JP2504308B2 - Guidance device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a guide device for a flying object guided by an image guide system.

[Conventional technology]

FIG. 13 is a view showing a structure of a flying body guided by a conventional image guiding system, and 1 is a radome or an optical dome which has low aerodynamic resistance and transmits a signal medium for target detection such as light and radio waves. Reference numeral 2 is an optical lens for condensing the signal medium transmitted through the dome 1 on the detector, 3 is a two-dimensional detector that is fixed to the body and can detect an image in a predetermined direction, and 4 is for cooling the detector 3. 2 is a shell of a flying object, 6 is an inertial sensor, and 23 is a mechanical biaxial gimbal mechanism for stabilizing the visual field of the detector 3 with respect to the spatial reference coordinates. FIG. 14 is a block diagram showing the function and configuration of the conventional guiding device, 7 is an A / D converter for converting the output image signal of the two-dimensional detector 3 into a digital signal, and 8 is the obtained image signal. A correction processing circuit for correcting variations in the system (sensitivity, geometric distortion, etc.), 9 is a frame memory for storing image information of the entire field of view detected by the two-dimensional detector 3, and 10 is read from the frame memory 9. Target extraction processing circuit for extracting a target from the signal of the selected region, 11 is a target extraction processing circuit
A target tracking processing circuit for tracking the target selected by 10, 12 is a processing area setting circuit for setting an area for performing image processing including a tracking point, and 13 is a frame for image signals corresponding to the set processing area. 3 shows a read address control circuit for reading from a memory.

Next, the operation / action will be described. In FIG. 13,
When the attitude angle of the flying object changes due to the motion of the airframe, the inertial sensor 6 detects the amount of change, and the gimbal mechanism changes by the amount of the attitude angle so that the visual field of the detector 3 always spatially faces the same direction. Drive 23. In Figure 14,
The image signal detected by the detector 3 for the same spatial field of view is once stored in the frame memory 9, and a limited area including the target necessary for target tracking is read by the read address control circuit 13 and the target extraction circuit. 10, target tracking circuit
It is transferred to 11 and target tracking processing is performed.

[Problems to be Solved by the Invention]

Since the conventional flight guidance device guided by the image guidance system is configured as described above, it has a complicated mechanical moving part such as a gimbal mechanism. In addition to the burden on the body to reduce the size and cost of the guidance device,
It was a hindrance to improving the reliability of the spacecraft.

The present invention has been made to solve the above-mentioned problems, and has no mechanical moving parts such as a gimbal mechanism, and is guided by electronic processing while the sensor is fixed to the flying object. The aim is to achieve space stability of the device, to achieve size and cost reduction of the flying object, and to obtain high reliability.

[Means for solving the problem]

The guidance device according to the present invention includes a two-dimensional detector fixed to a body and capable of detecting an image in a range of a predetermined direction, a frame memory for storing an output image signal of the detector as a digital signal, and a two-dimensional detector. A circuit that limits the area near the target to be tracked in the entire visual field area to be detected as a processing area to perform image processing for extracting and tracking the target,
A circuit for controlling an address for reading data from the memory so as to extract a signal of a visual field region corresponding to a processing area set from the frame memory, an inertial sensor for detecting a posture angle of a flying object, and the inertial sensor A circuit that calculates the number of pixels that corresponds to the amount of change in the attitude angle of the flying object obtained from step 2 as the amount of change in the field of view of the two-dimensional detector.

An inertial sensor that detects the attitude angle of a flying object, and a circuit that calculates how many pixels the change amount of the attitude angle of the flying object obtained by the inertial sensor corresponds to the change amount of the visual field of the two-dimensional detector And a circuit that performs coordinate conversion processing on the image signal.

It is equipped with and.

