CN213843519U - Multi-target photoelectric searching device - Google Patents
Multi-target photoelectric searching device Download PDFInfo
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- CN213843519U CN213843519U CN202022680325.2U CN202022680325U CN213843519U CN 213843519 U CN213843519 U CN 213843519U CN 202022680325 U CN202022680325 U CN 202022680325U CN 213843519 U CN213843519 U CN 213843519U
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Abstract
The utility model discloses a multi-target photoelectric searching device, the turret includes laser range finder, position encoder, biax fiber-optic gyroscope, a plurality of thermal infrared imagers, first digital signal processor and second digital signal processor cooperate laser range finder, position encoder and a plurality of thermal infrared imagers to carry out multi-target search; the image signal box is used for converting the infrared image of the search area and detecting and analyzing a target in the infrared image to obtain corresponding digital video information and target information; the information processing computer is used for multi-frame image fusion analysis processing, and multi-target tracking and target track establishment are achieved by means of digital video information and target information. Compared with the prior art, the utility model provides a multi-target photoelectric search device can fuse the analysis processes to the multiframe image of same detection airspace, reduces and surveys error probability and false alarm rate, can establish reliable target track simultaneously.
Description
Technical Field
The utility model belongs to the optoelectronic device field especially relates to a multiple target photoelectric search device.
Background
The photoelectric searching and tracking system is an important device for detecting and tracking an empty target, can detect and track the target by utilizing the infrared characteristic of the target, can provide panoramic monitoring capability, can search the target at night or under the condition of poor visibility, and improves the perception capability of the system on the air, the ground and the sea surface threatening targets.
In the process of searching and tracking the target, due to the difference of the size, the maneuvering characteristic, the appearance characteristic and the like of the target, the plurality of targets may be crossed and shielded. For how to lock and track the movement of a plurality of targets, acquire a plurality of target motion images in real time, extract information such as target position, pitching, shape, distance and the like, the prior art is generally realized by adopting a three-in-one mode of an infrared detector, a visible light detector and a laser detector, the rotation and the movement of the detector are realized by utilizing a position and pitching two-shaft two-frame system, the target detection and identification are realized by adopting an image tracking system, and the distance of the target is acquired by adopting a laser range finder.
However, after searching for a plurality of targets, the photoelectric searching and tracking system in the prior art needs to manually select one target from the targets for tracking, and acquire real-time image information, azimuth, pitch and distance information of the target. Meanwhile, during searching, only static identification and analysis can be performed on the target, multi-target detection at a certain moment is realized, the motion state and the route track of the target are not recorded and analyzed, multi-target navigation building searching cannot be realized, and the identification error rate and the false alarm rate are high. After the targets are searched, only one target can be selected for tracking, and an airway track is established for the tracked target, so that multi-target tracking cannot be realized.
Therefore, it is necessary to provide a multi-target photoelectric search apparatus capable of performing fusion analysis processing on multi-frame images in the same detection airspace, reducing detection error probability and false alarm rate, and simultaneously establishing a reliable target track to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a not enough to prior art exists, the utility model aims to provide a can fuse analysis processes to the multiframe image of same detection airspace, reduce and survey error probability and false alarm rate, can establish the multi-target photoelectric search device of reliable target track simultaneously.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a multi-target optoelectronic search apparatus comprising:
the turret comprises a laser range finder, a position encoder, a double-shaft fiber-optic gyroscope, at least two thermal infrared imagers, a first digital signal processor and a second digital signal processor, wherein the first digital signal processor and the second digital signal processor are matched with the laser range finder, the position encoder and the plurality of thermal infrared imagers to perform multi-target search, and acquire infrared images of a search area;
the image signal box is in communication connection with the turret and is used for converting the infrared image of the search area and detecting and analyzing a target in the infrared image to obtain corresponding digital video information and target information;
and the information processing computer is in communication connection with the image signal box and is used for fusion analysis processing of multi-frame images, and multi-target tracking and target track establishment are realized by utilizing the digital video information and the target information.
