CN117269953A - Distributed radar guided photoelectric tracking and identifying device and method - Google Patents
Distributed radar guided photoelectric tracking and identifying device and method Download PDFInfo
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Classifications
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
Abstract
The invention relates to a distributed radar guided photoelectric tracking and identifying device and a method, wherein the device comprises the following components: the invention captures tracking track information of an object to be tracked through the first radar and/or the second radar; acquiring inertial measurement data by a first inertial navigation device and/or a second inertial navigation device; according to the tracking track information and the inertial measurement data, carrying out data calculation to obtain a real-time ball coordinate value of the target to be tracked; and adjusting the angle of the photoelectric tracking device according to the real-time ball coordinate value, and tracking and identifying the target to be tracked. Compared with the prior art, the method has the advantages that through the distributed radar layout design, the omnibearing tracking identification of the target is realized on the premise of avoiding the influence of rotation disturbance of the radar and the photoelectric tracking device, and the accurate real-time ball coordinate value of the target to be tracked is obtained through real-time calculation through the distributed radar photoelectric tracking identification method.
Description
Technical Field
The invention relates to the field of target tracking and identification, in particular to a distributed radar guided photoelectric tracking and identification device and method.
Background
With the development of unmanned aerial vehicle technology, ground-air collaboration is applied to various fields such as terrain exploration, engineering construction, traffic guidance and the like. In air-ground cooperation, the photoelectric tracking device is usually matched with a radar to carry out target tracking identification on the unmanned aerial vehicle, and the effective detection and identification of low-speed small targets of the unmanned aerial vehicle and the like can be realized by utilizing the complementary advantages of the photoelectric tracking device and the radar. However, in practical engineering, because the photoelectric tracking device and the radar both need to be detected in all directions, the problem of shielding a working view field often occurs in the working process, and the target tracking and identifying range is greatly limited. Although the common-frame design adopted by the photoelectric tracking device and the radar in the prior art can solve the shielding problem, the photoelectric tracking device and the radar have mutual disturbance influence in the rotation process, so that the accuracy of tracking and identifying the target is reduced.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a distributed radar-guided photoelectric tracking and identifying device and method for solving the technical problem that in the prior art, the working field of view is blocked between the photoelectric tracking device and the radar, so that the target tracking and identifying range is limited.
In one aspect, the present invention provides a distributed radar guided photoelectric tracking and identifying device, including: the system comprises a first radar, a second radar, a first inertial navigation device, a second inertial navigation device, a photoelectric tracking device and a data processing center, wherein the first radar and the photoelectric tracking device are connected with the first inertial navigation device, the second radar is connected with the second inertial navigation device, and the first radar, the second radar and the photoelectric tracking device are connected with the data processing center, wherein:
the first radar and the second radar are used for acquiring motion state information of an object to be tracked;
the first inertial navigation device is used for acquiring first inertial measurement data of the first radar and the photoelectric tracking device;
the second inertial navigation device is used for acquiring second inertial measurement data of a second radar;
the data processing center is used for carrying out data calculation according to the motion state information of the target to be tracked, the first inertial measurement data and/or the second inertial measurement data to obtain real-time ball coordinate values of the target to be tracked;
the photoelectric tracking device is used for tracking and identifying the target to be tracked according to the real-time ball coordinate value.
Further, the device also comprises a radar switch, wherein the radar switch is connected with the first radar, the second radar and the data processing center and is used for realizing data interaction and instruction control between the first radar and the second radar and the data processing center.
Further, the first inertial navigation device and the second inertial navigation device are strapdown triaxial inertial measurement equipment mounted on a carrier, and the photoelectric tracking device is coarse-fine composite axis imaging tracking equipment.
Further, the first radar is preset with a first azimuth angle range, the second radar is preset with a second azimuth angle range, and coverage areas corresponding to the first azimuth angle range of the first radar and the second azimuth angle range of the second radar do not include the area where the photoelectric tracking device is located.
On the other hand, the invention also provides a distributed radar guiding photoelectric tracking recognition method, which is applied to the distributed radar guiding photoelectric tracking recognition device and comprises the following steps:
capturing tracking track information of an object to be tracked based on the first radar and/or the second radar;
acquiring inertial measurement data based on the first inertial navigation device and/or the second inertial navigation device;
according to the tracking track information and the inertial measurement data, carrying out data calculation to obtain a real-time ball coordinate value of the target to be tracked;
and adjusting the angle of the photoelectric tracking device according to the real-time ball coordinate value, and tracking and identifying the target to be tracked.
