CN114593725A - Tracking precision testing device and method for photoelectric tracker - Google Patents
Tracking precision testing device and method for photoelectric tracker Download PDFInfo
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Abstract
The invention discloses a device and a method for testing the tracking precision of a photoelectric tracker, belonging to the technical field of testing. The method can achieve higher spatial resolution, wider speed and acceleration test range than the traditional mode by the analog target generation scheme based on the digital light processing technology; the testing device can realize a folding design, reduce the volume and facilitate the miniaturization of a testing system; the test device can simulate a plurality of complex targets in multiple scenes; the control mode is simple, and the application of the synchronous acquisition and control technology can measure the tracking precision with high precision.
Description
Technical Field
The invention belongs to the technical field of testing, and particularly relates to a device and a method for testing the tracking precision of a photoelectric tracker.
Background
The photoelectric tracking device and system are used as important components of a photoelectric detection and tracking system, are mainly used for target searching and automatic tracking, realize real-time tracking of a moving target through angle measurement, distance measurement and the like, and provide accurate pointing for a task carrying device of the photoelectric tracking device.
The photoelectric tracking equipment is divided into a roadbed ground station, a ship-borne platform, a vehicle-mounted platform, a satellite-borne platform and other platforms according to different use scenes, a frame structure of the system also has different forms such as a terrace type platform, a polar axis type platform, a multi-axis type platform and a composite axis platform, but the composition architectures of most photoelectric tracking equipment are basically consistent. The system comprises a television (visible light) imaging system, an infrared imaging system and a laser ranging system. The system comprises an image acquisition and processing unit, a model processing circuit, a tracking platform and the like. With the development of sensor technology and digital processing technology, the development of photoelectric tracking equipment has the following trend: (1) by using a novel optical structure and a digital processing technology, the whole system is highly integrated, the volume is reduced, and the weight is reduced; (2) the multiple detectors are used together, so that on one hand, the all-weather and complex environment work is guaranteed all day long, on the other hand, the detection and tracking of the appearance and the outline of the target are not limited, and various target information is obtained, measured, positioned and identified; (3) the full digitalization mode works, and the information acquisition and processing capabilities are improved, including digital image acquisition, capturing, identification and tracking digital servo control, digital information transmission and display and the like.
The tracking performance indexes of the photoelectric tracking equipment comprise a spectral range, static tracking precision, dynamic tracking precision and the like. To achieve detection of these criteria, the test system must provide a simulated infinite target in the visible light band. The target can display the accurate positioning of the set position and the track motion of the set speed to realize the measurement of the tracking accuracy. The test scheme closest to actual combat is an outfield flight correction test, but the test is expensive, time-consuming and high in cost, so that indoor detection is the mainstream test scheme adopted at present.
In the moving target and collimator system shown in fig. 1(a), two arms of a rotating bracket are symmetrical and parallel to a horizontal plane, a rotating shaft is perpendicular to the horizontal plane, visible light collimators are respectively installed at two ends of the bracket to simulate infinite visible light targets, and a direct current torque motor drives the bracket to rotate to realize the control of the motion speed and the acceleration of the simulated targets. During testing, the azimuth angle of the target measured by the angle measuring system of the photoelectric tracking equipment and the azimuth angle of the target measured by the measuring system are respectively read out and subjected to difference calculation, so that the azimuth tracking precision of the photoelectric tracking equipment is obtained. The laser simulated space target system is shown in figure 1(b), a laser emitter is arranged on a two-axis rotary table, two axes of the rotary table are provided with photoelectric code discs for providing angle output reference, the rotary table can do two-dimensional movement of azimuth and elevation, and the movement rule can be controlled by computer programming. During testing, the rotary table moves according to a programming rule, laser beams emitted by the laser device hit on the screen wall to form a simulated space target track moving according to the programming rule, and the photoelectric tracking device tracks the target to give an azimuth angle of the target. And simultaneously, according to the relation such as the distance between the laser emission axis and the visual axis of the equipment to be tested, the spatial position information of the laser simulation space target relative to the equipment to be tested at any moment is determined, and then the equipment to be tested is detected. The two test systems have basically the same test principle, and the simulation target azimuth angle measured by the test system is synchronously compared with the target azimuth angle measured by the photoelectric tracking equipment to obtain the tracking precision of the photoelectric tracking equipment, and the main difference lies in the generation mode of the simulation target.
