CN114660588A - Distributed photoelectric target tracking system for anti-unmanned aerial vehicle - Google Patents
Distributed photoelectric target tracking system for anti-unmanned aerial vehicle Download PDFInfo
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- 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
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Abstract
The invention discloses a distributed photoelectric target tracking system for an anti-unmanned aerial vehicle, which comprises: the system comprises a multi-target tracking radar, a data processing server, a photoelectric tracking observation device, a video processing server, a video storage server, a situation display client and a video tracking client; the unmanned aerial vehicle target of realization specific protection zone carries out real-time supervision, form the three-dimensional observation net that covers specific protection zone, realize the real-time image monitoring and the tracking measurement to aerial unmanned aerial vehicle target, strike for unmanned aerial vehicle and provide more accurate target position information, satisfy from long distance to closely target real-time tracking, and to the analysis reply of overall process afterwards, realize showing the global situation of tracking process, form and cover specific protection zone can reconstruct in a flexible way, three-dimensional unmanned aerial vehicle target observation net.
Description
Technical Field
The invention relates to a target tracking system, in particular to a distributed photoelectric target tracking system for an anti-unmanned aerial vehicle.
Background
In recent years, the unmanned aerial vehicle is rapidly developed in the civil and commercial fields by virtue of the advantages of low cost, small volume, light weight, easy operation, good flexibility, strong adaptability, high stability and the like, and the popularization rate is improved again and again. But at the same time, unmanned aerial vehicle abuse, black flies and malicious use pose many threats to national security. Particularly, in some public areas, such as airports and the like, frequent accidents occur, and real-time monitoring of the unmanned aerial vehicle is necessary.
Unmanned aerial vehicle reflection area is little, and flying height is low, speed is slow, and in places such as city, airport especially, ground clutter is more, adopts single radar means to be difficult to effectively survey unmanned aerial vehicle. The photoelectric detection equipment has the advantages of high measurement precision, high data reliability, stable tracking and the like, and the accuracy of target judgment can be improved by the fusion of radar and photoelectric data.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the technical problem of the prior art and provides a distributed photoelectric target tracking system for an anti-unmanned aerial vehicle.
In order to solve the technical problem, the invention discloses a distributed photoelectric target tracking system for an anti-unmanned aerial vehicle, which comprises: the system comprises a multi-target tracking radar, a data processing server, a photoelectric tracking observation device, a video processing server, a video storage server, a situation display client and a video tracking client;
the multi-target tracking radar is used for acquiring the real-time three-dimensional position of the target unmanned aerial vehicle and transmitting the real-time three-dimensional position to the data processing server;
the data processing server is used for fusing and processing data of the multi-target tracking radar and the photoelectric tracking observation equipment and controlling the photoelectric tracking observation equipment to track the target unmanned aerial vehicle in real time;
the photoelectric tracking observation equipment is deployed around or in a protection area in a distributed manner by adopting a plurality of pieces of equipment, receives a control instruction sent by a data processing server and adjusts the azimuth angle and the pitch angle of the equipment in real time;
the video processing server is used for carrying out real-time target identification on the unmanned aerial vehicle target in the video picture of the photoelectric tracking observation device and sending the target position in the video to the data processing server;
the video Storage server provides functions of storing, inquiring, replaying and downloading historical videos based on a centralized Storage mode of an IP-SAN (referred to as SAN, Storage Area Network is a technology of integrating Storage equipment, connecting equipment and an interface in a high-speed Network, and the IP-SAN is an SAN technology based on an IP Network);
the situation display client is used for displaying flight track data of the target unmanned aerial vehicle, a target sign and two-dimensional and three-dimensional map information;
the video tracking client is used for displaying real-time video pictures of the photoelectric tracking observation equipment.
In the present invention, the data processing server and the video processing server include:
the data processing server performs fusion processing on data of the multi-target tracking radar and the photoelectric tracking observation device, receives position information of the target unmanned aerial vehicle sent by the multi-target tracking radar in real time, calculates an azimuth angle and a pitch angle of the photoelectric tracking observation device closest to the target unmanned aerial vehicle according to the longitude, the latitude and the altitude of the target unmanned aerial vehicle and the longitude, the latitude and the altitude of the photoelectric tracking observation device, and controls the photoelectric tracking observation device to adjust the orientation of a holder to perform target tracking;
the video processing server identifies the target of the unmanned aerial vehicle in a real-time video picture returned by the photoelectric tracking observation equipment, video verification is carried out on the target indicated by the radar, if the unmanned aerial vehicle is identified, the target position in the video is sent to the data processing server, and the data processing server carries out unmanned aerial vehicle position correction to enable the target unmanned aerial vehicle to be positioned in the center of the video picture and continuously track the target unmanned aerial vehicle; if no drone is identified, the tracking is stopped.