Further, the tracking track information comprises azimuth angle, pitch angle, distance and speed of the target to be tracked, and the real-time ball coordinate value is a coordinate value under a coordinate system taking the base of the photoelectric tracking device as a reference.
Further, acquiring tracking track information of the target to be tracked based on the first radar and/or the second radar includes:
scanning data of a target to be tracked is obtained based on the first radar or the second radar;
the data processing center generates a search track according to the scanning data, generates a tracking instruction according to the search track and sends the tracking instruction to the first radar and/or the second radar;
the first radar and/or the second radar track the target to be tracked according to the tracking instruction and acquire tracking data, and the data processing center generates tracking track information according to the tracking data.
Further, according to the tracking track information and the inertial measurement data, performing data calculation to obtain a real-time ball coordinate value of the target to be tracked, including:
constructing reference coordinate systems under different reference systems, wherein the reference coordinate systems comprise a double-radar geographic coordinate system and a photoelectric tracking device base coordinate system;
determining a ball coordinate value of a target to be tracked in a double-radar geographic coordinate system according to the tracking track information;
and converting the spherical coordinate values of the double-radar geographic coordinate system into real-time spherical coordinate values of the base coordinate system of the photoelectric tracking device based on coordinate transformation.
Further, each reference coordinate system further includes a photoelectric tracking device geographical coordinate system, and the conversion of the spherical coordinate values of the radar geographical coordinate system into real-time spherical coordinate values of the photoelectric tracking device base coordinate system based on coordinate transformation includes:
obtaining a right-angle coordinate value of the target to be tracked in the double-radar geographic coordinate system according to the spherical coordinate value of the double-radar geographic coordinate system;
obtaining the right-angle coordinate value of the target to be tracked in the geographic coordinate system of the photoelectric tracking device according to the right-angle coordinate value of the double-radar geographic coordinate system;
obtaining the right-angle coordinate value of the target to be tracked in the base coordinate system of the photoelectric tracking device according to the right-angle coordinate value of the geographic coordinate system of the photoelectric tracking device;
and carrying out data smoothing processing on the right-angle coordinate value of the base coordinate system of the photoelectric tracking device and compensating the zero position of the pitching code disc to obtain the ball coordinate value of the target to be tracked in the base coordinate system of the photoelectric tracking device.
Further, the photoelectric tracking device comprises a servo turntable, a coarse tracking infrared camera and a fine tracking visible camera, the angle of the photoelectric tracking device is adjusted according to the real-time ball coordinate value, and the tracking recognition is carried out on the target to be tracked, and the method comprises the following steps:
the servo turntable drives the coarse tracking infrared camera and the fine tracking visible camera to rotate to the position of the real-time ball coordinate value according to the real-time ball coordinate value;
performing closed-loop tracking on a target to be tracked based on the coarse tracking infrared camera;
and carrying out target recognition on the target to be tracked based on the fine tracking visible camera.
Compared with the prior art, the beneficial effects of adopting the embodiment are as follows: according to the invention, through the distributed radar layout design, on the premise of avoiding the influence of rotation disturbance of the radar and the photoelectric tracking device, the omnibearing tracking and identification of the target are realized, and the accurate real-time ball coordinate value of the target to be tracked is obtained through real-time calculation by the corresponding distributed radar photoelectric tracking and identification method, so that the accuracy of target tracking and identification is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being evident that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of one embodiment of a distributed radar guided photovoltaic tracking device provided by the present invention;
FIG. 2 is a schematic diagram of a carrier layout according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of an embodiment of a distributed radar guided photoelectric tracking method provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the drawings of the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present invention. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor systems and/or microcontroller systems.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Fig. 1 is a schematic structural diagram of an embodiment of a distributed radar-guided photoelectric tracking and identifying device according to the present invention, and, with reference to fig. 1, a distributed radar-guided photoelectric tracking and identifying device 100 includes: the first radar 110, the second radar 120, the first inertial navigation device 130, the second inertial navigation device 140, the photoelectric tracking device 150 and the data processing center 160, the first radar 110 and the photoelectric tracking device 150 are connected with the first inertial navigation device 130, the second radar 120 is connected with the second inertial navigation device 140, the first radar 110, the second radar 120 and the photoelectric tracking device 150 are connected with the data processing center 160, wherein:
the first radar 110 and the second radar 120 are used for acquiring motion state information of an object to be tracked;
the first inertial navigation device 130 is configured to acquire first inertial measurement data of the first radar 110 and the photoelectric tracking device 150;
the second inertial navigation device 140 is configured to acquire second inertial measurement data of the second radar 120;
the data processing center 160 is configured to perform data calculation according to the motion state information, the first inertial measurement data, and/or the second inertial measurement data of the target to be tracked to obtain a real-time ball coordinate value of the target to be tracked;
the photoelectric tracking device 150 is used for tracking and identifying the target to be tracked according to the real-time ball coordinate values.
