory; when m is a distance r, the unmanned aerial vehicle occupies the number of pixels in the thermal imager;
module S1.2: average radiance of unmanned aerial vehicle measured in laboratory;
wherein the content of the first and second substances,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain posture; k represents the responsivity of the thermal infrared imager, and b represents the internal noise of the thermal infrared imager;
module S1.3: calculating to obtain the average entrance pupil radiance according to the imaging gray scale of the unmanned aerial vehicle on the thermal infrared imager and the calibration coefficient of the thermal infrared imager;
wherein, the first and the second end of the pipe are connected with each other,
representing the average imaging gray scale of the unmanned aerial vehicle in the thermal imager image;
module S1.4: the atmospheric background radiance is expressed as:
L air,r ＝(kG eye,B +b)·(1-τ r ) (6)
wherein, G eye,B Representing the background generated by the atmospheric background radiance near the drone in a thermal imagerGray scale;
module S1.5: calculating the atmospheric transmittance of the distance r according to the average radiance of the unmanned aerial vehicle, the average radiance of the entrance pupil and the atmospheric background radiance during measurement in the laboratory;
wherein the content of the first and second substances,
representing the average imaging gray scale G of the unmanned aerial vehicle in the thermal imager image eye,B Representing the background gray level generated by the atmospheric background radiance near the unmanned aerial vehicle in the thermal imager image,
the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain posture is represented.
Preferably, said module S2 comprises: according to the calculated external field atmospheric transmittance at different distances, fitting by using a least square method to obtain a direct proportional relation of the atmospheric transmittance to the data and the distance, and obtaining an attenuation coefficient;
the attenuation coefficient includes:
wherein β represents an attenuation coefficient; n represents the number of measurements of the atmospheric transmittance; tau is ri Denotes a distance r i Atmospheric permeability;
representing r in all measured data i Is determined by the average value of (a) of (b),
representing τ in all measurement data ri Logarithmic mean of
Preferably, the atmospheric transmittance at any distance in step M3 includes:
τ r0 ＝exp(-βr 0 ) (2)
wherein, tau r0 Denotes an arbitrary distance r 0 Atmospheric permeability; β represents the attenuation coefficient.
Compared with the prior art, the invention has the following beneficial effects:
1. in order to quickly and conveniently obtain the high-precision infrared band atmospheric transmittance in the outfield environment, the method for quickly measuring the infrared band atmospheric transmittance based on the unmanned aerial vehicle acquires and stores the infrared radiation energy of the unmanned aerial vehicle in a gray scale mode, compares the infrared radiation energy gray scale value with the infrared radiation energy gray scale value in the same posture of the unmanned aerial vehicle in a laboratory, removes the influence of the infrared radiation energy gray scale value of the atmosphere, obtains the atmospheric transmittance at different distances and the attenuation coefficient of the outfield atmosphere by calculation, and can obtain the atmospheric transmittance at any distance according to the Bell's law;
2. the rapid infrared band atmospheric transmittance measurement method based on the unmanned aerial vehicle is simple to operate, and the passive radiation source of the unmanned aerial vehicle has low requirement on an external field acquisition system;
3. the method adopts the unmanned aerial vehicle, has good maneuverability and reliable work, and can realize the measurement of the atmospheric transmittance in special environments such as water surface, marsh and the like; the method has low requirement on the unmanned aerial vehicle control system, and only needs to ensure normal flight, so that the infrared band atmospheric transmittance with higher precision can be simply, conveniently and quickly measured in the complex environment of an external field;
4. the infrared band atmospheric transmittance can be measured quickly and efficiently, the expandability is high, and the measurement can be carried out in a wider spectral range by adjusting and matching the thermal infrared imager 3 and the thermal infrared imager recording device 4; meanwhile, the uncertainty of the measurement is reduced to about 6%.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is an infrared band atmospheric transmittance rapid measurement device based on an unmanned aerial vehicle;
FIG. 2 is a schematic diagram of the pose of the drone in a body coordinate system;
in the figure: the system comprises an unmanned aerial vehicle 1, an unmanned aerial vehicle 2, an unmanned aerial vehicle controller, a thermal infrared imager 3, a thermal infrared imager recording device 4 and a power supply 5.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention aims to solve the problems of complex environment such as water surface and the like, complicated measuring steps, high requirement on a measuring system and the like in outfield measurement, provides a rapid infrared band atmosphere transmittance measuring method based on an unmanned aerial vehicle in consideration of the flexibility and the controllability of the unmanned aerial vehicle, and helps people to obtain atmosphere related properties with higher precision more simply and conveniently.
