CN115002373A - Large and small view field composite display method for airborne infrared search navigation pod - Google Patents
Large and small view field composite display method for airborne infrared search navigation pod Download PDFInfo
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Abstract
The invention belongs to the technical field of photoelectric reconnaissance, and particularly relates to a large and small view field composite display method for an airborne infrared search navigation pod. A double-prism optical axis guide mechanism is fixedly arranged at an inlet of the small visual field optical system, receives an observer command, controls the small visual field optical axis to independently move, and realizes the 'roaming' of the small visual field image in the large visual field image through real-time image registration and real-time superposition display. Therefore, the whole display device can give consideration to situation perception in the whole large field of view and detail observation capability of any point.
Description
Technical Field
The invention belongs to the technical field of photoelectric reconnaissance, and particularly relates to a large and small visual field composite display method for an airborne infrared search navigation pod, which is an airborne infrared large and small visual field composite display method meeting the detection and identification requirements of weak characteristic targets and considering large-range situation perception and high-resolution fine identification.
Background
For the photoelectric fire control system, firstly, the battlefield situation and the enemy force deployment need to be known and mastered, and the photoelectric system for remote imaging reconnaissance, identification, resolution and positioning is necessary information acquisition equipment for the photoelectric fire control command system. The situation of both parties on a battlefield is instantaneously changeable, and the improvement of the quality and the efficiency of information reconnaissance and accurate attack tasks is one of the targets which must be pursued by a photoelectric fire control command system.
In order to effectively execute battlefield target detection and identification, a large coverage surface needs to be displayed, so that an observer always keeps environmental perception, and the search time is shortened. At the same time, the observer also needs high resolution capability to be able to recognize/identify the detected object. The traditional photoelectric imaging system displays in a time-sharing manner with large and small view fields: roughly searching by using a large view field, finding out suspicious targets or situation change points, moving the suspicious targets or situation change points to the center position of the view field, and switching to a small view field for detailed observation; if the focus is not the focus, the user needs to switch to the large field of view to conduct the rough search again, and the process is repeated until the target is found. Because the large field of view usually means low resolution, it is unfavorable to discern and discern, and the high resolution of little field of view means the field of view again narrowly simultaneously, does not have the environmental perception ability, therefore this kind of photoelectric imaging system who possesses traditional switching observation mode can't compromise wide range detection and high resolution simultaneously and discern.
U.S. patent USP5005083 discloses an infrared imaging system with dual-field of view composite display, which simplifies the display mode of dual-optical channel imaging: high-resolution imaging in a small field of view of an observation target is simultaneously displayed in a large field of view in a superimposed manner in imaging with moderate resolution, and fine identification of the small field of view can be performed without losing large-range situation perception information, as shown in fig. 1. The double-view-field display imaging system disclosed by the invention is not reasonable enough in two aspects: firstly, the small-field image shields the large-field image, so that 'non-shielding picture-in-picture' cannot be realized, and the large-field display loss causes the deterioration of the alarm missing rate of an important target; secondly, the small field of view can only image the central area of the large field of view fixedly, and cannot roam in the large field of view, and the situation observation and the fine identification of the non-central area can only be realized by repeatedly switching the field of view and moving the optical axis, so that the observation efficiency is reduced, and the system control difficulty is improved.
Disclosure of Invention
Technical problem to be solved
The technical problem to be solved by the invention is as follows: how to solve the problem that the traditional photoelectric reconnaissance equipment cannot give consideration to large-range detection perception and small-range high-resolution identification, and the problems of view field shielding and small view field imaging area fixing in the existing double-view field composite display imaging equipment.
