CN117495914B - Multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system - Google Patents
Multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system Download PDFInfo
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Abstract
The invention relates to a multiband circumferential scanning type search-and-follow integrated photoelectric early warning recognition system, belongs to the technical field of intelligent early warning, and solves the problems of single detection wave band, low target positioning accuracy, poor concealment and the like of the traditional photoelectric early warning system. In the system, a visible light circumferential scanning imaging subsystem, an infrared circumferential scanning imaging subsystem and a laser ranging subsystem are all arranged on a precise tracking frame, respectively acquire visible light and infrared image sequences and distance information of a target, a servo control subsystem is used for driving the precise tracking frame to track the target, and an image data processing subsystem is used for processing image data under different working modes and providing guiding data for the target tracking and air defense system. According to the invention, the low-altitude flight targets such as unmanned aerial vehicles in the monitoring and early warning range are found through the searching and early warning mode, the accurate identification of the targets is realized through the tracking and detailed checking mode, and the accurate positioning of the targets is realized through the measuring and positioning mode, so that the method has the characteristics of low cost, high reliability, strong adaptability and the like.
Description
Technical Field
The invention relates to the technical field of intelligent early warning, in particular to a multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system.
Background
Most of the air defense anti-guided weapon systems in service rely on the detection and tracking of targets by radar systems. However, with the continuous development and application of unmanned aerial vehicle technology, such "low, slow, small" targets place extremely high demands on radar detection technology. Along with the continuous rise of the false alarm rate of radar on such targets, corresponding solving measures are also being sought in various countries, and a photoelectric early warning system adopting a photoelectric detection technology can be used as a supplementary means of the radar to effectively monitor such low-altitude flying targets.
The current search and early warning systems of various countries mainly take infrared band imaging means as main, and platforms comprise foundations, vehicle-mounted, airborne, carrier-borne and the like. The infrared operating band is mostly 3 μm to 5 μm (medium wave) and 8 μm to 12 μm (long wave). From the working mode, the azimuth searching mostly adopts 360-degree rotation scanning of the scanning head, and the pitching searching adopts fixed type, spiral type or stepping type to cover. The angular resolution of the system is better than 1mrad, and the detection distance is 3 km-15 km. A more typical model setup includes: the Netherlands "sirius" search tracking system and the French "Wangpi" series. The Netherlands 'sirius' search tracking system is provided with long-wave infrared detectors and medium-wave infrared detectors, an imaging system of the system is arranged on a rotary table, the rotary table can rotate 360 degrees in the horizontal direction and can adjust the pitching angle in a certain range, and when the system works, signal acquisition is carried out through infrared detectors of 3-5 microns and 8-12 microns, and obtained data are transmitted to a signal processing system. If the signal processing system finds that the acquired infrared image data has a suspicious target, the system can track the suspicious target, and the suspicious target is identified according to the characteristics of the target to judge whether the suspicious target belongs to a threatening target or not, and whether an alarm needs to be sent or not; if no suspicious target is found, the system scans and searches in the original mode. The French Wangpi series can be deployed on a ship, can work day and night, can automatically search and track air targets such as sea-skimming missiles, airplanes, helicopters and the like, provides target indication data for a ship-based weapon system, and displays target images in real time. In addition to airborne targets, "wangpier" can also search for tracking surface targets, marine scenes, etc., and provide target indication data.
At present, most of the photoelectric early warning systems at home and abroad have the following defects:
(1) The method is characterized in that only a medium-wave infrared or uncooled long-wave infrared band detector is generally adopted, the detection band is single, and the imaging resolution is low due to the small size of the target surface of the infrared detector, so that the accurate identification of a target is not facilitated;
(2) The lack of a positioning means can only provide the angle information of the target, can not position the target, can not be quickly connected with the defending system, and provides accurate position information of the target for the defending system;
(3) The integrated small-sized radar is taken as an auxiliary means, and the advantages of the optical radar and the optical radar are simultaneously exerted, but the advantages of the optical passive measurement are abandoned, the integrated small-sized radar is easily found by a radio detection means of the other party, and the concealment is poor;
(4) The method for improving the monitoring view field by adopting the inner splicing method increases the view field by adopting an optical design method, but a plurality of detectors are correspondingly required to be adopted for inner splicing, and the cost of the infrared detector is higher, so that the cost, the volume and the weight of the whole system are greatly increased, and a plurality of applications have strict requirements on cost control and equipment volume and weight, so that the application scene is limited.