A rapid measurement method of infrared band atmospheric transmittance based on an unmanned aerial vehicle uses a rapid measurement device of infrared band atmospheric transmittance based on the unmanned aerial vehicle, the device comprises an unmanned aerial vehicle 1, an unmanned aerial vehicle controller 2, a thermal infrared imager 3, a thermal infrared imager recording device 4 and a power supply 5, the unmanned aerial vehicle 1 flies in the air, and the rest works on the ground;
the unmanned aerial vehicle 1 flies in the air, the flying direction and speed of the unmanned aerial vehicle are controlled by the unmanned aerial vehicle controller 2, the thermal infrared imager 3 collects gray level images of the unmanned aerial vehicle 1 at each moment, the gray level images are recorded and stored by the thermal infrared imager recording device 4, and the thermal infrared imager 3 and the thermal infrared imager recording device 4 are powered by the power supply 5; the measuring method mainly comprises an external field measuring part and a laboratory measuring part.
The invention provides an infrared band atmospheric transmittance rapid measurement method based on an unmanned aerial vehicle, which comprises the following steps:
step M1: comparing the infrared radiation intensity of the laboratory unmanned aerial vehicle with the infrared radiation intensity of the outfield unmanned aerial vehicle, and extracting the atmospheric transmittance of the outfield atmosphere;
step M2: obtaining the attenuation coefficient of the external field atmosphere according to the atmospheric transmittance of the external field atmosphere;
step M3: and obtaining the atmospheric transmittance at any distance based on the attenuation coefficient of the external field atmosphere according to Bell's law.
Specifically, the step M1 includes:
step M1.1: connecting the thermal infrared imager and the thermal infrared imager recording device to a power supply, and performing time calibration on the unmanned aerial vehicle and the thermal infrared imager to ensure uniform time;
step M1.2: the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly linearly at a constant speed in an external field towards the direction of the thermal infrared imager, and meanwhile, the thermal infrared imager is used for collecting a gray image of the unmanned aerial vehicle;
step M1.3: when the unmanned aerial vehicle cannot be seen in the thermal infrared imager, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to stop and slowly fly in the opposite direction until the unmanned aerial vehicle flies back to the starting position;
step M1.4: performing time matching on the unmanned aerial vehicle image recorded by the thermal infrared imager and the position and posture data recorded by the unmanned aerial vehicle to obtain the posture of the unmanned aerial vehicle relative to the thermal imager and the distance between the unmanned aerial vehicle and the thermal imager in each frame of image;
step M1.5: performing target extraction on the unmanned aerial vehicle image recorded by the thermal infrared imager to obtain the unmanned aerial vehicle imaging average gray level and the unmanned aerial vehicle background gray level in each frame of image;
step M1.6: according to attitude data of the unmanned aerial vehicle relative to the thermal imager, which is obtained in an external field, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to face the thermal infrared imager at the same attitude and the closest distance in a laboratory, and records gray level images of the unmanned aerial vehicle in each attitude;
step M1.7: performing target extraction on the gray level image to obtain the average gray level of the unmanned aerial vehicle imaging under each posture;
step M1.8: and calculating the outfield atmospheric transmittance at different distances according to the average imaging gray scale of the unmanned aerial vehicle at different distances between the near distance and the outfield in the laboratory at each posture and the background gray scale of the unmanned aerial vehicle at each posture.
Specifically, the unmanned aerial vehicle has the function of measuring self position and gesture and recording current time.
Specifically, the unmanned aerial vehicle controller has the function of controlling the flight speed and the flight direction of the unmanned aerial vehicle.
Specifically, the thermal infrared imager has the function of collecting gray level images of the unmanned aerial vehicle, and can detect the unmanned aerial vehicle beyond 5 km.
Specifically, the thermal infrared imager recording device has the functions of recording and storing gray level images and recording the current time.
Specifically, the step M2 includes: and according to the calculated external field atmospheric transmittance at different distances, fitting by using a least square method to obtain a direct proportional relation of the atmospheric transmittance to the data and the distance, and obtaining the attenuation coefficient.
Specifically, the attenuation coefficient includes:
wherein β represents an attenuation coefficient; n represents the number of measurements of the atmospheric transmittance; tau is ri Denotes a distance r i Atmospheric permeability in time;
representing r in all measured data i Is determined by the average value of (a),
representing τ in all measurement data ri Logarithmic mean of
Specifically, the atmospheric transmittance at any distance in the step M3 includes:
τ r0 ＝exp(-βr 0 ) (2)
wherein, tau r0 Denotes an arbitrary distance r 0 Atmospheric permeability in time; β represents the attenuation coefficient.
