CN113701561A - Airborne multispectral multi-optical-axis photoelectric system aerial dynamic axis correcting device and method - Google Patents
Airborne multispectral multi-optical-axis photoelectric system aerial dynamic axis correcting device and method Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F41G—WEAPON SIGHTS; AIMING
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Abstract
The invention belongs to the technical field of photoelectricity, and particularly relates to an aerial dynamic shaft correcting device and method for an airborne multispectral multi-optical-axis photoelectric system. The shaft aligning device comprises: the device comprises a window, a primary mirror, a secondary mirror, a right-angle beam splitter prism, an imaging component, a light source, a small hole divider, a gyroscope, a two-dimensional electric sliding rail with a two-axis linear motor, a signal processing unit and an optical shell; the technical scheme can be applied to optoelectronic devices of airborne platforms such as helicopters, unmanned planes, fixed-wing airplanes and the like, and solves the problem that the existing air multispectral multi-optical-axis optoelectronic devices can only correct axes on the ground and cannot correct axes in real time after being operated on the airplane, so that the adverse factor that the parallelism of optical axes of the multispectral multi-optical-axis optoelectronic devices is poor before the multispectral multi-optical-axis optoelectronic devices are aimed in the air is solved; in addition, the technical scheme realizes the automatic axis correction of the multispectral photoelectric equipment in the air through the target surface relative motion compensation technology.
Description
Technical Field
The invention belongs to the technical field of photoelectricity, and particularly relates to an aerial dynamic shaft correcting device and method for an airborne multispectral multi-optical-axis photoelectric system.
Background
With the development of photoelectric detection, detection and aiming striking technologies, more spectral photoelectric sensors are integrated in photoelectric systems on airborne platforms such as helicopters, unmanned planes and fixed-wing airplanes, the photoelectric sensors comprise television sensors, infrared sensors, laser range finders/illuminators and the like, and the spectral range covers from visible light to infrared. With the increase of the combat distance of the photoelectric system, in order to improve the capturing, tracking and aiming striking precision of the photoelectric system, the multiband multi-optical-axis photoelectric sensor needs to be calibrated in real time before being used.
For the optical axis parallelism calibration method of the multispectral photoelectric equipment, related units in China are researched. For example:
a multiband optical axis consistency tester (Chinese patent, application number: 200420086347.7) adopts a cross wire with temperature control, utilizes a technical route of an off-axis reflector, simultaneously provides a sighting target for a visible system and an infrared system, and realizes the optical axis consistency test of visible and infrared bands.
The optical axis detection system of the broadband multi-sensor photoelectric instrument (Chinese patent, application number: 200610016556.5) is characterized in that devices with different wavelength ranges are arranged on a guide rail, a focal plane part on the device is moved to a focal plane of a collimator by adjusting a system, a cross wire or a star point hole is imaged on a display of each optical subsystem of a system to be detected by using the collimator, a receiving system receives laser emitted by the laser subsystem of the system to be detected, and therefore consistency detection and calibration between the optical axis of each optical subsystem and a reference axis of a mounting machine of the system to be detected are achieved;
the device provides visible and infrared images based on a multispectral target plate, utilizes an off-axis reflection system to parallelly emit target rays to tested equipment, and realizes the multi-optical-axis consistency test of a photoelectric system.
The patent of Chinese patent application No. 201110188758.9 provides a calibration device with self-calibration function and capable of calibrating a discrete optical axis multispectral axis calibrator, wherein a semi-transparent semi-reflective mirror, a laser and a CCD camera are integrated in a collimator, and during self-calibration, an emergent light beam of the collimator vertically irradiates a plane reflector and forms a self-calibration image on a display after being reflected. When the axis corrector is used for calibration measurement, after an infrared or visible light channel of the axis corrector to be measured is aligned with the collimator, the laser is aligned with a laser channel of the axis corrector to be measured to irradiate laser, and the parallelism deviation between the laser and the infrared channel or between the laser and the visible light channel is obtained through a data processing system of the laser.
A target-free multi-optical-axis parallelism detection system based on digital images (Chinese patent, application number: 201210297839.7) comprises a back-to-back laser scene video collector, a projectile emission axis photoelectric imaging system, a fusion module and a parallelism detection module. And calculating the parallelism by fusing and registering the scene images.
The optical axis parallelism calibrating device proposed in the above patents belongs to laboratory and ground calibrating equipment, and realizes the detection and calibration of the optical axis of the photoelectric sensor in the system based on complex auxiliary optical axis calibrating equipment. The test and calibration equipment is large in size and weight, the problem of real-time calibration of the airborne platform on the multi-optical-axis photoelectric sensor is not involved, and the influence of the airborne platform on the parallelism of the optical axes cannot be eliminated in real time.