(II) technical scheme
In order to solve the technical problem, the invention provides a large and small visual field composite display method for an airborne infrared search navigation pod, which comprises the following steps:
step 1: two sets of optical systems and two sets of detectors with large and small visual fields are configured, a first optical system and a first detector corresponding to a large visual field image are defined, and a second optical system and a second detector corresponding to a small visual field image are defined;
the first detector collects a video image, the video image is output after passing through the first optical system, and the video image output by the first optical system is electronically amplified to a proper proportion to be used as a large-view-field image;
meanwhile, the second detector collects video images and outputs the video images after passing through the second optical system, and the video images output by the second optical system are registered and superposed on corresponding areas of the large-view-field images to serve as small-view-field images, so that the complete images of large and small view fields are displayed simultaneously by using a single display, and the display effect of non-shielding picture-in-picture is realized;
step 2: a double-prism optical axis guide mechanism is fixedly arranged at an inlet of the second optical system, receives an external command from an observer, controls the output optical axis of the second optical system to point to move independently, and realizes the display effect of the roaming of the small-field image in the large-field image through real-time image registration and real-time superposition display.
In step 1, the first detector and the second detector respectively output two paths of video images with the same standard and resolution.
In step 1, the first detector and the second detector are placed on the optical base in parallel.
In the step 1, a cubic spline interpolation image processing algorithm is used for amplifying the large view field image with low spatial resolution by N times and displaying the image on a corresponding large-size and high-resolution display screen.
In the step 1, a registration position of the small-field-of-view image on the large-field-of-view image is obtained through a Keren registration algorithm, then the small-field-of-view image is superposed on a corresponding area of the large-field-of-view image, and the small-field-of-view image and the large-field-of-view image are registered in real time and superposed for display.
Wherein N is the ratio of the field angles of the large and small fields of view.
In the step 2, the double-prism optical axis guiding mechanism achieves the purpose of controlling the deflection of the output optical axis by designing prism parameters and materials and a prism rotation control algorithm by utilizing the deflection effect of two groups of prisms which are coaxial and rotate around an axis relatively on light.
The first detector and the second detector are both uncooled thermal imager detectors with the resolution of 640 multiplied by 512, wherein the angle of a large field of view is 40 degrees (horizontal) multiplied by 32 degrees (vertical), and the angle of a small field of view is 10 degrees (horizontal) multiplied by 8 degrees (vertical); the small view field angle is one fourth of the large view field, the image output by the first detector through the first optical system is amplified by 4 times and displayed on a displayer with resolution of 2560 x 2048 pixels as a large view field image; the output optical axis of the second optical system is deflected to the position by controlling the double-prism rotating mechanism, and the scene image of the area of the large visual field is replaced by a 640 multiplied by 512 pixel image imaged by the small visual field, so that the direct watching area of eyes is a high-resolution small visual field image.
In the step 1, a cubic spline interpolation algorithm is adopted to realize an image amplification function, so that edge blurring and mosaic effects caused by electronic zoom are eliminated: determining the gray value of each pixel point of the interpolated image by utilizing the correlation of the gray distribution of the adjacent pixels of the input image; the calculation formula is as follows:
p (u, v) is the gray value of the interpolated image at the (u, v) coordinate point, and is obtained according to the gray value and the weight of 16 adjacent points of the input image; f ij The gray value of the input image at the (i, j) coordinate point is obtained; w (omega) is an interpolation basis function and is used for obtaining the weight of the adjacent points; w (omega) j ) Weight of the jth point in the row direction, W (ω) i ) The weight of the ith point in the column direction; and omega is the position difference between the coordinate point (u, v) and each neighborhood point row direction and column direction of the input image.
