CN113126126A - All-time automatic target-scoring system and ammunition drop point positioning method thereof - Google Patents
All-time automatic target-scoring system and ammunition drop point positioning method thereof Download PDFInfo
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- CN113126126A CN113126126A CN202110425114.0A CN202110425114A CN113126126A CN 113126126 A CN113126126 A CN 113126126A CN 202110425114 A CN202110425114 A CN 202110425114A CN 113126126 A CN113126126 A CN 113126126A
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/18—Military applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention relates to an all-day automatic target-scoring system and an ammunition drop point positioning method thereof. The invention relates to the technical field of photoelectric measurement, which is based on passive cross positioning of an infrared camera, introduces a GPS positioning technology, carries out GPS positioning on a survey station, a target and a reference point, establishes a passive cross positioning model based on the GPS positioning technology, reduces the limiting conditions of a system to a working environment and enhances the applicability of the system; the ammunition target three-dimensional air motion trajectory is generated by carrying out preprocessing, target detection, trajectory correlation, space-time calibration and cross positioning on infrared images of all stations, and ammunition drop point positioning and target reporting are carried out according to target GPS information after ammunition falls to the ground and explodes, so that the measurement error caused by inaccurate positioning of ammunition drop point pixel points due to falling to the ground and exploding is avoided. The target-scoring system has few limitation conditions on the working environment, strong expandability and applicability, convenient generation of instructive target-scoring information, high precision of the positioning method and suitability for popularization and application in a target range.
Description
Technical Field
The invention relates to the technical field of photoelectric measurement, in particular to an all-day automatic target-scoring system and an ammunition drop point positioning method thereof.
Background
Ground assault training is an important means for the military operational capability of the fighter. Taking ground assault training as an example, an airborne platform carries ammunition, carries out flight training according to a training plan, and according to military theory of study and operational strategy, an operator aims at a ground target to throw the ammunition at a proper air position, the ammunition quickly flies in the air, and finally falls to the ground of a target range under the action of gravity of the earth. In this case, acquiring the position of the ammunition drop point and reporting the target by various technical means becomes an effective way to evaluate the fighting method and strategy in training. Through target reporting, a quantitative index is provided for ground assault training, and corresponding adjustment can be performed by the fighter in time, so that the training effect is optimized, and the training cost is saved.
The most intuitive and direct traditional realization method is that firstly, an image algorithm is adopted to detect the pixel position of a target landing point in an observation image after the target lands; and then, deriving the three-dimensional space position of the target landing point by adopting mathematical models such as lateral intersection and the like based on the pixel positions of the target landing points of the multiple measuring stations. However, for military training applications such as ground-to-ground assault of airborne ammunition, an ammunition target explodes after landing, which results in that the target landing pixel position cannot be accurately located in the observation station image based on the above conventional method, and thus a large error exists in the estimated three-dimensional space position of the target landing point.
Disclosure of Invention
The invention provides an all-day automatic target-scoring system and an ammunition drop point positioning method thereof in order to realize ammunition drop point positioning, and the invention provides the following technical scheme:
an all-time automatic target scoring system, the system comprising: the system comprises a GPS positioning device, a main control computer and a first measuring station;
the main control machine is connected with GPS positioning equipment and comprises a comprehensive evaluation unit, a double-station positioning unit, a display control unit, a main control network communication unit and a main control time system control unit, wherein the comprehensive evaluation unit is interacted with the display control unit, the main control time system control unit is interacted with the display control unit, the double-station positioning unit is interacted with the display control unit, and the main control network communication unit is interacted with the display control unit;
the first survey station comprises a first electric pan-tilt, a first time control unit, a first GPS unit, a first pan-tilt control unit, a first high-speed digital signal processing unit, a first visible light camera, a first infrared camera, a first power supply unit and a first network communication unit, the main control network communication unit is interacted with the first pan-tilt control unit, the first pan-tilt control unit is respectively connected with the first electric pan-tilt, the first high-speed digital signal processing unit and the first power supply unit, the first time control unit and the first network communication unit are respectively connected with the first high-speed digital signal processing unit, the first GPS unit is connected with the first time control unit, and the first visible light camera and the first infrared camera are connected with the first high-speed digital signal processing unit.
Preferably, the system further includes a second survey station, the second survey station includes a second electric pan/tilt, a second timing control unit, a second GPS unit, a second pan/tilt control unit, a second high-speed digital signal processing unit, a second visible light camera, a second infrared camera, a second power supply unit and a second network communication unit, the main control network communication unit interacts with the second pan/tilt control unit, the second pan/tilt control unit is respectively connected with the second electric pan/tilt, the second high-speed digital signal processing unit and the second power supply unit, the second high-speed digital signal processing unit is respectively connected with the second timing control unit and the second network communication unit, the second timing control unit is connected with the second GPS unit, and the second high-speed digital signal processing unit is connected with the second visible light camera and the second infrared camera.
An all-day automatic target-scoring ammunition drop point positioning method comprises the following steps:
step 1: acquiring an instantaneous field of view IFOV and a holder Step value Step of an infrared camera;
step 2: laying a target scoring system and collecting GPS position information;
and step 3: leveling and north-pointing operations are carried out on the camera, and reference parameters of an observation azimuth angle and a pitch angle of the camera are recorded;
and 4, step 4: continuously observing a target in a target range through an infrared camera, detecting and tracking the target according to the target shape, gray distribution and motion characteristics of ammunition, and outputting a target motion position pixel value, an observation holder azimuth code and a pitching code in a two-dimensional image;
and 5: the main control computer performs space-time registration and cross positioning on the target two-dimensional tracks of each measuring station to generate ammunition air three-dimensional motion tracks;
step 6: and predicting the target drop point position based on the ammunition target air motion three-dimensional track and the target GPS information, and generating target reporting information.