[Action]

The guiding device according to the present invention detects the change amount of the attitude angle of the flying object for each frame rate by the inertial sensor to detect the change amount of the visual field of the two-dimensional detector as the number of pixels, and performs the tracking process from the frame memory. When reading the processing area for image processing, the two-dimensional detection is mechanically fixed to the flying object by changing the read address by the number of pixels corresponding to the change in the field of view or by converting the coordinates. It enables the view of the vessel to be spatially stabilized by electronic processing.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a part of the configuration of the guiding device according to the present invention. The two-dimensional detector 3 does not have a gimbal structure like the conventional guiding device shown in FIG. It has been fixed to 5. Figure 2,
FIG. 3 is a block diagram showing the function and configuration of an example of the guiding device according to the present invention. Reference numeral 7 is an A / D converter for converting the output image signal of the two-dimensional detector into a digital signal, and 8 is obtained. Variations in the device system (sensitivity,
A correction processing circuit for correcting geometrical distortion, etc., 9 is a frame memory for storing image information of the entire visual field detected by the two-dimensional detector 3, and 10 is a target of a signal of an area read from the frame memory 9. Target extraction processing circuit for extraction, 11
Is a target tracking processing circuit for tracking the target selected by the target extraction processing circuit 10, 12 is a processing area setting circuit for setting an area for performing image processing including the tracking point, and 13 is equivalent to the set processing area. A read address control circuit for reading the image signal from the frame memory, 14 is a space stabilization processing circuit for converting the change state of the attitude angle of the flying body obtained from the inertial sensor 6 into the number of changed pixels of the visual field, and 15 is an image A coordinate conversion processing circuit for converting signals into coordinates, FIGS. 7 to 10 are views for explaining the electronic space stabilization processing according to the present invention, where 18 is the image of the previous frame and 19 is the image of the next frame. An image, 20 is an image processing area for tracking processing and the like, and 21 is an address address of each signal data in the frame memory.

Next, the operation / action will be described. 2 in FIG.
The output image signal of the dimension detector 3 is converted into a digital signal by the A / D converter 7, subjected to image correction by the correction processing circuit 8, and then stored in the frame memory 9. Generally, in the case of reading from the frame memory, the subsequent image processing is complicated, so that only the limited area (processing area) including the tracking target is read without reading the entire field of view (all data). As shown, the two-dimensional detector 3 has a shell 5
If it is mechanically fixed to, the frame image 18 at the certain time and the image 19 of the next frame as shown in FIG.
Is shifted by Δθy and Δθx in the pitch and yaw directions by the change in the attitude angle of the flying object at one frame rate. Therefore, the area to be processed including the target 20
Is the first frame (address 2 in FIG. 8).
9,30,31,37,38,39) and 2 frames (address 11,12,13,19,20,21 in FIG. 9) are different, so tracking processing is difficult if data is read at the same address. become. In the present invention, the inertial sensor 6 in FIG. 2 detects the amount of change (Δθx, Δθy) in the attitude angle of the flying object, and the number of pixels corresponding to this amount of change (Δθx = 2 pixels in the example of FIG. 8). , Δθy = 2 pixels) is calculated by the spatial stabilization processing circuit 14,
The read address control circuit 13 is instructed to change the read address (FIG. 9). By performing this operation continuously for each frame, the spatially stable visual field region 20 can be read out for tracking processing, and stable guidance is possible.

Next, in FIG. 3, the inertial sensor 6 detects the change amount (Δθx, Δθy) of the attitude angle of the flying object in FIG. 7, and the number of pixels corresponding to this change amount (in the example of FIG.
θx = 2 pixels, Δθy = 2 pixels)
And the coordinate conversion processing circuit 15 calculates 2 pixels in the X direction, Y
The coordinate conversion of two pixels is performed in the direction. Signal data in which the coordinate-transformed image (Fig. 10) of the original image in Fig. 8 is corrected for the amount of change in the attitude angle of the flying object even if the same address position is designated as the processing area 20 to be read. (The same addresses 11,12,13,19,20,21 as in FIG. 9) are read out, and the tracking processing can always be performed in the spatially stabilized processing area.

Next, in FIGS. 4, 11, and 12, the image 18 of the previous frame is once stored in the frame memory 16, and the correlation image 23 is extracted / selected from the image 18 of the previous frame, and the correlation processing circuit At 17 the correlation with the image 19 of the next frame is taken to detect the amount of movement of the image during one frame rate (that is, the amount of movement of the field of view of the detector 3), and the spatial stabilization processing circuit 14 moves the image. The read address control circuit 13 converts the amount into the number of pixels.
The space stabilization of the processing area 20 is realized by changing the address read by instructing to.