In step 1, in order to obtain a more accurate matching position, a registration position of the small-field-of-view image on the large-field-of-view image is obtained by a Keren registration algorithm, which includes the following specific steps:
step A: acquiring image information of a large view field according to the guiding position of a first detector through an output optical axis of a first optical system, and taking the image information as a reference image;
and B: obtaining registration parameters of the large and small field images according to an image registration algorithm, as shown in a formula (3);
X＝C -1 V (3)
wherein:
wherein V is a time difference matrix, C is a gradient matrix, and X is a registration parameter matrix. Delta X is the translation amount in the horizontal direction, delta Y is the translation amount in the vertical direction, and theta is a rotation angle;
I x a gradient in the horizontal direction; I.C. A y A gradient in the vertical direction;
I xy is I x And I y The product of (a);
I xt is a difference image and I on the time domain x The product of (a);
I xy is a time domain difference map and I y The product of (a);
x and y are image coordinate positions;
and C: and transforming the small-field-of-view image according to the registration parameters.
(III) advantageous effects
Compared with the prior art, the invention provides the large and small visual field composite display method which can display large and small visual fields in an unobstructed and fused manner and allows the small visual field to roam freely in the large visual field along with instructions, aiming at the problems that the traditional photoelectric reconnaissance equipment cannot give consideration to large-range detection perception and small-range high-resolution identification and the problems of visual field obstruction and small visual field imaging area fixation in the traditional double-visual field composite display imaging equipment.
By referring to the bionics principle that human eyes have advantages of both large and small fields of view, the large-field-of-view composite display method provided by the invention displays large-field-of-view images with wide coverage and small-field-of-view images with high spatial resolution obtained from two different detectors in a single display in a fusion manner, so that an observer can have large-range situation perception capability and can obtain target details at any point.
In the invention, the field angle of the large-field detector is N times that of the small-field detector, and the output video systems of the large-field detector and the small-field detector are the same and have the same resolution. The large-view-field video image is displayed on a large-size high-resolution display after being electronically amplified by N times, and simultaneously, the small-view-field video with the original resolution is displayed on a corresponding position in the large-view-field video in an overlapping mode through image matching, so that double-view-field composite display is realized.
The invention uses the double-prism optical axis guiding device to independently change the direction of the optical axis of the small view field, and the small view field can 'roam' to any point in the large view field video image along with the instruction of an observer to carry out detail observation. The traditional photoelectric reconnaissance mode of repeatedly switching the large visual field and the small visual field is changed, so that an observer can obtain situation information and detail information at the same time, and the efficiency of battlefield target detection and identification can be effectively improved.
The beneficial effects of the invention are embodied in the following aspects:
the invention breaks through the observation mode limitation of the repeated switching of the field of view of the traditional photoelectric system, and realizes the simultaneous display of large and small field of view images and 'non-shielding picture-in-picture' by utilizing the optical axis guiding technology, the image electronic amplification technology and the registration technology by referring to the advantage that human eyes have situation perception and detail observation at the same time; meanwhile, the small-field image can move randomly in a large field of view along with the control command, so that the task efficiency from detection to identification can be greatly improved, especially for threatening targets, the small-field image can be found in advance, and the first-enemy attack is realized.
Drawings
Fig. 1 is a schematic diagram of the superposition effect of the existing large and small fields of view.
Fig. 2 is a schematic diagram of a large and small field of view composite display device.
Fig. 3 is a schematic view of the composition of a large and small field composite display device.
Fig. 4 is a schematic diagram of a real-time image display principle of the large and small view field composite display device.
Fig. 5 is a system composition diagram of a large-and-small-field composite display device.
Fig. 6 is a system installation layout diagram.
Fig. 7 is a view of the optical axis guide mechanism.
Fig. 8 is a schematic block diagram of image composite display.
Fig. 9 is a terminal display diagram of a large and small field of view.