In a specific embodiment of the present invention, the distributed radar guided photoelectric tracking identification apparatus further includes a radar switch 170, where the radar switch 170 is connected to the first radar 110, the second radar 120, and the data processing center 160, for implementing data interaction and instruction control between the first radar 110 and the second radar 120 and the data processing center 160.
In a specific embodiment of the present invention, the first inertial navigation device 130 and the second inertial navigation device 140 are carrier-mounted strapdown three-axis inertial measurement equipment, and the photoelectric tracking device 150 is coarse-fine composite axis imaging tracking equipment.
Specifically, fig. 2 is a schematic structural diagram of a carrier layout according to an embodiment of the present invention, and as shown in fig. 2, the first radar 110 and the second radar 120 are connected to the data processing center 160 through the radar switch 170, so as to implement data interaction and command control.
The first inertial navigation device 130 is installed on the upper surface of the front cabin and is connected with the first radar 110 and the photoelectric tracking device 150 to acquire first inertial measurement data of the first radar 110 and the photoelectric tracking device 150; the second inertial navigation device 140 is installed on the upper surface of the rear cabin and connected to the second radar 120, and acquires second inertial measurement data of the second radar 120, where the inertial measurement data includes information such as position, direction, speed, and attitude angle.
The photoelectric tracking device 150 is driven by a servo turntable 180 installed on the upper surface of the front cabin to rotate in a control direction to realize detection of a set angle, and in the embodiment, the rotation angle range of the servo turntable 180 is as follows: azimuth angle range is 0-360 degrees, pitch angle range is-5- +85 degrees, and tracking error is not more than 0.5mrad.
In addition, the photoelectric tracking device 150 in the embodiment is a coarse-fine composite axis imaging tracking device, which includes a coarse tracking infrared camera, a fine tracking visible camera, and an image signal processor, wherein the coarse tracking infrared camera is used for coarse infrared detection of a target, the fine tracking visible camera is used for zoom imaging detection of a visible spectrum of the target, and the image signal processor is used for processing a detection image obtained by the fine tracking visible camera of the coarse tracking infrared camera.
Compared with the prior art, the distributed radar guiding structure can effectively realize the omnibearing detection of the target to be tracked, effectively avoid the disturbance influence of the rotation process caused by the common frame design in the prior art, and realize higher guiding precision.
In an embodiment of the present invention, the first radar 110 is preset with a first azimuth range, the second radar 120 is preset with a second azimuth range, and the coverage areas corresponding to the first azimuth range of the first radar 110 and the second azimuth range of the second radar 120 do not include the area where the photoelectric tracking device 150 is located.
