CN117124651A - System and method for transmitting visual image of collimator - Google Patents

Abstract

The present invention provides a system and method for transmitting visual images of a collimator, and solves the technical problem that existing aiming means cannot adapt to aiming requirements. The system includes: data transmission channel, used to transmit digital visual imaging and control data between front-end equipment and back-end equipment; front-end equipment, used to form a digital visual imaging of the collimator at a regional point, and according to the digital visual Imaging forms aiming process control; the back-end equipment is used to obtain digital visual imaging through a data transmission channel at another area point according to aiming switching requirements, and use digital visual imaging to form aiming process control. The visual image of the sight is digitized to form a visual image that is forwarded or synchronously forwarded at multiple physical area points, so that the control of the aiming process is based on the same aiming environment and feedback information, and multi-camera remote control operations of the sight can be realized , ensuring the safety and accuracy of the rocket’s initial position aiming during the complete filling process of the rocket.

Description

A transmission system and method for visual image of collimator

Technical field

The invention relates to the technical field of sighting, and in particular to a transmission system and method for transmitting visual images of a collimator.

Background technique

The aiming process of the front-end aiming device in the prior art is shown in Figure 1. In the normal launch vehicle aiming process, a target prism is set on the rocket to determine the initial azimuth angle of the launch vehicle. The operator uses front-end aiming equipment such as a collimator to visually observe the position of the target prism. The indicator laser emitted by the collimator follows the adjustment of the collimator during the visual observation process. The collimator can be determined by monitoring the offset position of the returned laser spot through the collimator. Alignment with target prism.

In the past aiming operations, the operator observed the visual situation of the sighting device in the umbilical tower aiming room to operate the equipment to align the target, and continuously monitored and tracked the changes in the target during the rocket refueling process. However, with the launch vehicle system's demand for unattended operation and multi-location coordinated control, the original operation method is no longer suitable for the targeting needs of unattended and multi-position remote control operations.

Contents of the invention

In view of the above problems, embodiments of the present invention provide a transmission system and method for a visual image of a collimator to solve the technical problem that existing aiming means cannot adapt to aiming requirements.

The visual image transmission system of the collimator according to the embodiment of the present invention includes:

Data transmission channel for transmitting digital visual imaging and control data between front-end equipment and back-end equipment;

Front-end equipment, used to form digital visual imaging of the sighting device at a point in an area, and to form aiming process control based on the digital visual imaging;

The back-end equipment is used to obtain digital visual imaging through the data transmission channel at another area point according to the aiming switching requirements, and use the digital visual imaging to form aiming process control.

In one embodiment of the present invention, the front-end equipment includes:

The electronically controlled sight is used to set the offset of the target prism on the observation arrow at the front observation point, measure the azimuth angle and pitch angle of the target prism in real time, and control the observation angle and eyepiece imaging clarity;

A digital camera is used to obtain the eyepiece image of the electronically controlled sight through a spectroscopic approach, control the imaging acquisition parameters, and convert the eyepiece image into target video output;

The front-end transmitter is used to adapt to the back-end receiver to form an audio and video data upload channel to carry compressed video data and encoded audio data, and at the same time form a two-way data transmission channel to carry control data and feedback data;

The front-end aiming controller is used to receive the target video, perform signal processing on its reflected light spot information to form observation quantitative data and control data of the observation equipment, and implement rotation control of the electronically controlled aiming instrument before the rocket is refueled;

The front-end aiming controller monitor is used to form a signal processing interactive interface according to the target video signal processing process;

The front-end video monitor is used to receive the target video for real-time display and provide an intuitive observation method.

In one embodiment of the present invention, the backend device includes:

The back-end receiver is used to adapt to the front-end transmitter to form an audio and video data upload channel, decode the audio and video data to form live audio and video, and form a two-way data transmission channel to carry feedback data and control data;

The back-end aiming controller is used to receive on-site video, perform signal processing on the reflected light spot information contained in it to form observation quantitative data and observation equipment control data, and implement rotation control of the electronically controlled sighter during and after rocket refueling. ;

The back-end aiming controller monitor is used to form a signal processing interactive interface based on the on-site video signal processing process;

The back-end video monitor is used to receive real-time display of live video and provide an intuitive observation method.