In the invention, the data processing server provides multi-target cooperative guidance:
after the data processing server receives the track data of the target unmanned aerial vehicle, according to the position of the guided photoelectric tracking observation device and the holder information, processing and generating multi-channel guide data aiming at the guided photoelectric tracking observation device at different positions, according to the nearest optimal guide principle, issuing different guide data to the corresponding guided photoelectric tracking observation device, and controlling the holder to rotate so as to track the target, so that the target is always positioned in the central range of the observation image.
In the present invention, the data processing server provides single-target multi-device guidance:
after the target unmanned aerial vehicle enters the optimal detection area of the guided photoelectric tracking observation device, the data processing server issues the guiding data to the guided photoelectric tracking observation device for target guidance, after the target unmanned aerial vehicle moves into the optimal detection area of another guided photoelectric tracking observation device after a period of time, the data processing server automatically issues another path of guiding data to another guided photoelectric tracking observation device, and the two guided photoelectric tracking observation devices realize the whole-process tracking of the target through linkage relay; when the aerial target is less or a certain target unmanned aerial vehicle needs to be focused, the system simultaneously moves the multi-path photoelectric tracking observation equipment to observe from multiple angles.
In the invention, the method for tracking the anti-unmanned aerial vehicle by adopting the system comprises the following steps:
step 1, detecting a real-time position of a target Unmanned Aerial Vehicle (UAV) by a multi-target tracking radar, wherein the real-time position comprises longitude x, latitude y and height z, and transmitting the position to a data processing server;
step 2, the data processing server receives the position information of the target unmanned aerial vehicle sent by the multi-target tracking radar in real time, and the position information is obtained according to the longitude x, the latitude y and the altitude z of the target unmanned aerial vehicle and the longitude x of the photoelectric tracking observation equipment calibrated manually0Latitude y0And a height z0Resolving the azimuth angle of the photoelectric tracking observation equipment nearest to the target unmanned aerial vehicle
A pitch angle theta is controlled, and the direction of a tripod head is adjusted by the photoelectric tracking observation equipment to carry out target followingTracking; the target tracking comprises multi-target cooperative guidance and single-target multi-device guidance;
step 3, the video processing server identifies the target of the unmanned aerial vehicle in a real-time video picture returned by the photoelectric tracking observation equipment, video verification is carried out on the target indicated by the radar, if the unmanned aerial vehicle is identified, the target position in the video is sent to the data processing server, and the data processing server carries out unmanned aerial vehicle position correction, so that the target unmanned aerial vehicle is positioned in the center of the video picture and continuously tracks the target unmanned aerial vehicle; if no drone is identified, the tracking is stopped.
In the invention, the step 2 comprises the following steps:
step 2-1, calculating a pitch angle of the photoelectric tracking observation equipment;
step 2-2, calculating the azimuth angle of the photoelectric tracking observation equipment;
step 2-3, multi-target cooperative guidance;
and 2-4, single-target multi-device booting.
In the invention, the pitch angle theta of the photoelectric tracking observation device in the step 2-1 is calculated by the following steps:
step 2-1-1, the ground distance D from the space position where the target unmanned aerial vehicle is mapped to the ground point to the photoelectric tracking observation device can be calculated by using a Haversine formula (reference: r.w. sinntott, "virtus of the Haversine", Sky and Telescope, vol 68, no 2,1984):
D＝Δσ×RE
wherein, the earth is assumed to be an ideal sphere, RE6371km for the radius of the earth, Δ y ═ y-y0| is the absolute value of the 2-point latitude radian difference, and Δ x | -x0I is the absolute value of the 2-point longitude radian difference, and Delta sigma is 2 points (x, y, z) and (x) on the earth's sphere0,y0,z0) Central angles formed by connecting lines with the ball centers respectively;
step 2-1-2, relative to the earth, the ground distance D can be approximated as a straight line, which is obtained by a trigonometric function relationship:
step 2-1-3, calculating the space distance L between the photoelectric tracking observation device and the target unmanned aerial vehicle:
2-1-4, collecting proper focal length data for each distance section to carry out rapid focusing to form a mapping relation table of the distance L and the focal length f; inquiring a distance-focal length mapping relation table according to the spatial distance L to adjust the focal length of the photoelectric tracking observation device;
step 2-1-5, correcting the pitch angle of the photoelectric tracking observation equipment, wherein the method comprises the following steps:
the method for calculating the correction angle delta theta of the pitch angle of the photoelectric tracking observation equipment comprises the following steps of:
according to the trigonometric function relationship, it can be deduced that:
wherein beta is the vertical field angle of the photoelectric tracking observation equipment,
Chthe CCD target surface height of a charge coupled device image sensor in the photoelectric tracking observation equipment is adopted, f is the focal length, H is the picture pixel height, and H is the pixel coordinate from the picture central point.