FIG. 10 is an image processing hardware platform framework diagram.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the technical problem, the invention provides a large and small view field composite display method for an airborne infrared search navigation pod, which comprises the following steps:
step 1: two sets of optical systems and two sets of detectors with large and small visual fields are configured, a first optical system and a first detector corresponding to a large visual field image are defined, and a second optical system and a second detector corresponding to a small visual field image are defined;
the first detector collects a video image, the video image passes through the first optical system and is output, and the video image output by the first optical system is electronically amplified to a proper proportion to be used as a large-field image;
meanwhile, the second detector collects video images and outputs the video images after passing through the second optical system, and the video images output by the second optical system are registered and superposed on corresponding areas of the large-view-field images to serve as small-view-field images, so that the complete images of large and small view fields are displayed simultaneously by using a single display, and the display effect of non-shielding picture-in-picture is realized;
and 2, step: and a double-prism optical axis guide mechanism is fixedly arranged at the entrance of the second optical system, receives an external command from an observer, controls the output optical axis of the second optical system to point to move independently, and realizes the display effect of roaming of the small-field image in the large-field image through real-time image registration and real-time superposition display.
In step 1, the first detector and the second detector respectively output two paths of video images with the same standard and resolution.
In step 1, the first detector and the second detector are placed on the optical base in parallel.
In the step 1, a cubic spline interpolation image processing algorithm is used for amplifying the large view field image with low spatial resolution by N times and displaying the image on a corresponding large-size and high-resolution display screen.
In the step 1, a registration position of the small-field-of-view image on the large-field-of-view image is obtained through a Keren registration algorithm, then the small-field-of-view image is superposed on a corresponding area of the large-field-of-view image, and the small-field-of-view image and the large-field-of-view image are registered in real time and superposed for display.
Wherein N is the ratio of the field angles of the large and small fields of view.
In the step 2, the double-prism optical axis guiding mechanism achieves the purpose of controlling the deflection of the output optical axis by designing prism parameters and materials and a prism rotation control algorithm by utilizing the deflection effect of two groups of prisms which are coaxial and rotate around a shaft relatively on light rays.
The first detector and the second detector are both uncooled thermal imager detectors with the resolution of 640 multiplied by 512, wherein the angle of a large field of view is 40 degrees (horizontal) multiplied by 32 degrees (vertical), and the angle of a small field of view is 10 degrees (horizontal) multiplied by 8 degrees (vertical); the small view field angle is one fourth of the large view field, the image output by the first detector through the first optical system is amplified by 4 times and displayed on a displayer with resolution of 2560 x 2048 pixels as a large view field image; the output optical axis of the second optical system is deflected to the position by controlling the double-prism rotating mechanism, and the scene image of the area of the large visual field is replaced by a 640 multiplied by 512 pixel image imaged by the small visual field, so that the direct watching area of eyes is a high-resolution small visual field image.
In the step 1, a cubic spline interpolation algorithm is adopted to realize an image amplification function, so that edge blurring and mosaic effects caused by electronic zoom are eliminated: determining the gray value of each pixel point of the interpolated image by utilizing the correlation of the gray distribution of the adjacent pixels of the input image; the calculation formula is as follows:
p (u, v) is the gray value of the interpolated image at the (u, v) coordinate point, and is obtained according to the gray value and the weight of 16 adjacent points of the input image; f ij The gray value of the input image at the (i, j) coordinate point is obtained; w (omega) is an interpolation basis function and is used for obtaining the weight of the adjacent points; w (omega) j ) Weight of the jth point in the row direction, W (ω) i ) The weight of the ith point in the column direction; and omega is the position difference between the coordinate point (u, v) and each neighborhood point row direction and column direction of the input image.
In step 1, in order to obtain a more accurate matching position, a registration position of the small-field-of-view image on the large-field-of-view image is obtained by a Keren registration algorithm, which includes the following specific steps:
step A: acquiring image information of a large view field according to the guiding position of a first detector through an output optical axis of a first optical system, and taking the image information as a reference image;
and B: obtaining registration parameters of the large and small field images according to an image registration algorithm, as shown in a formula (3);
X＝C -1 V (3)
wherein:
wherein V is a time difference matrix, C is a gradient matrix, and X is a registration parameter matrix. Delta X is the translation amount in the horizontal direction, delta Y is the translation amount in the vertical direction, and theta is a rotation angle;
I x a gradient in the horizontal direction; I.C. A y A gradient in the vertical direction;
I xy is I x And I y The product of (a);
I xt is a difference image and I on the time domain x The product of (a);
I xy is a time domain difference map and I y The product of (a);
x and y are image coordinate positions;
step C: and transforming the small-field-of-view image according to the registration parameters.
