EP1538416B1 - Verfahren und Vorrichtung zum Wiederaufbau von Bildern auf Detektorstäben - Google Patents

Verfahren und Vorrichtung zum Wiederaufbau von Bildern auf Detektorstäben Download PDF

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Publication number
EP1538416B1
EP1538416B1 EP04292843A EP04292843A EP1538416B1 EP 1538416 B1 EP1538416 B1 EP 1538416B1 EP 04292843 A EP04292843 A EP 04292843A EP 04292843 A EP04292843 A EP 04292843A EP 1538416 B1 EP1538416 B1 EP 1538416B1
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Prior art keywords
image
bars
arrays
solving
vector
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EP04292843A
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English (en)
French (fr)
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EP1538416A1 (de
Inventor
Yves Richard
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Safran Electronics and Defense SAS
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Sagem Defense Securite SA
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/222—Homing guidance systems for spin-stabilized missiles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2253—Passive homing systems, i.e. comprising a receiver and do not requiring an active illumination of the target
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G7/00—Direction control systems for self-propelled missiles
    • F41G7/20—Direction control systems for self-propelled missiles based on continuous observation of target position
    • F41G7/22—Homing guidance systems
    • F41G7/2273—Homing guidance systems characterised by the type of waves
    • F41G7/2293—Homing guidance systems characterised by the type of waves using electromagnetic waves other than radio waves