In the invention, the photoelectric tracking observation equipment in the step 2-2 observes the azimuth angle required by the target unmanned aerial vehicle
The calculation method comprises the following steps:
step 2-2-1, establishing an auxiliary line, calculating the due north direction distance d between the photoelectric target tracking equipment and the target unmanned aerial vehicle, and obtaining the distance by a Haversine formula according to the actual observation range of the system:
wherein pi is a circumference ratio;
step 2-2-2, with respect to the earth, the ground distances D and D are approximated as straight lines and are obtained by a trigonometric function relationship:
step 2-2-3, correcting the azimuth angle of the photoelectric tracking observation equipment, wherein the method comprises the following steps:
azimuth angle correction angle of photoelectric tracking observation equipment
When the offset is negative, the offset is adjusted to the left, when the offset is positive, the offset is adjusted to the right,
the calculation method is as follows:
wherein gamma is the horizontal field angle of the photoelectric tracking observation equipment,
Cwis the width of CCD target surface, f is focal length, W is the width of picture pixel, W is the pixel coordinate from the center point of picture,
negative for left offset adjustment and positive for right offset adjustment.
In the invention, the multi-target cooperative guiding method in the step 2-3 comprises the following steps: after receiving the track data of the target unmanned aerial vehicle, the data processing server processes and generates multi-channel guide data for the guided photoelectric tracking observation equipment at different positions according to the position and the holder information of the guided photoelectric tracking observation equipment, issues different guide data to the corresponding guided photoelectric tracking observation equipment according to the nearest optimal guide principle, and controls the holder to rotate so as to track the target, so that the target is always positioned in the central range of the observation image; the near optimal guidance method comprises the following steps:
step 2-3-1, calculating the space distance L between the plurality of target unmanned aerial vehicles and the photoelectric tracking observation equipment in the idle state1,L2,…,Ln(ii) a Wherein n is the number of the unallocated target unmanned aerial vehicles multiplied by the number of the photoelectric tracking observation devices in the idle state;
step 2-3-2, allocating the target unmanned aerial vehicle to the photoelectric tracking observation equipment L with the shortest space distancea＝min{L1,L2,…,Ln}；
Step 2-3-3, if the space distance between the target unmanned aerial vehicle to be distributed and the photoelectric tracking observation equipment exceeds the maximum tracking distance, the distribution fails; marking the photoelectric tracking observation equipment in an idle state and participating in allocation again;
and 2-3-4, repeating the steps 2-3-1 to 2-3-3 until no distributable photoelectric tracking observation equipment exists.
In the invention, the single-target multi-device guiding method in the step 2-4 comprises the following steps: after the target unmanned aerial vehicle enters the optimal detection area of the photoelectric tracking observation device No. 1, the data processing server issues the guide data to the photoelectric tracking observation device No. 1 for target guidance, after the target moves into the optimal detection area of the photoelectric tracking observation device No. 2 for a period of time, the data processing server automatically issues the other path of guide data to the photoelectric tracking observation device No. 2, and the two guided photoelectric tracking observation devices realize the whole-course tracking of the target through linkage relay; when the aerial targets are few or a certain target unmanned aerial vehicle needs to be focused, the system simultaneously moves a plurality of paths of photoelectric tracking observation equipment to observe the targets from a plurality of angles;
the single-target multi-device guiding method is suitable for the situation that only one target unmanned aerial vehicle exists or a certain target unmanned aerial vehicle needs to be focused on, and comprises the following steps:
step 2-4-1, calculating the space distance L between the target unmanned aerial vehicle and all photoelectric tracking observation equipment1,L2,…,Lm(ii) a Wherein m is the number of photoelectric tracking observation devices;
step 2-4-2, allocating the target unmanned aerial vehicle to the photoelectric tracking observation equipment L with the shortest space distanceb＝min{L1,L2,…,LmRecording as No. 1 photoelectric tracking observation equipment;
step 2-4-3, when the target unmanned aerial vehicle is about to fly out of the optimal detection area of the photoelectric tracking observation equipment No. 1, namely Lb>L, L is the maximum detection distance of the photoelectric tracking observation device), the distance L between the target unmanned aerial vehicle and other photoelectric tracking observation devices except the photoelectric tracking observation device No. 1 is recalculated2,…,Lm(for convenience of description, assume Lb＝L1)；
Step 2-4-4, allocating the target unmanned aerial vehicle to the photoelectric tracking observation equipment L with the shortest space distancec＝min{L2,…,LmAnd marking as No. 2 photoelectric tracking observation equipment, and repeating the steps 2-4-3 until the target unmanned aerial vehicle flies out of the observation areas of all the photoelectric tracking observation equipment.