In one embodiment of the present invention, the optical path of the electronically controlled collimator includes a sequentially arranged objective lens group, a large dichroic prism group, a visual focusing lens group, an adjustment washer, an eyepiece group and a digital camera. There is a passage between the eyepiece group and the digital camera. The dichroic prism allows the collimator to meet both visual observation and video collection.

In one embodiment of the present invention, the digital camera includes:

The image sensor is used to collect the eyepiece imaging image;

The image processor is used to perform original image enhancement processing on the eyepiece image;

The video encoding circuit is used to convert the enhanced image into a video signal output.

In one embodiment of the present invention, the functional module of the image processor implements image adjustment, automatic white balance, automatic gain control, automatic exposure control, digital noise reduction, background compensation and chromatic aberration correction.

In one embodiment of the present invention, the digital camera includes:

Built-in data communication interface is used to receive control data and controlly adjust the operating parameters of the image sensor, image processor and video encoding circuit.

In an embodiment of the present invention, the front-end transmitter includes:

Video filtering network, used to remove noise interference signals in video signals;

The video separation module is used to obtain important video information such as horizontal and field synchronization signals, odd and even field signals, and video clamping of the video signal, and then perform video separation and video amplification on the video signal.

In one embodiment of the present invention, a two-way data transmission channel is formed between the back-end receiver and the front-end transmitter through optical fiber to carry feedback data and control data, including parallel transmission of two-way audio, two-way data, two-way switch, and Ethernet signals.

The method for transmitting the visual image of the collimator according to the embodiment of the present invention, using the above-mentioned transmission system for the visual image of the collimator, includes:

Set up front-end equipment at fixed points on the rocket umbilical tower, set up back-end equipment at fixed points in the launch command hall, and use front-end transmitters and back-end receivers to build optical fiber communications between the front-end and back-end equipment to form uplink broadband links and two-way narrowband link;

Before the rocket is refueled, the front-end aiming controller and the front-end aiming controller monitor in the front-end equipment are used to receive the target video of the electronically controlled aiming device aiming at the rocket target prism, and form a picture of the electronically controlled aiming device and digital camera based on the target video. The control command controls the electronically controlled sight to align the rocket target prism, controls the digital camera to accurately focus, measures the target prism orientation and pitch angle information in real time, and determines the initial orientation of the launch vehicle;

During and after the rocket filling process, the back-end aiming controller and the back-end aiming controller monitor in the back-end equipment are used to receive the live video, and form the control command control of the electronically controlled sighter and digital camera based on the live video. The electronically controlled sight is aligned with the rocket target prism, controls the digital camera to focus accurately, and measures the target prism orientation and pitch angle information in real time to establish the initial orientation after the rocket is refueled.

The transmission system and method of the visual image of the collimator in the embodiment of the present invention realize the monitoring function of the target in an economical and reliable working mode by collecting the visual image information of the collimator and through a series of information transmission methods. The visual image transmission system of the collimator has the characteristics of simple equipment composition and strong adaptability. It has more advantages in terms of working environment and working time, and is in line with the development trend of unattended aiming of launch vehicles. In response to the requirements of unattended aiming of launch vehicles, an economical, reliable, and nationally produced visual image transmission system for the sighting instrument is proposed. Through the visual video image transmission system, a set of video multi-machine display and long-distance transmission can be realized to meet the needs of back-end remote control aiming operations and achieve the purpose of unattended aiming of the launch vehicle.

Description of the drawings

FIG. 1 is a schematic structural diagram of an arrow body sighting based on the prior art according to an embodiment of the present invention. .

FIG. 2 is a schematic structural diagram of a transmission system for visual images of a collimator according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of the optical path structure of the electronically controlled collimator in the visual image transmission system of the collimator according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of the module principle of a digital camera in the visual image transmission system of the collimator according to an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a transmitter and a receiver in a transmission system for visual images of a collimator according to an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer and clearer, the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present invention.

A transmission system for the visual image of a collimator according to an embodiment of the present invention includes:

Data transmission channel for transmitting digital visual imaging and control data between front-end equipment and back-end equipment;

Front-end equipment, used to form digital visual imaging of the sighting device at a point in an area, and to form aiming process control based on the digital visual imaging;

The back-end equipment is used to obtain digital visual imaging through the data transmission channel at another area point according to the aiming switching requirements, and use the digital visual imaging to form aiming process control.

