CN117420533B - Distance measurement error and accurate measurement rate detection method of photoelectric turret - Google Patents
Distance measurement error and accurate measurement rate detection method of photoelectric turret Download PDFInfo
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- 238000001514 detection method Methods 0.000 title description 3
- 238000000034 method Methods 0.000 claims abstract description 30
- 230000005693 optoelectronics Effects 0.000 claims description 13
- 238000012216 screening Methods 0.000 abstract description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F16/70—Information retrieval; Database structures therefor; File system structures therefor of video data
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- G06F16/783—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/44—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs
- H04N21/44016—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs involving splicing one content stream with another content stream, e.g. for substituting a video clip
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
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Abstract
The invention relates to the technical field of photoelectric turrets, in particular to a method for detecting range finding errors and accurate measurement rates of a photoelectric turret, which comprises the steps of carrying out range finding on a plurality of targets with different standard distances through a laser range finder in the photoelectric turret, shooting range finding videos, and storing UTC time and laser range finding measurement values of each frame of video; inputting a standard distance of a target to be searched, determining the target to be searched according to a difference value between the standard distance of the target to be searched and a laser ranging measurement value of each target in the video, cutting the video containing the target to be searched according to UTC time sequence, and automatically calculating a ranging error and a quasi-ranging rate of the photoelectric turret. According to the invention, in a video with a large data volume, the time period of the laser ranging in the video is automatically searched, the laser ranging time in the video can be quickly searched, the video segment containing the target to be searched is cut, the ranging error and the accurate measurement rate are automatically calculated, and the difficulty that the prior art can only pass human eye screening and manual calculation is solved.
Description
Technical Field
The invention relates to the technical field of photoelectric turrets, and particularly provides a method for detecting range finding errors and accurate measurement rates of a photoelectric turret.
Background
Laser rangefinders within optoelectronic turrets are typically required to detect laser range error and accurate range rate to the external field. The outfield detection process generally requires ranging a standard distance target of 500 meters, 1000 meters, 1500 meters, 2000 meters, 2500 meters, 3000 meters, 3500 meters, 4000 meters, 4500 meters, 5000 meters, 5500 meters, 6000 meters, 6500 meters, 7000 meters, 7500 meters, 8000 meters, 8500 meters, 9000 meters, 9500 meters, 10000 meters, 10500 meters, 11000 meters to 20000 meters at various distances, and capturing an image. After the image is recorded, the data are brought back to a laboratory, the data processing personnel manually record the laser ranging measurement value overlapped in the video in the outfield video for several hours, and the laser ranging error and the accurate measurement rate are manually calculated, but the operation of the process is too complex, and the time for manually searching the target is serious. Therefore, in the process of processing the outfield video with large data volume, the manual target retrieval should be avoided, the operation of manually calculating the laser ranging error and the accurate measurement rate is performed, and the data processing time is reduced.
Disclosure of Invention
The invention provides a method for detecting the range finding error and the accurate measurement rate of an optoelectronic turret, which can automatically search the time period of laser range finding in a video in a large data volume, automatically cut the video segment of a storage target, and automatically calculate the range finding error and the accurate measurement rate of the optoelectronic turret.
The invention provides a method for detecting range errors and accurate measurement rates of an optoelectronic turret, wherein a laser range finder is arranged in the optoelectronic turret, and the method comprises the following steps:
s1: the method comprises the steps of measuring distance of a plurality of targets with different standard distances through a laser range finder in an optoelectronic turret, wherein the distance between two targets with the smallest distance in the targets is the smallest distance difference; shooting videos in the ranging process, and storing UTC time and laser ranging measurement values of each frame of video;
s2: inputting standard distances of the targets to be searched, calculating a difference value between each laser ranging measurement value and the standard distance of the target to be searched, and when the difference value is smaller than the minimum distance difference, marking the video corresponding to the laser ranging measurement value as a video to be cut, wherein the target in the video to be cut is the target to be searched, namely, the matching of the target to be searched and the target in the video is completed;
s3: recording the difference value between the laser ranging measurement value of the target to be searched and the standard distance as a ranging difference, and calculating the square root of the ranging difference of all the targets to be searched, wherein the square root result is the ranging error of the photoelectric turret;
counting the number of targets to be searched, the distance measurement difference of which is smaller than a quasi-measurement threshold value, and dividing the number by the total number of targets to be searched to obtain the quasi-measurement rate of the photoelectric turret;
and cutting the video to be cut according to the UTC time sequence.
