CN114858422B - Method for dynamically calibrating consistency of laser optical axis and visual axis based on Gaussian distribution - Google Patents
Method for dynamically calibrating consistency of laser optical axis and visual axis based on Gaussian distribution Download PDFInfo
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Abstract
A method for dynamically calibrating the consistency of a laser optical axis and a visual axis based on Gaussian distribution relates to the field of photoelectric detection, and comprises the following steps: step S1: searching a typical ranging target; step S2: locking a tracking target and simultaneously switching on laser; step S3: selecting a dynamic axis adjusting strategy according to the target type; step S4: collecting a laser ranging return value; step S5: counting data; step S6: and writing a parameter file to finish the shaft adjustment. The invention achieves very high consistency indexes of two axes on the installation platforms of various photoelectric measuring devices, and can realize the precision of axis adjustment errors of 1 pixel. The method does not need to be operated by a professional, can automatically correct the errors of the two shafts of the photoelectric measuring equipment, which are generated due to the influences of the factors such as material stress release, environmental temperature change, transportation bump and installation platform, is not limited by the installation platform of the photoelectric measuring equipment, is not influenced by time and space, and can carry out multiple times of calibration on the consistency of the two shafts at any time.
Description
Technical Field
The invention relates to the technical field of photoelectric detection, in particular to a method for dynamically calibrating the consistency of a laser optical axis and a visual axis based on Gaussian distribution.
Background
The traditional photoelectric measuring device is generally a two-axis system, i.e. the laser optical axis (emission axis) of the laser range finder and the visual axis of the infrared detector (or visible detector). The photoelectric measurement equipment tracks the target and the laser range finder measures the distance of the target at the same time, and then three-dimensional information of the target is formed. In the process, in order to ensure that the distance between the angle information of the target tracked by the photoelectric measuring equipment and the distance detected by the laser range finder is the same target attribute, the photoelectric measuring equipment needs to carry out two-axis consistency calibration before delivery of the equipment, so that the consistency between the visual axis of the infrared detector and the optical axis of the laser range finder is ensured.
The traditional method for adjusting consistency of two shafts is commonly called as hard adjustment, namely mechanical adjustment, the adjustment principle is shown in figure 1, a collimator 1 provides an infinite target for a photoelectric measuring device 4, and a visual axis of an infrared detector 3 and an optical axis of a laser distance measuring machine 2 are crossed at infinite distance (in the collimator 1) in a mode of mechanical adjustment or adding a gasket and the like. At present, the adjusting method is widely applied to the photoelectric measuring equipment with non-common caliber. However, this adjustment method has the following disadvantages:
1) because the adjusting method needs to enable the two shafts to intersect at infinity by means of mechanical adjustment or addition of gaskets and the like, the adjusting method has extremely high requirements on the technological level and experience of an adjusting worker;
2) the two shafts can also randomly change under the influence of factors such as material stress release, environment temperature change, transportation bump and the like;
3) after the photoelectric measuring equipment is delivered, the error calibration of the two shafts is difficult again because the photoelectric measuring equipment is sealed, and a collimator or other calibration equipment is inconvenient to erect when the photoelectric measuring equipment is installed in shipboard, airborne, vehicular or land-based places and the like, so that the cost for error calibration for multiple times is extremely high.
Disclosure of Invention
The invention aims to provide a method for dynamically calibrating the consistency of a laser optical axis and a visual axis based on Gaussian distribution.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a method for dynamically calibrating the consistency of a laser optical axis and a visual axis based on Gaussian distribution, which comprises the following steps:
step S1: searching a typical ranging target;
step S2: locking a tracking target and simultaneously switching on laser;
step S3: selecting a dynamic axis adjusting strategy according to the target type;
step S4: collecting a laser ranging return value;
step S5: counting data;
step S6: and writing a parameter file to finish the shaft adjustment.
Further, the typical ranging target meets detection power conditions of a laser range finder.
Further, the types of the typical ranging target include:
a. the sea surface target meets the shaft adjusting requirement in the Y-axis direction;
b. the vertical rod-shaped object meets the requirement of shaft adjustment in the X-axis direction;
c. hovering the target, and simultaneously meeting the axis adjusting requirements in the X-axis direction and the Y-axis direction;
d. and the flying target from the near to the far is used for verifying the shaft adjusting result.
Further, in step S2, different target tracking points are selected according to the type of the typical ranging target in step S1, and the laser beam opening frame frequency needs to meet the statistical data requirement in step S5.
Further, step S2 specifically includes:
a) when the photoelectric measuring equipment locks and tracks the typical ranging targets of the types a and b in the step S1, an edge tracking mode is adopted;
b) when the photoelectric measuring equipment locks and tracks the c-class and d-class typical distance measurement targets in the step S1, a gravity center tracking mode is adopted;
c) the laser open light frame frequency is not lower than 20Hz per second.
Further, step S3 specifically includes:
a) dynamic shaft adjustment principle: the visual axis moves in the X-axis direction and the Y-axis direction, so that the laser emitted by the laser range finder can hit a target, and the laser range finding return value is continuous and stable;
b) visual axis motion strategy: when the photoelectric measuring equipment locks and tracks the typical ranging target of the class a in the step S1, the visual axis only reciprocates up and down; when the photoelectric measuring equipment locks and tracks the b-type typical ranging target in the step S1, the visual axis only reciprocates left and right; the electro-optical measuring device moves in a spiral expanding manner while locking and tracking the typical ranging targets of class c and class d in step S1.
Further, step S4 specifically includes:
a) the number of the laser ranging back values of each single point is between 0 and 20, the point is considered as an invalid point when the number is less than 10, the statistics is not carried out in the step S5, and the point is considered as an effective point when the number is more than 10, and the statistics is carried out in the step S5;
b) and carrying out Gaussian distribution arrangement on the data set of each effective point, and taking the peak value of a Gaussian distribution curve as the laser range finding return value of the effective point.
Further, step S5 specifically includes:
and performing Gaussian distribution arrangement on the data group formed by all the effective points again, and finding out the visual axis position corresponding to the peak value of the Gaussian distribution curve, wherein the visual axis position is the optimal visual axis tracking offset point position.
Further, step S6 specifically includes:
and writing the optimal position of the visual axis tracking offset point into a parameter file, reading the parameter file each time the photoelectric measuring equipment is started, and automatically correcting the position of the visual axis tracking offset point.
The invention has the beneficial effects that:
the invention achieves very high consistency indexes of two shafts on mounting platforms (ship-borne, airborne, vehicle-borne, land-based and the like) of various photoelectric measuring devices, can realize the shaft adjustment error precision of 1 pixel, and solves the problem that errors are generated by the two-shaft system due to factors such as material stress release, environment temperature change, transportation bump, mounting platforms and the like.
Compared with the prior art, the invention has the following advantages:
(1) the cost is low, and the operation of professional personnel is not needed;
(2) the method can automatically correct the errors of two shafts of the photoelectric measuring equipment caused by the influences of material stress release, environment temperature change, transportation bump, mounting platform and other factors;
(3) the method is not limited by an installation platform of photoelectric measurement equipment, is not influenced by time and space, and can carry out multiple times of calibration on the consistency of two shafts at any time.
Drawings
Fig. 1 is a schematic diagram of a conventional two-axis consistency adjustment method.
FIG. 2 is a schematic diagram of the relationship between the laser optical axis of the laser rangefinder and the visual axis of the infrared detector.
FIG. 3 is a flowchart of a method for dynamically calibrating the two-axis consistency of a laser axis and a visual axis based on Gaussian distribution according to the present invention.
Fig. 4 is a schematic view of dynamic shaft adjustment.
Fig. 5 is a schematic view of a visual axis motion strategy.
FIG. 6 is a two-axis consistency test verification diagram of the photoelectric measurement device when the target coincides with the visual axis of the infrared detector.
FIG. 7 is a two-axis consistency test verification diagram of the photoelectric measurement device when the target coincides with the laser optical axis of the laser range finder.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 2, the entire photoelectric field of view is 640 × 512 pixels, the upper left corner is (0, 0), the lower right corner is (640, 512), and the center point is (320, 256). And the delta X and the delta Y are respectively the miss distance of an X axis and the miss distance of a Y axis. The miss distance of the center points (320, 256) is (0, 0), and the center point is used as the origin, the left side of the x-axis is negative, the right side of the x-axis is positive, the upper side of the y-axis is positive, and the lower side of the y-axis is negative. The central dots (320 and 256) are visual axes of the infrared detector, the upper right dots (320 plus delta X and 256-delta Y) are laser optical axes, and the central triangle is a target position.
The frame frequency of the laser range finder is 20Hz, namely, the laser range finder carries out 20 times of laser range finding within 1 second. When the photoelectric measuring equipment is in a target stable tracking state, the target is positioned at the center (320, 256) of a field of view, and ideally, the laser optical axis position of the laser range finder is also positioned at positions of delta X =0 and delta Y =0, but if the laser optical axis of the laser range finder and the visual axis of the infrared detector are deviated, and laser emitted by the laser range finder does not hit the target when the deviation is overlarge, no laser echo is caused, and laser detection cannot be carried out.
As shown in fig. 3, the present invention provides a method for dynamically calibrating the consistency between the laser optical axis and the visual axis based on gaussian distribution, which comprises the following steps: searching a typical ranging target → locking a tracking target and simultaneously turning on laser → selecting a dynamic axis adjusting strategy according to the type of the target → collecting laser ranging return values → statistical data → writing a parameter file to finish axis adjustment.
The invention provides a method for dynamically calibrating the consistency of a laser optical axis and a visual axis based on Gaussian distribution, which specifically comprises the following steps:
step S1: and searching for typical ranging targets, wherein different types of typical ranging targets can realize different axis adjustment requirements.
Such typical ranging targets need to satisfy detection power conditions of laser rangefinders, and in particular, such typical ranging targets are classified into four major categories:
a type: sea surface targets, such as oil wells above sea antennas, ships above sea surface, etc., such typical ranging targets can meet the requirement of adjusting the axis in the Y-axis direction;
b type: the typical distance measurement target can meet the requirement of shaft adjustment in the X-axis direction;
and c is as follows: airborne objects (hovering targets), such as meteorological balloons, kites, unmanned aerial vehicles and the like, can meet the axis adjustment requirements in the X-axis direction and the Y-axis direction at the same time;
and d is as follows: such ranging targets typically verify the outcome of the boresight from near to far flying targets, such as civil aircraft, fighters, helicopters, etc.
Step S2: locking tracking target and simultaneously laser opening
Different target tracking points are selected according to the typical ranging target type in step S1, and the laser beam opening frame frequency needs to meet the statistical data requirement in step S5. In particular:
a) when the photoelectric measuring device locks and tracks the typical ranging targets of the types a and b in the step S1, adopting an edge tracking mode (upper edge);
b) when the photoelectric measuring equipment locks and tracks the typical ranging targets of the class c and the class d in the step S1, adopting a gravity center tracking mode;
c) the laser open frame frequency is not less than 20 frames per second (20 Hz).
Step S3: and selecting a dynamic axis adjusting strategy according to the target type. In particular:
a) dynamic shaft adjustment principle: as shown in fig. 4, in order to achieve the purpose that the laser emitted from the laser range finder can hit the target and the laser range finding return value is continuous and stable, the visual axis of the infrared detector needs to move in two directions, i.e. the X axis and the Y axis, as shown in fig. 2, the visual axis moves leftward (servo leftward movement) and downward at the same time (servo downward movement), so that the target tracking point of the photoelectric measuring device is artificially shifted, and the laser emitted from the laser range finder just hits the target.
b) And (3) visual axis motion strategy: as shown in fig. 5, when the photoelectric measuring device locks and tracks the typical ranging target of class a in step S1, the visual axis only reciprocates up and down (within a range of ± 5 pixels, the single step interval is 1 second); when the photoelectric measuring equipment locks and tracks the b-type typical ranging target in the step S1, the visual axis only reciprocates left and right (the range is +/-5 pixels, and the single step time interval is 1 second); the electro-optical measuring device moves in a spiral extending manner (range 10 x 10 pixels, single step interval 1 second) while locking on and tracking the typical ranging targets of class c and class d in step S1.
Step S4: collecting laser range back values, which require the collected laser range back values to be continuous and stable, specifically:
a) the number of the laser ranging back values of each single point is between 0 and 20, the point is considered as an invalid point when the number is less than 10, the counting is not performed in the step S5, the point is considered as an effective point when the number is more than 10, and the counting is performed in the step S5;
b) and carrying out Gaussian distribution arrangement on the data set of each effective point, and taking the peak value of a Gaussian distribution curve as the laser range finding value of the effective point.
Step S5: and (4) counting data to find out the visual axis position corresponding to the laser ranging return value, fusing sample data, and finding out the optimal visual axis position through artificial intelligent decision. In particular:
and performing Gaussian distribution arrangement on the data group formed by all the effective points again, and finding out the position of the visual axis corresponding to the peak value of the Gaussian distribution curve, wherein the position of the visual axis is the optimal position of the visual axis tracking offset point.
Step S6: and writing the optimal position of the visual axis tracking offset point into a parameter file (the parameter file can be embedded into an image processing unit or a servo control unit), reading the parameter file each time the photoelectric measuring equipment is started, and then automatically correcting the position of the visual axis tracking offset point.
In order to verify the effectiveness of the method for dynamically calibrating the consistency of the laser optical axis and the visual axis based on Gaussian distribution, the following verification test is carried out.
The target is an airplane (the airplane length is 22.3m, the wingspan is 12.7 m), when the target is coincident with the visual axis (the central point in the figure) of the infrared detector, the laser range finder has no detection value, the radar range is 73.6km, and the position of the visual axis in the photoelectric visual field is (318, 259) at the moment (14: 32: 28), as shown in FIG. 6; in the next second (14: 32: 29), the target is overlapped with the laser optical axis of the laser range finder, the laser range finder outputs that the target detection distance is 73.3km, the radar range is also 73.3km, and the construction of the three-dimensional information of the target is completed, wherein the position of the visual axis in the photoelectric visual field is (319, 259) at the moment (14: 32: 29), as shown in FIG. 7.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The method for dynamically calibrating the consistency of the laser optical axis and the visual axis based on Gaussian distribution is characterized by comprising the following steps of:
step S1: searching a typical ranging target;
step S2: locking a tracking target and simultaneously switching on laser;
step S3: selecting a dynamic shaft adjusting strategy according to the target type;
step S4: collecting a laser ranging return value;
step S4 specifically includes:
a) the number of the laser ranging back values of each single point is between 0 and 20, the point is considered as an invalid point when the number is less than 10, the counting is not performed in the step S5, the point is considered as an effective point when the number is more than 10, and the counting is performed in the step S5;
b) carrying out Gaussian distribution arrangement on the data set of each effective point, and taking the peak value of a Gaussian distribution curve as the laser range finding return value of the effective point;
step S5: counting data;
step S5 specifically includes:
carrying out Gaussian distribution arrangement on the data group formed by all the effective points again, and finding out the visual axis position corresponding to the peak value of the Gaussian distribution curve, wherein the visual axis position is the optimal visual axis tracking offset point position;
step S6: and writing a parameter file to finish axis adjustment.
2. The method for dynamically calibrating the two-axis consistency of the optical axis and the visual axis based on the Gaussian distribution as claimed in claim 1, wherein the typical ranging target meets the detection power condition of a laser range finder.
3. The method for dynamically calibrating two-axis consistency of a laser optical axis and a visual axis based on Gaussian distribution according to claim 1, wherein the types of typical ranging targets comprise:
a. the sea surface target meets the shaft adjusting requirement in the Y-axis direction;
b. the vertical rod-shaped object meets the requirement of shaft adjustment in the X-axis direction;
c. hovering the target, and simultaneously meeting the axis adjusting requirements in the X-axis direction and the Y-axis direction;
d. and the flying target from the near to the far is used for verifying the shaft adjusting result.
4. The method of claim 3, wherein in step S2, different target tracking points are selected according to the type of the typical ranging target in step S1, and the laser beam-on frame rate is required to satisfy the statistical data requirement in step S5.
5. The method for dynamically calibrating two-axis consistency of a laser axis and a visual axis based on Gaussian distribution as claimed in claim 4, wherein the step S2 specifically comprises:
a) when the photoelectric measuring equipment locks and tracks the typical ranging targets of the types a and b in the step S1, an edge tracking mode is adopted;
b) when the photoelectric measuring equipment locks and tracks the typical ranging targets of the class c and the class d in the step S1, adopting a gravity center tracking mode;
c) the laser open light frame frequency is not lower than 20Hz per second.
6. The method for dynamically calibrating the two-axis consistency of the laser axis and the visual axis based on the gaussian distribution as claimed in claim 5, wherein the step S3 specifically comprises:
a) dynamic shaft adjustment principle: the visual axis moves in the X-axis direction and the Y-axis direction, so that the laser emitted by the laser range finder can hit a target, and the laser range finding return value is continuous and stable;
b) visual axis motion strategy: when the photoelectric measuring equipment locks and tracks the typical ranging target of the class a in the step S1, the visual axis only reciprocates up and down; when the photoelectric measuring equipment locks and tracks the b-type typical ranging target in the step S1, the visual axis only reciprocates left and right; the electro-optical measuring device moves in a spiral expanding manner while locking and tracking the typical ranging targets of class c and class d in step S1.
7. The method for dynamically calibrating the two-axis consistency of the laser axis and the visual axis based on the gaussian distribution as claimed in claim 1, wherein the step S6 specifically comprises:
and writing the optimal position of the visual axis tracking offset point into a parameter file, reading the parameter file each time the photoelectric measuring equipment is started, and automatically correcting the position of the visual axis tracking offset point.
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| CN103512728B (en) * | 2013-09-29 | 2017-03-22 | 四川九洲电器集团有限责任公司 | Total-range multi-optical-axis consistency calibration device and method |
| CN103900421B (en) * | 2014-03-18 | 2015-10-07 | 西安应用光学研究所 | For the system and method for multispectral many optical axises optoelectronic device plain shaft parallelism automatic calibration |
| CN107403453B (en) * | 2017-07-25 | 2020-11-17 | 歌尔光学科技有限公司 | Adjusting method and device based on photoelectric module |
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| CN114323571B (en) * | 2021-11-23 | 2023-09-29 | 中国航空工业集团公司洛阳电光设备研究所 | Multi-optical-axis consistency detection method for photoelectric aiming system |
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