Preferably, the image signal box includes:
the background suppressor is used for analyzing and processing by utilizing the image characteristic difference between the target and the background, and is used for suppressing the fluctuating background, improving the signal-to-noise ratio of the target and increasing the detectability of the target; and
and the target detector is used for carrying out target detection on the suppressed background, eliminating high-frequency noise interference through processing the sequence image and realizing real detection on the infrared moving small target existing in the background.
Preferably, the image signal box further comprises a target area extractor, and the target area extractor is used for detecting a sky-ground boundary area in the image to determine a sky area where the target is located, and eliminating interference of bottom surface noise.
Preferably, the image signal box further comprises a false alarm rejection target confirmer, and the false alarm rejection target confirmer is used for further rejecting a false alarm and confirming a real target through the shape and motion characteristic difference between the target and the background and the clutter.
Preferably, the target area extractor, the background suppressor, the target detector and the false alarm rejection target confirmer are sequentially in communication connection.
Preferably, the turret is connected to the image signal box through a signal cable, and the image signal box is connected to the information processing computer through an RS433 cable and an ethernet cable.
In conclusion, compared with the prior art, the utility model provides a multi-target photoelectric searching device, through carrying out the fusion analysis to the multiframe image of same detection airspace and handling, reduce detection error probability and false alarm rate, simultaneously, through multiframe image fusion analysis, increased the inherent uniformity of target, can establish the target track for every target simultaneously; on the basis of the existing single-target tracking, the tracking of a plurality of targets is realized through the establishment of a target track, and accurate azimuth and pitching information of the targets is provided through an extrapolation and interpolation algorithm of the target track.
Drawings
Fig. 1 is a block diagram of the multi-target photoelectric searching apparatus provided by the present invention;
fig. 2 is an interactive diagram of the first digital signal processor and the second digital signal processor in the multi-target photoelectric searching apparatus provided by the present invention;
fig. 3 is a flow chart of the multi-target photoelectric searching apparatus provided by the present invention;
fig. 4 is a block diagram illustrating a sub-step flow of step S20 in the usage flow of the multi-target photoelectric search apparatus according to the present invention.
In the figure, 100, a multi-target photoelectric searching device; 10. a turret; 11. a laser rangefinder; 12. a position encoder; 13. a biaxial fiber optic gyroscope; 14. a thermal infrared imager; 15. a first digital signal processor; 16. a second digital signal processor; 20. an image signal box; 21. a background suppressor; 22. a target detector; 23. a target region extractor; 24. a false alarm rejection target validator; 30. an information processing computer.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples. The following experimental examples and examples are intended to further illustrate but not limit the invention.
Referring to fig. 1 and 2, the present invention provides a multi-target photoelectric searching apparatus 100. The multi-object photoelectric search apparatus 100 includes a turret 10, an image signal box 20 communicatively connected to the turret 10, and an information processing computer 30 communicatively connected to the image signal box 20. The turret 10 is connected to the image signal box 20 through a signal cable, and the image signal box 20 is connected to the information processing computer 30 through an RS433 cable and an ethernet cable.
The turret 10 includes a laser rangefinder 11, a position encoder 12, a dual-axis fiber-optic gyroscope 13, at least two thermal infrared imagers 14, a first digital signal processor 15, and a second digital signal processor 16. The laser range finder 11, the position encoder 12, the dual-axis fiber-optic gyroscope 13 and the thermal infrared imagers 14 are cooperatively used for acquiring infrared images of a search area. By providing at least two thermal infrared imagers 14 on the turret 10, the detection field of view of the turret 10 is increased, enabling it to cover a large portion of the target motion airspace.