Has the advantages that:
according to the distributed photoelectric target tracking system for the anti-unmanned aerial vehicle, the target unmanned aerial vehicle is secondarily positioned by guiding the photoelectric tracking observation device through the multi-target tracking radar, so that the position of the target unmanned aerial vehicle is further accurate, the target unmanned aerial vehicle is tracked in real time, multi-target cooperative guidance and single-target multi-device guidance are supported, the system can simultaneously move multiple paths of photoelectric tracking observation devices, the target is observed from multiple angles, more accurate target position information is provided for the unmanned aerial vehicle to strike, and a three-dimensional unmanned aerial vehicle observation target network which covers a specific protection area and can be flexibly reconstructed is formed.
Drawings
The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
FIG. 1 is a schematic diagram of a system architecture according to the present invention.
FIG. 2 is a flow chart of the present invention.
Fig. 3 is a diagram illustrating a deployment example of the photoelectric tracking observation device.
Fig. 4 is a schematic view of the pitch angle of the photoelectric tracking observation device.
FIG. 5 is a schematic view of the pitch angle correction of the photoelectric tracking observation device of the present invention.
Fig. 6 is a schematic view of the azimuth angle of the photoelectric tracking observation device of the present invention.
FIG. 7 is a schematic view of the azimuth angle calibration of the photoelectric tracking observation device of the present invention.
FIG. 8 is a diagram illustrating multi-target cooperative guiding according to the present invention.
FIG. 9 is a diagram of single target multi-device boot according to the present invention.
Detailed Description
As shown in fig. 1, the present invention mainly includes the following parts: the system comprises a multi-target tracking radar, a data processing server, a photoelectric tracking observation device, a video processing server, a video storage server, a situation display client and a video tracking client;
the multi-target tracking radar is used for acquiring the real-time three-dimensional position of the target unmanned aerial vehicle and transmitting the real-time three-dimensional position to the data processing server;
the data processing server is used for fusing and processing data of the multi-target tracking radar and the photoelectric tracking observation equipment and controlling the photoelectric tracking observation equipment to track the target unmanned aerial vehicle in real time;
the photoelectric tracking observation equipment is deployed around or in a protection area in a distributed mode by adopting a plurality of pieces of equipment, receives a control instruction sent by a data processing server, and adjusts an azimuth angle and a pitch angle of the equipment in real time;
the video processing server is used for carrying out real-time target identification on the unmanned aerial vehicle target in the video picture of the photoelectric tracking observation device and sending the target position in the video to the data processing server;
the video storage server provides functions of storing, inquiring, replaying and downloading historical videos based on an IP-SAN centralized storage mode;
the situation display client is used for displaying flight track data, a target sign and two-dimensional and three-dimensional map information of the target unmanned aerial vehicle;
the video tracking client is used for displaying real-time video pictures of the photoelectric tracking observation equipment.
As shown in fig. 2, a distributed photoelectric target tracking system for an anti-drone includes the following processing steps:
step a1, the multi-target tracking radar detects the real-time position (including longitude x, latitude y and height z) of the target unmanned aerial vehicle and transmits the position to the data processing server;
step a2, the data processing server receives the position information of the target unmanned aerial vehicle sent by the multi-target tracking radar in real time, and the longitude x of the photoelectric tracking observation equipment is calibrated according to the longitude x, the latitude y and the altitude z of the target unmanned aerial vehicle0Latitude y0And a height z0Resolving the azimuth angle of the photoelectric tracking observation equipment nearest to the target unmanned aerial vehicle
The pitch angle theta controls the photoelectric tracking observation equipment to adjust the orientation of the holder to track the target;
step a3, the video processing server identifies the target of the unmanned aerial vehicle in the real-time video image returned by the photoelectric tracking observation equipment, video verification is carried out on the target indicated by the radar, if the unmanned aerial vehicle is identified, the target position in the video is sent to the data processing server, and the data processing server carries out unmanned aerial vehicle position correction, so that the target unmanned aerial vehicle is positioned in the center of the video image and continuously tracks the target unmanned aerial vehicle; if no drone is identified, the tracking is stopped.
As shown in fig. 3, typical deployment of the photoelectric tracking observation device of the present invention includes that a solid rectangular region in the figure is a protection region, a dotted line is a trackable detection region of the photoelectric tracking observation device, and the photoelectric tracking observation device can be flexibly deployed according to a range of a region to be protected.