The simplified simulation target test method adopted by the indoor detection has the problems that the target background cannot be simulated, most tests can only be carried out before a task, and in-task or on-site maintenance detection cannot be carried out. Similarly, both indoor detection and outfield flight correction cannot be performed in all possible applications of the system, so that it is necessary to perform simulation and deduction of the whole process of tracking the target by the imaging system.
Existing means for testing photoelectric tracking equipment
The following three test methods are currently conventional:
(1) testing an external field: the flight calibration and coordination are difficult by using the actual flight target for tracking performance and measurement accuracy, and the time cost of manpower, material resources and time is extremely high.
(2) Rotating the target: the motion form of the simulation target is single, the system structure is huge, the related control is complex, the measurement precision is limited by the angle measurement precision of the system and the synchronism of angle measurement data, the simulation target is suitable for indoor detection, and field real-time measurement is difficult to provide.
(3) Laser simulation of a space target: the space target is simulated by the laser, the space position information of the light spot on the target screen is recorded by the CCD, the measurement precision is higher, but the system is still complex, if a plurality of sets of beacon lasers and corresponding laser beam expanders are needed to meet the test requirements of visible and infrared wave bands of the tracking equipment, and the divergence angle of the laser light spot is required to be as small as possible to ensure the measurement precision. The laser target plate can not simulate an infinite target but a finite target, and has certain limitation.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a tracking precision testing device and method for a photoelectric tracker, which are reasonable in design, overcome the defects of the prior art and have good effects.
In order to achieve the purpose, the invention adopts the following technical scheme:
a tracking precision testing device of a photoelectric tracker comprises the photoelectric tracker, a collimator, a spatial light modulator, a beam combining mirror, a beam shaping system, a black body radiation source, a white light source and an industrial personal computer;
a beam shaping system configured to generate a uniform collimated beam; the device comprises a white light source beam shaping system and a blackbody radiation source beam shaping system;
the white light source and the blackbody radiation source are respectively changed into uniform collimated light after passing through respective beam shaping systems, and then the uniform collimated light coaxially enters the spatial light modulator through the beam combining mirror;
the spatial light modulator is configured to be used for generating a static or dynamic simulation target and providing a tracking object for a tracking precision test;
the photoelectric tracker is configured for tracking a simulation target and outputting real-time change of a target angle through the data terminal;
a collimator configured to adjust the reflected light of the spatial light modulator into parallel light;
and the industrial personal computer is configured to obtain the tracking angle of the tracking equipment by comparing the data of the same target at the same moment.
Preferably, the two light rays of the incident directions of the white light source and the black body radiation source are consistent after passing through the beam combining mirror.
Preferably, the beam combiner is wavelength-coated so that the beam combiner has a high reflectivity in the visible band and a high transmittance in the mid-infrared band.