Specifically, in this embodiment, the number of the thermal infrared imagers 14 is two, and the two thermal infrared imagers 14, the laser range finder 11, the position encoder 12, and the dual-axis fiber optic gyroscope 13 complete functions of panoramic search, sector search, single-target tracking, multi-target positioning information extraction in a search airspace, multi-target tracking information processing, and the like through system servo control.
Referring to fig. 3, the first digital signal processor 15 and the second digital signal processor 16 cooperate with the laser range finder 11, the position encoder 12, the dual-axis fiber-optic gyroscope 13 and the thermal infrared imagers 14 to perform multi-target search, so as to implement multi-target search by dual DSPs.
In the multi-target detection process, the first digital signal processor 15 and the second digital signal processor 16 work simultaneously, so that multi-frame images in the same detection space are subjected to fusion analysis processing, and the detection error probability and the false alarm rate are effectively reduced.
The image signal box 20 is configured to convert the infrared image of the search area and detect and analyze a target in the image in the infrared image to obtain corresponding digital video information and target information.
Specifically, the image signal box 20 includes a background suppressor 21, an object detector 22, an object region extractor 23, and a false alarm rejection object confirmer 24. The target area extractor 23, the background suppressor 21, the target detector 22, and the false alarm rejection target confirmer 24 are sequentially connected in communication. According to the arrangement, the multi-target track confirmation and elimination and the target false scene elimination adopt a reliability recursive accumulation mode of historical tracks, so that the false scene rate is extremely low, and the reliability of multi-target detection is high.
Specifically, the background suppressor 21 performs analysis processing using the image characteristic difference between the target and the background, and is used to suppress a fluctuating background, improve the signal-to-noise ratio of the target, and increase the detectability of the target.
The target detector 22 performs target detection on the suppressed background, and eliminates high-frequency noise interference through processing the sequence image, thereby realizing real detection on the infrared moving small target existing in the background.
The target area extractor 23 is configured to detect a sky-ground boundary area in the image to determine a sky area where the target is located, and eliminate interference of bottom-surface noise. The target area extractor 23 is arranged in front of the background suppressor 21, so that low-altitude target detection is facilitated, the possibility of ground background clutter interference and false alarm in an image is avoided, and the accuracy of medium-distance and long-distance air weak target detection is enhanced.
The false alarm rejection target confirmer 24 is configured to further reject false alarms and confirm a real target according to the shape and motion characteristic differences between the target and the background and clutter. By arranging the false alarm rejection target confirmer 24 behind the target detector 23, a real target can be further confirmed, and the occurrence of errors in the target detection 23 is avoided.
The information processing computer 30 is used for multi-frame image fusion analysis processing, and realizes multi-target tracking and target track establishment by using the digital video information and the target information.
Referring to fig. 3 and fig. 4, the multi-target photoelectric searching apparatus 100 provided by the present invention has the following operation flow:
step S10, acquiring infrared images of the search area; in the step, in order to improve the field angle acquired by the infrared image of the search area, a plurality of infrared detectors operate simultaneously to increase the field of view of the infrared detectors, so that the requirement of establishing a target track in subsequent multi-target search is met.
Step S20, carrying out target detection on the infrared image of the search area, converting the infrared image of the search area into an infrared image, and carrying out detection analysis on a target in the infrared image to obtain corresponding digital video information and target information;
wherein, step S20 includes the following substeps:
step S23, extracting a target area, determining a sky area where the target is located by detecting a sky-ground boundary area in the image, and eliminating ground clutter interference;
step S21, background suppression, which is to perform analysis processing by using the image characteristic difference between the target and the background, and is used for suppressing the fluctuating background, improving the signal-to-noise ratio of the target and increasing the detectability of the target;
and step S22, real target detection, namely, carrying out target detection on the suppressed background, and eliminating high-frequency noise interference through processing the sequence image to realize real detection on the infrared motion small target existing in the background.