As shown in fig. 4, the method for calculating the pitch angle of the photoelectric tracking observation device of the present invention includes that (x, y, z) in the diagram is the longitude, latitude and altitude of the target drone detected by the radar, (x0,y0,z0) Longitude, latitude and height data of the photoelectric tracking observation equipment are calibrated manually, theta is a pitch angle required by the photoelectric tracking observation equipment for observing the target unmanned aerial vehicle, and D is a ground distance from a ground point to the photoelectric tracking observation equipment, wherein the space position of the target unmanned aerial vehicle is mapped to the ground point. Calculating the pitch angle of the photoelectric tracking observation equipment:
at step b1, distance D can be calculated by Haversane equation:
D＝Δσ×RE
wherein the earth is assumed to be a perfect sphere, RE6371km for the radius of the earth, Δ y ═ y-y0| is the absolute value of the 2-point latitude radian difference, and Δ x | -x0| is the absolute value of the 2-point longitude radian difference, and Δ σ is 2 points (x, y, z), (x) on the earth's sphere0,y0,z0) Central angles formed by connecting lines with the ball centers respectively;
step b2, regarding the earth, the ground distance D can be approximately regarded as a straight line, which can be obtained from the trigonometric function relationship:
step b3, calculating the space distance L between the photoelectric tracking observation device and the target unmanned aerial vehicle:
and b4, collecting proper focal length data for each distance segment to form a mapping relation table of the distance L and the focal length f for realizing quick focusing. And inquiring a distance-focal length mapping relation table according to the spatial distance L to adjust the focal length of the photoelectric tracking observation device.
As shown in fig. 5, the method for correcting the pitch angle of the photoelectric tracking and observing device of the present invention includes that β is the vertical field angle of the photoelectric tracking and observing device, H is the picture pixel height, H is the pixel coordinate from the picture center point, 2B is the actual scene height corresponding to the picture, B is the actual height distance from the plane to the picture center point, the picture center point is 0 point, and is positive upward and negative downward.
From the trigonometric relationship it can be deduced:
wherein,
Chthe height of the CCD target surface is shown, f is the focal length, and delta theta is adjusted by downward deviation when the focal length is negative and is adjusted by upward deviation when the focal length is positive.
As shown in fig. 6, the method for calculating the azimuth angle of the photoelectric tracking observation device of the present invention includes that the azimuth angle is calculated without considering the altitude, and assuming that the target drone and the photoelectric tracking observation device are on the same plane, (x, y) in the figure is the longitude and latitude, (x, y) of the target drone detected by the radar0,y0) For manually calibrated longitude and latitude data of photoelectric tracking observation equipment,
the azimuth angle required by the target unmanned aerial vehicle is observed by the photoelectric tracking observation device, D is the ground distance from the ground point to the photoelectric tracking observation device mapped by the space position of the target unmanned aerial vehicle, and N is the true north direction and is taken as the azimuth angle of 0 degree. The method comprises the following steps of calculating the azimuth angle of photoelectric tracking observation equipment:
step c1, establishing an auxiliary line, calculating d in fig. 6, and deducing from a Haversine formula according to the actual observation range of the system:
step c2, the ground distances D and D can be approximately regarded as straight lines relative to the earth, and can be obtained from a trigonometric function relationship:
as shown in fig. 7, the method for correcting the azimuth angle of the photoelectric tracking and observing device according to the embodiment of the present invention includes that γ is the horizontal field angle of the photoelectric tracking and observing device, W is the width of the picture pixel, W is the pixel coordinate from the center point of the picture, 2A is the actual scene width corresponding to the picture, a is the actual width distance from the airplane to the center point of the picture, the center point of the picture is 0 point, the right direction is positive, and the left direction is negative.
According to the trigonometric function relationship, it can be deduced that:
wherein,
Cwis the width of the CCD target surface, f is the focal length,
negative for left offset adjustment and positive for right offset adjustment.
As shown in fig. 8, the multi-target cooperative guidance method of the present invention includes that after receiving track data of a target unmanned aerial vehicle, a data processing server processes and generates multi-path guidance data for guided photoelectric tracking and observation devices at different positions according to the position of the guided photoelectric tracking and observation device and cradle head information, and sends different guidance data to corresponding guided photoelectric tracking and observation devices according to a "best-near guidance" principle, and controls the cradle head to rotate to track the target, so that the target is always located within a central range of an observation image.
The principle steps of 'nearest optimal guidance':
step d1, calculating the space distance L between the plurality of target unmanned aerial vehicles and the photoelectric tracking observation equipment in the idle state1,L2,…,Ln；
Step d2, allocating the target unmanned aerial vehicle to the photoelectric tracking observation device L with the shortest space distancea＝min{L1,L2,…,Ln}；
Step d3, if the space distance between the target unmanned aerial vehicle to be distributed and the photoelectric tracking observation equipment exceeds the maximum tracking distance, the distribution fails; if the space distance between the distributed target unmanned aerial vehicle and the photoelectric tracking observation equipment exceeds the maximum tracking distance, marking the photoelectric tracking observation equipment in an idle state, and participating in distribution again;
and step d4, repeating the steps d1 to d3 until no distributable photoelectric tracking observation devices exist.