A system and a method for automatically calibrating the optical axis parallelism of multispectral multi-optical-axis photoelectric equipment (Chinese patent, application number: 201410100387.8). This patent has proposed a laser facula tracker through shortwave infrared band, external characteristic target and video image processing technology, realizes multispectral optoelectronic device optical axis calibration. This method cannot be performed at night because the television viewing tool and the laser spot tracker cannot image the scene and target at night; secondly, when the battlefield scene is at a longer distance, the laser spot tracker cannot track the laser spot, and the optical axis parallelism calibration cannot be carried out.
The multispectral photoelectric equipment which is equipped outside the country can realize real-time shaft correction, for example, Brite Star Block II airborne stabilized sighting turret of FLIR company, the thermal image sighting device, the television sighting device and the laser range finder/irradiator can realize real-time automatic shaft correction, and the shaft correction precision can reach 0.2mrad under narrow field of view. The device can not carry out real-time dynamic shaft calibration, has lower shaft calibration precision, and can not meet the requirement of the existing photoelectric system for long-distance accurate capturing striking.
With the increase of the combat distance of the airborne photoelectric system, the real-time dynamic automatic shaft calibration of the multispectral multi-optical-axis photoelectric system is realized under the disturbance environment of an airborne platform, the irradiation precision of a laser range finder/irradiator and the striking efficiency of a laser guided weapon are improved, the maintenance complexity and the cost of the photoelectric system are reduced, and the method is a problem to be solved urgently in the design of the multispectral multi-optical-axis photoelectric system.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to provide a device and a method for airborne multi-spectral multi-optical-axis photoelectric system aerial dynamic shaft calibration, which are used for solving the problems that the existing airborne photoelectric system cannot dynamically calibrate the shaft in real time in the air, the precision of remote capture, tracking and aiming striking is not enough, the maintenance is complex, the cost is high and the like.
(II) technical scheme
In order to solve the above technical problem, the present invention provides an airborne multi-spectral multi-optical-axis optoelectronic system airborne dynamic shaft calibration apparatus, including: the device comprises a main mirror 2, a secondary mirror 3, a right-angle beam splitter prism 4, an imaging component 5, a light source 6, a small hole divider 7, a gyroscope 8, a two-dimensional electric slide rail 9 with a two-axis linear motor, a signal processing unit 10 and an optical shell 11; the primary mirror 2 and the secondary mirror 3 are arranged in the optical shell 11;
the primary mirror 2 and the secondary mirror 3 form a Cassegrain telescope objective lens for reflecting television wave bands, infrared wave bands and laser wave bands;
the right-angle beam splitter prism 4 is used for reflecting laser wave bands, transmitting television and infrared wave bands;
the imaging component 5 is used for receiving the laser reflected by the primary mirror 2, the secondary mirror 3 and the right-angle beam splitter prism 4 and forming a laser spot image on the target surface of the imaging component;
the light source 6 is used for forming a point light source with the small hole partition 7, and is transmitted by the right-angle beam splitter prism 4, reflected by the Cassegrain telescope objective and then emitted in parallel;
the gyroscope 8 is used for sensing the azimuth angle speed and the pitch angle speed of the optical shell 11, and forms a driving signal of the two-axis motor 9 after being processed by the signal processing unit 10;
the two-dimensional electric slide rail 9 with the two-axis linear motor is used for driving a component consisting of the imaging component 5, the right-angle prism 4, the light source 6 and the small hole partition 7 to move in the direction opposite to the direction of the optical shell 11 and the pitching motion according to a driving signal, so that the optical axis of the shaft correcting device is stable in an inertial coordinate system.
Wherein, the surfaces of the primary mirror 2 and the secondary mirror 3 are plated with a film layer for reflecting laser, transmitting television and infrared band.
The right-angle beam splitter prism 4 is plated with a reflection laser band, a transmission television and an infrared band film layer.
Wherein the boresight means further comprises a window 1;
the window 1 is arranged on the end face of one end of the optical shell 11, the primary mirror 2 and the secondary mirror 3 are arranged inside the optical shell 11, and the right-angle beam splitter prism 4 is arranged outside the other end of the optical shell 11;
the object space light passes through the window 1 to the Cassegrain telescope objective lens formed by the primary mirror 2 and the secondary mirror 3, the Cassegrain telescope objective lens emits light to the right-angle beam splitter prism 4, and the laser is reflected to the imaging assembly 5 through the right-angle beam splitter prism 4;
and a pinhole divider 7 and a light source 6 are arranged behind the light path projected by the right-angle beam splitter prism 4, wherein visible light and infrared band light emitted by the light source 6 are parallelly emitted to calibrated equipment after passing through the pinhole divider 7, the right-angle beam splitter prism 4, the secondary mirror 3, the primary mirror 2 and the window 1.
