CN114593725B - 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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- CN114593725B CN114593725B CN202210117002.3A CN202210117002A CN114593725B CN 114593725 B CN114593725 B CN 114593725B CN 202210117002 A CN202210117002 A CN 202210117002A CN 114593725 B CN114593725 B CN 114593725B
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- 238000007493 shaping process Methods 0.000 claims description 19
- 230000005457 Black-body radiation Effects 0.000 claims description 15
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- 238000004364 calculation method Methods 0.000 claims description 3
- 238000005094 computer simulation Methods 0.000 claims description 3
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- 238000005259 measurement Methods 0.000 description 11
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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Abstract
The invention discloses a tracking precision testing device and method 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 based on the simulation target generation scheme of the digital light processing technology; the testing device can realize 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 synchronous acquisition and control technology can measure tracking precision with high precision.
Description
Technical Field
The invention belongs to the technical field of testing, and particularly relates to a tracking precision testing device and method for a photoelectric tracker.
Background
The photoelectric tracking equipment and the photoelectric tracking system are used as important components of the photoelectric detection and tracking system and are mainly used for target searching and automatic tracking, real-time tracking of a moving target is realized through angle measurement, distance measurement and the like, and accurate pointing is provided for carrying task equipment.
The photoelectric tracking equipment is based on various platforms such as ground stations, carrier-borne, vehicle-mounted, airborne and satellite-borne with different use scenes, the frame structure of the system also has different forms such as terrace type, polar axis type, multi-axis type and compound axis type, but the composition framework of most photoelectric tracking equipment is basically consistent. Has a television (visible light) imaging system, an infrared imaging system and a laser ranging system. An image acquisition and processing unit, a model processing circuit, a tracking platform and the like. With the development of sensor technology digital processing technology, the development of photoelectric tracking equipment has the following trend: (1) The novel optical structure and digital processing technology are used, the whole system is highly integrated, the volume is reduced, and the weight is reduced; (2) The multi-detector is used together, so that the work in all-weather and complex environments is guaranteed all the day, and the detection and tracking of the appearance and the outline of the target are not limited, and meanwhile, various target information is acquired, and measurement, positioning and recognition are performed; (3) The full digital mode works to improve the information acquisition and processing capacity, including digital image acquisition, capturing, recognition and tracking digital servo control, digital information transmission and display and the like.
The tracking performance indexes of the photoelectric tracking equipment comprise a spectrum range, static tracking precision, dynamic tracking precision and the like. To achieve detection of these indicators, the test system must provide a target that simulates infinity in the visible band. The target can display the accurate positioning of the set position and the track movement of the set speed to realize the measurement of tracking precision. The test scheme closest to actual combat is to perform an external field flight test, but the test is expensive, time-consuming and cost-effective, so that indoor detection is the mainstream test scheme adopted at present.
In the moving target collimator system shown in fig. 1 (a), two arms of a rotating support are symmetrical and parallel to a horizontal plane, a rotating shaft is perpendicular to the horizontal plane, two ends of the support are respectively provided with a visible light collimator to simulate an infinite visible light target, and a direct current torque motor drives the support to rotate to realize the movement speed and acceleration control of the simulated target. 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 read out respectively, and difference is calculated, so that the azimuth tracking precision of the photoelectric tracking equipment is obtained. As shown in FIG. 1 (b), the laser simulation space target system is characterized in that a laser transmitter is arranged on a two-axis turntable, photoelectric code disks for providing an angle output reference are arranged on two axes of the turntable, the turntable can perform two-dimensional motions of azimuth and elevation, and the motion rule of the turntable can be controlled by computer programming. During testing, the turntable moves according to a programming rule, the laser beam emitted by the laser device strikes the curtain wall to form a simulated space target track moving according to the programming rule, and the photoelectric tracking equipment tracks the target and gives the azimuth angle of the target. And meanwhile, according to the relation of the distance between the laser emission axis and the visual axis of the tested equipment, the spatial position information of the laser simulation spatial target relative to the tested equipment at any moment is determined, and then the tested equipment is detected. The test principle of the two test systems is basically the same, 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 is mainly in the generation mode of the simulation target.
The simplified simulation target test method adopted by indoor detection has the problems that the target background cannot be simulated, most tests can be carried out only before a task, and the task or field maintenance detection cannot be carried out. Similarly, both indoor detection and outdoor calibration cannot be performed in all situations where the system may be used, so that it is necessary to perform simulation and deduction of the whole process of tracking the target by the imaging system.