Definitions

  • the present invention relates to an image recovery method acquired through sensor arrays mounted on a projectile.
  • Projectiles can be self-guided on a moving target when the latter releases heat - for example the heat of thrusters or engines - through a hot spot detection device embedded on the projectile. Once the hotspot is located, the projectile adjusts its trajectory to the hotspot to reach its target.
  • the figure 1 schematically shows a longitudinal section of the focal plane of a hot spot detection device of the state of the art.
  • the hot-spot detection device conventionally comprises four rectangular-shaped detection bars 1 and placed relative to each other to form a regular Greek cross centered on the longitudinal axis 2 of the device.
  • the bars 1 are placed in the focal plane of the detection device. Their length is equal to the field of optics, and their width approximately to the diameter of the image spot (percussive response) of the optics.
  • the bars 1 are fixed relative to the projectile symbolized by the normal ortho mark 3 itself centered on the axis 2.
  • the optical axis 6 of the device is rotated about the axis 2 along the arrow referenced by 5, the optical axis 6 being at a distance R of the axis 2.
  • the trajectory of the axis 6 in the focal plane is represented by the circle 4.
  • the bars 1 detect a hot spot.
  • the detection and positioning of this hot spot relative to the projectile allows the projectile to move towards the hot spot and therefore the target.
  • the invention proposes to overcome these disadvantages.
  • One of the aims of the invention is to propose a method for reconstructing an image by means of the signals picked up on sensor arrays mounted on a projectile.
  • figure 2 whose elements similar to figure 1 carry identical numerical references, schematically represents a section longitudinal axis of a focal plane of a device implementing a method according to the invention.
  • a detection device implementing a method according to the invention comprises at least three detection bars 1 of rectangular shape and placed relative to each other in at least three directions non-collinear with each other.
  • the detectors are oriented radially towards the axis 2 of the device, and towards the vertices of a regular polygon.
  • the bars are thus arranged together in a regular "Y" shape centered on the longitudinal axis 2 of the device.
  • the bars 1 are placed in the focal plane of the detection device. Their length is equal to the field of optics, and their width approximately to the diameter of the image spot (percussive response) of the optics.
  • the bars 1 are fixed relative to the projectile symbolized by the normal ortho mark 3 itself centered on the axis 2.
  • the optical axis 6 of the device rotates about the axis 2 according to the arrow referenced 5 by a router, the optical axis 6 being at a distance R from the axis 2.
  • the trajectory of the axis 6 in the focal plane is represented by circle 4.
  • angles ⁇ of rotation are given by measuring means connected to the router.
  • the optical axis 6 performs a translational movement in front of the bars 1. It is of course also possible, when changing the reference, that the bars 1 perform a translational movement circular to the optical axis 6.
  • the figure 3 shows a bar 1 passing in front of the image 30 of the scene - if we take as reference the axes (Ox, Oy) centered on the image 30 - in a direction 31 of displacement in translation.
  • the image 30 of the scene is acquired during a step 32, that is to say all along the translation in the direction 31.
  • L the operator which makes it possible from an image 30 to obtain the signals coming from the bars 1.
  • Im the function of x and y in the focal plane which represents the image of the scene we are trying to obtain.
  • the function Im therefore represents the image 30 on the figure 3 .
  • the function B is the signals obtained on the bars 1.
  • the function B represents the signals 33 of the figure 3 .
  • the fact of integrating the entire length of the bar 1 is similar to a measurement acquisition technique used in tomography. Tomography is used in the medical field in particular.
  • This measurement acquisition characteristic makes it possible to use a tomographic image reconstruction method.
  • equation (1) highlights the linear aspect of the problem and assumes the linearity of the bars.
  • a method according to the invention can use a step that is similar to a Radon transform.
  • the calculation parameter is the displacement of the next image not ⁇ ⁇ k .
  • the figure 4 shows that the image 300 in the Fourier space of an image acquired by arrays in real space is all the better sampled as the number of arrays in real space is important. It is recalled that the direction of sampling in the frequency space is perpendicular to the direction of extension of the bar in real space.
  • the figure 4 also shows that width D of the strips occurs as a convolution of the image in frequency space by a disc 50 whose diameter is 1 / D.
  • the device for implementing the method according to the invention generally comprises, preferably, seven bars.
  • the Figure 6A thus schematically shows that the image 60 acquired by the bars 1 is divided into pixels referenced by 600. Thus lines are defined, which are referred to as 61, 62, 63 and 64 on the Figure 6A .
  • each pixel of the image 60 is performed.
  • Each pixel 600 of the image 60 thus bears a number.
  • the Figure 6B shows that we then represent the image 600 as a vector 65 by putting one after the other lines 61 to 64 for example.
  • a vector B representative of B of equation (1) is constructed by juxtaposing the signals received from each strip 1 after numbering the bars. The juxtaposition of the signals in the vector B is performed according to the numbers of the bars.
  • the figure 7 shows that the operator L of equation (1) is represented by its matrix.