The gyroscope 8 is mounted on the optical housing 11 and used for sensing the azimuth angle speed and the pitch angle speed of the optical housing 11, and the driving signals of the two-axis motor 9 are formed after being processed by the signal processing unit 10;
the two-dimensional electric slide rail 9 with the two-axis linear motor is used for driving a component consisting of the imaging component 5, the right-angle prism 4, the light source 6 and the small hole partition 7 to move in the direction opposite to the direction of the optical shell 11 and the pitching motion according to a driving signal, so that the optical axis of the shaft correcting device is stable in an inertial coordinate system.
The primary mirror 2 and the secondary mirror 3 are made of quartz, and the lens barrels for fixing the primary mirror 2 and the secondary mirror 3 are made of indium steel.
The right-angle beam splitter prism 4 is made of calcium fluoride and is used for performing wave band beam splitting behind a Cassegrain telescope objective lens, reflecting a 1.06 mu m laser wave band, transmitting a 0.7-0.9 mu m near infrared wave band and a 3-5 mu m medium wave infrared wave band.
Wherein, the light source 6 is a tungsten incandescent lamp and is a full-wave band light source.
The axis correcting device is used for solving the problems that an airborne photoelectric system cannot dynamically correct an axis in real time in the air, the impact precision of remote capture, tracking and aiming is influenced, the maintenance is complex and the cost is high.
In addition, the invention also provides an airborne dynamic axis calibration method for the airborne multispectral multi-optical-axis photoelectric system, wherein the axis calibration method is implemented based on the axis calibration device 14, and the axis calibration method comprises the following steps:
step 1: before the optical axis calibration is carried out, the calibrated photoelectric turret 12 is aligned with the calibration axis device 14;
step 2: the photoelectric sensor in the calibrated photoelectric turret 12 is arranged in an inner ring of the calibrated photoelectric turret 12, and the optical axis of the photoelectric sensor is stable in an inertial system; a gyroscope 8 is mounted on an optical shell 11 of the shaft correcting device 14, the gyroscope 8 senses the azimuth angle speed and the pitch angle speed of the optical shell 11, data are processed by a signal processing unit 10 to obtain an azimuth displacement data signal and a pitch displacement data signal of the optical shell 11, and a driving signal of a motor is formed and used for driving a two-shaft motor 9 to move reversely, so that the stability of an optical axis of the shaft correcting device 14 in an inertial system is realized;
and step 3: through the steps 1 and 2, at this time, the optical axis of the optical sensor in the calibrated photoelectric turret 12 and the optical axis of the aligning device 14 are stable in the inertial system, and the optical axis of the calibrated photoelectric turret 12 and the optical axis of the aligning device 14 are relatively static;
the imaging component 5 receives laser emitted by a laser in the calibrated photoelectric turret 12, forms a laser spot image on the target surface of the imaging component 5, an imaging processing board in the imaging component 5 processes the laser spot image to obtain the centroid position of the laser spot, and the deviation between the centroid position and the electric cross division line of the CMOS detector target surface of the imaging component 5 is obtained (X is the deviation between the centroid position and the electric cross division line of the CMOS detector target surface of the imaging component 5)1，Y1) As shown in fig. 3-1; the electric cross division line is obtained by calibration when the shaft correcting device 14 is adjusted;
and 4, step 4: a light source 6 forms a spot image of a point source on a television sensor and an infrared sensor of a calibrated photoelectric turret 12 through a small hole divider 7, a right-angle beam splitter prism 4, a secondary mirror 3, a primary mirror 2 and a window 1;
performing mass center detection on the point source light spot to obtain the deviation (X) between the light spot mass center position and the corrected television sensor electric cross division and the corrected infrared sensor electric cross division2，Y2)、(X3，Y3)；
And 5: the imaging assembly 5 and the light source 6 are in a conjugate relationship in position, so that the deviation between the laser axis and the infrared/television axis in both directions in the calibrated photosensor is Δ X1＝X1-X2、△Y1＝Y1-Y2And Δ X2＝X1-X3、△Y2＝Y1-Y3；
Step 6: according to the deviation (DeltaX)1，△Y1) And (. DELTA.X)2，△Y2) The movement is divided by the electrical cross of the infrared sensor and the television sensor in the calibrated photoelectric turret 12, thereby realizing the calibration of the laser optical axis, the television optical axis and the infrared optical axis.