Step S24, removing the false alarm and confirming the target, further removing the false alarm and confirming the real target through the shape and motion characteristic difference of the target, the background and the clutter;
step S25, track credibility evaluation, forming a track of the real target by tracking the real target which is eliminated by false alarm, comparing the track with the previous track information,
if the flight path is greater than the confirmation probability TA of the previous flight path, the flight path is considered to be a correct flight path;
if the flight path is smaller than the confirmation probability TB of the previous flight path, the flight path is considered as an error flight path;
and if the track is between the probabilities TA and TB of the previous track, confirming and eliminating the target corresponding to the track in the step S24 again.
Step S30, storing the digital video information and the target information, performing multi-frame image fusion analysis processing, and implementing multi-target detection, multi-target tracking and multi-target track establishment through resolving and analyzing the target information;
preferably, in this step, the multi-target track is established in a recursive, cumulative, and correlation coefficient manner. Reliability evaluation is carried out on the track of the target, the track of the target is predicted, after the track feasibility degree is evaluated, the error track can be deleted and the correct track can be confirmed according to a threshold value of the reliability, false alarm targets are eliminated, and the reliability is higher.
And step S40, displaying the multi-target tracking and the multi-target track in real time.
Compared with the prior art, the utility model provides a multi-target photoelectric search device, through carrying out the fusion analysis to the multiframe image of same detection airspace and handling, reduce detection error probability and false alarm rate, simultaneously, through multiframe image fusion analysis, increased the inherent uniformity of target, can establish the target track for every target simultaneously; on the basis of the existing single-target tracking, the tracking of a plurality of targets is realized through the establishment of a target track, and accurate azimuth and pitching information of the targets is provided through an extrapolation and interpolation algorithm of the target track.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should be construed as the scope of the present invention.
Claims (6)
1. A multi-target photoelectric search apparatus, comprising:
the turret comprises a laser range finder, a position encoder, a double-shaft fiber-optic gyroscope, at least two thermal infrared imagers, a first digital signal processor and a second digital signal processor, wherein the first digital signal processor and the second digital signal processor are matched with the laser range finder, the position encoder and the plurality of thermal infrared imagers to perform multi-target search, and acquire infrared images of a search area;
the image signal box is in communication connection with the turret and is used for converting the infrared image of the search area and detecting and analyzing a target in the infrared image to obtain corresponding digital video information and target information;
and the information processing computer is in communication connection with the image signal box and is used for fusion analysis processing of multi-frame images, and multi-target tracking and target track establishment are realized by utilizing the digital video information and the target information.
2. The multi-target photoelectric search apparatus according to claim 1, wherein the image signal box includes:
a background suppressor for performing analysis processing using an image characteristic difference of a target and a background, for suppressing a fluctuating background; and
and the target detector is used for carrying out target detection on the suppressed background and eliminating high-frequency noise interference through processing the sequence image.
3. The multi-target photoelectric search device of claim 2, wherein the image signal box further comprises a target region extractor, and the target region extractor is configured to detect a sky-ground boundary region in the image to determine a sky region where the target is located, and to exclude interference of bottom-surface noise.
4. The multi-target optoelectronic search apparatus of claim 3 wherein the image signal box further comprises a false alarm rejection target confirmer for further rejecting false alarms and confirming real targets by shape, motion characteristic differences of the targets from the background and clutter.
5. The multi-target optoelectronic search apparatus of claim 4, wherein the target region extractor, the background suppressor, the target detector and the false alarm rejection target confirmer are sequentially communicatively connected.
6. The multi-object photoelectric search device according to any one of claims 1 to 5, wherein the turret is connected to the image signal box via a signal cable, and the image signal box is connected to the information processing computer via an RS433 cable and an Ethernet cable.
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| CN112364798A (en) * | 2020-11-19 | 2021-02-12 | 湖南宇正智能科技有限公司 | Multi-target photoelectric searching method and device |
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| CN112364798A (en) * | 2020-11-19 | 2021-02-12 | 湖南宇正智能科技有限公司 | Multi-target photoelectric searching method and device |
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