Disclosure of Invention
Aiming at the problems of the existing photoelectric early warning system, the invention provides a multiband circumferential scanning type search and follow-up integrated photoelectric early warning recognition system which is mainly used for quickly searching, stably tracking and accurately recognizing and positioning various flying targets. The system adopts a multiband photoelectric detection technology, and obtains multiband characteristic information, position, speed and other motion characteristic information of a target through the combined application of a visible light circumferential scanning imaging subsystem, an infrared circumferential scanning imaging subsystem and a laser ranging subsystem, thereby realizing all-day and all-dimensional multiband monitoring and identification of the target.
In order to solve the problems, the invention adopts the following technical scheme:
The multi-band circumferential scanning type search and follow integrated photoelectric early warning recognition system comprises a visible light circumferential scanning imaging subsystem, an infrared circumferential scanning imaging subsystem, a laser ranging subsystem, a precise tracking frame, a servo control subsystem and an image data processing subsystem, wherein the visible light circumferential scanning imaging subsystem and the infrared circumferential scanning imaging subsystem both comprise swinging mirrors for compensating motion image movement, the visible light circumferential scanning imaging subsystem comprises a first imaging front group, a first imaging stabilizing module, a first imaging rear group and a visible image detector which are sequentially arranged along a light path, the first imaging stabilizing module comprises a first swinging mirror and a control module, the infrared circumferential scanning imaging subsystem comprises a second imaging front group, a second imaging stabilizing module, a focusing mirror, a second imaging rear group and a medium wave infrared detector, the second imaging stabilizing module comprises a second swinging mirror and a control module, and the second swinging mirror is arranged between the second imaging front group and the focusing mirror;
The precise tracking frame adopts a double-shaft high-precision spherical tracking frame and comprises an azimuth shaft system and a pitching shaft system, wherein the azimuth shaft system comprises a cylindrical and straight-barrel-shaped base, an azimuth shaft positioned in the base, an encoder and a torque motor which are arranged at the top of the azimuth shaft, and a fork arm type outer frame bracket which is positioned above the base and is driven to rotate by the torque motor; the pitching shaft system adopts a spherical ring structure, the inside of the spherical ring structure is an annular keel structure, the outside of the spherical ring structure is a spherical shell formed by installing two inner ring thin-wall shells on the annular keel, the spherical shell is windowed at an optical window, shaft heads at two sides of the pitching shaft are respectively provided with an encoder and a moment motor, and the visible light circumferential scanning imaging subsystem, the infrared circumferential scanning imaging subsystem and the laser ranging subsystem are arranged in the spherical shell;
the servo control subsystem receives real-time angle values sent by each encoder, and adopts a three-closed loop control circuit comprising a position control circuit, a speed control circuit and a current control circuit to control moment motors in the azimuth shafting and the pitching shafting to rotate, so that the requirements of different working modes are met;
In a searching and early warning mode, the servo control subsystem drives a torque motor in the azimuth shafting to rotate at a constant speed, meanwhile, a swinging mirror is controlled to swing, the visible light circumferential scanning imaging subsystem and the infrared circumferential scanning imaging subsystem respectively output image sequences to the image data processing subsystem, the image data processing subsystem records original data of the image sequences and respectively extracts targets from the visible light image sequences and the infrared image sequences, early warning information of each target is output, the early warning information comprises time, azimuth angle and pitching angle of each target, and meanwhile, the image sequences are respectively spliced to form a 360-degree visible light panoramic monitoring image and a 360-degree infrared panoramic monitoring image in sequence, and tracks of the targets are marked in the panoramic monitoring image;
After switching from a searching early warning mode to a tracking detailed checking mode, the image data processing subsystem calculates target off-target quantity by using azimuth angle and pitch angle obtained in the searching early warning mode, and the servo control subsystem controls moment motors in the visible light circumferential scanning imaging subsystem and the infrared circumferential scanning imaging subsystem to rotate according to the target off-target quantity so as to track a target and keep the target at the center of a field of view all the time; the image data processing subsystem respectively identifies the types of the targets by utilizing a YOLO algorithm according to the continuous image sequences of the targets tracked and acquired by the visible light circumferential scanning imaging subsystem and the infrared circumferential scanning imaging subsystem; if the type of the target is a false alarm target, switching to a searching early warning mode again, and if the type of the target is a threat target, switching to a measuring and positioning mode;
After the tracking detailed mode is switched to the measurement positioning mode, the laser ranging subsystem is started, the distance information of the target is obtained through measurement, and the distance information of the target is combined with the azimuth angle and the pitching angle to obtain the target position information serving as the guide data of the air defense system.