(III) advantageous effects
Compared with the prior art, the invention has the following advantages:
(1) the technical scheme of the invention has the functions of laser, television and infrared multispectral multi-optical-axis calibration, and is suitable for airborne platforms such as helicopters, unmanned planes and fixed-wing airplanes;
(2) the technical scheme of the invention can realize real-time axis correction in the air, eliminate the imbalance of optical axis parallelism caused by air environment temperature change and airborne platform vibration, and improve the tracking, aiming and striking precision of an airborne multispectral multi-optical-axis photoelectric system;
(3) the technical scheme of the invention can realize real-time axis correction in day and night without being influenced by working time and environment;
(4) the technical scheme of the invention adopts an image resolving method or a mass center coordinate, and the objective and reliable result is ensured.
Drawings
FIG. 1 is a schematic diagram of the technical solution of the present invention;
FIG. 2 is a schematic diagram of the air dynamic shaft alignment principle of the technical solution of the present invention;
3-1 and 3-2 are schematic diagrams illustrating the alignment of the laser axis and the TV/IR axis according to the present invention; wherein, FIG. 3-1 is a schematic diagram of laser spots on a CMOS imaging component in the axis calibration module; FIG. 3-2 is a schematic view of a pinhole light spot on an infrared/television detector inside a photoelectric turret;
fig. 4 is an explanatory diagram of the reflectivity and transmissivity of each optical surface of the right-angle beam splitter prism in the television band, the infrared band and the laser band according to the technical scheme of the invention.
Fig. 5 is a schematic view of a two-dimensional electric slide rail with a two-axis linear motor.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the above technical problem, the present invention provides an airborne dynamic boresight device for an airborne multispectral multi-optical-axis optoelectronic system, as shown in fig. 1, the boresight device includes: the device comprises a main mirror 2, a secondary mirror 3, a right-angle beam splitter prism 4, an imaging component 5, a light source 6, a small hole divider 7, a gyroscope 8, a two-dimensional electric slide rail 9 with a two-axis linear motor, a signal processing unit 10 and an optical shell 11; the primary mirror 2 and the secondary mirror 3 are arranged in the optical shell 11;
the primary mirror 2 and the secondary mirror 3 form a Cassegrain telescope objective lens for reflecting television wave bands, infrared wave bands and laser wave bands;
the right-angle beam splitter prism 4 is used for reflecting laser wave bands, transmitting television and infrared wave bands;
the imaging component 5 is used for receiving the laser reflected by the primary mirror 2, the secondary mirror 3 and the right-angle beam splitter prism 4 and forming a laser spot image on the target surface of the imaging component;
the light source 6 is used for forming a point light source with the small hole partition 7, and is transmitted by the right-angle beam splitter prism 4, reflected by the Cassegrain telescope objective and then emitted in parallel;
the gyroscope 8 is used for sensing the azimuth angle speed and the pitch angle speed of the optical shell 11, and forms a driving signal of the two-dimensional electric slide rail 9 with the two-axis linear motor after being processed by the signal processing unit 10;
the two-dimensional electric slide rail 9 with the two-axis linear motor is used for driving a component consisting of the imaging component 5, the right-angle prism 4, the light source 6 and the small hole partition 7 to move in the direction opposite to the direction of the optical shell 11 and the pitching motion according to a driving signal, so that the optical axis of the shaft correcting device is stable in an inertial coordinate system, as shown in fig. 5.
Wherein, the surfaces of the primary mirror 2 and the secondary mirror 3 are plated with a film layer for reflecting laser, transmitting television and infrared band.
The right-angle beam splitter prism 4 is plated with a reflection laser band, a transmission television and an infrared band film layer.
Wherein the boresight means further comprises a window 1;
the window 1 is arranged on the end face of one end of the optical shell 11, the primary mirror 2 and the secondary mirror 3 are arranged inside the optical shell 11, and the right-angle beam splitter prism 4 is arranged outside the other end of the optical shell 11;
the object space light passes through the window 1 to the Cassegrain telescope objective lens formed by the primary mirror 2 and the secondary mirror 3, the Cassegrain telescope objective lens emits light to the right-angle beam splitter prism 4, and the laser is reflected to the imaging assembly 5 through the right-angle beam splitter prism 4;
and a pinhole divider 7 and a light source 6 are arranged behind the light path projected by the right-angle beam splitter prism 4, wherein visible light and infrared band light emitted by the light source 6 are parallelly emitted to calibrated equipment after passing through the pinhole divider 7, the right-angle beam splitter prism 4, the secondary mirror 3, the primary mirror 2 and the window 1.