Specifically, in the embodiment by the radar according to the first radar 110 and the second radar120, a first azimuth angle range and a second azimuth angle range of the first radar 110 and the second radar 120 radiating microwaves to the outside are set, including the initial azimuth angle of the first radar 110Termination azimuth of first radar 110 +.>Start azimuth of second radar 120 +.>Terminating azimuth of second radar 120 +.>And avoid the location of the tracking device 150 when setting the azimuth range. In the present embodiment, the scanning directions of the first radar 110 and the second radar 120 are clockwise, the vertical upward direction in the vehicle width direction is the turntable azimuth angle 0 °, the initial azimuth angle +_of the first radar 110 is defined as +_>Termination azimuth of first radar 110 +.>The starting azimuth of the second radar 120 +.>Terminating azimuth of second radar 120 +.>。
In order to better implement the distributed radar guiding photoelectric tracking recognition device in the embodiment of the invention, correspondingly, as shown in fig. 3, the invention also provides a distributed radar guiding photoelectric tracking recognition method, which comprises the following steps:
s301, tracking track information of a target to be tracked is captured based on a first radar and/or a second radar;
s302, acquiring inertial measurement data based on the first inertial navigation device and/or the second inertial navigation device;
s303, carrying out data calculation according to the tracking track information and the inertial measurement data to obtain a real-time ball coordinate value of the target to be tracked;
s304, adjusting the angle of the photoelectric tracking device according to the real-time ball coordinate value, and tracking and identifying the target to be tracked.
The distributed radar guiding photoelectric tracking recognition method is applied to the distributed radar guiding photoelectric tracking recognition device, achieves real-time calculation according to tracking track information and relation strategy data to obtain accurate real-time sphere coordinate values of the target to be tracked, adjusts angles of the photoelectric tracking device according to the real-time sphere coordinate values, and achieves accurate tracking recognition of the target to be tracked.
In a specific embodiment of the present invention, the tracking track information includes azimuth angle, pitch angle, distance and speed of the target to be tracked, and the real-time ball coordinate value is a coordinate value under a coordinate system taking the base of the photoelectric tracking device as a reference.
Specifically, the tracking track information is generated by performing radar tracking on the target to be tracked through the first radar and/or the second radar, including but not limited to azimuth angle, pitch angle, distance and speed of the target to be tracked, and is used for providing a data base for subsequent guiding photoelectric tracking identification. The real-time ball coordinate value is obtained by data calculation through the data processing center according to tracking track information obtained through the first radar and/or the second radar and inertial measurement data obtained through the first inertial navigation device and/or the second inertial navigation device, and is a coordinate value under a coordinate system taking a base of the photoelectric tracking device as a reference, and is used for determining the rotation direction of the photoelectric tracking device.
In a specific embodiment of the present invention, acquiring tracking track information of an object to be tracked based on a first radar and/or a second radar includes:
scanning data of a target to be tracked is obtained based on the first radar or the second radar;
the data processing center generates a search track according to the scanning data, generates a tracking instruction according to the search track and sends the tracking instruction to the first radar and/or the second radar;
the first radar and/or the second radar track the target to be tracked according to the tracking instruction and acquire tracking data, and the data processing center generates tracking track information according to the tracking data.
Specifically, when a search instruction is issued to the first radar and the second radar through the data processing center, the first radar and the second radar are in a search state and search for a target to be tracked in a corresponding azimuth range; when the first radar or the second radar searches for a target to be tracked, the scanning data are sent to the data processing center, the data processing center generates a searching track according to the scanning data, generates a tracking instruction according to the searching track and sends the tracking instruction to the first radar and/or the second radar, the first radar and/or the second radar start tracking states according to the tracking instruction and generate tracking data, if the searching tracking is successful, the data processing center generates tracking track information according to the tracking data, and if the searching tracking is failed, the first radar and/or the second radar re-searches for the target.
In a specific embodiment of the present invention, performing data calculation according to tracking track information and inertial measurement data to obtain real-time ball coordinate values of a target to be tracked, including:
constructing reference coordinate systems under different reference systems, wherein the reference coordinate systems comprise a double-radar geographic coordinate system and a photoelectric tracking device base coordinate system;
determining a ball coordinate value of a target to be tracked in a double-radar geographic coordinate system according to the tracking track information;
and converting the spherical coordinate values of the double-radar geographic coordinate system into real-time spherical coordinate values of the base coordinate system of the photoelectric tracking device based on coordinate transformation.
In a specific embodiment of the present invention, each reference coordinate system further includes a photoelectric tracking device geographical coordinate system, converting ball coordinate values of the radar geographical coordinate system into real-time ball coordinate values of a photoelectric tracking device base coordinate system based on coordinate transformation, including:
obtaining a right-angle coordinate value of the target to be tracked in the double-radar geographic coordinate system according to the spherical coordinate value of the double-radar geographic coordinate system;
obtaining the right-angle coordinate value of the target to be tracked in the geographic coordinate system of the photoelectric tracking device according to the right-angle coordinate value of the double-radar geographic coordinate system;
obtaining the right-angle coordinate value of the target to be tracked in the base coordinate system of the photoelectric tracking device according to the right-angle coordinate value of the geographic coordinate system of the photoelectric tracking device;
and carrying out data smoothing processing on the right-angle coordinate value of the base coordinate system of the photoelectric tracking device and compensating the zero position of the pitching code disc to obtain the ball coordinate value of the target to be tracked in the base coordinate system of the photoelectric tracking device.
