JPH04102907A - Guiding device - Google Patents
Guiding deviceInfo
- Publication number
- JPH04102907A JPH04102907A JP2220533A JP22053390A JPH04102907A JP H04102907 A JPH04102907 A JP H04102907A JP 2220533 A JP2220533 A JP 2220533A JP 22053390 A JP22053390 A JP 22053390A JP H04102907 A JPH04102907 A JP H04102907A
- Authority
- JP
- Japan
- Prior art keywords
- image
- circuit
- processing
- frame memory
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000015654 memory Effects 0.000 claims abstract description 50
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 230000008859 change Effects 0.000 claims description 24
- 230000006641 stabilisation Effects 0.000 claims description 14
- 238000011105 stabilization Methods 0.000 claims description 14
- 230000000875 corresponding effect Effects 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 7
- 230000002596 correlated effect Effects 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000003702 image correction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Landscapes
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野］
この発明は画像誘導方式により誘導される飛しょう体の
誘導装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a guidance device for a flying object guided by an image guidance method.
〔従来の技術〕
第１３図は従来の画像誘導方式により誘導される飛しょ
う体の構成を示す図であり、１は空気力学的に抵抗が少
なく光・電波等の目標検知の信号媒体を透過するレドー
ムまたは光ドーム、２はドーム１を透過した信号媒体を
検出器に集光させる光学レンス、３は機体に固定され所
定方向の範囲の像を結像させ得る２次元検出器、４は検
出器３を冷却するためのデユワ、５は飛しょう体のシェ
ル、６は慣性センサ、２３は検出器３の視野を空間基準
座標に対し安定化させる機械的な２軸のシンバル機構を
示す。第１４図は従来の誘導装置の機能及び構成を示す
ブロック図であり、７ば２次元検出器３の出力画像信号
をディジタル信号に変換するＡ／Ｄ変換器、８は得た画
像信号に対し装置系のばらつき（感度、幾何学的歪等）
を補正する補正処理回路、９は上記２次元検出器３の検
出した全視野の画像情報を格納するフレームメモリ、１
０はフレームメモリ９からの読出された領域の信号につ
いて目標の抽出を行う目標抽出処理回路、１１は目標抽
出処理回路１０により選択された目標の追尾を行う目標
追尾処理回路、１２は追尾点を含む画像処理を行う領域
を設定するための処理エリア設定回路、１３は設定され
た処理エリアに相当する画像信号をフレームメモリから
読出す読出しアドレス制御回路を示す。[Prior Art] Figure 13 is a diagram showing the configuration of a flying object guided by a conventional image guidance method, and 1 shows a flying object that has low aerodynamic resistance and transmits signal media for target detection such as light and radio waves. 2 is an optical lens that focuses the signal medium transmitted through the dome 1 onto a detector; 3 is a two-dimensional detector fixed to the aircraft body and capable of forming an image in a predetermined direction; 4 is a detection A dewar for cooling the detector 3, 5 a shell of the flying object, 6 an inertial sensor, and 23 a mechanical two-axis cymbal mechanism for stabilizing the field of view of the detector 3 with respect to spatial reference coordinates. FIG. 14 is a block diagram showing the function and configuration of a conventional guidance device, where 7 is an A/D converter that converts the output image signal of the two-dimensional detector 3 into a digital signal, and 8 is an A/D converter that converts the output image signal of the two-dimensional detector 3 into a digital signal. Instrument system variations (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; 1;
Reference numeral 0 denotes a target extraction processing circuit that extracts a target from the signal of the area read out from the frame memory 9, 11 a target tracking processing circuit that tracks the target selected by the target extraction processing circuit 10, and 12 a target tracking processing circuit that performs tracking of the target selected by the target extraction processing circuit 10. A processing area setting circuit is used to set an area for image processing, and reference numeral 13 is a read address control circuit that reads out an image signal corresponding to the set processing area from the frame memory.