The gyroscope 8 is mounted on the optical housing 11 and used for sensing the azimuth angle speed and the pitch angle speed of the optical housing 11, and a driving signal of the two-dimensional electric slide rail 9 with the two-axis linear motor is formed after the driving signal is processed by the signal processing unit 10;
the two-dimensional electric slide rail 9 with the two-axis linear motor is used for driving a component consisting of the imaging component 5, the right-angle prism 4, the light source 6 and the small hole partition 7 to move in the direction opposite to the direction of the optical shell 11 and the pitching motion according to a driving signal, so that the optical axis of the shaft correcting device is stable in an inertial coordinate system.
The primary mirror 2 and the secondary mirror 3 are made of quartz, and the lens barrels for fixing the primary mirror 2 and the secondary mirror 3 are made of indium steel.
The right-angle beam splitter prism 4 is made of calcium fluoride and is used for performing wave band beam splitting behind a Cassegrain telescope objective lens, reflecting a 1.06 mu m laser wave band, transmitting a 0.7-0.9 mu m near infrared wave band and a 3-5 mu m medium wave infrared wave band.
Wherein, the light source 6 is a tungsten incandescent lamp and is a full-wave band light source.
The axis correcting device is used for solving the problems that an airborne photoelectric system cannot dynamically correct an axis in real time in the air, the impact precision of remote capture, tracking and aiming is influenced, the maintenance is complex and the cost is high.
In addition, the invention also provides an airborne dynamic shaft calibration method for the airborne multispectral multi-optical-axis photoelectric system, wherein the shaft calibration method is implemented based on the shaft calibration device 14, and the shaft calibration method comprises the following steps:
step 1: before the optical axis calibration is carried out, the calibrated photoelectric turret 12 is aligned with the calibration axis device 14;
step 2: the photoelectric sensor in the calibrated photoelectric turret 12 is arranged in an inner ring of the calibrated photoelectric turret 12, and the optical axis of the photoelectric sensor is stable in an inertial system; a gyroscope 8 is mounted on an optical shell 11 of a shaft correcting device 14, the gyroscope 8 senses the azimuth angle speed and the pitch angle speed of the optical shell 11, data are processed by a signal processing unit 10 to obtain an azimuth displacement data signal and a pitch displacement data signal of the optical shell 11, a driving signal of a motor is formed, the driving signal is used for driving a two-dimensional electric slide rail 9 of a two-axis linear motor to move reversely, and the stability of an optical axis of the shaft correcting device 14 in an inertia system is realized;
and step 3: through the steps 1 and 2, at this time, the optical axis of the optical sensor in the calibrated photoelectric turret 12 and the optical axis of the aligning device 14 are stable in the inertial system, and the optical axis of the calibrated photoelectric turret 12 and the optical axis of the aligning device 14 are relatively static;
the imaging component 5 receives laser emitted by a laser in the calibrated photoelectric turret 12, forms a laser spot image on the target surface of the imaging component 5, an imaging processing board in the imaging component 5 processes the laser spot image to obtain the centroid position of the laser spot, and the deviation between the centroid position and the electric cross division line of the CMOS detector target surface of the imaging component 5 is obtained (X is the deviation between the centroid position and the electric cross division line of the CMOS detector target surface of the imaging component 5)1，Y1)(ii) a The electric cross division line is obtained by calibration when the shaft correcting device 14 is adjusted;
and 4, step 4: a light source 6 forms a spot image of a point source on a television sensor and an infrared sensor of a calibrated photoelectric turret 12 through a small hole divider 7, a right-angle beam splitter prism 4, a secondary mirror 3, a primary mirror 2 and a window 1;
performing mass center detection on the point source light spot to obtain the deviation (X) between the light spot mass center position and the corrected television sensor electric cross division and the corrected infrared sensor electric cross division2，Y2)、(X3，Y3)；
And 5: the imaging assembly 5 and the light source 6 are in a conjugate relationship in position, so that the deviation between the laser axis and the infrared/television axis in both directions in the calibrated photosensor is Δ X1＝X1-X2、△Y1＝Y1-Y2And Δ X2＝X1-X3、△Y2＝Y1-Y3As shown in FIGS. 3-1 and 3-2;
step 6: according to the deviation (DeltaX)1，△Y1) And (. DELTA.X)2，△Y2) The movement is divided by the electrical cross of the infrared sensor and the television sensor in the calibrated photoelectric turret 12, thereby realizing the calibration of the laser optical axis, the television optical axis and the infrared optical axis.
Example 1
The embodiment provides an airborne dynamic alignment device for an airborne multispectral multi-optical-axis photoelectric system, which comprises a photoelectric turret 12, a shock absorber 13 and an alignment device 14. As shown in fig. 2.