Preferably, the pan/tilt Step value Step in Step 1 is a rotation angle corresponding to one pan/tilt value, and the unit is °.
Preferably, the step 2 specifically comprises:
based on the passive cross positioning error and the target range, arranging a target, a station tower and a north-seeking reference point; collecting GPS coordinate information of a target, a station-measuring camera and a north-pointing reference point, performing coordinate projection mapping, and converting the GPS coordinate into a rectangular coordinate under a geographic coordinate system; the geographical coordinate system takes east as X-axis forward direction and north as Y-axis forward direction, the right-hand system determines Z-axis forward direction, takes a certain camera position as coordinate origin, and takes the left survey station camera position as coordinate origin for double-station cross positioning.
Preferably, the step 3 specifically comprises:
installing an infrared camera and a cradle head, leveling, and recording a cradle head pitch code value Mb0 after leveling; adjusting the holder to enable the camera to observe a north-pointing reference point, recording holder azimuth code values Ma0, and recording pixel values x0 of the reference point in the x direction of the image plane; for artificially laying a north-pointing reference point, calculating an azimuth angle theta 0 of the observation direction of the camera to the reference point under a geographic coordinate system by combining geographic coordinates of the camera and the reference point, and for the case of taking the polar star as the north-pointing reference point, considering the azimuth angle theta 0 of the observation direction of the camera to the polar star under the geographic coordinate system as 0, and calculating the theta 0 by the following formula:
NSXYZ.X＝NXYZ.X-SXYZ.X；
NSXYZ.Y＝NXYZ.Y-SXYZ.Y；
NSXYZ.Z＝NXYZ.Z-SXYZ.Z；
the system comprises a camera, an SXYZ, a SXYZ and a SXYZ, wherein the SXYZ represents the geographic coordinate of the camera and is projected and mapped by a GPS coordinate of the camera, and the SXYZ, the SXYZ and the SXYZ respectively represent three components of the geographic coordinate of the camera; xyz represents the geographical coordinates of the northbound reference point, nzyz.x, nzyz.y, nzyz.z represent the three components of the geographical coordinates of the reference point, NSXYZ represents the geographical coordinates of the observation vector of the camera to the reference point, nsxyz.x, nsxyz.y, nsxyz.z represent the three components of the geographical coordinates of the observation vector, respectively; sqrt () represents the root-opening operation, acosd () represents the inverse triangular cosine operation, and the return angle is in degrees; (Ma0, x0, θ 0, Mb0) constitute the camera observation azimuth angle, pitch angle reference parameters.
Preferably, the step 4 specifically includes:
the infrared camera continuously observes a target in a target range, detects and tracks the target according to the shape, gray distribution and motion characteristics of an ammunition target, outputs the pixel values (x and y) of the target motion position in a two-dimensional image, and outputs a holder azimuth code Ma and a pitching code Mb during observation.
Preferably, the step 5 specifically comprises:
step 5.1: on the basis of the camera image target detection result (x, y, Ma, Mb), combining the instantaneous field of view IFOV of the camera, the Step value Step of the tripod head, and the reference measurement parameters (Ma0, x0, theta 0, Mb0) of the observation azimuth angle and the pitch angle of the camera, calculating the azimuth angle theta i and the pitch angle beta i of each station camera Si to the target observation vector according to the following formula, wherein i is the label of the station camera, i is more than or equal to 2, and the azimuth angle theta i and the pitch angle beta i are expressed by the following formula:
θi＝theta0+(x-x0)*IFOV+(Ma-Ma0)*Step；
βi＝-(y-y0)*IFOV+(Mb-Mb0)Step；
y0 represents the y coordinate of the center of the camera, and the formula uses the image coordinate system with the origin at the upper left corner, the right side as the positive direction of the x axis and the downward side as the positive direction of the y axis as the calculation basis, but the invention does not limit the definition mode of the image coordinate system, and for the image coordinate system defined by other modes, only the corresponding adjustment is needed by referring to the formula;
step 5.2: based on a plurality of stations, the azimuth angle theta i and the pitch angle beta i of the observation vector of the target position of the camera are combined with the geographical coordinates of the stations obtained in the step, cross positioning calculation is carried out on the premise of space-time registration, the three-dimensional coordinates of the aerial position of each target at the observation time are obtained, and by taking double-station cross positioning as an example, the moving position P of the target at the observation time t is obtained based on the azimuth angle theta 1 and the pitch angle beta 1 of the observation vector of the target by the left station camera, the azimuth angle theta 1 and the pitch angle beta 2 of the observation vector of the target by the right station camera, and the geographical coordinates (S1X, S1Y, S1Z), (S2X, S2Y and S2Z) of thetThree-dimensional coordinates (P) oftX，PtY，PtZ)：
Wherein, sind () and tan () are respectively a trigonometric sine function and a trigonometric tangent function, and the input unit of the function is DEG;
step 5.3: and (3) repeating the steps 5.1 to 5.2 based on the camera images which are continuously observed, realizing three-dimensional positioning of each position in the air of the ammunition target, generating an ammunition target air motion three-dimensional track { Pt, t is 1,2, … m }, wherein m represents the number of times of the ammunition target air motion simultaneously appearing in the visual fields of the left and right stations, and stopping target three-dimensional track updating when the ammunition falls to the ground and explodes or flies out of the visual fields.