Means for testing photoelectric tracking equipment in prior art
The conventional testing methods at present have the following three types:
(1) Outfield test: the tracking performance and the measurement accuracy of the actual flying target are utilized to carry out the calibration and coordination, and the time cost of manpower and material resources is extremely high.
(2) And (3) rotating a target: the motion form of the simulated target is single, the system structure is huge, the related control is complex, the measurement accuracy is limited by the angle measurement accuracy of the system and the synchronism of angle measurement data, the system is suitable for indoor detection, and the on-site real-time measurement is difficult to provide.
(3) Laser simulation of spatial target: the space target is simulated by laser, the space position information of the light spots on the target curtain is recorded by using 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 spots is required to be as small as possible in order to ensure the measurement precision. The laser target plate cannot simulate an infinite target but is a limited-distance target, and has certain limitations.
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 in the prior art and have good effects.
In order to achieve the above purpose, the present 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 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 uniformly collimated beam; the system 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 respectively pass through respective beam shaping systems and then become uniform collimated light, and then coaxially enter the spatial light modulator through a beam combining mirror;
a spatial light modulator configured to generate a static or dynamic simulation target, providing a tracking object for tracking accuracy testing;
the photoelectric tracker is configured to track a simulation target, and simultaneously output the real-time change of the target angle through a data end;
a collimator configured to adjust the reflected light of the spatial light modulator into parallel light;
the industrial personal computer is configured to obtain the tracking angle of the tracking device by comparing the data of the same target at the same moment.
Preferably, the two light beams of the white light source and the blackbody radiation source in the incident direction are consistent with each other through the rear optical axis of the beam combiner.
Preferably, the beam combining mirror is coated with a wavelength film, so that the beam combining mirror has high reflectivity in a visible light band and high transmittance in a middle infrared band.
In addition, the invention also provides a tracking precision testing method of the photoelectric tracker, which adopts the tracking precision testing device of the photoelectric tracker, and specifically comprises the following steps:
step 1: the method comprises the steps of turning on a blackbody 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;
step 3: the beam combining lens is adjusted to ensure that two beams of light are transmitted or reflected to be combined into one beam of space light, and the space light irradiates the surface of the space light modulator;
step 4: writing a series of image data by an industrial personal computer, and obtaining the moving speed of a tracking target in the projection video of the spatial light modulator according to the number of projection frames and the number of moving pixels of each frame;
step 5: the collimator is adjusted, the reflected light of the spatial light modulator is adjusted to be parallel light, and a tracking target at an infinite simulation position is realized;
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, the real-time data received by the industrial personal computer at the same time is not the corresponding same image; firstly, a trigger signal is obtained from a spatial light modulator, and an industrial personal computer obtains the accurate time of each frame of image projection; secondly, measuring response time of the photoelectric tracker, namely delay time from receiving the optical signal to sending the electrical signal;
step 7: comparing with the output image data;
the output image only has the projection time and pixel position of each frame, and the calculation is carried out according to the optical parameters of the collimator and the relative position of the spatial light modulator, and the moving speed and the acceleration parameters of the tracking target in the projection image;
step 8: setting the tracking target to be different moving speeds and moving tracks through the industrial personal computer, and repeating the steps 1-7.
The invention has the beneficial technical effects that:
(1) The analog 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 folding design, reduce the volume and facilitate the miniaturization of a testing system;
(3) The test device can simulate multiple complex targets in multiple scenes.
(4) The control mode is simple, and the application of synchronous acquisition and control technology can measure tracking precision with high precision.
Drawings
FIG. 1 is a schematic diagram of two exemplary tracking characteristic test systems for photoelectric tracking devices developed domestically;
wherein, the figure (a) is a schematic diagram of a moving target and a collimator for simulating an infinitely long distance target; FIG. b is a schematic diagram of a laser spot simulation infinite target;
FIG. 2 is a schematic diagram of a test apparatus based on a semi-physical simulation of a spatial light modulator;
wherein, 1-photoelectric tracker; 2-collimator; a 3-spatial light modulator; 4-beam combining lens; 5-a beam shaping system; a 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 attached drawings and detailed description:
example 1:
as shown in fig. 2, the tracking precision testing device of the 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 a uniform collimated beam;
the white light source and the blackbody radiation source respectively pass through respective beam shaping systems and then become uniform collimated light, and then coaxially enter the spatial light modulator through a beam combining mirror;
a spatial light modulator configured to generate a static or dynamic simulation target, providing a tracking object for tracking accuracy testing;
the photoelectric tracker is configured to track a simulation target, and simultaneously output the real-time change of the target angle through a data end;
a collimator configured to adjust light reflected by the spatial light modulator to generate parallel light, producing an object at infinity;
the industrial personal computer is configured to obtain the tracking angle of the tracking device by comparing the data of the same target at the same moment.