Three photoelectric sensors are arranged on the inner ring of the photoelectric turret 12, and the photoelectric sensors comprise a laser range finder/irradiator, a television sensor and an infrared sensor; and a vibration damper 13 is arranged outside the shaft correcting device 14 and used for isolating high-frequency disturbance of the airborne platform to the shaft correcting module, so that the shaft correcting module works in low-frequency small-amplitude disturbance.
In the aligning device 14, the window 1 has an expansion coefficient of 9.4 × 10-6The magnesium fluoride material can simultaneously transmit a near-infrared band (0.7-0.9 mu m), a medium-wave infrared band (3-5 mu m) and a laser band (1.06 mu m); the primary mirror 2 and the secondary mirror 3 form a Cassegrain telescope objective, the primary mirror 2 and the secondary mirror 3 are both made of quartz, and lens barrels for fixing the primary mirror 2 and the secondary mirror 3 are made of indium steel and are close to the quartz, so that the influence of reflector deformation caused by thermal expansion and cold contraction on imaging image quality is prevented; the right-angle beam splitter prism 4 is used for beam splitting of a wave band behind a telescope objective, and reflects a laser wave band (1.06 mu m), transmits a near infrared wave band (0.7 mu m-0.9 mu m) and a medium wave infrared wave band (3 mu m-5 mu m). The right-angle beam splitter prism 4 is made of calcium fluoride, and the film transmittance and reflectivity of each surface of the prism are shown in fig. 4; an imaging assembly 5 consisting ofThe imaging processing board in the imaging component 5 processes the laser spots and detects the centroid positions of the spots; the light source 6 is a tungsten incandescent lamp and is a full-waveband light source; the small hole reticle 7 is a reticle with the diameter of a small hole of phi 30 mu m; the light source 6 and the small-hole reticle 7 form a light source assembly, the light source assembly penetrates through the right-angle beam splitter prism 4, is reflected by the secondary mirror 3 and the primary mirror 2, and enters the photoelectric sensor in the corrected photoelectric turret 1 after being transmitted by the window 1; the gyroscope 8 is arranged on an optical shell 11 shared by the window 1, the primary mirror 2 and the secondary mirror 3 and is used for sensing the azimuth and pitch angle speed of the optical shell 11; the gyro 8 processes the sensed orientation and pitch angle speed of the optical shell 11 by the signal processing unit 10, the signal processing unit 10 processes the orientation and pitch angle speed of the gyro 8 to obtain position information, and forms a driving signal of the two-dimensional electric slide rail 9 with the two-axis linear motor, and the driving signal is used for driving the two-dimensional electric slide rail 9 with the two-axis linear motor to move towards the direction opposite to the sensed angular speed of the gyro 8; the two-dimensional electric slide rail 9 with the two-axis linear motor is arranged on a component consisting of an imaging component 5, a right-angle prism 4, a light source 6 and a small hole divider 7, motion compensation is carried out according to a driving signal given by a signal processing unit 10, and instability of an optical axis of a shaft correcting device 14 caused by carrier motion is compensated.
In addition, the invention also provides an aerial automatic dynamic shaft correcting method for the airborne multispectral multi-optical-axis photoelectric system, which is characterized by comprising the following steps:
step 1: before the optical axis calibration is carried out, the calibrated photoelectric turret 12 is aligned with the calibration axis device 14;
step 2: the photoelectric sensor in the calibrated photoelectric turret 12 is mounted in the inner ring of the photoelectric turret 12, and the optical axis of the photoelectric sensor is stabilized in the inertial system. A gyroscope 8 is mounted on an optical shell 11 of the shaft correcting device 14, the gyroscope 8 senses the azimuth and pitch angular velocity of the optical shell 11, data are processed by a signal processing unit 10 to obtain azimuth and pitch displacement data signals of the optical shell 11, a motor driving signal is formed to drive a two-dimensional electric slide rail 9 of a two-axis linear motor to move reversely, and the stability of an optical axis of the shaft correcting device 14 in an inertial system is realized;
and step 3: through the steps 1 and 2, at this time, the optical axis of the optical sensor in the calibrated photoelectric turret 12 and the optical axis of the aligning device 14 are stable in the inertial system, and the optical axis of the calibrated photoelectric turret 12 and the optical axis of the aligning device 14 are relatively static;
the imaging component 5 receives laser emitted by a laser in the calibrated photoelectric turret 12, a laser spot image is formed on the target surface of the imaging component 5, an imaging processing board in the imaging component 5 processes the laser spot image to obtain the centroid position of the laser spot, and the deviation between the centroid position and the electric cross division line (obtained by calibration of the axis calibration module during adjustment) of the CMOS detector target surface of the imaging component 5 is (X)1，Y1) As shown in FIG. 3-1;