  • each line of the matrix L corresponds to a current bar i of the focal plane.
  • Each column of the matrix L corresponds to a pixel j.
  • the intensity of the digitized signal from each strip i for a hot spot centered on the pixel j during a router turn is then transferred in column and for each current pixel j of the focal plane.
  • the evolution of this intensity on a bar i during a spinning lathe is shown schematically in FIG. figure 8 .
  • equation (1) In general, the system of equation (1) is not invertible and admits an infinity of solutions, because the matrix L is rectangular.
  • the performance of a device implementing a method according to the invention will then be conditioned, in addition to the physical characteristics of the device, by the resolution steps used for the linear system, as well as by the relevance of the problem setting for the resolution.
  • the dimensions of the bars are (in ⁇ m) 700 ⁇ 100 and the represented plane is a square of 750 ⁇ m side. These dimensions are given as a non-limiting indication and depend on the field size of the optical system.
  • a first possible embodiment of a method according to the invention consists in minimizing a quadratic functional instead of directly solving equation (1).
  • the quadratic error between the measurements and the expected image is minimized.
  • This method is called least squares method by the skilled person.
  • the initial image is zero throughout the field of the detectors.
  • the threshold depends on the applications and the acquisition modules. In our example, it can be set to 1 ⁇ 2.
  • the loop stops after a certain number of iterations or when the reconstituted image is sufficiently resolved to be exploited by the means for processing and guiding the projectile.
  • Performing a thresholding of the image makes it possible to avoid the formation of parasitic signals on the image and to ensure a better convergence of the calculation.
  • FIGS. 9A to 9D show the results of the first four iterations of a method using the least squares method.
  • the image is divided into 1600 pixels.
  • the focal plane has two hot spots 91 and 92 of the same intensity and visible in particular on the Figure 9D .
  • the calculation takes into account signal processing, including the elimination of a low frequency component.
  • the Figure 9A is the reconstructed image after an iteration with a threshold equal to 1 ⁇ 2.
  • the Figure 9B is the reconstituted image after two iterations with a threshold equal to 1 ⁇ 4.
  • the Figure 9C is the reconstructed image after three iterations with a threshold equal to 1/6.
  • the Figure 9D is the reconstructed image after four iterations with a threshold equal to 1/8.
  • a second possible embodiment of a method according to the invention consists in using a resolution method of the maximization or minimization type of a functional under stress.
  • Such under-determination may occur when the measurements are of a limited number, ie when the bars are rapidly acquiring the scene, or when the measurements under certain incidences are not accessible or exploitable.
  • a method of maximizing or minimizing a constrained functional can of course be used in all cases of acquisition.
  • ALT Algebraic Reconstruction Technique
  • MART Multiplicative Algebraic Reconstruction Technique
  • a method of the MART type is used.
  • This method of resolution can be interpreted as a minimization or a maximization under stress with an entropic criterion.
  • a method according to the invention converges the solution to a maximum entropy of the image with the constraint given by equation (1).
  • a set of measurements is corrected at each iteration to obtain a solution quickly.
  • the set of measurements to be corrected is then moved at each iteration according to the displacement of the bar considered with respect to the scene.
  • the correction of the image during the iteration n + 1 of the process is carried out substantially by a multiplication of the image I not k obtained at pixel k after correction during an iteration n by the ratio of the signal B n received by a given strip at this pixel k during the iteration n on the one hand to the signal R n reconstituted over the entire array given during the iteration n on the other hand.
  • I not + 1 k I not k ⁇ B not R not
  • R n represents the signal that gives the image reconstituted on the bar considered.
  • n denotes a matrix index, it describes the indices of each matrix cyclically, modulo the size of the matrix.
  • the index n is thus not limited by the size of the matrices in the iterations.
  • the nk ⁇ ⁇ nk ⁇ nk makes it possible to carry out an averaging of the correction on all the pixels of the bar. This ensures a conservation of energy during the different iterations and the convergence of the iterative process is allowed.
  • the iterations are stopped when a number of iterations is reached or when the reconstituted image is sufficiently resolved to be exploited by the means for processing and guiding the projectile.
  • the figure 10 thus shows the image of a pattern with remarkable patterns 100.
  • the figure 11 shows the reconstructed image of the test pattern figure 10 after a dozen iterations of the process. It clearly distinguishes the reconstituted images 110 of the patterns 100.
  • the figure 4 clearly shows that the high frequencies are less likely to be perceived by the sampling given by the lines 41 to 45 for example, since they are moving away from the center of the marker (Ofx, Ofy).
  • the disc 50 is detected, in the worst case, when it is tangent to two straight at the same time.
  • f max ⁇ 1 D we wish to have: f max ⁇ 1 D to be able to observe more than one period of the sinusoid in real space. 1 f max ⁇ D must therefore be less than 1.
  • n is preferably greater than or equal to 7.
  • the device for implementing a method according to the invention thus preferably comprises seven strips 1 equally distributed, as shown in FIG. Figure 5B .