In particular, said step M1.8 comprises:
step m1.8.1: calculating the radiation intensity of the unmanned aerial vehicle through the gray level image of the unmanned aerial vehicle measured in the outfield and the laboratory:
wherein, I T The radiation intensity of the unmanned aerial vehicle; l is a radical of an alcohol Ti The unmanned aerial vehicle radiance measured in a laboratory; l is eye,Tj The radiation brightness of the unmanned aerial vehicle at the distance r at the entrance pupil of the thermal imager is; l is air,r The atmospheric background radiation brightness at a distance r; tau is r Is the atmospheric transmission rate at a distance r; s is the projection area of the unmanned aerial vehicle under a certain posture; n is the number of pixels occupied by the unmanned aerial vehicle in the thermal imager during measurement in the laboratory; when m is the distance r, the unmanned aerial vehicle occupies the number of pixels in the thermal imager;
step m1.8.2: average radiance of the unmanned aerial vehicle measured in a laboratory;
wherein the content of the first and second substances,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain attitude; k-meterDisplaying the responsivity of the thermal infrared imager, and b representing the internal noise of the thermal infrared imager;
step M1.8.3: calculating to obtain the average entrance pupil radiance according to the imaging gray scale of the unmanned aerial vehicle on the thermal infrared imager and the calibration coefficient of the thermal infrared imager;
wherein the content of the first and second substances,
representing the average imaging gray scale of the unmanned aerial vehicle in the thermal imager image;
step m1.8.4: the atmospheric background radiance is expressed as:
L air,r ＝(kG eye,B +b)·(1-τ r ) (6)
wherein G is eye,B Representing background gray scale generated by atmospheric background radiation brightness near an unmanned aerial vehicle in a thermal imager;
step m1.8.5: calculating to obtain the atmospheric transmittance of the distance r according to the average radiance of the unmanned aerial vehicle, the average radiance of the entrance pupil and the atmospheric background radiance during measurement in a laboratory;
wherein the content of the first and second substances,
representing the average imaging gray of the unmanned aerial vehicle in the thermal imager image, G eye,B Representing the background gray level generated by the atmospheric background radiance near the unmanned aerial vehicle in the thermal imager image,
the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain posture is represented.
According to the rapid infrared band atmospheric transmittance measurement system based on the unmanned aerial vehicle, the rapid infrared band atmospheric transmittance measurement method based on the unmanned aerial vehicle is applied to realize that:
a module S1: comparing the infrared radiation intensity of the laboratory unmanned aerial vehicle with the infrared radiation intensity of the outfield unmanned aerial vehicle, and extracting the atmospheric transmittance of the outfield atmosphere;
a module S2: obtaining the attenuation coefficient of the external field atmosphere according to the atmospheric transmittance of the external field atmosphere;
a module S3: and obtaining the atmospheric transmittance at any distance based on the attenuation coefficient of the external field atmosphere according to Bell's law.
Specifically, the module S2 includes: and according to the calculated external field atmospheric transmittance at different distances, fitting by using a least square method to obtain a direct proportional relation of the atmospheric transmittance to the data and the distance, and obtaining the attenuation coefficient.
Specifically, the attenuation coefficient includes:
wherein β represents an attenuation coefficient; n represents the number of measurements of the atmospheric transmittance; tau is ri Denotes a distance r i Atmospheric permeability in time;
representing r in all measured data i Is determined by the average value of (a) of (b),
representing τ in all measurement data ri Logarithmic average of
Specifically, the atmospheric transmittance at any distance in the module S3 includes:
τ r0 ＝exp(-βr 0 ) (2)
wherein, tau r0 Denotes an arbitrary distance r 0 Atmospheric permeability in time; β represents the attenuation coefficient.