Preferably, the step 6 specifically includes:
step 6.1: based on the tracking result of the target aerial motion three-dimensional trajectory, establishing a three-dimensional space equation of a target trajectory terminal motion straight line by the following formula under a geographic coordinate system:
wherein (P)m-1X，Pm-1Y，Pm-1Z)、(PmX，PmY，PmZ) respectively represents the aerial three-dimensional coordinates of the target at the moment t-m-1 and t-m, namely the penultimate motion position and the last motion position on the target three-dimensional aerial motion track, and (X, Y and Z) represents the three-dimensional coordinates of any point on the tail end motion straight line of the target track;
step 6.2: elevation value Z based on target range target GPS coordinatesGFor the target landing position (X)F,YF,ZF) And predicting to realize positioning of the linear target drop point:
ZF＝ZG
step 6.3: locating results based on ammunition landing points (X)F,YF,ZF) And geographic coordinates (X) to which the target GPS coordinates are mappedG,YG,ZG) Generating target reporting information of the distance and the angle of the ammunition deviating from the target:
dist＝sqrt((XF-XG)2+(YF-YG)2)
wherein dist represents a drop of ammunitionPlane distance between point and target, alphanorth、αeastRespectively representing the included angles of the vector formed by the ammunition drop point and the target deviating from the north and east geography, the value ranges of the included angles are [0 DEG and 180 DEG ], and the two included angles jointly describe the azimuth information of the ammunition drop point, namely if alpha is includednorthE (0 deg., 90 deg.) and alphaeastE (0 degree, 90 degrees), then the ammunition falls in the northeast direction of the target, and the north is deviated from alphanorthDegree; if α isnorthE (0 deg., 90 deg.) and alphaeastE (90 degrees, 180 degrees), then the ammunition falls in the northwest direction of the target, and the north is deviated from alphanorthDegree; if α isnorthE (90 deg., 180 deg.) and alphaeastE (0 degree, 90 degrees), then the ammunition falls in the southeast direction of the target, and the north is alphanorthDegree; if α isnorthE (90 deg., 180 deg.) and alphaeastE (90 degrees, 180 degrees), then the ammunition falls in the southwest direction of the target, and the north is off alphanorthDegree, from which (dist, α) can be seennorth，αeast) The parameters completely describe the relative positions of the ammunition drop point and the target on the same horizontal plane, and complete target information is formed.
The invention has the following beneficial effects:
the invention discloses an all-time automatic target-reporting system and an ammunition drop point positioning method thereof, wherein an infrared camera passive cross positioning is taken as a basis, a GPS positioning technology is introduced, GPS positioning is carried out on a survey station, a target and a reference point, and a passive cross positioning model is established on the basis.
The invention discloses an all-time automatic target-reporting system and an ammunition drop point positioning method thereof, which avoid the image processing of a landing frame directly, perform ammunition drop point positioning and target reporting by tracking and generating an ammunition target three-dimensional air motion track, and avoid the measurement error caused by inaccurate positioning of ammunition drop point pixel points due to landing explosion. Firstly, preprocessing, target detection and track association are carried out on infrared images of all stations, and a target two-dimensional aerial motion track on an image plane of each station is obtained; then, on the basis of space-time registration, a target three-dimensional air motion track is tracked and generated on the basis of a lateral cross positioning mathematical model; and finally, positioning and target scoring of ammunition drop points are carried out according to the GPS information of the targets, the positioning precision is high, and the target scoring information is complete. The method disclosed by the invention can be used for acquiring the landing point spatial position of a conventional aerial target and the landing point spatial position of a special aerial target such as ammunition, is a target landing point position acquisition method with stronger applicability, and has the advantages of ingenious idea and strong realizability.
In conclusion, the invention discloses an all-time automatic target-scoring system and an ammunition drop point positioning method thereof, the system does not require stations to be visible mutually, has few limit conditions on working environment and strong applicability, and the ammunition drop point positioning method has the advantages of high positioning precision, complete target-scoring information, ingenious overall thought and strong realizability.
The invention aims to disclose an all-time automatic target-scoring system and an ammunition drop point positioning method thereof. According to the ammunition landing point positioning method of the system, direct image processing on landing frames is avoided, the three-dimensional space position of the target landing point is predicted ingeniously through three-dimensional tracking of the target aerial motion trajectory, and application requirements of ammunition ground assault training evaluation and the like are met.
Drawings
FIG. 1 is a schematic view of an all-day automatic target-scoring system
Fig. 2 is a schematic view of the operation of the all-time automatic target scoring system disclosed by the present invention, in which: 1-a target range target, 2-a manually set north-pointing reference point, 3-an infrared camera and a holder, 4-a main control machine, and 5-high-precision GPS positioning equipment.