In addition, the invention also provides a method for testing the tracking precision of the photoelectric tracker, which adopts the device for testing the tracking precision of the photoelectric tracker and specifically comprises the following steps:
step 1: turning on a black body radiation source light source and a white light source through an industrial personal computer;
step 2: adjusting a beam shaping system to obtain two uniform collimated beams;
and step 3: adjusting a beam combining mirror to enable two beams of light to be transmitted or reflected to be combined into a beam of space light to irradiate the surface of the space light modulator;
and 4, step 4: writing a series of image data through an industrial personal computer, and obtaining the moving speed of a tracking target in a projection video of the spatial light modulator according to the number of projection frames and the number of moving pixels of each frame;
and 5: adjusting a collimator to adjust the reflected light of the spatial light modulator into parallel light to realize simulation of a tracking target at infinite distance;
step 6: the industrial personal computer receives real-time observation data of the photoelectric tracker;
because each device in the testing device has response time, real-time data received by the industrial personal computer at the same time are not corresponding to the same image; firstly, acquiring a trigger signal from a spatial light modulator, and acquiring accurate time of projection of each frame of image by an industrial personal computer; secondly, measuring the response time of the photoelectric tracker, namely the delay time from receiving the optical signal to sending the electric signal;
and 7: comparing with the output image data;
outputting an image only with projection time and pixel position of each frame, calculating according to the optical parameters of the collimator and the relative position of the spatial light modulator, and tracking the moving speed and acceleration parameters of a target in the projected image;
and 8: and (4) setting the tracking target to be different in moving speed and moving track through the industrial personal computer, and repeating the steps 1-7.
The invention has the following beneficial technical effects:
(1) the simulation target generation scheme based on the digital light processing technology can achieve higher spatial resolution, wider speed and acceleration test range than the traditional mode.
(2) The testing device can realize a folding design, reduce the volume and facilitate the miniaturization of a testing system;
(3) the test device can simulate a plurality of complex targets in multiple scenes.
(4) The control mode is simple, and the application of the synchronous acquisition and control technology can measure the tracking precision with high precision.
Drawings
FIG. 1 is a schematic diagram of a tracking characteristic testing system for two typical photoelectric tracking devices developed in China;
wherein, the diagram (a) is a schematic diagram of a moving target and a collimator tube for simulating an infinite target; the figure (b) is a schematic diagram of a laser spot simulation infinite target;
FIG. 2 is a schematic diagram of a testing apparatus based on spatial light modulator semi-physical simulation;
wherein, 1-photoelectric tracker; 2-a collimator; 3-a spatial light modulator; 4-a beam combiner; 5-a beam shaping system; 6-blackbody radiation source; 7-a white light source; 8-industrial personal computer.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
example 1:
as shown in fig. 2, a device for testing the tracking accuracy of a photoelectric tracker comprises a photoelectric tracker 1, a collimator 2, a spatial light modulator 3, a beam combiner 4, a beam shaping system 5, a blackbody radiation source 6, a white light source 7 and an industrial personal computer 8;
the beam shaping system comprises a white light source beam shaping system and a blackbody radiation source beam shaping system and is used for generating uniform collimated light beams;
the white light source and the blackbody radiation source are respectively changed into uniform collimated light after passing through respective beam shaping systems, and then the uniform collimated light coaxially enters the spatial light modulator through the beam combining mirror;
the spatial light modulator is configured to be used for generating a static or dynamic simulation target and providing a tracking object for a tracking precision test;
the photoelectric tracker is configured for tracking a simulation target and outputting real-time change of a target angle through the data terminal;
a collimator configured to modulate the spatial light modulator to reflect light to produce collimated light, producing a target at infinity;
and the industrial personal computer is configured to obtain the tracking angle of the tracking equipment by comparing the data of the same target at the same moment.
Two beams of light rays in the incident directions of the white light source and the black body radiation source are kept consistent after passing through the beam combining mirror.
The beam combining mirror is coated with a film in response wavelength, so that the beam combining mirror has high reflectivity in a visible light wave band and high transmittance in a middle infrared wave band.