The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system provided by the invention is suitable for early warning and monitoring of an air target in a key area, and has three working modes of search early warning, tracking detailed investigation and measurement positioning. Through searching the early warning mode, the unmanned aerial vehicle and other low-altitude flight targets in the monitoring early warning range are found; the accurate identification of the target is realized through a tracking detailed checking mode; by measuring the positioning mode, the accurate positioning of the target is realized. The system has the characteristics of low cost, high reliability, strong adaptability and the like, is suitable for multi-point station distribution, can be in seamless connection with the existing air defense system, and improves the integral air defense early warning capability. The invention has the following beneficial effects:
(1) Meanwhile, the visible light and infrared wave bands, such as a medium wave infrared wave band and the like, can be taken into consideration, and a high-resolution image sequence can be obtained in a tracking detailed examination mode, so that target identification can be carried out according to the high-definition image sequence;
(2) The accurate positioning of the target is carried out by adopting a laser ranging mode and combining a tracking detailed checking mode, so that the accurate position information of the target can be provided, and the defending equipment is guided;
(3) Only the optical means of passive measurement is adopted, the self-radiation and sunlight reflection capability of the target is monitored, the target cannot be found by the radio detection means, and the concealment is strong;
(4) By performing optical imaging in a circumferential scanning mode, only one detector is needed in the same wave band, so that the equipment cost and the volume weight are reduced, the device can adapt to land-based, vehicle-mounted and ship-mounted forms, and the application scene of the device is expanded.
Drawings
FIG. 1 is a schematic structural diagram of a multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to the invention;
FIG. 2 is an optical design of a visible light circumferential scanning imaging subsystem according to the present invention;
FIG. 3 is an optical design of an infrared scanning imaging subsystem of the present invention;
FIG. 4 is a workflow diagram of a photoelectric early warning recognition system in a search early warning mode;
FIG. 5 is a workflow diagram of a photoelectric early warning recognition system in a tracking detailed mode;
FIG. 6 is a flowchart of the operation of the optoelectronic early warning recognition system in the measurement positioning mode.
Reference numerals illustrate: 1. a visible light circumferential scanning imaging subsystem; 1-1, a first imaging front group; 1-2, a first swing mirror; 1-3, a first imaging post-set; 1-4, a visible image detector; 2. an infrared peripheral scanning imaging subsystem; 2-1, a second imaging front group; 2-2, a second swing mirror; 2-3, focusing mirror; 2-4, a second imaging post-set; 2-5, a medium wave infrared detector; 3. a laser ranging subsystem; 4. a precise tracking frame; 5. a power supply interface; 6. and a data interface.
Detailed Description
The technical scheme of the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
The embodiment of the invention provides a multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system which mainly comprises a host and an electric control part. The host part is a main part of the system, and as shown in fig. 1, mainly includes: the system comprises a visible light circumferential scanning imaging subsystem 1, an infrared circumferential scanning imaging subsystem 2, a laser ranging subsystem 3, a precise tracking frame 4 and a servo control subsystem. The electric control part is a display control part of the system and mainly comprises an image data processing subsystem and a power supply subsystem, wherein the power supply subsystem can be powered by an oil engine or a commercial power (AC 220V) and the power is less than or equal to 500W.
The visible light circumferential scanning imaging subsystem 1 is used for realizing clear imaging of visible wave bands and acquisition of image data, and consists of a visible image detector 1-4, an optical system, a first image stabilizing module (a first swing mirror 1-2 and a control module) and the like, wherein the visible image detector 1-4 adopts a visible light camera with a single color and a near infrared wave band.