As shown in fig. 9, the single-target multi-device guiding method of the present invention includes that after a target unmanned aerial vehicle enters the optimal detection area of the photoelectric tracking observation device No. 1, a data processing server issues guiding data to the photoelectric tracking observation device No. 1 for target guidance, after a target moves into the optimal detection area of the photoelectric tracking observation device No. 2 for a period of time, the data processing server automatically issues another path of guiding data to the photoelectric tracking observation device No. 2, and the two guided photoelectric tracking observation devices realize the whole-process tracking of the target through linkage relay; when the aerial target is less or a certain target unmanned aerial vehicle needs to be focused, the system can simultaneously move a plurality of paths of photoelectric tracking observation equipment to observe the target from a plurality of angles.
The single-target multi-device guiding method is suitable for the situation that only one target unmanned aerial vehicle exists or a certain target unmanned aerial vehicle needs to be focused, and the single-target multi-device guiding method comprises the following steps:
step e1, calculating a plurality of target unmanned aerial vehicles and all photoelectric tracking observation devicesSpatial distance L between the devices1,L2,…,Lm；
Step e2, allocating the target unmanned aerial vehicle to the photoelectric tracking observation device L with the shortest space distanceb＝min{L1,L2,…,LmRecording as No. 1 photoelectric tracking observation equipment;
step e3, the target unmanned aerial vehicle is about to fly out of the optimal detection area (L) of the photoelectric tracking observation device No. 1b>L, L is the maximum detection distance of the photoelectric tracking observation device), the distance L between the target unmanned aerial vehicle and other photoelectric tracking observation devices except the photoelectric tracking observation device No. 1 is recalculated2,…,Lm(for convenience of description, assume Lb＝L1)；
Step e4, allocating the target unmanned aerial vehicle to the photoelectric tracking observation device L with the shortest space distancec＝min{L2,…,LmAnd recording the unmanned aerial vehicle as No. 2 photoelectric tracking observation equipment, and repeating the steps until the target unmanned aerial vehicle flies out of observation areas of all the photoelectric tracking observation equipment.
The invention provides a thought and a method for a distributed photoelectric target tracking system for an anti-unmanned aerial vehicle, and a method and a way for implementing the technical scheme are many, the above description is only a preferred embodiment of the invention, and it should be noted that, for a person skilled in the art, a plurality of improvements and embellishments can be made without departing from the principle of the invention, and the improvements and embellishments should also be regarded as the protection scope of the invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (10)
1. A distributed photoelectricity target tracking system for anti-unmanned aerial vehicle, comprising: the system comprises a multi-target tracking radar, a data processing server, a photoelectric tracking observation device, a video processing server, a video storage server, a situation display client and a video tracking client;
the multi-target tracking radar is used for acquiring the real-time three-dimensional position of the target unmanned aerial vehicle and transmitting the real-time three-dimensional position to the data processing server;
the data processing server is used for fusing and processing data of the multi-target tracking radar and the photoelectric tracking observation equipment and controlling the photoelectric tracking observation equipment to track the target unmanned aerial vehicle in real time;
the photoelectric tracking observation equipment is deployed around or in a protection area in a distributed mode by adopting a plurality of pieces of equipment, receives a control instruction sent by a data processing server, and adjusts an azimuth angle and a pitch angle of the equipment in real time;
the video processing server is used for carrying out real-time target identification on the unmanned aerial vehicle target in the video picture of the photoelectric tracking observation device and sending the target position in the video to the data processing server;
the video storage server provides functions of storing, inquiring, replaying and downloading historical videos based on an IP-SAN centralized storage mode;
the situation display client is used for displaying flight track data of the target unmanned aerial vehicle, a target sign and two-dimensional and three-dimensional map information;
the video tracking client is used for displaying real-time video pictures of the photoelectric tracking observation equipment.
2. The distributed photoelectric target tracking system for anti-drones according to claim 1, characterized in that the data processing server and the video processing server comprise:
the data processing server performs fusion processing on data of the multi-target tracking radar and the photoelectric tracking observation device, receives position information of the target unmanned aerial vehicle sent by the multi-target tracking radar in real time, calculates an azimuth angle and a pitch angle of the photoelectric tracking observation device closest to the target unmanned aerial vehicle according to the longitude, the latitude and the altitude of the target unmanned aerial vehicle and the longitude, the latitude and the altitude of the photoelectric tracking observation device, and controls the photoelectric tracking observation device to adjust the orientation of a holder to perform target tracking;
the video processing server identifies the target of the unmanned aerial vehicle in a real-time video picture returned by the photoelectric tracking observation equipment, video verification is carried out on the target indicated by the radar, if the unmanned aerial vehicle is identified, the target position in the video is sent to the data processing server, and the data processing server carries out unmanned aerial vehicle position correction to enable the target unmanned aerial vehicle to be positioned in the center of the video picture and continuously track the target unmanned aerial vehicle; if no drone is identified, the tracking is stopped.