Fig. 3 is a flowchart illustrating the operation of the all-time automatic target scoring system and the ammunition drop point positioning method thereof according to the present invention, and two stations are taken as an example in the diagram to illustrate the operation of the system.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
referring to fig. 1, an all-time automatic target scoring system comprises: the system comprises a GPS positioning device, a main control computer and a first measuring station;
the main control machine is connected with GPS positioning equipment and comprises a comprehensive evaluation unit, a double-station positioning unit, a display control unit, a main control network communication unit and a main control time system control unit, wherein the comprehensive evaluation unit is interacted with the display control unit, the main control time system control unit is interacted with the display control unit, the double-station positioning unit is interacted with the display control unit, and the main control network communication unit is interacted with the display control unit;
the first survey station comprises a first electric pan-tilt, a first time control unit, a first GPS unit, a first pan-tilt control unit, a first high-speed digital signal processing unit, a first visible light camera, a first infrared camera, a first power supply unit and a first network communication unit, the main control network communication unit is interacted with the first pan-tilt control unit, the first pan-tilt control unit is respectively connected with the first electric pan-tilt, the first high-speed digital signal processing unit and the first power supply unit, the first time control unit and the first network communication unit are respectively connected with the first high-speed digital signal processing unit, the first GPS unit is connected with the first time control unit, and the first visible light camera and the first infrared camera are connected with the first high-speed digital signal processing unit.
The system further comprises a second survey station, wherein the second survey station comprises a second electric pan-tilt, a second time system control unit, a second GPS unit, a second pan-tilt control unit, a second high-speed digital signal processing unit, a second visible light camera, a second infrared camera, a second power supply unit and a second network communication unit, the main control network communication unit is interacted with the second pan-tilt control unit, the second pan-tilt control unit is respectively connected with the second electric pan-tilt, the second high-speed digital signal processing unit and the second power supply unit, the second high-speed digital signal processing unit is respectively connected with the second time system control unit and the second network communication unit, the second time system control unit is connected with the second GPS unit, and the second high-speed digital signal processing unit is connected with the second visible light camera and the second infrared camera.
The system establishes a passive cross positioning model based on the passive cross positioning of the infrared camera, and realizes the functions of locating ammunition drop points and reporting targets. The system comprises a main control machine, a survey station and high-precision GPS positioning equipment.
The display control unit in the main control computer is used for acquiring, displaying and controlling real-time data and equipment; the master control time system control unit is used for implementing synchronous control on the survey station; the double-station positioning unit is used for receiving target information of the survey station and generating a target three-dimensional aerial motion track and an impact point coordinate; the comprehensive evaluation unit can analyze, record and evaluate the training data; and the master control network communication unit realizes network communication with each remote testing station.
The power supply unit in the station provides stable power supply for all equipment; the holder control unit realizes real-time control of the electric holder; the time system control unit receives a synchronous command of the main control computer and receives time information of the GPS unit at the same time, so that the synchronous function of each station measuring device is realized; the high-speed digital processing unit receives real-time data of the visible light camera and the infrared camera, and performs preprocessing, target detection and track association on the infrared image to acquire a target two-dimensional aerial motion track on an image plane of the observation station; the network communication unit realizes network communication with the main control computer.
The high-precision GPS positioning equipment is used for collecting GPS information of a target range target, each survey station and a north-seeking reference point (only artificially laying reference points).
The invention takes the passive cross positioning of the infrared camera as the basis, introduces the GPS positioning technology, carries out the GPS positioning on the survey station, the target and the reference point, establishes the passive cross positioning model on the basis, reduces the limiting condition of the system to the working environment and enhances the applicability of the system; the infrared camera continuously observes a target range, generates a three-dimensional aerial motion track of an ammunition target by carrying out preprocessing, target detection, track association, space-time calibration and cross positioning on infrared images of all stations, carries out ammunition drop point positioning and target reporting according to target GPS information after ammunition falls to the ground and explodes, and avoids measurement errors caused by inaccurate positioning of ammunition drop point pixels due to falling to the ground. The target-scoring system has few limitation conditions on the working environment, strong expandability and applicability, convenient generation of instructive target-scoring information, high precision of the positioning method and suitability for popularization and application in a target range.