The optical path of the optical system is shown in fig. 2, the optical system mainly comprises a first imaging front group 1-1 and a first imaging rear group 1-3, and the first swing mirror 1-2 is arranged between the optical paths of the first imaging front group 1-1 and the first imaging rear group 1-3;
First pre-imaging group 1-1: the realization of the searching function of the whole imaging system is ensured, and meanwhile, the design of a telescopic system is adopted, so that the first swing mirror 1-2 cannot introduce extra aberration in the image motion compensation process, and the image quality is reduced;
First pendulum mirror 1-2: the scanning image movement in the process of the panoramic scanning imaging is compensated mainly through high-speed high-frequency rotation;
First imaging post-group 1-3: the parallel light reflected by the first swing mirror 1-2 and entering is converged by pupil matching with the first imaging front group 1-1, and surrounding scenes are imaged on the visible image detector 1-4.
Alternatively, the visible light circumferential scanning imaging subsystem 1 has a caliber of 50mm, a focal length of 200mm and a measuring wave band of 0.4-0.8 μm.
The infrared peripheral scanning imaging subsystem 2 is used for realizing clear imaging of medium wave infrared wave bands and acquisition of image data of equipment, and consists of a medium wave infrared detector 2-5, an optical system, a second image stabilizing module (a second swing mirror 2-2 and a control module) and the like, wherein the medium wave infrared detector 2-5 is a 640X 512 resolution tellurium-chromium-mercury refrigeration medium wave infrared focal plane detector.
The structure and composition of the optical system in the infrared circumferential scanning imaging subsystem 2 are basically identical to those of the optical system in the visible circumferential scanning imaging subsystem 1, and as shown in fig. 3, the infrared circumferential scanning imaging subsystem comprises a second imaging front group 2-1, a focusing lens 2-3, a second imaging rear group 2-4 and a medium wave infrared detector 2-5, the second swinging lens 2-2 is arranged between the second imaging front group 2-1 and the focusing lens 2-3, and the optical material of the optical system is a material matched with an infrared band.
Alternatively, the infrared peripheral scanning imaging subsystem 2 has a caliber of 50mm, a focal length of 100mm and a measuring band of 3.7-4.8 μm.
In this embodiment, the system includes a visible light circumferential scanning imaging subsystem 1, an infrared circumferential scanning imaging subsystem 2 and a laser ranging subsystem 3 as an example, and in practical application, the photoelectric early warning recognition system can be built by adopting one or more combination modes of the visible light circumferential scanning imaging subsystem, the short wave infrared measurement system, the medium wave infrared circumferential scanning imaging subsystem, the long wave infrared measurement system and the laser ranging subsystem according to the spectral characteristics, the production cost, the volume weight and other aspects of the early warning target, and the functional application, the working mode, the working principle and the implementation method thereof can refer to the content of this embodiment, which are not repeated herein.
The laser ranging subsystem 3 is used for measuring the distance of an observation target, and is preferably a solid laser ranging machine with a human eye safety wavelength.
The precise tracking frame 4 is a double-shaft high-precision spherical tracking frame, and the precise pointing and angle measurement work in the azimuth direction and the pitching direction is completed. The double-shaft high-precision spherical tracking frame mainly comprises a pitching shaft system, an azimuth shaft system, a load bin, a bearing, a torque motor, an encoder, a conductive slip ring, a servo controller, sealing auxiliary materials and the like.
The azimuth shafting comprises a base, an outer frame support, an azimuth shaft and a torque motor, wherein the base adopts a cylindrical straight barrel structure, the azimuth shaft in the vertical direction is positioned in the base, an encoder and the torque motor are arranged at the top of the azimuth shaft, the rotation angle is 360 degrees, and the electric slip ring can continuously rotate to pass through a line. The outer frame support adopts a fork arm structure, the fork arm type outer frame support is positioned above the base and driven to rotate by the torque motor, and cylindrical thin-wall shells and supports are mounted on two sides of the fork arm type outer frame support to form a cylinder so as to reduce wind load torque.
And calculating the peak locked-rotor moment of the torque motor according to the structural size of the azimuth shafting and the azimuth moment of inertia (comprising the azimuth rotation part of the tracking frame and the load), wherein the working limit acceleration is 60 degrees/s 2, and determining that the torque motor in the azimuth shafting is preferably a direct-current torque motor with the peak locked-rotor moment of 14.9Nm or more.