3. The distributed photoelectric target tracking system for anti-drones according to claim 2, characterized in that the data processing server provides multi-target cooperative guidance:
after the data processing server receives the track data of the target unmanned aerial vehicle, according to the position of the guided photoelectric tracking observation device and the holder information, processing and generating multi-channel guide data aiming at the guided photoelectric tracking observation device at different positions, according to the nearest optimal guide principle, issuing different guide data to the corresponding guided photoelectric tracking observation device, and controlling the holder to rotate so as to track the target, so that the target is always positioned in the central range of the observation image.
4. The distributed electro-optical target tracking system for anti-drones according to claim 3, characterized in that said data processing server provides single-target multi-device booting:
after the target unmanned aerial vehicle enters the optimal detection area of the guided photoelectric tracking observation device, the data processing server issues the guiding data to the guided photoelectric tracking observation device for target guidance, after the target unmanned aerial vehicle moves into the optimal detection area of another guided photoelectric tracking observation device after a period of time, the data processing server automatically issues another path of guiding data to another guided photoelectric tracking observation device, and the two guided photoelectric tracking observation devices realize the whole-process tracking of the target through linkage relay; when the aerial target is less or a certain target unmanned aerial vehicle needs to be focused, the system simultaneously moves the multi-path photoelectric tracking observation equipment to observe from multiple angles.
5. The distributed photoelectric target tracking system for the anti-drone according to claim 4, characterized in that the method for anti-drone tracking with the system comprises the following steps:
step 1, detecting a real-time position of a target Unmanned Aerial Vehicle (UAV) by a multi-target tracking radar, wherein the real-time position comprises longitude x, latitude y and height z, and transmitting the position to a data processing server;
step 2, the data processing server receives the position information of the target unmanned aerial vehicle sent by the multi-target tracking radar in real time, and the position information is obtained according to the longitude x, the latitude y and the altitude z of the target unmanned aerial vehicle and the longitude x of the photoelectric tracking observation equipment calibrated manually0Latitude y0And a height z0Resolving the azimuth angle of the photoelectric tracking observation equipment nearest to the target unmanned aerial vehicle
The pitch angle theta controls the photoelectric tracking observation equipment to adjust the orientation of the holder to track the target; the target tracking comprises multi-target cooperative guidance and single-target multi-device guidance;
step 3, the video processing server identifies the target of the unmanned aerial vehicle in a real-time video picture returned by the photoelectric tracking observation equipment, video verification is carried out on the target indicated by the radar, if the unmanned aerial vehicle is identified, the target position in the video is sent to the data processing server, and the data processing server carries out unmanned aerial vehicle position correction, so that the target unmanned aerial vehicle is positioned in the center of the video picture and continuously tracks the target unmanned aerial vehicle; if no drone is identified, the tracking is stopped.
6. The distributed photoelectric target tracking system for anti-drones according to claim 5, characterized in that step 2 comprises:
step 2-1, calculating a pitch angle of the photoelectric tracking observation equipment;
step 2-2, calculating the azimuth angle of the photoelectric tracking observation equipment;
step 2-3, multi-target cooperative guidance;
and 2-4, single-target multi-device booting.
7. The distributed photoelectric target tracking system for the anti-unmanned aerial vehicle as claimed in claim 6, wherein the photoelectric tracking observation device pitch angle θ in step 2-1 is calculated by:
step 2-1-1, the ground distance D from the space position where the target unmanned aerial vehicle is mapped to the ground upper point to the photoelectric tracking observation device can be calculated by a Haversene formula:
D＝Δσ×RE
wherein, the earth is assumed to be an ideal sphere, RE6371km for the radius of the earth, Δ y ═ y-y0| is the absolute value of the 2-point latitude radian difference, and Δ x | -x0| is the absolute value of the 2-point longitude radian difference, and Δ σ is 2 points (x, y, z) and (x) on the earth's sphere0,y0,z0) Central angles formed by connecting lines with the ball centers respectively;
step 2-1-2, relative to the earth, the ground distance D can be approximated as a straight line, which is obtained by a trigonometric function relationship:
step 2-1-3, calculating the space distance L between the photoelectric tracking observation device and the target unmanned aerial vehicle:
2-1-4, collecting proper focal length data for each distance section to carry out rapid focusing to form a mapping relation table of the distance L and the focal length f; inquiring a distance-focal length mapping relation table according to the spatial distance L to adjust the focal length of the photoelectric tracking observation device;
step 2-1-5, correcting the pitch angle of the photoelectric tracking observation equipment, wherein the method comprises the following steps:
the method for calculating the correction angle delta theta of the pitch angle of the photoelectric tracking observation equipment comprises the following steps of:
according to the trigonometric function relationship, it can be deduced that:
wherein beta is the vertical field angle of the photoelectric tracking observation equipment,
Chthe CCD target surface height of a charge coupled device image sensor in the photoelectric tracking observation equipment is adopted, f is the focal length, H is the picture pixel height, and H is the pixel coordinate from the picture central point.