The visual image transmission system of the collimator in the embodiment of the present invention digitizes the visual image of the collimator to form a forwarding or synchronous forwarding of the visual image at multiple physical area points, so that the control of the aiming process is based on the same aiming environment and Aiming feedback information can realize multi-camera remote control operation of the aiming instrument, ensuring the safety and accuracy of the initial position aiming of the rocket during the complete filling process of the rocket.

The transmission system of the visual image of the collimator according to an embodiment of the present invention is shown in Figure 2. In Figure 2, the front-end equipment in this embodiment of the present invention includes:

The electronically controlled sight 110 is used to set the offset of the target prism on the observation arrow at the front observation point, measure the azimuth angle and pitch angle of the target prism in real time, and control the observation angle and eyepiece imaging clarity.

The electronically controlled aiming instrument adopts mature sighting products, which can emit and receive laser indicating signals, and perform aiming control and eyepiece focusing through manual or electronic control. The electronically controlled sight is combined with the controlled pan/tilt and other equipment to set the initial value or correction value for the orientation adjustment. Provides fine dense bit division pattern, and the reflected light spot can be clearly imaged on the observation eyepiece.

The digital camera 120 is used to obtain the eyepiece image of the electronically controlled sight through a spectroscopic approach, adjust the imaging acquisition parameters in a controlled manner, and convert the eyepiece image into a target video output.

Digital cameras include image sensors, image processors and video encoding circuits. The image sensor is used to collect the eyepiece imaging image, the image processor is used to perform original image enhancement processing on the eyepiece imaging, and the video encoding circuit is used to convert the enhanced image into a video signal output. At the same time, the digital camera uses the built-in data communication interface to receive control data and controlly adjust the working parameters of the image sensor, image processor and video encoding circuit.

The front-end transmitter 130 is used to adapt to the back-end receiver to form an audio and video data upload channel to carry compressed video data and encoded audio data, and to form a bidirectional data transmission channel to carry control data and feedback data.

The front-end transmitter and back-end receiver form photoelectric conversion of data based on optical transceiver technology and establish an optical transmission channel for data. Synchronous packaging of audio and video signals is formed through high-speed processing devices. Data encapsulation and data unpacking of bidirectional data transmission are formed through high-speed processing devices. The two-way data transmission channel is connected to the control interface or communication interface of the observation equipment through the adapted interface circuit on the front-end transmitter.

The front-end aiming controller 140 is used to receive the target video, perform signal processing on its reflected light spot information to form observation quantitative data and observation equipment control data, and implement rotation control of the electronically controlled sighter before the rocket is refueled.

After signal processing of the image frame of the target video, the dense bit division pattern and the relative position of the reflected light spot can be obtained. The reflected light spot information contains the displacement quantification information of the deflection or deformation of the rocket body. Displacement quantification data can be obtained through signal processing of reflected light spot information. According to the displacement quantified data and the upper control strategy or preset control strategy, the control data for the electronically controlled aiming instrument and digital camera can be formed. By controlling the data, the adjustment of the electronically controlled aiming device and the focusing of the digital camera can be automatically realized.

The front-end aiming controller monitor 150 is used to form a signal processing interactive interface according to the target video signal processing process.

The control output data of the front-end aiming controller signal processing is graphically superimposed with the target video to form a signal processing interactive interface to ensure the timeliness and accuracy of signal processing.

The front-end video monitor 160 is used to receive the target video for real-time display and provide an intuitive observation path.

Adapting the target video to the monitor size and display parameters for real-time display can provide observation participants with better observation views and clarity.

Backend equipment includes:

The back-end receiver 210 is used to adapt to the front-end transmitter to form an audio and video data upload channel, decode the audio and video data to form live audio and video, and form a two-way data transmission channel to carry feedback data and control data.

The back-end receiver and front-end transmitter form photoelectric conversion of data based on optical transceiver technology and establish an optical transmission channel for data. Synchronous unpacking of audio and video signals is achieved through high-speed processing devices. Data encapsulation and data unpacking of bidirectional data transmission are formed through high-speed processing devices.