The pitching shaft system adopts a spherical ring structure, and the inside of the pitching shaft system is of an annular keel structure, so that the rotation inertia of the inner ring frame is reduced, the rigidity of the inner ring frame is ensured, and the utilization rate of the inner space is improved; the pitching shaft head is respectively provided with an encoder and a moment motor, the outside of the spherical ring structure is a spherical shell body formed by installing two inner ring thin-wall shells on an annular keel, the optical window of the spherical shell body is windowed, the corresponding visible light circumferential scanning imaging subsystem 1, the infrared circumferential scanning imaging subsystem 2 and the laser ranging subsystem 3 are respectively arranged at the windowed position inside the spherical shell body, and the spherical outer structure is adopted to be beneficial to improving the wind resistance characteristic of a stable platform, reduce wind load moment and improve stability precision. The pitching mechanism corner limit adopts the redundant design of electric limit mechanical limit to prevent the damage of equipment caused by overlarge rotation angle of the pitching mechanism under the unexpected conditions such as runaway and the like.
The encoders in the azimuth axis system and the pitching axis system adopt 24-bit absolute encoders for measuring the rotation pitching angle and the azimuth angle of the tracking frame, and the device has the characteristics of compact structure, high precision and convenient installation and adjustment. The system comprises two self-contained 24-bit absolute encoders for pitch and azimuth angle measurements, respectively. The 24-bit absolute encoder receives the synchronous sampling signal and sends the synchronous sampled real-time angle value to the outside through the serial port.
The precise tracking frame 4 further comprises a load bin for sealing and waterproofing, the load bin adopts a structure form of filling sealing, the filling material is silicon rubber, the joint surface of the parts adopts a sealing groove design, and the sealing material is filled in the groove so as to achieve the sealing effect.
The precise tracking frame 4 is provided with two physical interfaces adopting aviation plugs, namely a power supply interface 5 and a data interface 6, wherein the power supply interface 5 is connected with a power supply subsystem, the data interface 6 adopts a UDP/IP protocol interface, and the transmission content comprises: and receiving external guide information of the target, and sending out absolute time, angle measurement information, ranging information, image data and equipment state information.
The servo control subsystem consists of two independent position follow-up systems of azimuth and pitching, and realizes the driving control of the precise tracking frame by controlling the rotation of the torque motor. The servo control subsystem receives real-time angle values sent by each encoder, adopts a three-closed loop control loop design, comprises a position control loop, a speed control loop and a current control loop, controls moment motors in an azimuth shafting and a pitching shafting to rotate, meets the requirements of different working modes, and has enough stability margin and anti-interference capability. The control range of the servo control subsystem in this embodiment is: azimuth angle: 0-360 degrees; pitch angle: -5-75 °; maximum tracking angular velocity: 60. DEG/s; maximum circumferential scan angular velocity: 180. degree/s.
The image data processing subsystem comprises an image acquisition unit, an image stitching unit, a target detection unit, an image fusion unit and the like and is used for realizing image processing functions such as image acquisition, image stitching, target detection, target identification and the like. The four processing units share one set of image processing hardware platform and are integrated in the same image processing software in a multithreading cooperative mode. The four units are combined in different modes according to different working modes. The function of each unit is as follows:
The image acquisition unit is used for caching the acquired image data of each wave band and sending the single-frame image data acquired in real time to other image processing units in a callback mode;
the image stitching unit is used for stitching the single-frame image sequence acquired in the circumferential scanning process in real time for 360-degree panoramic images so as to facilitate panoramic multi-target detection and target angle measurement of the target detection unit;
the target detection unit is used for completing real-time detection of targets, identifying and early warning the targets according to the motion trail and the motion characteristics of each target, and sending the detection result to the display control terminal for marking the detection result;
And the image fusion unit is used for carrying out real-time image fusion processing on the acquired visible and infrared images so as to combine the imaging advantages of the two wave band images and comprehensively analyze and identify the target to be observed.