8. The distributed photoelectric target tracking system for anti-drones according to claim 7, wherein the photoelectric tracking observation device in step 2-2 observes the required azimuth angle of the target drone
The calculation method comprises the following steps:
step 2-2-1, establishing an auxiliary line, calculating the due north direction distance d between the photoelectric target tracking equipment and the target unmanned aerial vehicle, and obtaining the distance by a Haversine formula according to the actual observation range of the system:
wherein pi is a circumference ratio;
step 2-2-2, with respect to the earth, the ground distances D and D are approximated as straight lines and are obtained by a trigonometric function relationship:
step 2-2-3, correcting the azimuth angle of the photoelectric tracking observation equipment, wherein the method comprises the following steps:
azimuth angle correction angle of photoelectric tracking observation equipment
When the offset is negative, the offset is adjusted to the left, when the offset is positive, the offset is adjusted to the right,
the calculation method is as follows:
wherein gamma is the horizontal field angle of the photoelectric tracking observation equipment,
Cwis the width of CCD target surface, f is focal length, W is the width of picture pixel, W is the pixel coordinate from the center point of picture,
the offset adjustment is performed to the left when the polarity is negative, and the offset adjustment is performed to the right when the polarity is positive.
9. The distributed photoelectric target tracking system for the anti-unmanned aerial vehicle as claimed in claim 8, wherein the multi-target cooperative guidance method in the step 2-3 comprises: after receiving the track data of the target unmanned aerial vehicle, the data processing server processes and generates multi-channel guide data for the guided photoelectric tracking observation equipment at different positions according to the position and the holder information of the guided photoelectric tracking observation equipment, issues different guide data to the corresponding guided photoelectric tracking observation equipment according to the nearest optimal guide principle, and controls the holder to rotate so as to track the target, so that the target is always positioned in the central range of the observation image; the near optimal guidance method comprises the following steps:
step 2-3-1, calculating the space distance L between the plurality of target unmanned aerial vehicles and the photoelectric tracking observation equipment in the idle state1,L2,…,Ln(ii) a Wherein n is the number of the unallocated target unmanned aerial vehicles multiplied by the number of the photoelectric tracking observation devices in the idle state;
step 2-3-2, allocating the target unmanned aerial vehicle to the photoelectric tracking observation equipment L with the shortest space distancea＝min{L1,L2,…,Ln}；
Step 2-3-3, if the space distance between the target unmanned aerial vehicle to be distributed and the photoelectric tracking observation equipment exceeds the maximum tracking distance, the distribution fails; marking the photoelectric tracking observation equipment in an idle state and participating in allocation again;
and 2-3-4, repeating the steps 2-3-1 to 2-3-3 until no distributable photoelectric tracking observation equipment exists.
10. The distributed photoelectric target tracking system for anti-drones according to claim 9, wherein the single-target multi-device guiding method in steps 2-4 comprises: after the target unmanned aerial vehicle enters the optimal detection area of the photoelectric tracking observation device No. 1, the data processing server issues the guide data to the photoelectric tracking observation device No. 1 for target guidance, after the target moves into the optimal detection area of the photoelectric tracking observation device No. 2 for a period of time, the data processing server automatically issues the other path of guide data to the photoelectric tracking observation device No. 2, and the two guided photoelectric tracking observation devices realize the whole-course tracking of the target through linkage relay; when the aerial targets are few or a certain target unmanned aerial vehicle needs to be focused, the system simultaneously moves a plurality of paths of photoelectric tracking observation equipment to observe the targets from a plurality of angles;
the single-target multi-device guiding method is suitable for the situation that only one target unmanned aerial vehicle exists or a certain target unmanned aerial vehicle needs to be focused on, and comprises the following steps:
step 2-4-1, calculating the space distance L between the target unmanned aerial vehicle and all the photoelectric tracking observation devices1,L2,…,Lm(ii) a Wherein m isThe number of the observation equipment is photoelectric tracking;
step 2-4-2, allocating the target unmanned aerial vehicle to the photoelectric tracking observation equipment L with the shortest space distanceb＝min{L1,L2,…,LmRecording as No. 1 photoelectric tracking observation equipment;
step 2-4-3, when the target unmanned aerial vehicle is about to fly out of the optimal detection area of the photoelectric tracking observation equipment No. 1, namely Lb>When L is the maximum detection distance of the photoelectric tracking observation equipment, the distance L between the target unmanned aerial vehicle and other photoelectric tracking observation equipment except the photoelectric tracking observation equipment No. 1 is recalculated2,…,Lm；
Step 2-4-4, allocating the target unmanned aerial vehicle to the photoelectric tracking observation equipment L with the shortest space distancec＝min{L2,…,LmAnd marking as No. 2 photoelectric tracking observation equipment, and repeating the steps 2-4-3 until the target unmanned aerial vehicle flies out of observation areas of all the photoelectric tracking observation equipment.
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