As shown in fig. 2 to 3, the present invention provides an all-day automatic target scoring system and an ammunition drop point positioning method thereof, and an all-day automatic target scoring system and an ammunition drop point positioning method thereof, wherein the apparatus comprises: the system comprises livestock wearable equipment, a solar power supply device, a power supply control device and a system function device;
1. the working schematic diagram of the all-time automatic target scoring system disclosed by the invention is shown in figure 1, and the system mainly comprises:
(1-1) a target (1) of a target range, wherein the target is positioned on flat ground or on the top of a mountain, and the diameter of the target can be changed with different types of ground-impacting ammunition;
(1-2) a north reference point (2), a polaris or a manually set reference point observable by an infrared camera;
(1-3) the number of the infrared cameras and the holder (3) is not less than two, the visual field of the cameras covers 1.5 times of the diameter of the target, the infrared cameras and the holder are arranged on an ideal observation station tower on the basis of error theoretical analysis, the range of the visual field is continuously observed, the infrared image of the target field is obtained, and the holder drives the cameras to realize switching observation on a plurality of targets;
(1-4) a main control computer (4) which controls the infrared cameras to work synchronously, receives the infrared images collected by the infrared cameras, processes the images, analyzes algorithms, positions the ammunition drop point in a three-dimensional space and generates target scoring information;
(1-5) high-precision GPS positioning equipment (5) for collecting GPS information of a target range target, infrared cameras on each station tower and north-seeking reference points (only artificially distributed reference points);
2. the firing ground target reporting based on the all-time automatic target reporting system and the ammunition drop point positioning method thereof disclosed by the invention has a working flow chart shown in figure 2, and comprises the following steps:
(2-1) Infrared Camera and Pan-Tilt infield testing
Through an internal field test, acquiring an instantaneous field of view IFOV and a holder Step value Step of each infrared camera, wherein the holder Step value Step represents a rotation angle (unit is DEG) corresponding to a holder code value;
(2-2) target-scoring system layout and GPS position information acquisition
Based on the theoretical analysis of passive cross positioning errors, combining the actual conditions of a target range, reasonably arranging a target, a station tower and a north-seeking reference point; collecting GPS coordinate information of a target, a station measuring camera and a north-pointing reference point (only artificially laying reference points), performing coordinate projection mapping, and converting GPS coordinates into rectangular coordinates under a geographic coordinate system; the geographical coordinate system takes east as X-axis forward direction and north as Y-axis forward direction, the right-hand system determines Z-axis forward direction, a certain camera position is taken as a coordinate origin, and for double-station cross positioning, the camera position of a left survey station is often taken as the coordinate origin;
(2-3) leveling the camera, indicating north operation, recording reference parameters of the observation azimuth angle and the pitch angle of the camera
Installing an infrared camera and a cradle head, leveling, and recording a cradle head pitch code value Mb0 after leveling; adjusting the tripod head to enable the camera to observe the north-pointing reference point, recording the tripod head orientation code value Ma0 and the pixel value x0 of the reference point in the x direction of the image plane; for artificially laying a north-pointing reference point, calculating an azimuth angle θ 0 of an observation direction of the camera to the reference point under a geographic coordinate system by combining geographic coordinates of the camera and the reference point, wherein a calculation formula is shown as formula (1), and for a case that a north-star is taken as the north-pointing reference point, the azimuth angle θ 0 of the observation direction of the camera to the north-star under the geographic coordinate system can be considered as 0:
NSXYZ.X＝NXYZ.X-SXYZ.X；
NSXYZ.Y＝NXYZ.Y-SXYZ.Y；
NSXYZ.Z＝NXYZ.Z-SXYZ.Z；
SXYZ in the formula (1) represents the geographic coordinate of the camera, and is mapped by the GPS coordinate projection of the camera, and SXYZ.X, SXYZ.Y and SXYZ.Z respectively represent three components of the geographic coordinate of the camera; similarly, xyz represents the geographical coordinates of the northbound reference point, xyz.x, xyz.y, xyz.z represent the three components of the geographical coordinates of the reference point, respectively, NSXYZ represents the geographical coordinates of the observation vector of the camera to the reference point, nsxyz.x, nsxyz.y, nsxyz.z represent the three components of the geographical coordinates of the observation vector, respectively; sqrt () represents the root-opening operation, acosd () represents the inverse triangular cosine operation, and the return angle is in degrees; (Ma0, x0, θ 0, Mb0) constitutes the camera observation azimuth angle, pitch angle reference parameters;
(2-4) Infrared image target detection and track association
Continuously observing a target in a target range by an infrared camera, designing a proper image algorithm for target detection and tracking according to the shape characteristics, the gray distribution characteristics and the motion characteristics of ammunition targets, outputting target motion position pixel values (x, y) in a two-dimensional image, and outputting a holder azimuth code Ma and a pitch code Mb during observation;
(2-5) the main control computer performs space-time registration and cross positioning on the two-dimensional tracks of the targets of the measuring stations to generate ammunition air three-dimensional motion tracks
Firstly, on the basis of the camera image target detection result (x, y, Ma, Mb), combining (2-1) the camera instantaneous field of view IFOV, the pan-tilt Step value Step measured value, and (2-3) the camera observation azimuth angle and pitch angle reference measurement parameters (Ma0, x0, theta 0, Mb0), calculating the azimuth angle theta i and pitch angle beta i of each station camera Si to the target observation vector according to the following formula, wherein i is the index of the station camera, and i is more than or equal to 2:
θi＝theta0+(x-x0)*IFOV+(Ma-Ma0)*Step；
βi＝-(y-y0)*IFOV+(Mb-Mb0)Step； (2)
in the formula (2), y0 represents the y coordinate of the center of the camera, and the formula uses an image coordinate system with an origin at the upper left corner, a right direction as the positive direction of the x axis and a downward direction as the positive direction of the y axis as the calculation basis, but the invention does not limit the definition mode of the image coordinate system, and for the image coordinate systems defined by other modes, only the corresponding adjustment is needed by referring to the formula;