次に動作・作用について説明する。第１３図において、
機体の動揺及び飛しょう体の運動により飛しょ・う体の
姿勢角が変化すると、慣性センサ６によりその変化量を
検出し、検出器３の視野が空間的に常に同一方向を向く
ように姿勢角が変化した分だけジンバル機構２３を駆動
させる。第１４図において、空間的に同一の視野に対す
る検出器３の検知した画像信号は、一端フレームメモリ
９に格納され、目標追尾に必要な目標を含む限定された
エリアが読出しアドレス制御皿回路１３により読出され
、目標抽出回路１０、目標追尾回路１１に転送されて目
標の追尾処理が行われる。Next, the operation/effect will be explained. In Figure 13,
When the attitude angle of the aircraft/vehicle changes due to the oscillation of the aircraft and the movement of the aircraft, the inertial sensor 6 detects the amount of change, and adjusts the attitude so that the field of view of the detector 3 always points in the same spatial direction. The gimbal mechanism 23 is driven by the amount that the angle has changed. In FIG. 14, the image signals detected by the detector 3 for the same spatial field of view are stored in the frame memory 9 at one end, and a limited area including the target necessary for target tracking is read out by the address control plate circuit 13. The data is read out and transferred to the target extraction circuit 10 and the target tracking circuit 11 to perform target tracking processing.
従来の画像誘導方式により誘導される飛しよう体の誘導
装置は以上のように構成されているので、ジンバル機構
のような複雑な機械的可動部分を有していることから、
特に小型の飛しょう体において、誘導装置の小型化・低
価格化を図るうえで大きな負担になっていたほか、飛し
ょう体の信頼性の向上の妨げとなっていた。The guidance device for a flying object guided by the conventional image guidance method is configured as described above, and has complex mechanically movable parts such as a gimbal mechanism.
Particularly in the case of small-sized spacecraft, this was a major burden when trying to downsize and lower the cost of guidance devices, and it was also an impediment to improving the reliability of the spacecraft.
この発明は上記のような課題を解消するためになされた
もので、ジンバル機構のような機械的な可動部分をもた
ず、センサを飛しよう体に固定させた状態で電子的な処
理により誘導装置の空間安定化を実現させて、飛しよう
体の小型化・低価格化を果たし、高い信頼性を得ること
を目的とする。This invention was made to solve the above problems, and does not have mechanically movable parts like a gimbal mechanism, but instead uses electronic processing to guide the sensor while it is fixed to the flying body. The aim is to achieve spatial stabilization of the device, reduce the size and cost of flying objects, and obtain high reliability.
この発明に係る誘導装置は、機体に固定され所定方向の
範囲の像を結像させ得る２次元検出器と、前記検出器の
出力画像信号をディジタル信号として格納するフレーム
メモリと、２次元検出器が検知する全視野領域のうち追
尾を行う目標付近の領域を目標の抽出・追尾を行うため
の画像処理を施す処理エリアとして限定する回路と、前
記フレームメモリから設定された処理エリアに相当する
視野領域の信号を抽出するようにメモリからデータを読
出ずアドレスを制御卸する回路と、■飛しょう体の姿勢
角を検出する慣性センサと、前記慣性センサにより得た
飛しょう体の姿勢角の変化量を２次元検出器の視野の変
化量として何画素分に相当するかを計算する回路。A guidance device according to the present invention includes a two-dimensional detector fixed to an aircraft body and capable of forming an image in a predetermined direction, a frame memory that stores 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 out of the total visual field detected by the camera as a processing area for performing image processing for extracting and tracking the target, and a field of view corresponding to the processing area set from the frame memory. A circuit that controls addresses without reading data from memory so as to extract area signals, ■ An inertial sensor that detects the attitude angle of the spacecraft, and changes in the attitude angle of the spacecraft obtained by the inertial sensor. A circuit that calculates how many pixels corresponds to the amount of change in the field of view of a two-dimensional detector.
■飛しょう体の姿勢角を検出する慣性センサと、前記慣
性センサにより得た飛しょう体の姿勢角の変化量を２次
元検出器の視野の変化量として何画素分に相当するかを
計算する回路と、画像信号に対し、座標変換処理を行う
回路。■ An inertial sensor that detects the attitude angle of the flying object, and a calculation of how many pixels the amount of change in the attitude angle of the flying object obtained by the inertial sensor corresponds to as the amount of change in the field of view of the two-dimensional detector. A circuit that performs coordinate transformation processing on image signals.
■検出器の出力画像信号をディジタル信号として格納し
１フレームレートだけザンブルホール１−するフレーム
メモリと、前フレームの画像信号と次のフレームの画像
信号を比較し、全体的な画像の移動量を検出する相関処
理回路と、画像の移動量をフレームメモリのアドレス位
置に換算して読出しアドレス制御回路に指令を送る空間
安定化処理回路。■Frame memory stores the output image signal of the detector as a digital signal and performs Zamble Hole 1 at one frame rate, compares the image signal of the previous frame with the image signal of the next frame, and detects the overall amount of image movement. and a spatial stabilization processing circuit that converts the amount of image movement into an address position in the frame memory and sends a command to the read address control circuit.