Specifically, the module S1 includes:
module S1.1: calculating the radiation intensity of the unmanned aerial vehicle through the gray level image of the unmanned aerial vehicle measured in the outfield and the laboratory:
wherein, I T The radiation intensity of the unmanned aerial vehicle; l is a radical of an alcohol Ti The unmanned aerial vehicle radiance measured in a laboratory; l is eye,Tj The radiation brightness of the unmanned aerial vehicle at the distance r at the entrance pupil of the thermal imager is; l is a radical of an alcohol air,r The atmospheric background radiation brightness at a distance r; tau is r Is the atmospheric transmission rate at a distance r; s is the projection area of the unmanned aerial vehicle under a certain attitude; n is the number of pixels occupied by the unmanned aerial vehicle in the thermal imager during measurement in the laboratory; when m is the distance r, the unmanned aerial vehicle occupies the number of pixels in the thermal imager;
module S1.2: average radiance of unmanned aerial vehicle measured in laboratory;
wherein, the first and the second end of the pipe are connected with each other,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain attitude; k represents the responsivity of the thermal infrared imager, and b represents the internal noise of the thermal infrared imager;
module S1.3: calculating to obtain the average entrance pupil radiance according to the imaging gray scale of the unmanned aerial vehicle on the thermal infrared imager and the calibration coefficient of the thermal infrared imager;
wherein, the first and the second end of the pipe are connected with each other,
representing the average imaging gray of the unmanned aerial vehicle in the thermal imager image;
module S1.4: the atmospheric background radiance is expressed as:
L air,r ＝(kG eye,B +b)·(1-τ r ) (6)
wherein G is eye,B Representing background gray scale generated by the atmospheric background radiation brightness near the unmanned aerial vehicle in the thermal imager;
module S1.5: calculating the atmospheric transmittance of the distance r according to the average radiance of the unmanned aerial vehicle, the average radiance of the entrance pupil and the atmospheric background radiance during measurement in the laboratory;
wherein, the first and the second end of the pipe are connected with each other,
representing the average imaging gray scale G of the unmanned aerial vehicle in the thermal imager image eye,B Representing the background gray level generated by the atmospheric background radiance near the unmanned aerial vehicle in the thermal imager image,
and the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain posture is represented.
Example 2
Example 2 is a preferred example of example 1
According to the fig. 1-2, the invention provides a rapid measurement method of infrared band atmospheric transmittance based on an unmanned aerial vehicle, which uses a rapid measurement device of infrared band atmospheric transmittance based on an unmanned aerial vehicle, the device comprises an unmanned aerial vehicle 1, an unmanned aerial vehicle controller 2, a thermal infrared imager 3, a thermal infrared imager recording device 4 and a power supply 5, the unmanned aerial vehicle 1 flies in the air, and the rest works on the ground.
The unmanned aerial vehicle 1 flies in the air, the flying direction and the flying speed of the unmanned aerial vehicle are controlled by the unmanned aerial vehicle controller 2, the thermal infrared imager 3 collects gray level images of the unmanned aerial vehicle 1 at every moment, the gray level images are recorded and stored by the thermal infrared imager recording device 4, and the thermal infrared imager 3 and the thermal infrared imager recording device 4 are powered by the power supply 5.
The unmanned aerial vehicle 1 has the functions of measuring the position and the posture of the unmanned aerial vehicle and recording the current time; the thermal infrared imager 3 has the function of collecting gray images of the unmanned aerial vehicle and can detect the unmanned aerial vehicle beyond 5 km; the thermal infrared imager recording device 4 has the functions of recording and storing gray level images and recording the current time.
The measuring method mainly comprises two parts: an external field measurement part and a laboratory measurement part.
(1) The external field measuring part comprises the following steps:
the method comprises the following steps: connecting the thermal infrared imager 3 and the thermal infrared imager recording device 4 to a power supply 5, and performing time calibration on the unmanned aerial vehicle 1 and the thermal infrared imager 3 to ensure uniform time;
step two: the unmanned aerial vehicle controller 2 controls the unmanned aerial vehicle 1 to slowly fly from far to near from a thermal imager 3 to a certain fixed direction, and meanwhile, the thermal imager 3 is used for collecting a gray image of the unmanned aerial vehicle 1;
step three: when the unmanned aerial vehicle 1 cannot be seen in the thermal imager 3, the unmanned aerial vehicle controller 2 controls the unmanned aerial vehicle 1 to stop and slowly fly in the opposite direction until the unmanned aerial vehicle flies back to the starting position;
step four: performing time matching on the unmanned aerial vehicle image recorded by the thermal imager 3 and the position and attitude data recorded by the unmanned aerial vehicle 1 to obtain the attitude of the unmanned aerial vehicle 1 relative to the thermal imager 3 and the distance from the thermal imager 3 in each frame of image;
step five: and performing target extraction processing on the unmanned aerial vehicle image recorded by the thermal imager 3 to obtain the average imaging gray level of the unmanned aerial vehicle 1 in each frame of image and the background gray level near the unmanned aerial vehicle 1.
(2) The laboratory measurement section comprises the following steps:
the method comprises the following steps: according to attitude data of the unmanned aerial vehicle 1 obtained by an external field, the unmanned aerial vehicle controller 2 controls the unmanned aerial vehicle 1 to face the thermal imager 3 in a laboratory at the same attitude and the closest distance, and records a gray image of each attitude of the unmanned aerial vehicle 1;
step two: and performing target extraction on the gray level image to obtain the average gray level of the unmanned aerial vehicle 1 in each posture.