secondly, based on the azimuth angle theta i and the pitch angle beta i of the observation vector of the target position of a plurality of observation station (not less than 2) cameras, combining the geographical coordinates of the observation station obtained in the step (2-2), performing cross positioning calculation on the premise of space-time registration, obtaining the three-dimensional coordinates of the aerial position of each target at the observation time, taking the double-station cross positioning as an example, based on the azimuth angle theta 1 and the pitch angle beta 1 of the observation vector of the target by the left station camera, the azimuth angle theta 1 and the pitch angle beta 2 of the observation vector of the target by the right station camera, and the geographical coordinates (S1X, S1Y, S1Z), (S2X, S2Y, S2Z) of the left and right station cameras, and obtaining the target movement position P at the observation time t by reference formula (3)tThree-dimensional coordinates (P) oftX，PtY，PtZ)：
Sind () and tan () in the formula (3) are respectively a trigonometric sine function and a trigonometric tangent function, and the input unit of the functions is DEG;
finally, based on the camera images continuously observed, the two steps are repeated, three-dimensional positioning of each position in the air of the ammunition target is achieved, an ammunition target air motion three-dimensional track { Pt, t is 1,2, … m } is generated, wherein m represents the number of times of the ammunition target air motion appearing in the visual fields of the left and right observation station cameras simultaneously, and when the ammunition falls to the ground and explodes or flies out of the visual fields, updating of the target three-dimensional track is stopped;
(2-6) predicting the target landing position based on the ammunition target air motion three-dimensional track and target GPS information, and generating target reporting information
Firstly, establishing a three-dimensional space equation of a target track tail end motion straight line under a geographic coordinate system based on a target aerial motion three-dimensional track tracking result:
in the formula (4) (P)m-1X，Pm-1Y，Pm-1Z)、(PmX，PmY，PmZ) respectively represents the aerial three-dimensional coordinates of the target at the moment t-m-1 and t-m, namely the penultimate motion position and the last motion position on the target three-dimensional aerial motion track, and (X, Y and Z) represents the three-dimensional coordinates of any point on the tail end motion straight line of the target track;
then, based on the elevation value Z in the GPS coordinates of the target in the shooting rangeGFor the target landing position (X)F,YF,ZF) And predicting to realize positioning of the linear target drop point:
ZF＝ZG (5)
finally, the result (X) is located based on the ammunition landing pointF,YF,ZF) And (2-2) geographic coordinates (X) to which the target GPS coordinates are mappedG,YG,ZG) Generating target reporting information such as the distance and angle of ammunition deviating from the target:
dist＝sqrt((XF-XG)2+(YF-YG)2)
where dist denotes the planar distance between the ammunition drop and the target, αnorth、αeastMechanism for respectively indicating ammunition drop point and targetThe formed vector deviates from the included angles of the north and east of geography, the value range of the included angles is [0 DEG, 180 DEG ], and the two included angles jointly describe the bearing information of the ammunition landing point, namely if alpha isnorthE (0 deg., 90 deg.) and alphaeastE (0 degree, 90 degrees), then the ammunition falls in the northeast direction of the target, and the north is deviated from alphanorthDegree; if α isnorthE (0 deg., 90 deg.) and alphaeastE (90 degrees, 180 degrees), then the ammunition falls in the northwest direction of the target, and the north is deviated from alphanorthDegree; if α isnorthE (90 deg., 180 deg.) and alphaeastE (0 degree, 90 degrees), then the ammunition falls in the southeast direction of the target, and the north is alphanorthDegree; if α isnorthE (90 deg., 180 deg.) and alphaeastE (90 degrees, 180 degrees), then the ammunition falls in the southwest direction of the target, and the north is off alphanorthDegree, from which (dist, α) can be seennorth，αeast) The parameters completely describe the relative positions of the ammunition drop point and the target on the same horizontal plane, and complete target information is formed.
The above description is only a preferred embodiment of an all-day automatic target scoring system and an ammunition drop point positioning method thereof, and the protection range of the all-day automatic target scoring system and the ammunition drop point positioning method thereof is not limited to the above embodiments, and all technical schemes belonging to the idea belong to the protection range of the invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.
Claims (9)
1. An automatic target scoring system in all-time is characterized in that: the system comprises: the system comprises a GPS positioning device, a main control computer and a first measuring station;
the main control machine is connected with GPS positioning equipment and comprises a comprehensive evaluation unit, a double-station positioning unit, a display control unit, a main control network communication unit and a main control time system control unit, wherein the comprehensive evaluation unit is interacted with the display control unit, the main control time system control unit is interacted with the display control unit, the double-station positioning unit is interacted with the display control unit, and the main control network communication unit is interacted with the display control unit;
the first survey station comprises a first electric pan-tilt, a first time control unit, a first GPS unit, a first pan-tilt control unit, a first high-speed digital signal processing unit, a first visible light camera, a first infrared camera, a first power supply unit and a first network communication unit, the main control network communication unit is interacted with the first pan-tilt control unit, the first pan-tilt control unit is respectively connected with the first electric pan-tilt, the first high-speed digital signal processing unit and the first power supply unit, the first time control unit and the first network communication unit are respectively connected with the first high-speed digital signal processing unit, the first GPS unit is connected with the first time control unit, and the first visible light camera and the first infrared camera are connected with the first high-speed digital signal processing unit.
2. The system of claim 1, wherein the system is adapted to automatically report targets all day long: the system further comprises a second survey station, wherein the second survey station comprises a second electric pan-tilt, a second time system control unit, a second GPS unit, a second pan-tilt control unit, a second high-speed digital signal processing unit, a second visible light camera, a second infrared camera, a second power supply unit and a second network communication unit, the main control network communication unit is interacted with the second pan-tilt control unit, the second pan-tilt control unit is respectively connected with the second electric pan-tilt, the second high-speed digital signal processing unit and the second power supply unit, the second high-speed digital signal processing unit is respectively connected with the second time system control unit and the second network communication unit, the second time system control unit is connected with the second GPS unit, and the second high-speed digital signal processing unit is connected with the second visible light camera and the second infrared camera.