Preferably, a video in the ranging process is shot by using a visible light camera, the visible light camera and the laser ranging machine are synchronously controlled through a main control board, and after the main control board receives a trigger signal, 2 paths of trigger signals are synchronously output, wherein the 1 st path of trigger signals are output to the visible light camera to trigger the exposure of the visible light camera; the 2 nd path triggering signal is output to the laser range finder to trigger the laser range finder to measure distance.
Preferably, the distance measurement video shot by the visible light camera is 25Hz, the distance measurement frequency of the laser distance measuring machine is 1Hz, and the same laser distance measurement value is marked on the 25 frames of video corresponding to each laser distance measurement period.
Preferably, the distance difference between adjacent targets in the targets with different standard distances is equal, and the minimum distance difference is 500 meters.
Preferably, in S1, the UTC time and laser ranging measurements for each frame of video are written into the SEI data section of the h.264 bitstream and stored in a data recorder within the optoelectronic turret.
Preferably, searching a frame header of an SEI data section in the H.264 code stream, establishing a POS array, and independently storing a file pointer position of the frame header into one row in the POS array every time the frame header is searched;
and establishing a Data array, reading the file pointer position of each frame head in the POS array, reading UTC time of each frame of video from the H.264 file, and independently storing laser ranging measurement values into one row in the Data array.
Preferably, the distance-rms of the distance measurement error of the optoelectronic turret is calculated as:
；
wherein N represents the total number of targets to be searched, and error represents the distance measurement difference of the targets to be searched.
Preferably, the calculation formula of the accurate measurement rate correct-rate of the optoelectronic turret is as follows:
；
wherein true represents the number of objects to be retrieved for which the ranging difference is smaller than the quasi-ranging threshold.
Preferably, the accurate measurement threshold is 20 meters.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the laser ranging of the photoelectric turret is shot, in a video with a large data volume, the time period of the laser ranging in the video is automatically searched, the video segment containing the target to be searched can be cut out quickly at the time of searching the laser ranging in the video, the ranging error and the accurate measuring rate are automatically calculated, the difficulty that the prior art can only be used for screening by human eyes and manually calculating is solved, and the error measuring and calculating efficiency of the photoelectric turret is greatly improved.
Drawings
Fig. 1 is a flowchart of a method for detecting a range error and a quasi-rate of an optoelectronic turret according to an embodiment of the invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
As shown in fig. 1, the method for detecting the range error and the accurate measurement rate of the photoelectric turret provided by the embodiment of the invention comprises the following specific steps:
s1: the laser distance measurement and video shooting are specifically that a laser distance measuring machine is arranged in the photoelectric turret, the distance between the photoelectric turret and a test target is measured by the laser distance measuring machine in an external field environment, the test target comprises a plurality of targets with different standard distances, the standard distances adopted are 500 meters, 1000 meters, 1500 meters, 2000 meters, 2500 meters and the like between the photoelectric turret and the test target, the distance between two targets with the smallest distance in the targets is the smallest distance difference, and in addition, the distance differences between adjacent targets in the targets with different standard distances can be equal or unequal. In this embodiment, a series of targets with equal distance differences between adjacent targets and 500 meters of standard distance are adopted, and at this time, the minimum distance difference is the distance difference between any adjacent targets, which is equal to 500 meters.