Example 2:
on the basis of the above embodiment 1, the present invention further provides a method for testing tracking accuracy of a photoelectric tracker, which specifically includes the following steps:
step 1: turning on a black body radiation source light source and a white light source through an industrial personal computer;
step 2: adjusting the beam shaping system to obtain two uniform collimated beams;
and step 3: adjusting a beam combining mirror to enable the two beams of light to be transmitted or reflected to be combined into a beam of space light to irradiate the surface of the space light modulator;
and 4, step 4: writing a series of image data through an industrial personal computer, and obtaining the moving speed of a tracking target in a projection video according to the number of projection frames and the number of moving pixels of each frame;
and 5: adjusting a collimator to adjust the reflected light of the spatial light modulator into parallel light to realize simulation of a tracking target at infinite distance;
step 6: the industrial personal computer receives real-time observation data of the photoelectric tracker;
because each device in the testing device has response time, real-time data received by the industrial personal computer at the same time are not corresponding to the same image; firstly, acquiring a trigger signal from a spatial light modulator, and acquiring accurate time of projection of each frame of image by an industrial personal computer; secondly, measuring the response time of the photoelectric tracker, namely the delay time from receiving the optical signal to sending the electric signal;
and 7: comparing with the output image data;
outputting an image only with projection time and pixel position of each frame, calculating according to the optical parameters of the collimator and the relative position of the spatial light modulator, and tracking the moving speed and acceleration parameters of a target in the projected image;
and 8: and (4) setting the tracking target to be different in moving speed and moving track through the industrial personal computer, and repeating the steps 1-7.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (4)
1. The utility model provides a photoelectric tracking appearance tracking accuracy testing arrangement which characterized in that: the device comprises a photoelectric tracker, a collimator, a spatial light modulator, a beam combiner, a beam shaping system, a blackbody radiation source, a white light source and an industrial personal computer;
a beam shaping system configured to generate a uniform collimated beam; the device comprises a white light source beam shaping system and a black body radiation source beam shaping system;
the white light source and the blackbody radiation source are respectively changed into uniform collimated light after passing through respective beam shaping systems, and then the uniform collimated light coaxially enters the spatial light modulator through the beam combining mirror;
the spatial light modulator is configured to be used for generating a static or dynamic simulation target and providing a tracking object for a tracking precision test;
the photoelectric tracker is configured for tracking a simulation target and outputting real-time change of a target angle through the data terminal;
a collimator configured to adjust the reflected light of the spatial light modulator into parallel light;
and the industrial personal computer is configured to obtain the tracking angle of the tracking equipment by comparing the data of the same target at the same moment.
2. The device for testing the tracking accuracy of the photoelectric tracker according to claim 1, wherein: two beams of light rays in the incident directions of the white light source and the black body radiation source are kept consistent after passing through the beam combining mirror.
3. The device for testing the tracking accuracy of the photoelectric tracker according to claim 1, wherein: and carrying out wavelength coating on the beam combining mirror.
4. A tracking precision testing method of a photoelectric tracker is characterized by comprising the following steps: the device for testing the tracking accuracy of the photoelectric tracker according to claim 1, comprising:
step 1: turning on a black body radiation source light source and a white light source through an industrial personal computer;
step 2: adjusting a beam shaping system to obtain two uniform collimated beams;
and step 3: adjusting a beam combining mirror to enable the two beams of light to be transmitted or reflected to be combined into a beam of space light to irradiate the surface of the space light modulator;
and 4, step 4: writing a series of image data through an industrial personal computer, and obtaining the moving speed of a tracking target in a projection video of the spatial light modulator according to the number of projection frames and the number of moving pixels of each frame;
and 5: adjusting a collimator to adjust the reflected light of the spatial light modulator into parallel light to realize simulation of a tracking target at infinite distance;
step 6: the industrial personal computer receives real-time observation data of the photoelectric tracker;
because each device in the testing device has response time, real-time data received by the industrial personal computer at the same time are not corresponding to the same image; firstly, acquiring a trigger signal from a spatial light modulator, and acquiring accurate time of projection of each frame of image by an industrial personal computer; secondly, measuring the response time of the photoelectric tracker, namely the delay time from receiving the optical signal to sending the electric signal;
and 7: comparing with the output image data;
outputting an image only with projection time and pixel position of each frame, calculating according to the optical parameters of the collimator and the relative position of the spatial light modulator, and tracking the moving speed and acceleration parameters of a target in the projected image;
and 8: and (4) setting the tracking target to be different in moving speed and moving track through the industrial personal computer, and repeating the steps 1-7.
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