Step three: and calculating the outfield atmospheric transmittance at different distances through the average imaging gray scale of the unmanned aerial vehicle 1 at different distances from the outfield in the laboratory at each attitude and the background gray scale near the unmanned aerial vehicle 1 at each attitude.
Step four: according to the calculated atmosphere transmittance at different distances, the proportional relation between the logarithm of the atmosphere transmittance and the distance, namely the attenuation coefficient, is obtained by fitting with a least square method, and the atmosphere transmittance at any distance is obtained according to the Bell's law.
The rapid infrared band atmospheric transmittance measurement method based on the unmanned aerial vehicle is simple to operate, and the passive radiation source of the unmanned aerial vehicle has low requirements on an external field acquisition system. The method adopts the unmanned aerial vehicle, has good maneuverability and reliable work, and can realize the measurement of the atmospheric transmittance in special environments such as water surface, marsh and the like; the method has low requirement on the unmanned aerial vehicle control system, and only needs to ensure normal flight, so that the infrared band atmospheric transmittance with higher precision can be simply, conveniently and rapidly measured in the complex environment of an external field. The infrared band atmospheric transmittance can be measured quickly and efficiently, the expandability is high, and the measurement can be carried out in a wider spectral range by adjusting and matching the thermal infrared imager 3 and the thermal infrared imager recording device 4; meanwhile, the uncertainty of the measurement is reduced to about 6%.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the apparatus, and the modules thereof provided by the present invention may be considered as a hardware component, and the modules included in the system, the apparatus, and the modules for implementing various programs may also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (5)
1. The utility model provides a quick measuring method of infrared band atmospheric transmittance based on unmanned aerial vehicle which characterized in that includes:
step M1: comparing the infrared radiation intensity of the laboratory unmanned aerial vehicle with the infrared radiation intensity of the outfield unmanned aerial vehicle, and extracting the atmospheric transmittance of the outfield atmosphere;
step M2: obtaining the attenuation coefficient of the external field atmosphere according to the atmospheric transmittance of the external field atmosphere;
step M3: obtaining the atmospheric transmittance at any distance based on the attenuation coefficient of the external field atmosphere according to the Bell's law;
the step M1 comprises the following steps:
step M1.1: time calibration is carried out on the unmanned aerial vehicle and the thermal infrared imager;
step M1.2: the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly linearly at a constant speed in an external field towards the direction of the thermal infrared imager, and meanwhile, the thermal infrared imager is used for collecting a gray image of the unmanned aerial vehicle;
step M1.3: when the unmanned aerial vehicle cannot be seen in the thermal infrared imager, the unmanned aerial vehicle is controlled by the unmanned aerial vehicle controller to stop and fly at a constant speed in the opposite direction until the unmanned aerial vehicle flies back to the starting position;
step M1.4: performing time matching on the unmanned aerial vehicle image recorded by the thermal infrared imager and the position and posture data recorded by the unmanned aerial vehicle to obtain the posture of the unmanned aerial vehicle relative to the thermal imager and the distance between the unmanned aerial vehicle and the thermal imager in each frame of image;
step M1.5: performing target extraction on the unmanned aerial vehicle image recorded by the thermal infrared imager to obtain the average imaging gray level of the unmanned aerial vehicle in each frame of image and the background gray level of the unmanned aerial vehicle;
step M1.6: according to attitude data of the unmanned aerial vehicle relative to the thermal imager, which is obtained in an external field, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to face the thermal infrared imager in a laboratory in the same attitude and at the nearest distance, and records gray level images of the unmanned aerial vehicle in each attitude;
step M1.7: performing target extraction on the gray level image to obtain the average gray level of unmanned aerial vehicle imaging under each posture;
step M1.8: calculating the outfield atmospheric transmittance at different distances according to the average imaging gray scale of the unmanned aerial vehicle at different distances from the laboratory to the outfield at each attitude and the background gray scale of the unmanned aerial vehicle at each attitude;