Example 1
According to the large and small view field composite display method for the photoelectric reconnaissance technical field, two sets of optical systems and two sets of detectors for the large and small view fields are configured, the large view field image is electronically amplified to a proper proportion, the small view field image is registered and superposed on a corresponding area of the large view field image, and a single display is used for simultaneously displaying complete images of the large and small view fields, so that 'non-shielding picture-in-picture' is realized.
A double-prism optical axis guide mechanism is fixedly arranged at an inlet of the small visual field optical system, receives an observer command, controls the small visual field optical axis to independently move, and realizes the 'roaming' of the small visual field image in the large visual field image through real-time image registration and real-time superposition display. Therefore, the whole display device can give consideration to situation perception in the whole large field of view and detail observation capability of any point.
The small-field-of-view optical axis guiding mechanism achieves the purpose of accurately controlling the deflection of the aiming line by reasonably designing prism parameters and materials and a prism rotation control algorithm by utilizing the deflection action of two groups of prisms which are coaxial and rotate around an axis relatively on light. The invention relates to a principle of a double-optical-axis guiding device, an optical design, a structural design, a servo control system design and the like, in particular to an invention ZL 201010291427.3 (an onboard infrared scanning observation device realized by adopting a double prism), and a prism motion control algorithm according to an invention ZL201610268635.9 (a Risley prism system control method applied to onboard infrared assisted navigation).
As shown in fig. 2, the large and small field sensors respectively output two paths of videos with the same standard and resolution, and the large field image with low spatial resolution is amplified by N times (the ratio of the field angles of the large and small fields) by using a cubic spline interpolation image processing algorithm and displayed on a corresponding large-size and corresponding high-resolution display screen. The pointing direction of the optical axis of the small field of view is independently changed by using an optical axis guide mechanism, the optical axis of the small field of view optical system is deflected to a target area and imaged along with the continuous updating of a control command of an observer, the registration position of the small field of view image on the large field of view image is obtained through a Keren registration algorithm, and the small field of view image and the large field of view image are registered in real time and are displayed in an overlapped mode.
As shown in fig. 3, the large and small field detectors are arranged in parallel on the optical base, the double-prism optical axis guide mechanism is arranged in front of the lens of the small field detector, and the observer can point the optical axis to the target area by observing the real-time image and inputting a control command through a mouse or a track ball. Registered images from large and small field-of-view detectors are displayed using a high resolution display. The real-time image display effect of the large and small visual field composite display device is shown in fig. 4.
The invention will be described in more detail below with reference to the accompanying drawings and preferred embodiments.
(I) large and small visual field composite display device composition and optical axis guiding mechanism
The large and small view field composite display device consists of a large and small view field thermal imager, an optical axis guide mechanism, a power panel, a computer board, a servo drive board, an image processing workstation, a display, a track ball and a controller, and is shown in figure 5.
The thermal imagers with large and small visual fields are respectively composed of optical lens groups with large and small visual fields, corresponding infrared detectors and peripheral circuits thereof. In the example, uncooled thermal imager detectors with a resolution of 640 x 512 are used for both the large and small fields of view, 40 ° (horizontal) x 32 ° (vertical) and 10 ° (horizontal) x 8 ° (vertical) for the small field of view. The small field angle is one fourth of the large field, and the image of the large field is enlarged by 4 times and displayed on a display with the resolution of 2560 × 2048 pixels. The small visual field optical axis deflection instruction is obtained from the position of the trackball on the large visual field image, the small visual field optical axis is deflected to the position by controlling the double-prism rotating mechanism, and the 640 multiplied by 512 pixel image of the small visual field imaging is used for replacing the scene image of the large visual field area, so that the direct eye watching area is the high-resolution small visual field image.