3. An all-time automatic target-scoring projectile drop point positioning method, which is based on the all-time automatic target-scoring system as claimed in claim 1, and is characterized in that: the method comprises the following steps:
step 1: acquiring an instantaneous field of view IFOV and a holder Step value Step of an infrared camera;
step 2: laying a target scoring system and collecting GPS position information;
and step 3: leveling and north-pointing operations are carried out on the camera, and reference parameters of an observation azimuth angle and a pitch angle of the camera are recorded;
and 4, step 4: continuously observing a target in a target range through an infrared camera, detecting and tracking the target according to the target shape, gray distribution and motion characteristics of the cannonball, and outputting a target motion position pixel value, an observation holder azimuth code and a pitching code in a two-dimensional image;
and 5: the main control computer performs space-time registration and cross positioning on the target two-dimensional tracks of each measuring station to generate aerial three-dimensional movement tracks of the shells;
step 6: and predicting the target drop point position based on the aerial motion three-dimensional track of the cannonball target and the target GPS information, and generating target-reporting information.
4. The method for locating the drop point of the full-time automatic target-scoring cannonball as claimed in claim 3, wherein the method comprises the following steps: and in the Step 1, the holder Step value Step is a rotation angle corresponding to a holder code value, and the unit is.
5. The method for locating the drop point of the full-time automatic target-scoring projectile as claimed in claim 4, wherein the method comprises the following steps: the step 2 specifically comprises the following steps:
based on the passive cross positioning error and the target range, arranging a target, a station tower and a north-seeking reference point; collecting GPS coordinate information of a target, a station-measuring camera and a north-pointing reference point, performing coordinate projection mapping, and converting the GPS coordinate into a rectangular coordinate under a geographic coordinate system; the geographical coordinate system takes east as X-axis forward direction and north as Y-axis forward direction, the right-hand system determines Z-axis forward direction, takes a certain camera position as coordinate origin, and takes the left survey station camera position as coordinate origin for double-station cross positioning.
6. The method for locating the drop point of the full-time automatic target-scoring cannonball as claimed in claim 5, wherein the method comprises the following steps: the step 3 specifically comprises the following steps:
installing an infrared camera and a cradle head, leveling, and recording a cradle head pitch code value Mb0 after leveling; adjusting the holder to enable the camera to observe a north-pointing reference point, recording holder azimuth code values Ma0, and recording pixel values x0 of the reference point in the x direction of the image plane; for artificially laying a north-pointing reference point, calculating an azimuth angle theta 0 of the observation direction of the camera to the reference point under a geographic coordinate system by combining geographic coordinates of the camera and the reference point, and for the case of taking the polar star as the north-pointing reference point, considering the azimuth angle theta 0 of the observation direction of the camera to the polar star under the geographic coordinate system as 0, and calculating the theta 0 by the following formula:
NSXYZ.X＝NXYZ.X-SXYZ.X；
NSXYZ.Y＝NXYZ.Y-SXYZ.Y；
NSXYZ.Z＝NXYZ.Z-SXYZ.Z；
the system comprises a camera, an SXYZ, a SXYZ and a SXYZ, wherein the SXYZ represents the geographic coordinate of the camera and is projected and mapped by a GPS coordinate of the camera, and the SXYZ, the SXYZ and the SXYZ respectively represent three components of the geographic coordinate of the camera; xyz represents the geographical coordinates of the northbound reference point, nzyz.x, nzyz.y, nzyz.z represent the three components of the geographical coordinates of the reference point, NSXYZ represents the geographical coordinates of the observation vector of the camera to the reference point, nsxyz.x, nsxyz.y, nsxyz.z represent the three components of the geographical coordinates of the observation vector, respectively; sqrt () represents the root-opening operation, acosd () represents the inverse triangular cosine operation, and the return angle is in degrees; (Ma0, x0, θ 0, Mb0) constitute the camera observation azimuth angle, pitch angle reference parameters.
7. The method for locating the drop point of the full-time automatic target-scoring cannonball as claimed in claim 6, wherein the method comprises the following steps: the step 4 specifically comprises the following steps:
the infrared camera continuously observes a target in a target range, detects and tracks the target according to the shape, gray distribution and motion characteristics of the cannonball target, and outputs a target motion position pixel value (x, y) in a two-dimensional image, a holder azimuth code Ma and a pitching code Mb during observation.