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Claims (10)

  1. Verfahren zum Wiederaufbau eines Bildes (Im), das mit auf einem Projektil montierten Detektorstäben (1) erfasst wurde, dadurch gekennzeichnet, dass der für das Bild (Im) repräsentative Vektor aus dem für die Signale (B) der Stäbe (1) repräsentativen Vektor durch Auflösung des linearen Systems wieder aufgebaut wird derart, dass: L ⋅ Im = B
    Figure imgb0027
    wobei L die Matrix ist, die die von jedem Stab für alle Pixel des Bildes ausgehenden Signale übernimmt.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass es die Schritte umfasst, gemäß denen:
    - die Stäbe nummeriert werden und der Vektor B durch Aneinanderreihung der von jedem Stab (1) empfangenen Signale in Abhängigkeit von der Stabnummer konstruiert wird,
    - die Ebene, in der sich die Stäbe befinden, in Pixel unterteilt wird, wobei sich die Pixel am Schnittpunkt von Zeilen und Spalten befinden und der Vektor Im durch Aneinanderreihen der Zeilen der derart unterteilten Ebene konstruiert wird, und
    - jeder Koeffizient Li,j der Matrix L durch Übertragung in die Spalte für jedes laufende Pixel j der Intensität des digitalisierten Signals jedes Stabs i für einen auf das Pixel j zentrierten warmen Punkt konstruiert wird, wobei jede Zeile von L einem Stab und jede Spalte einem Pixel entspricht.
  3. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Auflösung des linearen Systems eine Methode vom Typ Minimierung einer quadratischen Funktion verwendet.
  4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass die Methode der Auflösung eine Methode der kleinsten Quadrate ist und dass die Funktion vom Typ 1/2 · Im t · Lt - L · Im - Im t - Lt - B ist,
    wobei Im t , Lt die transponierte Matrix von Im und von L bezeichnen.
  5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die Methode der kleinsten Quadrate einen Schritt umfasst:
    - der Initialisierung, gemäß der das Bild auf dem gesamten Feld der Stäbe annulliert wird,
    - der Definition einer Ausgangsschwelle, und
    - der Schleifenbildung, die darin besteht, durchzuführen:
    - einen Abstieg je konjugierten Gradienten,
    - eine Bildsegmentierung im Schwellwertverfahren und eine Nullstellung der Signale des Bildes, deren Intensität sich unterhalb des Schwellwerts befindet, und
    - ein Absenken der Schwelle,
    wobei die Schleife am Ende einer bestimmten Anzahl von Iterationen stoppt oder wenn die Auflösung des wieder aufgebauten Bildes ausreichend ist, um durch Bearbeitungs- und Lenkungsmittel des Projektils verwendet zu werden.
  6. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Auflösung des linearen Systems eine Methode vom Typ Minimierung oder Maximierung einer Funktion unter Constraint verwendet.
  7. Verfahren nach Anspruch 6, dadurch gekennzeichnet, dass die Methode der Auflösung eine Maximierung der Entropie des Bildes mit dem Constraint L · Im = B ist.
  8. Verfahren nach Anspruch 7, dadurch gekennzeichnet, dass die Methode der Auflösung eine multiplikative algebraische Rekonstruktionstechnik "MART" verwendet.
  9. Vorrichtung zum Bildwiederaufbau, dadurch gekennzeichnet, dass sie Detektorstäbe und Verarbeitungsmittel umfasst, die imstande sind, das Verfahren nach einem der Ansprüche 1 bis 8 umzusetzen.
  10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass sie sieben im Verhältnis zur Achse der Vorrichtung radial angeordnete, zueinander nicht kolineare Stäbe umfasst.
EP04292843A 2003-12-01 2004-12-01 Verfahren und Vorrichtung zum Wiederaufbau von Bildern auf Detektorstäben Expired - Lifetime EP1538416B1 (de)

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FR0314089 2003-12-01
FR0314089A FR2863079B1 (fr) 2003-12-01 2003-12-01 Procede et dispositif de reconstitution d'image sur des barrettes de detecteurs

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EP1538416B1 true EP1538416B1 (de) 2010-07-28

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Publication number Priority date Publication date Assignee Title
DE4208516C2 (de) * 1992-03-17 1994-03-03 Deutsche Aerospace Bilderzeugendes Suchkopfsystem
US5529262A (en) * 1993-06-23 1996-06-25 Horwath; Tibor G. Guidance seeker for small spinning projectiles
US5669581A (en) * 1994-04-11 1997-09-23 Aerojet-General Corporation Spin-stabilized guided projectile

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DE602004028331D1 (de) 2010-09-09
ATE475855T1 (de) 2010-08-15
FR2863079B1 (fr) 2006-03-03
FR2863079A1 (fr) 2005-06-03

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