Specifically, in the data calculation process, each reference coordinate system needs to be defined first, as follows:
defining a geographic coordinate system G0, wherein the north direction, the east direction and the ground direction are taken as coordinate axis directions, and the origin of coordinates is the earth center;
defining a double-radar geographic coordinate system G1 formed by a first radar and a second radar, taking the north direction, the east direction and the ground direction as coordinate axis directions, and taking a coordinate origin as a first radar center point;
defining a geographic coordinate system G2 of the photoelectric tracking device, taking the north direction, the east direction and the earth direction as coordinate axis directions, and taking a coordinate origin as a two-axis intersection point of the servo turntable;
defining a coordinate system T2 of a base of the photoelectric tracking device, wherein a Z axis is parallel to a azimuth axis of the servo turntable and vertically downward, a Y axis is parallel to a pitching axis of the servo turntable (when a pitch angle and an azimuth angle of the servo turntable are 0 DEG), an X axis faces the direction of a photoelectric tracking visual axis, the coordinate system accords with a right hand rule, and an origin is a crossing point of two axes of the servo turntable;
defining a first inertial navigation device coordinate system A2, taking the front direction, the right direction and the right-down direction of a front cabin of a carrier as coordinate axis directions, and taking a coordinate origin as the first inertial navigation device;
defining a second inertial navigation device coordinate system M2, taking the front direction, the right direction and the right-down direction of the rear cabin of the carrier as coordinate axis directions, and taking the origin of coordinates as the second inertial navigation device;
a first inertial navigation device reference frame D2 is defined, coincident with the A2 frame.
Taking first radar guided photoelectric tracking recognition as an example, firstly, determining a spherical coordinate value of a target to be tracked under a double-radar geographic coordinate system G1 according to tracking track informationCalculating a rectangular coordinate value of a target to be tracked in a double-radar geographic coordinate system G1:
wherein,for the tilt distance of the target to be tracked from the radar, < > for>Is the pitch angle of radar to the target to be tracked under the geographic coordinate system, < >>The azimuth angle from the radar to the target to be tracked in the geographic coordinate system is positive clockwise.
According to the rectangular coordinate value under the double radar geographic coordinate system G1, calculating to obtain the coordinate axis of the target to be tracked under the photoelectric tracking device geographic coordinate system G2:
wherein,is the horizontal distance from the origin of the G1 system to the origin of the G2 system,>for the vertical height from the G1 origin to the G2 origin, the radar is positive and +.>To the first radar center for photoelectric tracking deviceThe azimuth angle between the connection line of the first inertial navigation device and the reference direction of the first inertial navigation device, +.>Is the azimuth of the first inertial navigation device.
Then, calculating a right angle coordinate value of the target to be tracked in the base coordinate system T2 of the photoelectric tracking device according to the coordinate axis in the geographic coordinate system G2 of the photoelectric tracking device:
wherein,
wherein,for a change matrix of the A2 coordinate system to the T2 coordinate system,/for a change matrix of the A2 coordinate system to the T2 coordinate system>For the transformation matrix of the D2 coordinate system into the T2 coordinate system,/for the transformation matrix of the D2 coordinate system into the T2 coordinate system>For a change matrix of the A2 coordinate system to the D2 coordinate system,/for the A2 coordinate system>Is a change matrix from a T2 coordinate system to a D2 coordinate system. />For the roll angle of the first inertial navigation device, +.>For the pitch angle of the first inertial navigation device, < >>D2 system X-direction dip angle (positive high is positive) which is the horizontal installation error of the photoelectric tracking device relative to the first inertial navigation device,>D2Y-direction inclination angle (positive high is positive) which is the horizontal installation error of the photoelectric tracking device relative to the first inertial navigation device,>when the servo turntable is at zero degree, the azimuth included angle (clockwise positive) of the central visual axis of the photoelectric tracking device relative to the reference direction of the first inertial navigation device. />For the pitch angle error of the electro-optical tracking device relative to the first inertial navigation device, +.>For the roll angle error of the electro-optical tracking device relative to the first inertial navigation device, +.>Is the azimuth angle error of the photoelectric tracking device relative to the first inertial navigation device.