The large and small field thermal imagers, the optical axis guide mechanism, the power panel, the computer board and the servo drive board are installed on an optical bench of the integrated stable photoelectric platform through a bracket. The image processing workstation, the display, the trackball and the manipulator are placed on a console, which is accessible and viewable by a viewer, as shown in fig. 6.
The optical axis guiding mechanism consists of a biprism, a bearing, a gear, a fluted disc, a motor, a reduction gearbox, a photoelectric encoder, a photoelectric pointer and a bracket, as shown in figure 7. The light can deflect after passing through the prism, and the deflection rule is known and controllable, so that the directions of the optical axes can be changed randomly within a certain range by respectively carrying out rotation control on the two double prisms. The small visual field optical axis pointing deflection instruction can obtain the rotation instruction of the two prisms through inverse solution, and after the servo control mechanism obtains the instruction, the prisms are controlled to rotate, and the optical axis can deflect to a target position, so that the function of optical axis guiding is realized.
The image processing workstation is composed of a Camera Link video capture card, an image processing card, a computer platform, an operating system and image processing software. The trackball sends a speed instruction for an observer to move the small-field-of-view image to the computer board through RS232 communication, and the computer board converts the speed instruction into a prism rotation instruction and sends the prism rotation instruction to the servo board. The controller and the computer board are communicated through an ARINC429 bus to complete performance adjustment operation and thermal imager state display of the large-field thermal imager and the small-field thermal imager.
(II) double video image composite display method
The schematic block diagram of the dual video image composite display in the invention is shown in fig. 8. The large-view field video and the small-view field video respectively enter independent video decoders, and decoded digital video image data are stored in a frame memory. The image processing chip carries the data blocks in the frame memory into the memory through a DMA transmission technology. The image processing chip firstly carries out electronic zoom processing on the large-view-field video data, inserts the small-view-field image data into the large-view-field image data subjected to electronic zoom, and sends the video image data subjected to insertion into the video memory. The encoder and the display module process the data in the video memory, synthesize a digital video signal, and send the digital video signal to the display terminal for displaying, wherein the display is schematically shown in fig. 9.
1. Image processing hardware platform
In order to realize that the small field image moves on the large field image along with the trackball, the image processing design module needs to stretch and expand the large field image, then register the expanded large field image with the small field image, superimpose the small field image on the large field image according to the registration position, and display the superimposed small field image on the same screen.
In the embodiment, an image processing workstation is used as a hardware platform, and image processing software is designed under a Windows operating system to realize image processing. The image processing workstation is internally provided with a Camera Link acquisition card and two display cards which are connected with a high-resolution display. The Camera Link acquisition card simultaneously acquires two thermal imager videos of a large visual field and a small visual field, and the acquisition resolution is 640 multiplied by 512; one of the two display cards is used for supporting a high-resolution display to display a large-field and small-field composite video (type: ATI FirePro V5900, DVI and DisplayPort output), and the other display card is used for supporting GPU parallel operation to improve the operation speed of image processing (type: ATI HD6990 GDDR 5); high resolution displays (model: RadiForce GS521, highest resolution 2560 × 2048) are used to display composite video of large and small fields. And receiving an instruction of a management computer board through an RS422 serial port, and controlling small-field video movement, parameter adjustment and other processing. The implementation framework is shown in fig. 10.
2. Image processing algorithm
The image processing algorithm relates to three technologies of dual-channel video acquisition, video stream composition, image amplification, image registration and the like.
1) The method comprises the steps of acquiring dual-channel video image information through a Camera Link image acquisition card, caching videos of a thermal imager with a large visual field and a thermal imager with a small visual field by using a memory of a display card, enabling the image with the small visual field to continuously move in the large visual field, acquiring video image registration parameters of the large visual field and the image registration parameters of the small visual field in real time according to an image registration technology, overlaying the image with the small visual field to the corresponding position of the image with the large visual field according to an instruction of a management computer board, outputting the image through a DVI port of the display card, and displaying the image on a high-resolution display.