and 4, step 4: the light source 6 forms a spot image of a point source on a photoelectric sensor (a television sensor and an infrared sensor) of the calibrated photoelectric turret 12 through the small hole divider 7, the right-angle beam splitter prism 4, the secondary mirror 3, the primary mirror 2 and the window 1. Performing mass center detection on the point source light spot to obtain the deviation (X) between the position of the mass center of the light spot and the electric cross division of the calibrated television sensor and the electric cross division of the calibrated infrared sensor2，Y2)、(X3，Y3) As shown in fig. 3-2;
and 5: the imaging assembly 5 and the light source 6/aperture division 7 assembly are in a conjugate relationship in position, so that the deviation between the laser axis and the infrared/television axis in the calibrated photosensor in both directions is DeltaX1＝X1-X2、△Y1＝Y1-Y2And Δ X2＝X1-X3、△Y2＝Y1-Y3；
Step 6: according to the deviation (DeltaX)1，△Y1) And (. DELTA.X)2，△Y2) The movement is divided by the electrical cross of the infrared sensor and the television sensor in the calibrated photoelectric turret 12, thereby realizing the calibration of the laser optical axis, the television optical axis and the infrared optical axis.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An airborne multi-optical axis optoelectronic system airborne dynamic alignment apparatus, the alignment apparatus comprising: the device comprises a main mirror (2), a secondary mirror (3), a right-angle beam splitter prism (4), an imaging component (5), a light source (6), a small hole divider (7), a gyroscope (8), a two-dimensional electric slide rail (9) with a two-axis linear motor, a signal processing unit (10) and an optical shell (11); wherein, the primary mirror (2) and the secondary mirror (3) are arranged in the optical shell (11);
the primary mirror (2) and the secondary mirror (3) form a Cassegrain telescope objective lens for reflecting television wave bands, infrared wave bands and laser wave bands;
the right-angle beam splitter prism (4) is used for reflecting laser wave bands, transmitting television and infrared wave bands;
the imaging component (5) is used for receiving the laser reflected by the primary mirror (2), the secondary mirror (3) and the right-angle beam splitter prism (4) and forming a laser spot image on the target surface of the imaging component;
the light source (6) is used for forming a point light source with the small hole partition (7), and is transmitted by the right-angle beam splitter prism (4), reflected by the Cassegrain telescope objective and then emitted in parallel;
the gyroscope (8) is used for sensing the azimuth angle speed and the pitch angle speed of the optical shell (11), and forms a driving signal of the two-axis motor (9) after being processed by the signal processing unit (10);
the two-dimensional electric sliding rail (9) with the two-axis linear motor is used for driving a component consisting of the imaging component (5), the right-angle prism (4), the light source (6) and the small hole partition (7) to move in the direction opposite to the direction movement and the pitching movement of the optical shell (11) according to a driving signal, so that the stability of an optical axis of the shaft correcting device in an inertial coordinate system is ensured.
2. The airborne multi-spectral multi-optical axis optoelectronic system airborne dynamic alignment device according to claim 1, wherein the primary mirror (2) and the secondary mirror (3) are coated with a reflective laser, a transmissive television and an infrared band film.
3. The airborne multi-spectral multi-optical-axis optoelectronic system airborne dynamic alignment device according to claim 2, wherein the right-angle beam splitter prism (4) is coated with reflective laser band, transmissive television and infrared band films.
4. The airborne multi-spectral multi-optical axis optoelectronic system airborne dynamic alignment device according to claim 3, wherein said alignment device further comprises a window (1);
the window (1) is arranged on the end face of one end of the optical shell (11), the primary mirror (2) and the secondary mirror (3) are arranged inside the optical shell (11), and the right-angle beam splitter prism (4) is arranged outside the other end of the optical shell (11);
the object space light passes through the window (1) to the Cassegrain telescope objective lens formed by the primary mirror (2) and the secondary mirror (3), the Cassegrain telescope objective lens emits light to enter the right-angle beam splitter prism (4), and the laser is reflected to the imaging assembly (5) through the right-angle beam splitter prism (4);
the right-angle beam splitter prism (4) is placed with a small hole divider (7) and a light source (6) after projecting a light path, wherein visible light and infrared band light emitted by the light source (6) are emitted to calibrated equipment in parallel after passing through the small hole divider (7), the right-angle beam splitter prism (4), the secondary mirror (3), the primary mirror (2) and the window (1).