The back-end aiming controller 220 is used to receive on-site video, perform signal processing on the reflected light spot information contained in it to form observation quantitative data and control data of the observation equipment, and implement rotation of the electronically controlled sighter during and after rocket refueling. control.

The back-end aiming controller monitor 230 is used to form a signal processing interactive interface based on the live video signal processing process.

The back-end video monitor 240 is used to receive real-time display of on-site video and provide an intuitive observation path.

The rear-end aiming controller, rear-end aiming controller monitor and rear-end video monitor use the rear-end receiver to form a remote control operating position.

The visual image transmission system of the collimator in the embodiment of the present invention meets the requirements of unattended aiming, makes multi-camera remote control operations possible, and conforms to the development trend of aerospace launches; through visual operation, the operator's operation difficulty is reduced, Use automation equipment to modernize equipment; the image transmission system has reliable performance and parts can be made locally, which is in line with the development trend of independent and controllable national science and technology.

The optical path structure of the electronically controlled collimator in the visual image transmission system of the collimator according to an embodiment of the present invention is shown in Figure 3. In Figure 3, the optical path of the electronically controlled collimator includes an objective lens group 1 and a large dichroic prism group arranged in sequence. 2. Visual focusing lens group 3, adjustment washer 4, eyepiece group 5 and digital camera 120. The image imaging information of the collimator is collected by the camera located at the rear end of the telescope eyepiece group, and the collimator meets both visual observation and video collection through the dichroic prism. The core device of the camera is the image sensor, and its performance determines the quality of imaging. Taking into account comprehensive considerations such as performance, cost, and localization, a high-sensitivity CMOS image sensor produced by Shanghai Geke Microelectronics was selected.

The digital camera module in the visual image transmission system of the collimator according to an embodiment of the present invention is shown in Figure 4. In Figure 4, the image processor (image processing circuit) configures the working parameters of the CMOS image sensor (photoelectric acquisition circuit) through the I ² C interface, and at the same time receives the video signal output by the CMOS sensor, and then adjusts and enhances the original image. , encoding and outputting analog video signals to realize the camera function. In order to better cooperate with the image sensor and simplify the design, the dedicated image processor fh8536 produced by Fullhan Microsystems is selected, which integrates the image processor (ISP) and video encoding circuit, and supports up to 1920*1080 high-definition video.

Through the corresponding functional modules inside the image processor (ISP), functions such as image adjustment, automatic white balance, automatic gain control, automatic exposure control, digital noise reduction, background compensation, and chromatic aberration correction are realized.

The camera is installed at the tail of the collimator telescope. By adjusting the focusing handwheel of the telescope, external scenery with different object distances can be focused and imaged on the surface of the CMOS sensor to achieve clear imaging. In practical applications, the optical system of the collimator telescope adopts a telecentric optical path in structure, and the incident angle of the image side is close to 0°, which is smaller than the 9° of the sensor CRA, which can meet the usage requirements.

The transmitter and receiver in the visual image transmission system of the collimator according to an embodiment of the present invention are shown in Figure 5. In Figure 5, the transmitter and receiver are based on optical terminals. MPEG II image compression technology is used to compress images and videos into N×2Mbps data streams for direct transmission through optical fiber. At the transmitter end, the video signal from the camera first passes through the video filter network on the transmitter board to remove noise interference signals, and then performs video separation and video amplification on the video signal. The video separation module obtains important video information such as horizontal and vertical synchronization signals, odd and even field signals, and video clamping of the video signal. Next, the amplified video signal is A/D converted, and the obtained digital video signal is sent to the system main control core FPGA. At the same time, if the system detects the presence of an audio signal, it performs audio filtering, audio digital sampling, and audio PCM encoding. The audio signal encoded by PCM is sent to the system main control core FPGA. The reverse data transmission channel mainly uses the 485 standard. The signal is also sent to the FPGA. The system main control core FPGA integrates video, audio, data and other signals from different modules, and time-division multiplexes each signal into an 8-bit parallel signal. The stream is fed into the parallel-to-serial conversion module. After the signal flow is converted from parallel to serial, it becomes a high-speed LVDS signal that drives the optical fiber transceiver module to complete electrical/optical changes and optical transmission in a wavelength division multiplexing manner. At the receiver end, after the above reverse process, the original signal is restored. Utilizes image compression technology to greatly reduce signal transmission bandwidth, and supports parallel transmission of audio bidirectional, data bidirectional, switch bidirectional, Ethernet and other signals. It is easy to wire and plug-and-play, ensuring the use of optical fiber digital technology to achieve video and control Long distance transmission of signals. The target video input by the transmitter and the live video image information restored by the receiver remain lossless transmission.