8. The method for locating the drop point of the full-time automatic target-scoring projectile as claimed in claim 7, wherein the method comprises the following steps: the step 5 specifically comprises the following steps:
step 5.1: on the basis of the camera image target detection result (x, y, Ma, Mb), combining the instantaneous field of view IFOV of the camera, the Step value Step of the tripod head, and the reference measurement parameters (Ma0, x0, theta 0, Mb0) of the observation azimuth angle and the pitch angle of the camera, calculating the azimuth angle theta i and the pitch angle beta i of each station camera Si to the target observation vector according to the following formula, wherein i is the label of the station camera, i is more than or equal to 2, and the azimuth angle theta i and the pitch angle beta i are expressed by the following formula:
θi＝theta0+(x-x0)*IFOV+(Ma-Ma0)*Step；
βi＝-(y-y0)*IFOV+(Mb-Mb0)Step；
y0 represents the y coordinate of the center of the camera, and the formula uses the image coordinate system with the origin at the upper left corner, the right side as the positive direction of the x axis and the downward side as the positive direction of the y axis as the calculation basis, but the invention does not limit the definition mode of the image coordinate system, and for the image coordinate system defined by other modes, only the corresponding adjustment is needed by referring to the formula;
step 5.2: based on a plurality of stations, the azimuth angle theta i and the pitch angle beta i of the observation vector of the target position of the camera are combined with the geographical coordinates of the stations obtained in the step, cross positioning calculation is carried out on the premise of space-time registration, the three-dimensional coordinates of the aerial position of each target at the observation time are obtained, and by taking double-station cross positioning as an example, the moving position P of the target at the observation time t is obtained based on the azimuth angle theta 1 and the pitch angle beta 1 of the observation vector of the target by the left station camera, the azimuth angle theta 1 and the pitch angle beta 2 of the observation vector of the target by the right station camera, and the geographical coordinates (S1X, S1Y, S1Z), (S2X, S2Y and S2Z) of thetThree-dimensional coordinates (P) oftX，PtY，PtZ)：
Wherein, sind () and tan () are respectively a trigonometric sine function and a trigonometric tangent function, and the input unit of the function is DEG;
step 5.3: and (3) repeating the steps 5.1 to 5.2 based on the camera images which are continuously observed, realizing three-dimensional positioning of all positions in the air of the cannonball target, generating a cannonball target aerial motion three-dimensional track { Pt, t ═ 1,2, … m }, wherein m represents the number of times of the cannonball target aerial motion simultaneously appearing in the visual fields of the left and right stations, and stopping target three-dimensional track updating when the cannonball explodes on the ground or flies out of the visual fields.
9. The method for locating the drop point of the full-time automatic target-scoring projectile as claimed in claim 7, wherein the method comprises the following steps: the step 6 specifically comprises the following steps:
step 6.1: based on the tracking result of the target aerial motion three-dimensional trajectory, establishing a three-dimensional space equation of a target trajectory terminal motion straight line by the following formula under a geographic coordinate system:
wherein (P)m-1X，Pm-1Y，Pm-1Z)、(PmX，PmY，PmZ) respectively represents the aerial three-dimensional coordinates of the target at the moment t-m-1 and t-m, namely the penultimate motion position and the last motion position on the target three-dimensional aerial motion track, and (X, Y and Z) represents the three-dimensional coordinates of any point on the tail end motion straight line of the target track;
step 6.2: elevation value Z based on target range target GPS coordinatesGFor the target landing position (X)F,YF,ZF) And predicting to realize positioning of the linear target drop point:
ZF＝ZG
step 6.3: based on the projectile drop location result (X)F,YF,ZF) And geographic coordinates (X) to which the target GPS coordinates are mappedG,YG,ZG) Generating cannonball deviation target distance and angle target-reporting information:
dist＝sqrt((XF-XG)2+(YF-YG)2)
wherein dist represents the planar distance between the drop point of the projectile and the target, alphanorth、αeastRespectively indicating the included angles of the vector formed by the cannonball falling point and the target deviating from the north and east of geography, the value ranges of the included angles are [0 DEG and 180 DEG ], and the two included angles jointly describe the azimuth information of the cannonball falling point, namely if alpha is formednorthE (0 deg., 90 deg.) and alphaeastE (0 degree, 90 degrees), the cannonball falls in the northeast direction of the target, and the north is deviated from alphanorthDegree; if α isnorthE (0 deg., 90 deg.) and alphaeastE (90 degrees and 180 degrees) indicates that the cannonball falls in the northwest direction of the target, and the north is deviated from alphanorthDegree; if α isnorthE (90 deg., 180 deg.) and alphaeastE (0 degree, 90 degrees), the cannonball falls in the southeast direction of the target, and the north is deviated from alphanorthDegree; if α isnorthE (90 deg., 180 deg.) and alphaeastE (90 degrees and 180 degrees) indicates that the cannonball falls in the southwest direction of the target and is off north by alphanorthDegree, from which (dist, α) can be seennorth，αeast) The parameters completely describe the relative positions of the cannonball drop point and the target on the same horizontal plane, and complete target information is formed.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114842164A (en) * | 2022-06-17 | 2022-08-02 | 中国人民解放军陆军炮兵防空兵学院 | Method and system for calculating coordinates of frying points based on three-dimensional geographic model |
| CN115508779A (en) * | 2022-10-31 | 2022-12-23 | 浙江大学 | Method and device for positioning high-speed drop point target |
| CN117516481A (en) * | 2024-01-08 | 2024-02-06 | 北京奥博泰科技有限公司 | Dynamic image intersection measuring method and device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114842164A (en) * | 2022-06-17 | 2022-08-02 | 中国人民解放军陆军炮兵防空兵学院 | Method and system for calculating coordinates of frying points based on three-dimensional geographic model |
| CN114842164B (en) * | 2022-06-17 | 2023-04-07 | 中国人民解放军陆军炮兵防空兵学院 | Method and system for calculating coordinates of frying points based on three-dimensional geographic model |
| CN115508779A (en) * | 2022-10-31 | 2022-12-23 | 浙江大学 | Method and device for positioning high-speed drop point target |
| CN115508779B (en) * | 2022-10-31 | 2023-09-29 | 浙江大学 | Positioning method and device for high-speed falling point target |
| CN117516481A (en) * | 2024-01-08 | 2024-02-06 | 北京奥博泰科技有限公司 | Dynamic image intersection measuring method and device |
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