2) The difference of the field angles of the two sensors selected in the embodiment is 4 times, and in order to realize the accurate registration of the large-field video image and the small-field video image, the amplification quality of the large-field video image must be ensured. The image amplification function is realized by adopting a cubic spline interpolation algorithm, and the effects of edge blurring, mosaic and the like caused by electronic zoom can be eliminated: and determining the gray value of each pixel point of the interpolated image by utilizing the correlation of the gray distribution of the adjacent pixels of the input image. The calculation formula is as follows:
p (u, v) is the gray value of the interpolated image at the (u, v) coordinate point, and is obtained according to the gray value and the weight of 16 adjacent points of the input image; f ij Gray values of the input image at the (i, j) coordinate points are obtained; w (omega) is an interpolation basis function and is used for obtaining the weight of the adjacent points; w (omega) j ) Weight of the jth point in the row direction, W (ω) i ) The weight of the ith point in the column direction; and omega is the position difference between the coordinate point (u, v) and each neighborhood point row direction and column direction of the input image.
3) In order to realize the double video stream composite function, the image processing design module must obtain the optical axis position of the small field of view for image registration. And obtaining the position of the optical axis of the small visual field by a small visual field optical axis guiding algorithm, and obtaining the registration position of the large visual field and the small visual field by adopting a Keren algorithm to obtain a more accurate matching position. Keren is an iterative registration algorithm based on Taylor series expansion, has high noise resistance and is a rigid body transformation model based on small-angle Taylor series expansion. The method comprises the following concrete steps:
(1) acquiring image information of the large view field according to the large view field optical axis guiding position, and taking the image information as a reference image;
(2) obtaining registration parameters of the large and small field images according to an image registration algorithm, as shown in a formula (3);
X＝C -1 V (3)
wherein:
wherein V is a time difference matrix, C is a gradient matrix, and X is a registration parameter matrix. Delta X is the translation amount in the horizontal direction, delta Y is the translation amount in the vertical direction, and theta is a rotation angle;
I x a gradient in the horizontal direction; I.C. A y A gradient in the vertical direction;
I xy is I x And I y The product of (a);
I xt is a difference image and I on the time domain x Product of (d);
I xy is a difference image and I on the time domain y Product of (d);
and x and y are image coordinate positions.
(3) And transforming the small-field-of-view image according to the registration parameters.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (10)
1. A composite display method of large and small visual fields for an airborne infrared search navigation pod is characterized by comprising the following steps:
step 1: two sets of optical systems and two sets of detectors with large and small visual fields are configured, a first optical system and a first detector corresponding to a large visual field image are defined, and a second optical system and a second detector corresponding to a small visual field image are defined;
the first detector collects a video image, the video image is output after passing through the first optical system, and the video image output by the first optical system is electronically amplified to a proper proportion to be used as a large-view-field image;
meanwhile, the second detector collects video images and outputs the video images after passing through the second optical system, and the video images output by the second optical system are registered and superposed on corresponding areas of the large-view-field images to serve as small-view-field images, so that the complete images of large and small view fields are displayed simultaneously by using a single display, and the display effect of non-shielding picture-in-picture is realized;
and 2, step: a double-prism optical axis guide mechanism is fixedly arranged at an inlet of the second optical system, receives an external command from an observer, controls the output optical axis of the second optical system to point to move independently, and realizes the display effect of the roaming of the small-field image in the large-field image through real-time image registration and real-time superposition display.
2. The method for displaying a composite large and small visual field of an airborne infrared search and navigation pod as claimed in claim 1, wherein in step 1, the first detector and the second detector respectively output two video images with the same standard and resolution.