said step M1.8 comprises:
step m1.8.1: calculating the radiation intensity of the unmanned aerial vehicle through the gray level image of the unmanned aerial vehicle measured in the outfield and the laboratory:
wherein, I T The radiation intensity of the unmanned aerial vehicle; l is Ti The unmanned aerial vehicle radiance measured in a laboratory; l is eye,Tj The radiation brightness of the unmanned aerial vehicle at the distance r at the entrance pupil of the thermal imager is; l is a radical of an alcohol air,r Is the atmospheric background radiance at distance r; tau is r Atmospheric permeability at a distance r; s is the projection of the unmanned plane under a certain attitudeArea; n is the number of pixels occupied by the unmanned aerial vehicle in the thermal imager during measurement in the laboratory; when m is the distance r, the unmanned aerial vehicle occupies the number of pixels in the thermal imager;
step M1.8.2: average radiance of unmanned aerial vehicle measured in laboratory;
wherein, the first and the second end of the pipe are connected with each other,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain attitude; k represents the responsivity of the thermal infrared imager, and b represents the internal noise of the thermal infrared imager;
step M1.8.3: calculating to obtain the average entrance pupil radiance according to the imaging gray scale of the unmanned aerial vehicle on the thermal infrared imager and the calibration coefficient of the thermal infrared imager;
wherein, the first and the second end of the pipe are connected with each other,
representing the average imaging gray of the unmanned aerial vehicle in the thermal imager image;
step M1.8.4: the atmospheric background radiance is expressed as:
L air,r ＝(kG eye,B +b)·(1-τ r ) (6)
wherein G is eye,B Representing background gray scale generated by atmospheric background radiation brightness near an unmanned aerial vehicle in a thermal imager;
step M1.8.5: calculating the atmospheric transmittance of the distance r according to the average radiance of the unmanned aerial vehicle, the average radiance of the entrance pupil and the atmospheric background radiance during measurement in the laboratory;
wherein the content of the first and second substances,
representing the average imaging gray of the unmanned aerial vehicle in the thermal imager image, G eye,B Representing the background gray level generated by the atmospheric background radiance near the unmanned aerial vehicle in the thermal imager image,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain attitude;
the step M2 comprises the following steps: and according to the calculated external field atmospheric transmittance at different distances, fitting by using a least square method to obtain a direct proportional relation of the atmospheric transmittance to the data and the distance, and obtaining the attenuation coefficient.
2. The drone-based infrared band atmospheric transmittance rapid measurement method of claim 1, wherein the attenuation coefficients comprise:
wherein β represents an attenuation coefficient; n represents the number of measurements of the atmospheric transmittance; tau is ri Denotes a distance r i Atmospheric permeability;
representing r in all measured data i Is determined by the average value of (a) of (b),
representing τ in all measurement data ri Logarithmic mean of
3. The method according to claim 1, wherein the step M3 of rapidly measuring the atmospheric transmittance in the infrared band at any distance comprises:
τ r0 ＝exp(-βr 0 ) (2)
wherein, tau r0 Denotes an arbitrary distance r 0 Atmospheric permeability in time; β represents the attenuation coefficient.
4. An infrared band atmosphere transmittance rapid measurement system based on an unmanned aerial vehicle, which is used for realizing the infrared band atmosphere transmittance rapid measurement method based on the unmanned aerial vehicle of any one of claims 1 to 3:
a module S1: comparing the infrared radiation intensity of the laboratory unmanned aerial vehicle with the infrared radiation intensity of the outfield unmanned aerial vehicle, and extracting the atmospheric transmittance of the outfield atmosphere;
a module S2: obtaining the attenuation coefficient of the external field atmosphere according to the atmospheric transmittance of the external field atmosphere;
a module S3: obtaining the atmospheric transmittance at any distance based on the attenuation coefficient of the external field atmosphere according to the Bell's law;
the module S1 comprises:
module S1.1: calculating the radiation intensity of the unmanned aerial vehicle through the gray level image of the unmanned aerial vehicle measured in the outfield and the laboratory:
wherein, I T The radiation intensity of the unmanned aerial vehicle; l is a radical of an alcohol Ti The unmanned aerial vehicle radiance measured in a laboratory; l is eye,Tj The radiation brightness of the unmanned aerial vehicle at the distance r at the entrance pupil of the thermal imager is; l is a radical of an alcohol air,r Is the atmospheric background radiance at distance r; tau is r Is the atmospheric transmission rate at a distance r; s is aThe projected area of the unmanned aerial vehicle under the attitude; n is the number of pixels occupied by the unmanned aerial vehicle in the thermal imager during measurement in the laboratory; when m is the distance r, the unmanned aerial vehicle occupies the number of pixels in the thermal imager;
module S1.2: average radiance of the unmanned aerial vehicle measured in a laboratory;
wherein, the first and the second end of the pipe are connected with each other,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain posture; k represents the responsivity of the thermal infrared imager, and b represents the internal noise of the thermal infrared imager;
module S1.3: calculating to obtain the average entrance pupil radiance according to the imaging gray scale of the unmanned aerial vehicle on the thermal infrared imager and the calibration coefficient of the thermal infrared imager;
wherein the content of the first and second substances,
representing the average imaging gray scale of the unmanned aerial vehicle in the thermal imager image;
module S1.4: the atmospheric background radiance is expressed as:
L air,r ＝(kG eye,B +b)·(1-τ r ) (6)
wherein, G eye,B Representing background gray scale generated by the atmospheric background radiation brightness near the unmanned aerial vehicle in the thermal imager;
module S1.5: calculating the atmospheric transmittance of the distance r according to the average radiance of the unmanned aerial vehicle, the average radiance of the entrance pupil and the atmospheric background radiance during measurement in the laboratory;
wherein, the first and the second end of the pipe are connected with each other,
representing the average imaging gray of the unmanned aerial vehicle in the thermal imager image, G eye,B Representing the background gray level generated by the atmospheric background radiance near the unmanned aerial vehicle in the thermal imager image,
representing the average gray scale measured by the unmanned aerial vehicle in a laboratory under a certain attitude;
the module S2 comprises: according to the calculated external field atmospheric transmittance at different distances, fitting by using a least square method to obtain a direct proportional relation of the atmospheric transmittance to the data and the distance, and obtaining an attenuation coefficient;
the attenuation coefficient includes:
wherein β represents an attenuation coefficient; n represents the number of measurements of the atmospheric transmittance; tau is ri Denotes a distance r i Atmospheric permeability in time;
representing r in all measured data i Is determined by the average value of (a) of (b),
representing τ in all measurement data ri Logarithmic average of
5. The unmanned aerial vehicle-based infrared band atmospheric transmittance rapid measurement system of claim 4, wherein the atmospheric transmittance at any distance in step M3 comprises:
τ r0 ＝exp(-βr 0 ) (2)
wherein, tau r0 Denotes an arbitrary distance r 0 Atmospheric permeability in time; β represents the attenuation coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110281968.6A CN113092368B (en) | 2021-03-16 | 2021-03-16 | Infrared band atmospheric transmittance measurement method and system based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110281968.6A CN113092368B (en) | 2021-03-16 | 2021-03-16 | Infrared band atmospheric transmittance measurement method and system based on unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113092368A CN113092368A (en) | 2021-07-09 |
| CN113092368B true CN113092368B (en) | 2022-12-13 |
Family
ID=76668165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110281968.6A Active CN113092368B (en) | 2021-03-16 | 2021-03-16 | Infrared band atmospheric transmittance measurement method and system based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113092368B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976275A (en) * | 2010-09-21 | 2011-02-16 | 北京航空航天大学 | Airplane infrared radiation and atmospheric transmittance modeling method |
| CN106770062A (en) * | 2016-12-16 | 2017-05-31 | 中国科学院合肥物质科学研究院 | A kind of atmospheric transmittance measurement and scaling method |
| CN108375554A (en) * | 2018-02-23 | 2018-08-07 | 西安应用光学研究所 | Horizontal infrared atmospheric spectral transmittance appraisal procedure |
| CN109374550A (en) * | 2018-11-16 | 2019-02-22 | 中国科学院合肥物质科学研究院 | Super-resolution spectrograph spectrum calibration method based on optical transmission spectra |
| CN112051241A (en) * | 2020-09-04 | 2020-12-08 | 京东方科技集团股份有限公司 | Dimming method of dimming glass based on unmanned aerial vehicle, unmanned aerial vehicle and system |
| CN112285068A (en) * | 2020-11-12 | 2021-01-29 | 中国科学院合肥物质科学研究院 | Device and method for measuring atmospheric transmittance by unmanned aerial vehicle in sections |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101320475B (en) * | 2008-06-10 | 2010-12-29 | 北京航空航天大学 | Operating range estimation method of infrared imaging system under complex background condition |