The incidence directions of the white light source and the blackbody radiation source are consistent with each other through the optical axis of the beam combiner.
The beam combining lens is coated with response wavelength, so that the beam combining lens has high reflectivity in a visible light band and high transmittance in a middle infrared band.
Example 2:
on the basis of the embodiment 1, the invention also provides a tracking precision testing method of the photoelectric tracker, which specifically comprises the following steps:
step 1: the method comprises the steps of turning on a blackbody 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;
step 3: the beam combining lens is adjusted to ensure that two beams of light are transmitted or reflected to be combined into one beam of space light, and the space light irradiates the surface of the space light modulator;
step 4: writing a series of image data by 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;
step 5: the collimator is adjusted, the reflected light of the spatial light modulator is adjusted to be parallel light, and a tracking target at an infinite simulation position is realized;
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, the real-time data received by the industrial personal computer at the same time is not the corresponding same image; firstly, a trigger signal is obtained from a spatial light modulator, and an industrial personal computer obtains the accurate time of each frame of image projection; secondly, measuring response time of the photoelectric tracker, namely delay time from receiving the optical signal to sending the electrical signal;
step 7: comparing with the output image data;
the output image only has the projection time and pixel position of each frame, and the calculation is carried out according to the optical parameters of the collimator and the relative position of the spatial light modulator, and the moving speed and the acceleration parameters of the tracking target in the projection image;
step 8: setting the tracking target to be different moving speeds and moving tracks through the industrial personal computer, and repeating the steps 1-7.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (4)
1. A tracking precision testing device of a photoelectric tracker is characterized in that: the system 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 uniformly collimated beam; the system 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 respectively pass through respective beam shaping systems and then become uniform collimated light, and then coaxially enter the spatial light modulator through a beam combining mirror;
a spatial light modulator configured to generate a static or dynamic simulation target, providing a tracking object for tracking accuracy testing;
the photoelectric tracker is configured to track a simulation target, and simultaneously output the real-time change of the target angle through a data end;
a collimator configured to adjust the reflected light of the spatial light modulator into parallel light;
the industrial personal computer is configured to obtain the tracking angle of the tracking device by comparing the data of the same target at the same moment.
2. The tracking accuracy testing device of the photoelectric tracker according to claim 1, wherein: the incidence directions of the white light source and the blackbody radiation source are consistent with each other through the optical axis of the beam combiner.
3. The tracking accuracy testing device of the photoelectric tracker according to claim 1, wherein: and (5) performing wavelength coating on the beam combining mirror.
4. A tracking precision test method of a photoelectric tracker is characterized by comprising the following steps of: the tracking precision testing device adopting the photoelectric tracker according to claim 1 comprises the following steps:
step 1: the method comprises the steps of turning on a blackbody 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;
step 3: the beam combining lens is adjusted to ensure that two beams of light are transmitted or reflected to be combined into one beam of space light, and the space light irradiates the surface of the space light modulator;
step 4: writing a series of image data by an industrial personal computer, and obtaining the moving speed of a tracking target in the projection video of the spatial light modulator according to the number of projection frames and the number of moving pixels of each frame;
step 5: the collimator is adjusted, the reflected light of the spatial light modulator is adjusted to be parallel light, and a tracking target at an infinite simulation position is realized;
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, the real-time data received by the industrial personal computer at the same time is not the corresponding same image; firstly, a trigger signal is obtained from a spatial light modulator, and an industrial personal computer obtains the accurate time of each frame of image projection; secondly, measuring response time of the photoelectric tracker, namely delay time from receiving the optical signal to sending the electrical signal;
step 7: comparing with the output image data;
the output image only has the projection time and pixel position of each frame, and the calculation is carried out according to the optical parameters of the collimator and the relative position of the spatial light modulator, and the moving speed and the acceleration parameters of the tracking target in the projection image;
step 8: setting the tracking target to be different moving speeds and moving tracks through the industrial personal computer, and repeating the steps 1-7.
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