For the whole laser ranging process, the visible light camera is used for shooting in the whole process, the visible light camera and the laser ranging machine are controlled by the main control board, the main control board is designed into a synchronous design of 1-way input and 2-way output, when the testing process starts, a second pulse signal is sent to the main control board by the GPS receiver, the main control board outputs 2-way trigger signals according to the signals, wherein the 1 st-way trigger signal is output to the visible light camera to trigger the exposure of the visible light camera, and the ranging video is recorded; the 2 nd path of trigger signal is output to the laser range finder, and the laser range finder is triggered to measure distance to obtain a laser range finding measured value so as to ensure that the laser range finding measured value and the range finding video are obtained under the same UTC time condition. And binding each frame of video with the corresponding UTC time and laser ranging measurement value, and storing the bound video in a buffer A.
As a preferred embodiment, the ranging video is fed into an h.264 compressor, the h.264 compressed bitstream is output, and VLC data segments (variable length coding) are obtained, which are video data in the h.264 bitstream, containing compressed representations of the video frames. And reading out the data information of the video from the buffer A, and writing the UTC time of each frame of video shooting and the laser ranging measurement value obtained by the UTC time into an SEI data segment of an H.264 compressed code stream to obtain the H.264 file. Because the ranging video shot by the visible light camera is 25Hz, and the ranging frequency of the laser ranging machine is 1Hz, each laser ranging corresponds to 25 frames of ranging video, the 25 frames of video corresponding to each laser ranging period are marked as the same laser ranging measurement value, the first frame of video in each laser ranging period is used as a new laser ranging measurement value zone bit, marked as '1', the rest 24 frames of video are overlapped with the laser ranging measurement value identical to the first frame of video, and marked as '0'. Thus, the data format of the SEI data segment written into the h.264 compressed bitstream is: UTC time, laser ranging measurement value, whether it is a new laser ranging measurement value zone bit. The format of the SEI segment data is shown in table 1, and the combination of the SEI data segments and the VLC data segments is described, and the frame header of the SEI data segments is 0, 01, 22.
Table 1 SEI data section and VLC data section
And storing the compressed data into a data recorder in the photoelectric turret.
S2: data export and target matching, specifically, after the external field laser ranging operation is finished, exporting data in a data recorder in the photoelectric turret to a PC end, inputting a standard distance of a target to be searched on the PC end, and matching the target to be searched with a target in a video, wherein the specific processing process is as follows:
and establishing a blank POS array at the PC end, and sequentially searching frame heads 0, 01 and 22 of SEI data segments in the H.264 file. And storing the file pointer position of the frame header into a new row of the POS array every time the frame header is searched, and storing the file pointer position into one row of the POS array every time the frame header is searched until the whole H.264 file is searched. The data format of the POS array is shown in table 2.
TABLE 2 data for POS array
| 1 | The first to appear in the fileFile pointer position for 1 SEI segment header |
| 2 | File pointer position of header of 2 nd SEI segment appearing in file |
| 3 | File pointer position of frame header of 3 rd SEI segment appearing in file |
| … | … |
| n | File pointer position of frame header of nth SEI segment appearing in file |
A blank Data array is established, the positions of frame heads 0,0,0,0,1 and 22 of SEI Data segments are read from a POS array, UTC time and laser ranging measurement values of each frame of video are read from an H.264 code stream, pointer positions of frame heads of the SEI Data segments are recorded, and each time one frame of information is read, a new line of the Data array is stored. The Data format of the Data array is shown in table 3.