| WO2010141119A2 (en) * | 2009-02-25 | 2010-12-09 | Light Prescriptions Innovators, Llc | Passive electro-optical tracker |
| US8913243B2 (en) * | 2012-08-24 | 2014-12-16 | Raytheon Company | Polarimetric calibration of a remote sensor |
| JP2016126566A (en) * | 2015-01-05 | 2016-07-11 | 三菱電機株式会社 | Image processor and image processing method |
| CN105872398A (en) * | 2016-04-19 | 2016-08-17 | 大连海事大学 | Space camera self-adaption exposure method |
| JP7040443B2 (en) * | 2016-07-07 | 2022-03-23 | 日本電気株式会社 | Gas detection system |
| CN106570253B (en) * | 2016-10-26 | 2019-12-20 | 中国运载火箭技术研究院 | Real-time space-based infrared visual simulation method |
| CN106706133B (en) * | 2016-12-31 | 2017-09-29 | 华中科技大学 | One kind point plaque-like object's pose estimation method and system |
| CN106772682B (en) * | 2016-12-31 | 2017-10-31 | 华中科技大学 | A kind of infrared radiation spectrum Simulation Analysis method of moving-target |
| CN108287350A (en) * | 2017-12-06 | 2018-07-17 | 中国科学院上海技术物理研究所 | Method is determined based on the space-based track production key parameter of multiple information synthesis |
| WO2021038621A1 (en) * | 2019-08-23 | 2021-03-04 | 三菱電機株式会社 | Image processing device and image processing method |
-
2021
- 2021-03-16 CN CN202110281968.6A patent/CN113092368B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101976275A (en) * | 2010-09-21 | 2011-02-16 | 北京航空航天大学 | Airplane infrared radiation and atmospheric transmittance modeling method |
| CN106770062A (en) * | 2016-12-16 | 2017-05-31 | 中国科学院合肥物质科学研究院 | A kind of atmospheric transmittance measurement and scaling method |
| CN108375554A (en) * | 2018-02-23 | 2018-08-07 | 西安应用光学研究所 | Horizontal infrared atmospheric spectral transmittance appraisal procedure |
| CN109374550A (en) * | 2018-11-16 | 2019-02-22 | 中国科学院合肥物质科学研究院 | Super-resolution spectrograph spectrum calibration method based on optical transmission spectra |
| CN112051241A (en) * | 2020-09-04 | 2020-12-08 | 京东方科技集团股份有限公司 | Dimming method of dimming glass based on unmanned aerial vehicle, unmanned aerial vehicle and system |
| CN112285068A (en) * | 2020-11-12 | 2021-01-29 | 中国科学院合肥物质科学研究院 | Device and method for measuring atmospheric transmittance by unmanned aerial vehicle in sections |
Non-Patent Citations (2)
| Title |
|---|
| 基于温度场一致性的红外目标移植方法;崔爱莲等;《计算机工程与应用》;20160822;第177-182页 * |
| 基于辐射传输的M′波段大气透过率实测和误差分析;陈双远等;《红外与激光工程》;20191231;第48卷(第12期);第57-62页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113092368A (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108603790B (en) | Thermal imaging system and method based on unmanned aerial vehicle system | |
| CN105335733B (en) | Unmanned aerial vehicle autonomous landing visual positioning method and system | |
| CN111751003B (en) | Thermal imager temperature correction system and method and thermal imager | |
| CN106774423B (en) | Landing method and system of unmanned aerial vehicle | |
| US9897415B2 (en) | Infrared-light and low-light two-phase fusion night-vision sighting device | |
| KR102207203B1 (en) | Hils system for dual-sensor imaging seeker's test and evaluation | |
| CN107368617B (en) | Ground-air detection infrared imaging system action distance calculation method based on Lowtran7 atmospheric software | |
| CN108163223B (en) | Portable aircraft infrared stealth performance evaluation device and method | |
| CN113092368B (en) | Infrared band atmospheric transmittance measurement method and system based on unmanned aerial vehicle | |
| CN107323677B (en) | Unmanned aerial vehicle auxiliary landing method, device, equipment and storage medium | |
| WO2006090368A1 (en) | A calibration method and system for position measurements | |
| Di et al. | A two-stage calibration method for low-cost UAV attitude estimation using infrared sensor | |
| CN112254827A (en) | Information processing device and method for improving precision of infrared thermometer | |
| CN109146936B (en) | Image matching method, device, positioning method and system | |
| CN106354149B (en) | Unmanned aerial vehicle flight control method and device | |
| US20210231945A1 (en) | Hybrid lidar system | |
| CN113168530A (en) | Target detection device and method, imaging device and movable platform | |
| CN111220132B (en) | Aircraft ground clearance measuring method based on image matching | |
| CN109186556A (en) | It is a kind of that attitude stabilization platform pointing accuracy test method is carried based on photogrammetric ship | |
| CN215984574U (en) | Multiband photoelectric tracking and astronomical orientation device | |
| KR20180092089A (en) | Infrared modeler verification device and method | |
| Yuan et al. | A vision-based method for autonomous landing of a rotor-craft unmanned aerial vehicle | |
| CN105181150A (en) | Absolute radiometric calibration method for medium wave infrared focal plane array detector | |
| CN115388776A (en) | Detection method based on computer vision | |
| Kircher et al. | Characterization measurements of the wideband infrared scene projector (WISP) combined with the steerable laser projector (SLP) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |