CN114994703A - System for detecting hidden target behind leaf cluster - Google Patents
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- CN114994703A CN114994703A CN202210929599.1A CN202210929599A CN114994703A CN 114994703 A CN114994703 A CN 114994703A CN 202210929599 A CN202210929599 A CN 202210929599A CN 114994703 A CN114994703 A CN 114994703A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention discloses a detection system for a concealed target behind a leaf cluster, which comprises a light source, an optical fiber coupling transmission module and a light splitting module which are sequentially connected, wherein the light splitting module is respectively connected with a distance measurement imaging module and a time delay distance measurement imaging module, the distance measurement imaging module and the time delay distance measurement imaging module are connected with a processor, and the processor is also connected with the light source. The invention can not only realize the purpose of detecting and imaging the hidden target behind the leaf cluster, but also has higher target recognition rate.
Description
Technical Field
The invention relates to a target detection system, in particular to a concealed target detection system behind a leaf cluster.
Background
The battlefield surveillance radar is one of the types of radar and is an important device for guaranteeing information advantages in modern war. The traditional battlefield surveillance radar can only reconnaissance bare targets under the condition of sight, and because the leaf clusters have serious attenuation and reflection effects on common radar signals, the early airborne traditional radar has limitations in the aspects of detecting and tracking hidden targets. However, with the ever-increasing demand for transparency in the battlefield, battlefield surveillance radars with the ability to penetrate leaf clusters are of interest. Therefore, it is necessary to develop a radar with the ability to penetrate through the leaf cluster to meet the requirement of use.
Disclosure of Invention
The invention aims to provide a system for detecting a hidden target behind a leaf cluster. The invention can not only realize the purpose of detecting and imaging the hidden target behind the leaf cluster, but also has higher target recognition rate.
The technical scheme of the invention is as follows: the utility model provides a hidden target detection system behind leaf cluster, is including the light source, fiber coupling transmission module and the beam split module that connect gradually, and the beam split module is connected with range finding imaging module and time delay range finding imaging module respectively, and range finding imaging module and time delay range finding imaging module are connected with the treater, and the treater still links to each other with the light source.
In the system for detecting the concealed target behind the leaf cluster, the ranging imaging module comprises an optical fiber, a first optical fiber collimator, a first turning mirror, a first light beam micro-scanning mirror, a first target receiving optical unit and a first sensor which are sequentially connected, and the first sensor is connected with the processor.
In the system for detecting the concealed target behind the leaf cluster, the delay distance measurement imaging module comprises an optical fiber delay timer, a second optical fiber collimator, a second turning mirror, a second light beam micro-scanning mirror, a second target receiving optical unit and a second sensor which are sequentially connected, and the second sensor is connected with the processor.
In the foregoing detection system for concealed targets after leaf clustering, the detection method is as follows: the processor controls the light source to emit pulse laser, the pulse laser is transmitted to the light splitting module after passing through the optical fiber coupling transmission module, the light splitting module divides a beam of laser into two equal parts, and one part enters the distance measurement imaging module to obtain first three-dimensional coordinate information; the other part enters a time delay distance measurement imaging module to obtain second three-dimensional coordinate information; and the processor performs three-dimensional data filtering and splicing on the first three-dimensional coordinate information and the second three-dimensional coordinate information to obtain complete target information.
In the foregoing system for detecting a concealed target behind a leaf cluster, a specific process of entering a distance measurement imaging module by a laser is as follows: the light beam is emitted to a first optical fiber collimator through an optical fiber, expanded and collimated through the first optical fiber collimator, then emitted to a first turning mirror, and then emitted to a first light beam micro-scanning mirror through the turning of the first turning mirror, the light beam is transversely and longitudinally scanned through the first light beam micro-scanning mirror, the scanned light beam is emitted to the area of a target, after the laser beam scans the target, the target can generate a diffuse reflection echo signal to the laser, the echo light beam is collected through a first target receiving optical unit and then converged to a first sensor, and after the signal of the first sensor is processed by a processor, first three-dimensional coordinate information is obtained, and distance filtering processing is carried out on the first three-dimensional coordinate information to obtain first target three-dimensional information.
In the system for detecting the concealed target behind the leaf cluster, the specific process that the other laser split by the light splitting module enters the time-delay distance-measuring imaging module is as follows: the laser is transmitted to a second optical fiber collimator after being delayed by an optical fiber delay unit, is transmitted to a second turning mirror after being expanded and collimated by the second optical fiber collimator, is transmitted to a second light beam micro-scanning mirror after being turned by the second turning mirror, the light beam can be transversely and longitudinally scanned by the second light beam micro-scanning mirror, the scanned light beam is transmitted to the area of a target, the target can generate a diffuse reflection echo signal to the laser after the laser beam scans the target, the echo light beam is collected by a second receiving optical unit and then converged on a second sensor, the processor processes the signal of the second sensor to obtain second three-dimensional coordinate information, and the second three-dimensional coordinate information is subjected to distance filtering processing to obtain second target three-dimensional information.
In the detection system for the concealed target behind the leaf cluster, the time delayed by the optical fiber delayer is one half of the pulse laser period of the first sensor.
In the system for detecting the concealed target after the leaf cluster, after the laser is expanded and collimated by the first optical fiber collimator or the second optical fiber collimator, the divergence angle of the laser is less than 1.5 mrad.
In the foregoing detection system for the concealed target behind the leaf cluster, the deflection angles of the first turning mirror and the second turning mirror are both 90 °.
In the system for detecting the concealed target behind the leaf cluster, the processor obtains first three-dimensional coordinate information and second three-dimensional coordinate information respectively through target point cloud position calculation; the specific steps of the target point cloud position calculation are as follows:
the detected target point is subjected to yaw angle, pitch angle and distance information relative to the ranging imaging module or the delay ranging imaging module
Substituted into the variation 1),
the variation equation 1) is substituted into the following loader coordinate system:
the information of yaw angle, pitch angle and distance of the detected target point relative to the carrier can be obtained as
，
Compared with the prior art, the invention is composed of a light source, an optical fiber coupling transmission module, a light splitting module, a ranging imaging module, a time delay ranging imaging module and a processor, can realize detection imaging of hidden targets behind leaf clusters from different directions and different times through two high-resolution laser three-dimensional ranging imaging systems (ranging imaging module and time delay ranging imaging module) based on an airborne platform, and effectively unify target coordinate information by utilizing a specific target point cloud position resolving method, thereby obtaining complete target information, and the invention has simple structure and easy popularization; according to measurement and calculation, when the leaf cluster shielding rate is not more than 80%, the target recognition rate is more than 95%. Meanwhile, the method can detect the three-dimensional form of the hidden target under the dense jungle, so that the method has important application value in the military field and also has wide application in the fields of terrain, landform, ecological detection and the like. In addition, the invention does not adopt a mechanical structure, thereby ensuring the reliability of the radar transmitting module. In conclusion, the invention can not only realize the purpose of detecting and imaging the hidden target behind the leaf cluster, but also has higher target identification rate.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic diagram of a point cloud location solution of an object in the present invention.
The labels in the figures are: 201-light source, 202-optical fiber coupling transmission module, 203-light splitting module, 217-processor, 204-optical fiber, 205-first optical fiber collimator, 206-first turning mirror, 207-first light beam micro-scanning mirror, 208-target, 209-first target receiving optical unit, 210-first sensor, 211-optical fiber delayer, 212-second optical fiber collimator, 213-second turning mirror, 214-second light beam micro-scanning mirror, 215-second target receiving optical unit, 216-second sensor.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Examples are given. A detection system for a concealed target behind a leaf cluster is shown in figure 1 and comprises a light source 201, an optical fiber coupling transmission module 202 and a light splitting module 203 which are sequentially connected, wherein the light splitting module 203 is respectively connected with a distance measurement imaging module and a time delay distance measurement imaging module, the distance measurement imaging module and the time delay distance measurement imaging module are connected with a processor 217, and the processor 217 is further connected with the light source 201.
The distance measurement imaging module comprises an optical fiber 204, a first optical fiber collimator 205, a first turning mirror 206, a first light beam micro-scanning mirror 207, a first target receiving optical unit 209 and a first sensor 210, wherein the optical fiber 204, the first optical fiber collimator 205, the first turning mirror 206 and the first light beam micro-scanning mirror 207 are sequentially connected, and the first sensor 210 is connected with a processor 217.
The delay ranging imaging module comprises an optical fiber delayer 211, a second optical fiber collimator 212, a second turning mirror 213 and a second beam micro-scanning mirror 214 which are sequentially connected, and further comprises a second target receiving optical unit 215 and a second sensor 216, wherein the second sensor 216 is connected with a processor 217.
The detection method comprises the following steps: the processor controls the light source to emit pulse laser, the pulse laser is transmitted to the light splitting module after passing through the optical fiber coupling transmission module, the light splitting module divides a beam of laser into two equal parts, and one part enters the distance measurement imaging module to obtain first three-dimensional coordinate information; the other part enters a time delay distance measurement imaging module to obtain second three-dimensional coordinate information; and the processor performs three-dimensional data filtering and splicing on the first three-dimensional coordinate information and the second three-dimensional coordinate information to obtain complete target information.
The specific process that one part of laser enters the distance measurement imaging module is as follows: the light beam is emitted to a first optical fiber collimator through an optical fiber, expanded and collimated through the first optical fiber collimator, then emitted to a first turning mirror, and then emitted to a first light beam micro-scanning mirror through the turning of the first turning mirror, the light beam is transversely and longitudinally scanned through the first light beam micro-scanning mirror, the scanned light beam is emitted to the area of a target, after the laser beam scans the target, the target can generate a diffuse reflection echo signal to the laser, the echo light beam is collected through a first target receiving optical unit and then converged to a first sensor, and after the signal of the first sensor is processed by a processor, first three-dimensional coordinate information is obtained, and distance filtering processing is carried out on the first three-dimensional coordinate information to obtain first target three-dimensional information.
The specific process that the other laser split by the light splitting module enters the time-delay distance-measuring imaging module is as follows: the laser is transmitted to a second optical fiber collimator after being delayed by an optical fiber delay unit, is transmitted to a second turning mirror after being expanded and collimated by the second optical fiber collimator, is transmitted to a second light beam micro-scanning mirror after being turned by the second turning mirror, the light beam can be transversely and longitudinally scanned by the second light beam micro-scanning mirror, the scanned light beam is transmitted to the area of a target, the target can generate a diffuse reflection echo signal to the laser after the laser beam scans the target, the echo light beam is collected by a second receiving optical unit and then converged on a second sensor, the processor processes the signal of the second sensor to obtain second three-dimensional coordinate information, and the second three-dimensional coordinate information is subjected to distance filtering processing to obtain second target three-dimensional information.
The time delayed by the optical fiber delayer is half of the pulse laser period of the first sensor.
After the laser is expanded and collimated by the first optical fiber collimator or the second optical fiber collimator, the divergence angle of the laser is less than 1.5 mrad.
The deflection angles of the first turning mirror and the second turning mirror are both 90 degrees.
The processor obtains first three-dimensional coordinate information and second three-dimensional coordinate information respectively through target point cloud position calculation; the specific steps of the target point cloud position calculation are as follows:
the detected target point is subjected to yaw angle, pitch angle and distance information relative to the ranging imaging module or the delay ranging imaging module
Substituted into the variation 1),
the variation formula 1) is substituted into the following loader coordinate system:
can obtain the information of yaw angle, pitch angle and distance of the detected target point relative to the aircraft as
，
The light source is a laser, generally a fiber laser, a solid laser and a semiconductor laser; the light source receives a laser emission instruction of the processor and emits high-frequency pulse laser; the laser frequency emitted by the light source is generally greater than 100 KHz.
The optical fiber coupling transmission module comprises an optical fiber coupler and a transmission optical fiber. The optical fiber coupling transmission module can shape and couple the laser emitted by the light source into the optical fiber and transmit the laser in the optical fiber.
The light splitting module can evenly split the laser beam into two beams; laser emitted by the light source enters the light splitting module after passing through the optical fiber coupling transmission module, is uniformly split into two parts after passing through the light splitting module, and one part of the laser is transmitted into the optical fiber.
The optical fiber is transparent to laser emitted by the light source, one end of the optical fiber is connected with the light splitting module, and the other end of the optical fiber is connected with the first optical fiber collimator.
The first optical fiber collimator can perform beam expansion and collimation on laser transmitted in the optical fiber, and the divergence angle of the collimated laser is generally smaller than 1.5 mrad.
The size of the light spot of the light beam collimated by the first optical fiber collimator is slightly smaller than the size of the mirror surface of the first light beam micro-scanning mirror.
The light beam collimated by the first optical fiber collimator is deflected by 90 degrees through the first turning mirror and enters the mirror surface of the first light beam micro-scanning mirror;
the first beam micro-scanning mirror is an MEMS two-dimensional micro-scanning mirror driven by static electricity, and can realize transverse and longitudinal scanning; the first light beam micro-scanning mirror receives an instruction of the processor and scans according to the instruction;
the laser scanned by the first beam micro-scanning mirror may scan the entire target 208 area;
the target can generate diffuse reflection on the scanned laser, and the diffuse reflection laser generated by the target can be received by the first target receiving optical unit; the first target receiving optical unit converges the diffuse reflection laser to be close to a focal plane of the first target receiving optical unit; placing the first sensor near a focal plane of a first target-receiving optical unit; the first sensor is a photoelectric sensor and can convert the optical signal collected by the first target receiving optical unit into an electric signal;
the first sensor transmits the electrical signal to a processor.
The signal processing hardware unit of the processor takes a high-performance FPGA as a core and is responsible for generating laser trigger pulses, generating MEMS scanning waveforms, measuring laser flight time and calculating distance.
The processor distance calculation adopts a time interval measurement algorithm, and the time interval algorithm adopts a digital interpolation method to improve the time interval measurement precision, so that the system ranging precision is improved. The digital interpolation method adopts a delay line structure similar to a vernier caliper. The delay line is composed of a series of delay units connected in series, one delay unit is composed of a buffer and a D trigger, the time interval between the rising edges of two input signals is reduced by the delay time difference of one delay unit after passing through one delay unit because the input-output delay time of the buffer and the input-output delay time of the trigger are different, and when the time interval between the two rising edges is reduced to be indistinguishable finally, the encoder converts the measurement result into binary output, thereby realizing high-resolution measurement of a tiny time interval.
The processor can realize the calculation of the target point cloud position, so that the first three-dimensional coordinate information is obtained. The method comprises the following specific steps: and data obtained by monitoring the position of the target by the time delay ranging imaging module is transmitted back to the carrier after coordinate transformation.
And the coordinate system of the carrier body is a three-dimensional rectangular coordinate system. Origin of coordinate system
Is the mass center of the carrier;
the shaft is a right wing of the aircraft, and the forward direction and the outward direction are positive;
the shaft is the forward direction of a longitudinal shaft machine head of the carrier;
the axis is determined by the right-hand screw rule and is directed upward of the fuselage. When the aerial carrier aims at the target, the azimuth angle and the pitch angle of the photoelectric pod, and the distance between the photoelectric pod and the target (namely the yaw angle, the pitch angle and the distance information of the target relative to the time delay ranging imaging module) are known
) The rectangular coordinate of the target under the coordinate system of the carrier body, the azimuth angle, the pitch angle and the target distance of the carrier can be calculated.
Coordinate system of machine body
Is fixedly connected to the machine body
、
、
The axes of the strapdown matrix are respectively along the transverse axis, the longitudinal axis and the vertical axis of the airplane to realize the coordinate conversion from the body coordinate system to the platform coordinate system
The following matrix equation should be satisfied
In the formula
When matrix
After obtaining, the specific force measured along the coordinate system of the machine body
Can be converted to a platform coordinate system to obtain
。
The transformation from the platform coordinate system to the body coordinate system can be represented by three rotations in the following order:
wherein
Respectively the azimuth angle, the pitch angle and the roll angle of the carrier.
According to the above rotation sequence, the conversion relationship from the platform coordinate system to the carrier coordinate system can be obtained, namely:
the following can be obtained:
taking into account a strapdown matrix
Is an orthogonal matrix, and the matrix is,
（
representing transpose) of the image
Setting yaw angle, pitch angle and distance information of a detection target point relative to laser three-dimensional distance measurement imaging as
Can obtain the product
Substituting its variation into the equation into the vehicle coordinate system:
can obtain the information of yaw angle, pitch angle and distance of the detected target point relative to the aircraft as
The other part of laser output by the light splitting module is incident into the optical fiber delayer for delaying; the time delayed by the optical fiber delayer is one half of the pulse laser period of the first sensor; the optical fiber delay is transparent to the laser light emitted by the light source.
One end of the optical fiber time delay device is connected with the light splitting module, and the other end of the optical fiber time delay device is connected with the second optical fiber collimator; the second optical fiber collimator can perform beam expansion and collimation on the laser transmitted in the optical fiber delayer, and the divergence angle of the collimated laser is generally smaller than 1.5 mrad.
The size of the light spot of the light beam collimated by the second optical fiber collimator is slightly smaller than the size of the mirror surface of the second turning mirror; the light beam collimated by the second optical fiber collimator is deflected by 90 degrees through the second turning mirror and enters the mirror surface of the second light beam micro-scanning mirror;
the second beam micro-scanning mirror is an MEMS two-dimensional micro-scanning mirror driven by static electricity, and can realize transverse and longitudinal scanning; the second beam micro-scanning mirror receives the instruction of the processor and scans according to the instruction; the laser scanned by the second beam micro-scanning mirror can scan the whole target area; the target can generate diffuse reflection on the scanned laser, the diffuse reflection laser generated by the target can be received by the second receiving optical unit, and the second receiving optical unit can converge the diffuse reflection laser to be close to a focal plane of the second receiving optical unit.
A second sensor is arranged near the focal plane of the second receiving optical unit, is a photoelectric sensor and can convert the optical signal collected by the second receiving optical unit into an electric signal; the second sensor transmits the electric signal to the processor, the processor can realize the calculation of the target point cloud position, so that second three-dimensional coordinate information is obtained, and the calculation process is equal to the analysis process of the first three-dimensional coordinate information.
And then unifying the time-delay distance measurement imaging module and the distance measurement imaging module to a coordinate according to the relative positions of two sets of three-dimensional distance measurement imaging systems by taking the distance measurement imaging module as a reference so as to obtain complete target three-dimensional information.
Claims (9)
1. A detection system for concealed target after leaf cluster is characterized in that: the optical fiber coupling and distance measuring device comprises a light source (201), an optical fiber coupling transmission module (202) and a light splitting module (203) which are sequentially connected, wherein the light splitting module (203) is respectively connected with a distance measuring imaging module and a time delay distance measuring imaging module, the distance measuring imaging module and the time delay distance measuring imaging module are connected with a processor (217), and the processor (217) is also connected with the light source (201);
the distance measurement imaging module comprises an optical fiber (204), a first optical fiber collimator (205), a first turning mirror (206), a first beam micro-scanning mirror (207), a first target receiving optical unit (209) and a first sensor (210), wherein the optical fiber, the first optical fiber collimator (205), the first turning mirror (206) and the first beam micro-scanning mirror (207) are sequentially connected, and the first sensor (210) is connected with a processor (217).
2. The system of claim 1, wherein the system comprises: the time-delay distance-measuring imaging module comprises an optical fiber time delayer (211), a second optical fiber collimator (212), a second turning mirror (213) and a second light beam micro-scanning mirror (214) which are sequentially connected, and further comprises a second target receiving optical unit (215) and a second sensor (216), wherein the second sensor (216) is connected with a processor (217).
3. The system for detecting the hidden target behind the leaf cluster according to claim 1, characterized in that the detection method comprises: the processor controls the light source to emit pulse laser, the pulse laser is transmitted to the light splitting module after passing through the optical fiber coupling transmission module, the light splitting module divides a beam of laser into two equal parts, and one part enters the distance measurement imaging module to obtain first three-dimensional coordinate information; the other part enters a time delay distance measurement imaging module to obtain second three-dimensional coordinate information; and the processor performs three-dimensional data filtering and splicing on the first three-dimensional coordinate information and the second three-dimensional coordinate information to obtain complete target information.
4. The system of claim 3, wherein the specific process of entering a laser into the range imaging module is as follows: the light beam is emitted to a first optical fiber collimator through the optical fiber, expanded and collimated through the first optical fiber collimator, emitted to a first turning mirror, and emitted to a first light beam micro-scanning mirror through turning of the first turning mirror, the first light beam micro-scanning mirror scans the light beam transversely and longitudinally, the scanned light beam is emitted to the area of a target, the target can generate a diffuse reflection echo signal to the laser after the laser beam scans the target, the echo light beam is collected by a first target receiving optical unit and then converged to a first sensor, the processor processes the signal of the first sensor to obtain first three-dimensional coordinate information, and the first three-dimensional coordinate information is subjected to distance filtering to obtain first target three-dimensional information.
5. The system for detecting the hidden target behind the leaf cluster as claimed in claim 4, wherein the specific process of the other laser split by the light splitting module entering the time-delay ranging imaging module is as follows: the laser is transmitted to a second optical fiber collimator after being delayed by an optical fiber delay unit, is transmitted to a second turning mirror after being expanded and collimated by the second optical fiber collimator, is transmitted to a second light beam micro-scanning mirror after being turned by the second turning mirror, the light beam can be transversely and longitudinally scanned by the second light beam micro-scanning mirror, the scanned light beam is transmitted to the area of a target, the target can generate a diffuse reflection echo signal to the laser after the laser beam scans the target, the echo light beam is collected by a second receiving optical unit and then converged on a second sensor, the processor processes the signal of the second sensor to obtain second three-dimensional coordinate information, and the second three-dimensional coordinate information is subjected to distance filtering processing to obtain second target three-dimensional information.
6. The system of claim 5, wherein the target detection system comprises: the time delayed by the optical fiber delayer is half of the pulse laser period of the first sensor.
7. The system of claim 5, wherein the divergence angle of the laser is less than 1.5mrad after the laser is expanded and collimated by the first fiber collimator or the second fiber collimator.
8. The system of claim 5, wherein the first turning mirror and the second turning mirror are both tilted by 90 °.
9. The system of claim 3, wherein the processor obtains first three-dimensional coordinate information and second three-dimensional coordinate information by target point cloud position calculation; the specific steps of the target point cloud position calculation are as follows:
the detected target point is subjected to yaw angle, pitch angle and distance information relative to the ranging imaging module or the delay ranging imaging module
Substituted into the variation 1),
the variation equation 1) is substituted into the following loader coordinate system:
the information of yaw angle, pitch angle and distance of the detected target point relative to the carrier can be obtained as
，
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| CN114200425A (en) * | 2021-11-29 | 2022-03-18 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Three-dimensional imaging system and method for hidden target |
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| CN107942341A (en) * | 2017-11-20 | 2018-04-20 | 北京理工大学 | A kind of Imaging Detection System and method for being used to cover target |
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| AU2020103665A4 (en) * | 2020-11-25 | 2021-02-04 | Guilin University Of Technology | Low-altitude Light Small Area Array LiDAR Measuring System |
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