Next, in FIG. 5, when the correlation processing circuit 17 correlates the images of the previous frame and the next frame, the correlation between the images based on the change amount of the attitude angle of the flying object detected by the inertial sensor 6 is performed. Estimate the amount of movement and easily realize correlation processing.

Next, in FIG. 6, the correlation image necessary for detecting the movement amount of the image is extracted and selected by the extraction processing circuit 10 of the previous frame, and the correlation image with the image of the next frame is subjected to the image processing. The amount of movement of the processing area is detected, and the read address is controlled to realize space stabilization of the processing area.

〔The invention's effect〕

As described above, according to the present invention, even if the detector is fixed to the body without a complicated mechanical movable part such as a gimbal mechanism, the visual field area for performing target tracking can be spatially processed by electronic processing. Because it can be stabilized
This has the effect of reducing the size and cost of the flight guidance device and improving reliability.

[Brief description of drawings]

FIG. 1 is a diagram showing a part of the configuration of the guiding device according to the present invention, FIGS. 2 to 6 are block diagrams showing the function and configuration of an example of the guiding device according to the present invention, and FIGS.
FIG. 13 is a diagram for explaining an electronic space stabilization process according to the present invention, FIG. 13 is a diagram showing a structure of a flying body guided by a conventional image guidance system, and FIG. 14 is a diagram of a conventional guidance device. 2 is a block diagram showing functions and configurations, 2 is a radome or an optical dome, 2 is an optical lens, 3 is a two-dimensional detector,
4 is a dewar, 5 is a flying shell, 6 is an inertial sensor, 7 is an A / D converter, 8 is a correction processing circuit, 9 is a frame memory, 10 is a target extraction processing circuit, 11 is a target tracking processing circuit, 12 is a processing area setting circuit, 13 is a read address control circuit, 14 is a space stabilization processing circuit, 15 is a coordinate conversion processing circuit, 16 is a frame memory, 17 is a correlation processing circuit, 18 is a previous frame image, 19 is the next Image of a frame, 20 is an image processing area such as tracking processing, 21 is an address address of each signal data in the frame memory, 22 is a correlation image, and 23 is a biaxial gimbal mechanism. The same reference numerals in the drawings indicate the same or corresponding parts.

Claims (2)

(57) [Claims] 1. A guide device for an image-guided flying object,
A two-dimensional detector which is fixed to the machine body and can form an image in a range of a predetermined direction, a frame memory which stores an output image signal of the detector as a digital signal, and a total visual field region detected by the two-dimensional detector A circuit that limits the area near the target to be tracked as a processing area for performing image processing for extracting and tracking the target, and to extract the signal of the visual field area corresponding to the processing area set from the frame memory An address control circuit for controlling an address for reading data from the memory, an inertial sensor for detecting the attitude angle of the flying object, and a change amount of the attitude angle of the flying object obtained by the inertial sensor in a two-dimensional detector. Calculate how many pixels are equivalent to the amount of change in the field of view, and use the number of pixels corresponding to the amount of change in the attitude angle of the flying vehicle for the address control circuit. Guiding apparatus characterized by comprising a circuit which issues a command to change the read address. 2. In an image guidance aircraft guidance device,
A two-dimensional detector which is fixed to the machine body and can form an image in a range of a predetermined direction, a frame memory which stores an output image signal of the detector as a digital signal, and a total visual field region detected by the two-dimensional detector A circuit that limits the area near the target to be tracked as a processing area for performing image processing for extracting and tracking the target, and to extract the signal of the visual field area corresponding to the processing area set from the frame memory A circuit that controls the address that reads the data from the memory, an inertial sensor that detects the attitude angle of the flying object,
A circuit for calculating the number of pixels corresponding to the amount of change in the attitude angle of the flying object obtained by the inertial sensor as the amount of change in the field of view of the two-dimensional detector, and the output of this circuit is input to the two-dimensional detector. A guidance device comprising: a circuit that performs coordinate conversion corresponding to the amount of change in the attitude angle of a flying object detected by an inertial sensor from an image signal detected by a detector.