In addition to image signals, the target video signal also includes horizontal synchronization signals, horizontal blanking signals, field synchronization signals, vertical blanking signals, slot pulse signals, pre-equalization pulses, post-equalization pulses, etc. Using MC1881, you can obtain video signals from Extract composite sync field synchronization, odd and even field identification and other signals from the signal.

The A/D sampling chip adopts the Yunxin YA14D series. The sampling rate can reach up to 250MSPS, which meets the signal transmission bandwidth requirements. The ADC core adopts a multi-stage, differential pipeline architecture and integrates output error correction logic. Each ADC has a wide-bandwidth input, supporting a variety of user-selectable input ranges; an integrated voltage reference simplifies design; a duty cycle stabilizer can be used to compensate for fluctuations in the ADC clock duty cycle; giving the converters superior performance. The data output by the ADC can be directly sent to the 14-bit parallel LVDS output port, and the output format is interleaved or channel multiplexing.

The electronically controlled aiming instrument (including CMOS camera), optical transceiver (including transmitter and receiver), aiming controller and display electronic components composed of the image transmission system are all made of domestic components, and the software and hardware are independently controllable.

A method for transmitting a visual image of a collimator according to an embodiment of the present invention, using the transmission system of a visual image of a collimator according to the above embodiment, includes:

Set up front-end equipment at fixed points on the rocket umbilical tower, set up back-end equipment at fixed points in the launch command hall, and use front-end transmitters and back-end receivers to build optical fiber communications between the front-end and back-end equipment to form uplink broadband links and two-way narrowband link;

Before the rocket is refueled, the front-end aiming controller and the front-end aiming controller monitor in the front-end equipment are used to receive the target video of the electronically controlled aiming device aiming at the rocket target prism, and form a picture of the electronically controlled aiming device and digital camera based on the target video. The control command controls the electronically controlled sight to align the rocket target prism, controls the digital camera to accurately focus, measures the target prism orientation and pitch angle information in real time, and determines the initial orientation of the launch vehicle;

During and after the rocket filling process, the back-end aiming controller and the back-end aiming controller monitor in the back-end equipment are used to receive the live video, and form the control command control of the electronically controlled sighter and digital camera based on the live video. The electronically controlled sight is aligned with the rocket target prism, controls the digital camera to focus accurately, measures the target prism orientation and pitch angle information in real time, and establishes the initial orientation after the rocket is refueled.

The method of transmitting the visual image of the collimator according to the embodiment of the present invention meets the requirements of unattended aiming, makes multi-camera remote control operations possible, and conforms to the development trend of space launches. The visual operation reduces the difficulty of operations for operators, and automated equipment is used to modernize equipment.

The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the present invention. All substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (10)

1. A sight visual image delivery system, comprising:

the data transmission channel is used for transmitting digital visual imaging and control data between the front-end equipment and the back-end equipment;

the front-end equipment is used for forming digital visual imaging of the collimator at one area point location and forming collimation process control according to the digital visual imaging;

and the back-end equipment is used for acquiring digital visual imaging through the data transmission channel at the point position of the other area according to the aiming switching requirement, and forming aiming process control by utilizing the digital visual imaging.