The photoelectric early warning recognition system has three working modes: searching and early warning mode, tracking and detail checking mode and measuring and positioning mode. The switching among different modes realizes the strong autonomous early warning and identifying capability of the photoelectric early warning and identifying system, the photoelectric early warning and identifying system firstly adopts a searching early warning mode to early warn a specific airspace, and then switches to a tracking detailed mode to track a suspicious flying target after finding the suspicious flying target, and the type of the suspicious target is identified through a continuous image sequence. If the target is a false alarm target, the search early warning mode is switched back to; if the target is a threat target, the method is switched into a measurement positioning mode, and the target position information (azimuth angle, pitch angle and distance) is stably output, so that continuous and stable guiding information is provided for the defending system.
As shown in fig. 4, the device performs a power-on self-test, reads preset various parameters, and can also reset the parameters to enter a search early warning mode. The servo control subsystem drives a torque motor in an azimuth axis system to rotate at uniform speed, drives a fork arm type outer frame support and a pitching axis system on the fork arm type outer frame support to rotate around the azimuth axis at uniform speed, and simultaneously swings and sweeps a swinging mirror according to an instruction to compensate motion image movement. The method comprises the steps that a visible image detector and a medium wave infrared detector acquire stable clear image sequences, the image sequences are respectively sent to an image data processing subsystem, the image data processing subsystem extracts targets from the visible image sequences and the infrared image sequences, raw data of the visible image sequences and the infrared image sequences are recorded for searching, and early warning information of each target including time, azimuth angle and pitching angle of the target is output. Meanwhile, the image data processing subsystem is used for sequentially splicing the visible light image sequence and the infrared image sequence to respectively form a visible light panoramic monitoring image and an infrared panoramic monitoring image with 360-degree definition, and the tracks of the targets are marked in the panoramic monitoring images. The servo control subsystem judges whether a command for switching the working mode sent by the display control terminal is received, if so, the servo control subsystem shifts to other working modes, otherwise, the servo control subsystem continues to judge whether an early warning ending command sent by the display control terminal is received, if so, early warning is ended, and otherwise, the servo control subsystem enters a searching early warning mode again.
If the servo control subsystem receives the command of switching the working mode, the servo control subsystem switches from the searching early warning mode to the tracking detailed mode, as shown in fig. 5, in the tracking detailed mode, the image data processing subsystem performs target searching by using target angle information (including azimuth angle and pitching angle) obtained in the searching early warning mode, calculates target miss distance by an image extraction method after capturing a target, and the servo control subsystem controls moment motors in the visible light circumferential scanning imaging subsystem 1 and the infrared circumferential scanning imaging subsystem 2 to rotate according to the target miss distance, so that an optical window points to follow the target to operate, always keeps the target in the center of a field of view, realizes stable tracking of the target, and records original image data for later use. Meanwhile, the image data processing subsystem respectively tracks and collects continuous image sequences of targets according to the visible light circumferential scanning imaging subsystem 1 and the infrared circumferential scanning imaging subsystem 2, and the recognition of early-warning targets is completed according to the information of target imaging characteristics, motion characteristics and the like by adopting a YOLO algorithm and the like, and target recognition information including the types of the targets is output. If the type of the target is a false alarm target, the servo control subsystem is switched to a searching and early warning mode again; if the type of the target is a threat target, the servo control subsystem switches to a measurement positioning mode. When the servo control subsystem receives a tracking ending instruction sent by the display control terminal, tracking is ended, and otherwise, the tracking detail mode is entered again.
After the tracking detailed inspection mode is switched to the measurement positioning mode, as shown in fig. 6, under the premise that the target is identified as a threat target in the measurement positioning mode, the photoelectric early warning identification system stably tracks the target, the laser ranging subsystem 3 is started to measure and obtain distance information of the target, the distance information of the target is combined with angle measurement information of the target, accurate target position information comprising measurement time, azimuth angle, pitching angle and target distance can be obtained, accurate positioning of the target can be achieved through the information, guide data can be provided for other equipment such as an air defense system, and the like, and the target is positioned by the aid of other equipment. The servo control subsystem judges whether a command for switching the working mode sent by the display control terminal is received, if so, the servo control subsystem shifts to other working modes, otherwise, the servo control subsystem continues to judge whether a command for ending the measurement sent by the display control terminal is received, if so, the measurement of the target position is ended, otherwise, the servo control subsystem enters a measurement positioning mode again.