And then, carrying out data smoothing processing on the coordinate data under a T2 coordinate system: the sliding window length is defined as N (n.gtoreq.1), and when n=1, the data is not smoothed. When the number k of sampling points is less than N, the coordinate value of the k moment is replaced by the existing data average value.
The coordinate value of the k moment before smoothing is:
the smoothed coordinate values are:
wherein,、/>and->The projected components of the vector from the photoelectric tracking device to the target point in the north direction, the east direction and the ground direction are respectively.
And (3) calculating a ball coordinate value under a base coordinate system T2 of the photoelectric tracking device after compensating the zero position of the pitching code disc according to the smoothed coordinate value:
wherein,for the azimuth angle (clockwise positive) of the target in the T2 coordinate system,/for the target>Compensating the pitch angle (positive elevation angle) of the target after pitching the code disc zero position under the T2 coordinate system>And (3) the target is separated from the slant distance of the photoelectric tracking device.
In a specific embodiment of the present invention, the photoelectric tracking device includes a servo turntable, a coarse tracking infrared camera and a fine tracking visible camera, adjusts an angle of the photoelectric tracking device according to real-time ball coordinate values, and performs tracking identification on a target to be tracked, including:
the servo turntable drives the coarse tracking infrared camera and the fine tracking visible camera to rotate to the position of the real-time ball coordinate value according to the real-time ball coordinate value;
performing closed-loop tracking on a target to be tracked based on the coarse tracking infrared camera;
and carrying out target recognition on the target to be tracked based on the fine tracking visible camera.
Specifically, the servo turntable is initially positioned at a zero position, namely the azimuth angle and the pitch angle are both 0 degrees, and the real-time ball coordinate value obtained by the data processing center is used forThe servo turntable drives the photoelectric tracking device to rotate to the resolved spherical coordinate position, and tracking rotation is carried out according to the updated real-time spherical coordinate value. When the photoelectric tracking device is in a tracking follow-up state, tracking the target through the coarse tracking infrared camera, observing the position of the target in the coarse tracking infrared camera, and clicking to perform closed-loop tracking. If the closed-loop tracking is successful, the target is identified by using the fine tracking visible camera, and if the closed-loop tracking is failed, the real-time sphere coordinate value calculation is carried out again.
Compared with the prior art, the distributed radar guiding photoelectric tracking recognition method is based on the distributed radar guiding photoelectric tracking recognition device, photoelectric tracking recognition is carried out by taking the distributed radar as guiding, accurate real-time ball coordinate values of the target to be tracked are obtained through coordinate conversion, data smoothing processing, pitching code disc zero position compensation and other modes, and high-precision target tracking recognition is achieved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. A distributed radar-guided photoelectric tracking and identifying device, comprising: the system comprises a first radar, a second radar, a first inertial navigation device, a second inertial navigation device, a photoelectric tracking device and a data processing center, wherein the first radar and the photoelectric tracking device are connected with the first inertial navigation device, the second radar is connected with the second inertial navigation device, and the first radar, the second radar and the photoelectric tracking device are connected with the data processing center, wherein:
the first radar and the second radar are used for acquiring motion state information of a target to be tracked;
the first inertial navigation device is used for acquiring first inertial measurement data of the first radar and the photoelectric tracking device;
the second inertial navigation device is used for acquiring second inertial measurement data of the second radar;
the data processing center is used for carrying out data calculation according to the motion state information of the target to be tracked, the first inertial measurement data and/or the second inertial measurement data to obtain real-time ball coordinate values of the target to be tracked;
and the photoelectric tracking device is used for tracking and identifying the target to be tracked according to the real-time ball coordinate value.
2. The distributed radar-guided photoelectric tracking identification device of claim 1, further comprising a radar switch coupled to the first radar, the second radar, and the data processing center for effecting data interaction and command control between the first radar and the second radar and the data processing center.