TABLE 3 Data of Data array
| 1 | 1 st occurrence in file UTC time of SEI segment frame header | SEI segment 1 appearing in a file Laser ranging measurement of frame headerValue of | SEI segment 1 frame appearing in a file Whether the head is a new laser ranging measurement Value flag bit | 1 st occurrence in file File finger of SEI segment frame header Needle position |
| 2 | 2 nd appearing in File UTC time of SEI segment frame header | SEI segment 2 appearing in a file Laser ranging measurements of frame heads | SEI segment frame 2 appearing in file Whether the head is a new laser ranging measurement Value flag bit | 2 nd appearing in File File finger of SEI segment frame header Needle position |
| 3 | 3 rd occurrence in file UTC time of SEI segment frame header | SEI segment 3 appearing in a file Laser ranging measurements of frame heads | SEI segment frame 3 appearing in file Whether the head is a new laser ranging measurement Value flag bit | 3 rd occurrence in file File finger of SEI segment frame header Needle position |
| … | … | |||
| n | Out of fileNow nth UTC time of SEI segment frame header | Nth SEI segment appearing in file Laser ranging measurements of frame heads | N-th SEI segment frame appearing in file Whether the head is a new laser ranging measurement Value flag bit | Nth present in file File finger of SEI segment frame header Needle position |
And establishing a blank selectData array to compress multi-frame videos in the same ranging period, searching all Data with the new laser ranging measurement value zone bit of 1 from the Data array, and calculating the difference between the frame laser ranging measurement value and the standard distance of the target to be searched and storing the difference into a new row of selectData when reading out the Data with the new laser ranging measurement value zone bit of 1 in each frame. When the difference value is smaller than the minimum distance difference, the video mark corresponding to the laser ranging measurement value is the video to be cut, and the target in the video to be cut is the target to be searched, namely the matching of the target to be searched and the target in the video is completed.
Specifically, searching Data with a new laser ranging measurement value zone bit of '1' in the Data array, wherein the Data is a superimposed laser ranging measurement value, making a difference between a standard distance of any one input target to be searched and all the searched superimposed laser ranging measurement values, and when the difference between a certain laser ranging measurement value and the standard distance is smaller than 500 meters, indicating that a video corresponding to the laser ranging measurement value is a video to be cut.
In this embodiment, a total of 200 standard distances of the objects to be searched are input, and all the input objects to be searched are matched with the objects in the video, so that one object to be searched is marked with the standard distance and the laser ranging measurement value. The data format of the select data array is shown in Table 4.
Table 4 data format of the SelectData array
S3: and (3) calculating the range error and the standard measurement rate of the photoelectric turret, specifically, establishing a blank output array, searching data with the difference value between the laser range measurement value and the standard distance smaller than 500 m in the selected data array, reading out the standard distance and the laser range measurement value of 200 continuous targets to be searched, and storing the standard distance and the laser range measurement value in one row in the output array independently. Calculating the difference between the laser ranging measurement values of 200 targets to be searched and the standard distance, recording the difference as a ranging difference error, using error1 to represent the laser ranging measurement value and the standard ranging difference in the first row data in the output array, and using error200 to represent the laser ranging measurement value and the standard ranging difference in the 200 th row data in the output array.
The square root of the distance measurement difference of 200 targets to be searched is calculated, the square root result is the distance measurement-rms of the photoelectric turret, and the specific formula is as follows:
；
searching the number of targets to be searched, wherein the distance measurement difference in the output array is smaller than the standard measurement threshold, and counting the number of targets to be searched meeting the requirement to be true, wherein the standard measurement threshold is 20 meters, and in addition, the standard measurement threshold can be set to be 10 meters or 50 meters and the like according to the distance measurement precision requirement.
Dividing the number true of the objects to be searched obtained by screening by the total number of the objects to be searched to obtain the standard measurement rate correct-rate of the photoelectric turret, wherein the specific formula is as follows:
。
searching an output array, reading out the revealing time and the ending time of each target to be searched in the video, obtaining the UTC time period of the video to be cut, and rapidly cutting the video to be cut containing the targets from the H.264 code stream by the following method:
for each video to be cut, reading out a binary code stream from an H.264 file with original large data volume according to the pointer position of the SEI section frame header file of the first row in the output array (the first frame where the target appears) to the pointer position of the SEI section frame header file of the last row in the output array (the last frame where the target appears), and storing the binary code stream as a file output, wherein the video to be cut is cut and stored according to the UTC time sequence.