2. The sight visual image transfer system of claim 1, wherein said front end apparatus comprises:

the electronic control collimator is used for setting an offset of a target prism on an observation arrow at a front end observation point, measuring the azimuth angle and the pitching angle of the target prism in real time, and controlling the adjustment of the observation angle and the imaging definition of an ocular;

the digital camera is used for acquiring ocular imaging of the electronic control collimator through a light splitting way, and controlling and adjusting imaging acquisition parameters to convert the ocular imaging into target video output;

the front-end transmitter is used for forming an audio and video data uploading channel to bear the compressed video data and the encoded audio data in an adapting way with the rear-end receiver, and forming a bidirectional data transmission channel to bear control data and feedback data;

the front-end aiming controller is used for receiving a target video, performing signal processing on reflected light spot information of the target video to form observation quantized data and control data of observation equipment, and performing rotation control on the electric control aiming device before rocket filling;

the front-end aiming controller monitor is used for forming a signal processing interactive interface according to a target video signal processing process;

the front-end video monitor is used for receiving the real-time display of the target video and providing an intuitive observation path.

3. The sight visual image transfer system of claim 2, wherein said back-end apparatus comprises:

the rear end receiver is used for forming an audio and video data uploading channel with the front end transmitter in an adapting way, decoding the audio and video data to form on-site audio and video, and forming a bidirectional data transmission channel to bear feedback data and control data;

the rear-end aiming controller is used for receiving the field video, performing signal processing on the reflected light spot information contained in the field video to form observation quantized data and control data of observation equipment, and performing rotation control on the electric control aiming device during and after rocket filling;

the rear end aiming controller monitor is used for forming a signal processing interactive interface according to the on-site video forming signal processing process;

and the rear-end video monitor is used for receiving the live video for real-time display and providing an intuitive observation path.

4. The sight visual image transmission system according to claim 3, wherein the light path of the electrically controlled sight comprises an objective lens group, a large beam splitter prism group, a visual focusing lens group, an adjusting washer, an eyepiece group and a digital camera which are arranged in sequence, and the sight is enabled to simultaneously meet visual observation and video acquisition through the beam splitter prism between the eyepiece group and the digital camera.

5. The collimator visual image delivery system of claim 3 wherein the digital camera comprises:

the image sensor is used for collecting an eyepiece imaging image;

the image processor is used for carrying out original image enhancement processing on the ocular imaging;

the video coding circuit is used for converting the enhanced image into a video signal for output.

6. The visual image transmission system of claim 5, wherein the functional blocks of the image processor implement image conditioning, automatic white balancing, automatic gain control, automatic exposure control, digital noise reduction, background compensation, and color difference correction.

7. The collimator visual image delivery system of claim 3 wherein the digital camera comprises:

and the built-in data communication interface is used for receiving control data and controlling and adjusting the working parameters of the image sensor, the image processor and the video coding circuit.

8. The sight visual image transfer system of claim 3, wherein said front end transmitter comprises:

the video filter network is used for removing noise interference signals in the video signals;

and the video separation module is used for obtaining important video information such as row and field synchronous signals, parity field signals, video clamping and the like of the video signals, and then carrying out video separation and video amplification on the video signals.

9. The visual image transmission system of claim 3, wherein the back-end receiver and the front-end transmitter form a bi-directional data transmission channel between them to carry feedback data and control data, including bi-directional audio, bi-directional data, bi-directional switching values, and parallel transmission of ethernet signals.

10. A method of transferring a visual image of a collimator using the system for transferring a visual image of a collimator according to any one of claims 1 to 9, comprising:

erecting front-end equipment at a rocket umbilical tower fixed point, erecting rear-end equipment at a fixed point of a launching command hall, and constructing optical fiber communication between the front-end equipment and the rear-end equipment by utilizing a front-end transmitter and a rear-end receiver to form an uplink broadband link and a bidirectional narrowband link;

before rocket filling, a front-end aiming controller and a front-end aiming controller monitor in front-end equipment are utilized to receive a target video of a process of aiming an electronic control collimator at a rocket target prism, and control instructions of the electronic control collimator and a digital camera are formed according to the target video to control the electronic control collimator to aim at the rocket target prism, the digital camera is controlled to focus accurately, the azimuth and pitching angle information of the target prism are measured in real time, and the initial azimuth of the carrier rocket is determined;

and in the rocket filling process and after filling, receiving a field video by utilizing a rear-end aiming controller and a rear-end aiming controller monitor in rear-end equipment, forming a control instruction of an electric control collimator and a digital camera according to the field video to control the electric control collimator to aim at a rocket target prism, controlling the digital camera to accurately focus, measuring the azimuth and pitching angle information of the target prism in real time, and establishing the initial azimuth after rocket filling.