The multiband circumferential scanning type search and follow integrated photoelectric early warning recognition system provided by the embodiment mainly achieves the following functions:
(1) A looper search function: the method can perform stable panoramic scanning imaging on the external scene and the target;
(2) Target tracking function: the method has stable tracking capability on the target and acquires angle measurement information in real time;
(3) Laser ranging function: the distance measurement can be carried out on the tracking target, and target distance information is obtained;
(4) Target monitoring and identifying function: the real-time detection of the air target in the monitoring area is completed, and the target identification can be carried out according to the image information;
(5) Image splicing function: the infrared images after the peripheral retrace can be spliced into a continuous 360-degree combined video display;
(6) And (3) a data output function: the image sequence and the data information can be output through a network interface;
(7) Health management function: the system has the functions of real-time monitoring of important parameters and state information of key components and fault diagnosis.
The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system provided by the embodiment has the maximum early warning range of 360 degrees in azimuth and 7 degrees in circumferential view, and the pitching range of-5 degrees to 45 degrees is adjustable; the action distance is that when the visibility of the atmosphere level is not less than 20km, the included angle between the observation direction and the sun direction is not less than 45 degrees, the root mean square of the atmosphere shake is not more than 2', when the background is sky or complex ground, the action distance of the laser ranging action distance is not less than 5km and the action distance of the laser ranging action distance is not less than 5km, the action distance of the laser ranging action distance is not less than 3km for the visible light of the target with the size of not less than ∅ mm multiplied by 500mm and the reflectivity of not less than 0.7; the early warning precision is: visible light: less than or equal to 1' (direction value RMS), medium wave infrared: less than or equal to 3' (direction value RMS); the measurement accuracy is visible light: less than or equal to 30' (pointing value RMS), medium wave infrared: less than or equal to 30' (pointing value RMS), ranging accuracy: less than or equal to 1m (RMS).
The multi-band circumferential scanning type search-follow integrated photoelectric early warning recognition system provided by the invention adopts a search-follow integrated design, so that the large-view-field capturing search of an unknown target can be completed, and the tracking detailed search of a single target can be completed; meanwhile, the optical design of visible light and infrared wave bands is considered, and the recognition probability of the target can be improved through fusion of multi-wave band images; the accurate positioning of the target is performed by combining a laser ranging mode with a tracking mode, so that the accurate position information of the target can be provided; the system has three modes of operation: the device has the advantages of searching an early warning mode, tracking a detailed checking mode and measuring a positioning mode, and smooth switching of the three modes, and complementary advantages, so that the application field of the device is greatly expanded.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The multi-band circumferential scanning type search and follow integrated photoelectric early warning recognition system is characterized by comprising a visible light circumferential scanning imaging subsystem (1), an infrared circumferential scanning imaging subsystem (2), a laser ranging subsystem (3), a precise tracking frame (4), a servo control subsystem and an image data processing subsystem, wherein the visible light circumferential scanning imaging subsystem (1) and the infrared circumferential scanning imaging subsystem (2) comprise swinging mirrors for compensating motion image movement, the visible light circumferential scanning imaging subsystem (1) comprises a first imaging front group (1-1), a first image stabilizing module, a first imaging rear group (1-3) and a visible image detector (1-4) which are sequentially arranged along an optical path, the first image stabilizing module comprises a first swinging mirror (1-2) and a control module, the infrared circumferential scanning imaging subsystem (2) comprises a second imaging front group (2-1), a second image stabilizing module, a second focusing mirror (2-3), a second imaging rear group (2-4) and a middle wave detector (2-5), and the second imaging front group (2-2) comprises a second swinging mirror (2-2) and a middle wave detector (2-4), and the second imaging front group (2-2) is arranged between the second swinging mirrors and the second imaging front group (2-3-2);
The precise tracking frame (4) adopts a double-shaft high-precision spherical tracking frame and comprises an azimuth shafting and a pitching shafting, wherein the azimuth shafting comprises a cylindrical and straight-barrel-shaped base, an azimuth shaft positioned in the base, an encoder and a torque motor which are arranged at the top of the azimuth shaft, and a fork arm type outer frame bracket which is positioned above the base and is driven to rotate by the torque motor; the pitching shaft system adopts a spherical ring structure, the inside of the spherical ring structure is an annular keel structure, the outside of the spherical ring structure is a spherical shell formed by installing two inner ring thin-wall shells on the annular keel, the spherical shell is windowed at an optical window, shaft heads at two sides of the pitching shaft are respectively provided with an encoder and a moment motor, and the visible light circumferential scanning imaging subsystem (1), the infrared circumferential scanning imaging subsystem (2) and the laser ranging subsystem (3) are arranged in the spherical shell;