As shown in table 5, the output array is stored as a table to form a report output.
Table 5 data format of output array
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (9)
1. The method for detecting the range finding error and the accurate measurement rate of the photoelectric turret is characterized by comprising the following steps of:
s1: the method comprises the steps of measuring distance of a plurality of targets with different standard distances through a laser range finder in an optoelectronic turret, wherein the distance between two targets with the smallest distance in the targets is the smallest distance difference; shooting videos in the ranging process, and storing UTC time and laser ranging measurement values of each frame of video;
s2: inputting standard distances of the targets to be searched, calculating a difference value between each laser ranging measurement value and the standard distance of the target to be searched, and when the difference value is smaller than the minimum distance difference, marking the video corresponding to the laser ranging measurement value as a video to be cut, wherein the target in the video to be cut is the target to be searched, namely, the matching of the target to be searched and the target in the video is completed;
s3: recording the difference value between the laser ranging measurement value of the target to be searched and the standard distance as a ranging difference, and calculating the square root of the ranging difference of all the targets to be searched, wherein the square root result is the ranging error of the photoelectric turret;
counting the number of targets to be searched, the distance measurement difference of which is smaller than a quasi-measurement threshold value, and dividing the number by the total number of targets to be searched to obtain the quasi-measurement rate of the photoelectric turret;
and cutting the video to be cut according to the UTC time sequence.
2. The method for detecting the range error and the accurate measurement rate of the photoelectric turret according to claim 1, wherein the video in the range measurement process is shot by using a visible light camera, the visible light camera and the laser range finder are synchronously controlled by a main control board, and the main control board synchronously outputs 2 paths of trigger signals after receiving the trigger signals, wherein the 1 st path of trigger signals are output to the visible light camera to trigger the exposure of the visible light camera; the 2 nd path triggering signal is output to the laser range finder to trigger the laser range finder to measure distance.
3. The method for detecting the range error and the quasi-measuring rate of the photoelectric turret according to claim 2, wherein the range video shot by the visible light camera is 25Hz, the range frequency of the laser range finder is 1Hz, and the same laser range measurement value is marked on the 25 frames of video corresponding to each laser range period.
4. The method for detecting the range error and the quasi-rate of the electro-optical turret according to claim 1, wherein the distance difference between adjacent targets among the targets having different standard distances is equal, and the minimum distance difference is 500 meters.
5. A method of detecting the range error and the quasi-rate of the electro-optical turret according to claim 3, wherein in S1, UTC time and laser range measurement values of each frame of video are written into the SEI data segment of the h.264 bitstream and stored in a data recorder within the electro-optical turret.
6. The method for detecting the range error and the quasi-rate of the photoelectric turret according to claim 5, wherein the frame header of the SEI data section in the H.264 code stream is searched, a POS array is established, and each time a frame header is searched, the file pointer position of the frame header is independently stored in one row in the POS array;
and establishing a Data array, reading the file pointer position of each frame head in the POS array, reading UTC time of each frame of video from the H.264 file, and independently storing laser ranging measurement values into one row in the Data array.
7. The method for detecting the range error and the quasi-rate of the electro-optical turret according to claim 1, wherein the range error distance-rms of the electro-optical turret is calculated by the following formula:
；
wherein N represents the total number of targets to be searched, and error represents the distance measurement difference of the targets to be searched.
8. The method for detecting the range error and the accurate measurement rate of the optoelectronic turret according to claim 7, wherein the accurate measurement rate correct-rate of the optoelectronic turret is calculated by the following formula:
；
wherein true represents the number of objects to be retrieved for which the ranging difference is smaller than the quasi-ranging threshold.
9. The method for detecting the range error and the accurate measurement rate of the electro-optical turret according to claim 8, wherein the accurate measurement threshold is 20 meters.
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