3. A distributed radar guided photoelectric tracking identification device according to claim 1, wherein the first inertial navigation device and the second inertial navigation device are strapdown three-axis inertial measurement units mounted on a carrier, and the photoelectric tracking device is a coarse-fine composite axis imaging tracking unit.
4. The distributed radar-guided photoelectric tracking and identification device according to claim 1, wherein the first radar is preset with a first azimuth angle range, the second radar is preset with a second azimuth angle range, and the coverage areas corresponding to the first azimuth angle range of the first radar and the second azimuth angle range of the second radar do not include the area where the photoelectric tracking device is located.
5. A distributed radar guided photoelectric tracking identification method applied to the distributed radar guided photoelectric tracking identification device according to any one of claims 1 to 4, characterized in that the method comprises the following steps:
capturing tracking track information of an object to be tracked based on the first radar and/or the second radar;
acquiring inertial measurement data based on the first inertial navigation device and/or the second inertial navigation device;
according to the tracking track information and the inertial measurement data, carrying out data calculation to obtain a real-time ball coordinate value of the target to be tracked;
and adjusting the angle of the photoelectric tracking device according to the real-time ball coordinate value, and tracking and identifying the target to be tracked.
6. The method according to claim 5, wherein the tracking trajectory information includes azimuth angle, pitch angle, distance and speed of the target to be tracked, and the real-time spherical coordinate value is a coordinate value in a coordinate system with reference to the base of the photoelectric tracking device.
7. The method according to claim 5, wherein the acquiring tracking track information of the target to be tracked based on the first radar and/or the second radar includes:
scanning data of the target to be tracked are obtained based on the first radar or the second radar;
the data processing center generates a search track according to the scanning data, generates a tracking instruction according to the search track and sends the tracking instruction to the first radar and/or the second radar;
the first radar and/or the second radar track the target to be tracked according to the tracking instruction and obtain tracking data, and the data processing center generates tracking track information according to the tracking data.
8. The method for identifying the distributed radar guided photoelectric tracking according to claim 5, wherein the performing data calculation according to the tracking trajectory information and the inertial measurement data to obtain real-time ball coordinate values of the target to be tracked comprises:
constructing reference coordinate systems under different reference systems, wherein the reference coordinate systems comprise a double-radar geographic coordinate system and a photoelectric tracking device base coordinate system;
determining a ball coordinate value of a target to be tracked in a double-radar geographic coordinate system according to the tracking track information;
and converting the spherical coordinate values of the double-radar geographic coordinate system into real-time spherical coordinate values of a base coordinate system of the photoelectric tracking device based on coordinate transformation.
9. The method of claim 8, wherein each reference coordinate system further comprises a photoelectric tracking device geographical coordinate system, the converting ball coordinate values of the radar geographical coordinate system into real-time ball coordinate values of a photoelectric tracking device base coordinate system based on coordinate transformation, comprising:
obtaining right-angle coordinate values of the target to be tracked in the double-radar geographic coordinate system according to the spherical coordinate values of the double-radar geographic coordinate system;
obtaining the right-angle coordinate value of the target to be tracked in the geographic coordinate system of the photoelectric tracking device according to the right-angle coordinate value of the double-radar geographic coordinate system;
obtaining a right-angle coordinate value of a target to be tracked in a base coordinate system of the photoelectric tracking device according to the right-angle coordinate value of the geographic coordinate system of the photoelectric tracking device;
and carrying out data smoothing processing on the right-angle coordinate value of the base coordinate system of the photoelectric tracking device and compensating the zero position of the pitching code disc to obtain the ball coordinate value of the target to be tracked in the base coordinate system of the photoelectric tracking device.
10. The method according to claim 5, wherein the photoelectric tracking device includes a servo turntable, a coarse tracking infrared camera, and a fine tracking visible camera, the adjusting the angle of the photoelectric tracking device according to the real-time spherical coordinate value, and performing tracking recognition on the target to be tracked includes:
the servo turntable drives the coarse tracking infrared camera and the fine tracking visible camera to rotate to the position where the real-time ball coordinate value is located according to the real-time ball coordinate value;
performing closed-loop tracking on the target to be tracked based on the coarse tracking infrared camera;
and carrying out target recognition on the target to be tracked based on the fine tracking visible camera.
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