3. The method for displaying a composite large and small visual field of an airborne infrared search and navigation pod as claimed in claim 1, wherein in step 1, the first detector and the second detector are placed side by side in parallel on a light base.
4. The method for compositely displaying the large and small visual fields of the airborne infrared search navigation pod as claimed in claim 1, wherein in the step 1, the large visual field image with low spatial resolution is enlarged by N times and displayed on the corresponding large-size, corresponding high-resolution display screen by using a cubic spline interpolation image processing algorithm.
5. The method as claimed in claim 1, wherein in step 1, the registration position of the small-field image on the large-field image is obtained by a Keren registration algorithm, and then the small-field image is superimposed on the corresponding area of the large-field image, and the small-field image and the large-field image are registered and superimposed in real time.
6. The method as claimed in claim 1, wherein N is a ratio of field angles of the large and small fields.
7. The method as claimed in claim 1, wherein in step 2, the dual-prism optical axis guiding mechanism uses the deflection effect of two sets of prisms, which are coaxial and rotate around the axis, on the light, and the deflection of the output optical axis is controlled by designing prism parameters and materials and a prism rotation control algorithm.
8. The method as claimed in claim 1, wherein the first detector and the second detector are uncooled thermal imager detectors with a resolution of 640 x 512, and the angle of the large field is 40 ° x 32 ° and the angle of the small field is 10 ° x 8 °; the small view field angle is one fourth of the large view field, the image output by the first detector through the first optical system is amplified by 4 times and displayed on a displayer with resolution of 2560 x 2048 pixels as a large view field image; the output optical axis of the second optical system is deflected to the position by controlling the double-prism rotating mechanism, and the scene image of the area of the large visual field is replaced by a 640 multiplied by 512 pixel image imaged by the small visual field, so that the direct watching area of eyes is a high-resolution small visual field image.
9. The method for displaying the composite large and small view fields of the airborne infrared search navigation pod as claimed in claim 1, wherein in the step 1, a cubic spline interpolation algorithm is adopted to realize an image magnification function, thereby eliminating edge blurring and mosaic effect caused by electronic zoom: determining the gray value of each pixel point of the interpolated image by utilizing the correlation of the gray distribution of the adjacent pixels of the input image; the calculation formula is as follows:
p (u, v) is a gray value of the interpolated image at a (u, v) coordinate point, and is obtained according to the gray values and weights of 16 adjacent points of the input image; f ij The gray value of the input image at the (i, j) coordinate point is obtained; w (omega) is an interpolation basis function and is used for obtaining the weight of the adjacent points; w (omega) j ) Weight of the jth point in the row direction, W (ω) i ) The weight of the ith point in the column direction; and omega is the position difference between the coordinate point (u, v) and each neighborhood point row direction and column direction of the input image.
10. The method for compositely displaying large and small fields of view of an airborne infrared search and navigation pod as claimed in claim 1, wherein in step 1, in order to obtain a more accurate matching position, a registration position of a small field of view image on a large field of view image is obtained by a Keren registration algorithm, and the specific implementation steps are as follows:
step A: acquiring image information of a large view field according to the guiding position of a first detector through an output optical axis of a first optical system, and taking the image information as a reference image;
and B: obtaining registration parameters of the large and small view field images according to an image registration algorithm, as shown in a formula (3);
X＝C -1 V (3)
wherein:
wherein V is a time difference matrix, C is a gradient matrix, and X is a registration parameter matrix. Delta X is the translation amount in the horizontal direction, delta Y is the translation amount in the vertical direction, and theta is a rotation angle;
I x a gradient in the horizontal direction; i is y A gradient in the vertical direction;
I xy is shown as I x And I y Product of (d);
I xt is a difference image and I on the time domain x The product of (a);
I xy is a difference image and I on the time domain y Product of (d);
x and y are image coordinate positions;
and C: and transforming the small-field-of-view image according to the registration parameters.
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