5. The airborne multi-spectral multi-optical-axis optoelectronic system airborne dynamic alignment device according to claim 4, wherein the gyroscope (8) is mounted on the optical housing (11) and used for sensing the azimuth angle velocity and the pitch angle velocity of the optical housing (11) and forming the driving signals of the two-axis motor (9) after being processed by the signal processing unit (10);
the two-dimensional electric sliding rail (9) with the two-axis linear motor is used for driving a component consisting of the imaging component (5), the right-angle prism (4), the light source (6) and the small hole partition (7) to move in the direction opposite to the direction movement and the pitching movement of the optical shell (11) according to a driving signal, so that the stability of an optical axis of the shaft correcting device in an inertial coordinate system is ensured.
6. The airborne multi-spectral multi-optical-axis optoelectronic system airborne dynamic alignment device according to claim 5, wherein the primary mirror (2) and the secondary mirror (3) are made of quartz, and the lens barrel for fixing the primary mirror (2) and the secondary mirror (3) is made of indium steel.
7. The airborne multi-spectral multi-optical-axis optoelectronic system airborne dynamic alignment device according to claim 5, wherein the right-angle beam splitter prism (4) is made of calcium fluoride and is used for splitting a wave band behind the Cassegrain telescope objective lens, reflecting a 1.06 μm laser wave band, transmitting a 0.7 μm-0.9 μm near infrared wave band and a 3 μm-5 μm medium wave infrared wave band.
8. The airborne multi-spectral multi-optical axis optoelectronic system airborne dynamic alignment device according to claim 5, wherein said light source (6) is a tungsten incandescent lamp and is a full band light source.
9. The airborne dynamic alignment device for the airborne multi-spectral multi-optical-axis photoelectric system according to claim 5, wherein the alignment device is used for solving the problems that the airborne photoelectric system cannot perform real-time dynamic alignment in the air, the accuracy of remote capturing, tracking and aiming striking is affected, and the maintenance is complex and the cost is high.
10. An airborne multi-optical axis optoelectronic system airborne dynamic alignment method, wherein the alignment method is implemented based on the alignment apparatus (14) of claim 5, the alignment method comprising:
step 1: before the optical axis calibration, aligning the calibrated photoelectric turret (12) with a calibration axis device (14);
step 2: the photoelectric sensor in the calibrated photoelectric turret (12) is arranged in an inner ring of the calibrated photoelectric turret (12), and the optical axis of the photoelectric sensor is stable in an inertial system; a gyroscope (8) is mounted on an optical shell (11) of a shaft correcting device (14), the gyroscope (8) senses the azimuth angle speed and the pitch angle speed of the optical shell (11), data are processed by a signal processing unit (10) to obtain an azimuth displacement data signal and a pitch displacement data signal of the optical shell (11), and a driving signal of a motor is formed and used for driving a two-shaft motor (9) to move reversely, so that the stability of the optical axis of the shaft correcting device (14) in an inertial system is realized;
and step 3: through the steps 1 and 2, at the moment, the optical axis of the optical sensor in the calibrated photoelectric turret (12) and the optical axis of the aligning device (14) are stable in an inertial system, and the optical axis of the calibrated photoelectric turret (12) and the optical axis of the aligning device (14) are relatively static;
the imaging component (5) receives laser emitted by a laser in the calibrated photoelectric turret (12), forms a laser spot image on the target surface of the imaging component (5), an imaging processing board in the imaging component (5) processes the laser spot image to obtain the centroid position of the laser spot, and the deviation (X) between the centroid position and the electric cross division line of the CMOS detector target surface of the imaging component (5) is obtained1，Y1) As shown in fig. 3-1; the electric cross division line is obtained by calibration when the shaft calibration device (14) is adjusted;
and 4, step 4: a light source (6) forms a spot source light spot image on a television sensor and an infrared sensor of a calibrated photoelectric turret (12) through a small hole partition (7), a right-angle beam splitter prism (4), a secondary mirror (3), a primary mirror (2) and a window (1);
performing mass center detection on the point source light spot to obtain the deviation (X) between the light spot mass center position and the corrected television sensor electric cross division and the corrected infrared sensor electric cross division2，Y2)、(X3，Y3)；
And 5: the imaging assembly (5) and the light source (6) are in a conjugate relationship in position, so that the deviation between the laser axis and the infrared/television axis in the two directions in the calibrated photoelectric sensor is respectively Delta X1＝X1-X2、△Y1＝Y1-Y2And Δ X2＝X1-X3、△Y2＝Y1-Y3；
Step 6: according to the deviation (DeltaX)1，△Y1) And (. DELTA.X)2，△Y2) Moving calibrated photoelectric deviceAnd the infrared sensor and the television sensor in the turret (12) are electrically crossed and divided, so that the calibration of the laser optical axis, the television optical axis and the infrared optical axis is realized.
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