the servo control subsystem receives real-time angle values sent by each encoder, and adopts a three-closed loop control circuit comprising a position control circuit, a speed control circuit and a current control circuit to control moment motors in the azimuth shafting and the pitching shafting to rotate, so that the requirements of different working modes are met;
In a searching and early warning mode, the servo control subsystem drives a torque motor in the azimuth shafting to rotate at a constant speed, meanwhile, a swinging mirror is controlled to swing, the visible light circumferential scanning imaging subsystem (1) and the infrared circumferential scanning imaging subsystem (2) respectively output image sequences to the image data processing subsystem, the image data processing subsystem records image sequence original data and respectively extracts targets from the visible light image sequences and the infrared image sequences, early warning information of each target is output, the early warning information comprises time, azimuth angle and pitching angle of each target, and meanwhile, the image sequences are respectively spliced in sequence to form a 360-degree visible light panoramic monitoring image and a 360-degree infrared panoramic monitoring image, and tracks of the targets are marked in the panoramic monitoring image;
After switching from a searching early warning mode to a tracking detailed checking mode, the image data processing subsystem calculates target off-target quantity by using azimuth angle and pitch angle obtained in the searching early warning mode, and the servo control subsystem controls moment motors in the visible light circumferential scanning imaging subsystem (1) and the infrared circumferential scanning imaging subsystem (2) to rotate according to the target off-target quantity so as to track a target and keep the target at the center of a field of view all the time; the image data processing subsystem respectively identifies the types of the targets by utilizing a YOLO algorithm according to the continuous image sequences of the targets tracked and collected by the visible light circumferential scanning imaging subsystem (1) and the infrared circumferential scanning imaging subsystem (2); if the type of the target is a false alarm target, switching to a searching early warning mode again, and if the type of the target is a threat target, switching to a measuring and positioning mode;
after the tracking and detail checking mode is switched to the measuring and positioning mode, the laser ranging subsystem (3) is started to measure and obtain the distance information of the target, and the distance information of the target is combined with the azimuth angle and the pitching angle to obtain the target position information serving as the guiding data of the air defense system.
2. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to claim 1, wherein the infrared circumferential scanning imaging subsystem (2) is any one or a combination of a plurality of short-wave infrared measurement systems, medium-wave infrared circumferential scanning imaging subsystems and long-wave infrared measurement systems.
3. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning identification system according to claim 2, wherein the medium wave infrared detector (2-5) is a 640 x 512 resolution tellurium-chromium-mercury refrigeration type medium wave infrared focal plane detector.
4. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to claim 1, wherein the visible image detector (1-4) adopts a visible light camera containing a near infrared band in a single color.
5. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning identification system according to claim 1, wherein a power supply interface (5) and a data interface (6) which adopt aviation plugs are arranged on the precise tracking frame (4), and the data interface (6) adopts a UDP/IP protocol interface and is used for transmitting external guide information, absolute time, angle measurement information, ranging information, image data and equipment state information.
6. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to claim 1, wherein the laser ranging subsystem (3) adopts a solid laser ranging machine with a human eye safety wavelength.
7. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to claim 1, wherein a torque motor in an azimuth shafting selects a direct current torque motor with a peak locked torque of 14.9Nm or more.
8. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to claim 1, wherein the encoder in the precise tracking frame (4) adopts a 24-bit absolute encoder, the 24-bit absolute encoder receives synchronous sampling signals, and real-time angle values of synchronous sampling are sent outwards through a serial port.
9. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to claim 1, wherein the precise tracking frame (4) further comprises a load bin with silicone rubber as sealing filler.
10. The multi-band circumferential scanning type search and tracking integrated photoelectric early warning recognition system according to claim 1, wherein the servo control range of the servo control subsystem is as follows:
Azimuth angle: 0-360 degrees;
Pitch angle: -5-75 °;
maximum tracking angular velocity: 60. DEG/s;
maximum circumferential scan angular velocity: 180. degree/s.
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