■検出器の出力画像信号をディジタル信号として格納し
１フレームレートだけサンプルホールドするフレームメ
モリと、前フレー１、の画像信号と次のフレームの画像
信号を比較し、全体的な画像の移動量を検出する相関処
理回路と、画像の移動量をフレームメモリのアドレス位
置に換算して読出しアドレス制御回路に指令を送る空間
安定死処理回路と、飛しょう体の姿勢角を検出する慣性
センサ。■A frame memory stores the output image signal of the detector as a digital signal and samples and holds it at one frame rate, and compares the image signal of the previous frame 1 with the image signal of the next frame, and calculates the overall amount of image movement. A correlation processing circuit that detects, a spatial stability processing circuit that converts the amount of image movement into an address position in the frame memory and sends a command to the read address control circuit, and an inertial sensor that detects the attitude angle of the spacecraft.
■前フレームの画像信号と次のフレームの画像信号を比
較し、全体的な画像の移動量を検出する相関処理回路と
、画像の移動量をフレームメモリのアドレス位置に換算
して読出しアドレス制御回路に指令を送る空間安定化処
理回路と、次のフレームとの相関をとるための相関画像
をも抽出する目標抽出処理回路。■A correlation processing circuit that compares the image signal of the previous frame with the image signal of the next frame and detects the overall amount of image movement, and a readout address control circuit that converts the amount of image movement into an address position in the frame memory. a spatial stabilization processing circuit that sends commands to the frame, and a target extraction processing circuit that also extracts a correlated image to correlate with the next frame.
とを具備したものである。It is equipped with the following.
この発明における誘導装置は、各フレームレート毎の飛
しょう体の姿勢角の変化量を慣性センサで検出するか、
もしくは前フレームとの画像相関をとることにより２次
元検出器の視野の変化量を画素数としてとらえ、フレー
ムメモリから追尾処理等の画像処理を施す処理領域を読
み出すさいに、視野の変化量に相当する画素数分だけ読
出しのアドレスを変更するか、もしくは座標変換するこ
とにより飛しょう体に機械的に固定された２次元検出器
の視野を電子的な処理により空間安定化を行うことを可
能にする。The guidance device in this invention detects the amount of change in the attitude angle of the flying object for each frame rate using an inertial sensor, or
Alternatively, by correlating the image with the previous frame, the amount of change in the field of view of the two-dimensional detector is captured as the number of pixels, and when reading out the processing area for image processing such as tracking processing from the frame memory, it is equivalent to the amount of change in the field of view. By changing the readout address by the number of pixels or by converting the coordinates, it is possible to spatially stabilize the field of view of a two-dimensional detector mechanically fixed to the flying object through electronic processing. do.
以下、この発明の一実施例を図について説明する。 An embodiment of the present invention will be described below with reference to the drawings.
第１図はこの発明における誘導装置の構成の一部を示し
ており、第１３図に示す従来の誘導装置のようなジンバ
ル構造を持たず２次元検出器３が機械的に飛しょう体の
シェル５に固定されていることを示している。第２図か
ら第６図は、それぞれこの発明における誘導装置の一例
の機能及び構成を示すブロック図であり、７は２次元検
出器の出力画像信号をディジタル信号に変換するＡ／Ｄ
変換器、８は得た画像信号に対し装置系のばらつき（感
度、幾何学的歪等）を補正する補正処理回路、９は上記
２次元検出器３の検出した全視野の画像情報を格納する
フレームメモリ、１０はフレームメモリ９から読出され
た領域の信号について目標の抽出を行う目標抽出処理回
路、１１は目標抽出処理回路１０により選択された目標
の追尾を行う目標追尾処理回路、１２は追尾点を含む画
像処理を行う領域を設定するための処理エリア設定回路
、１３は設定された処理エリアに相当する画像信号をフ
レームメモリから読出す読出しアドレス制御回路、１４
は慣性センサ６より得た飛しょう体の姿勢角の変化状態
を視野の変化した画素数に換算する空間安定化処理回路
、１５は画像信号を座標変換する座標変換処理回路、１
６は検出器の出力画像信号をディジタル信号として格納
し１フレームレートだけサンプルホールドするフレーム
メモリ、１７は前フレームの画像信号と次のフレームの
画像信号を比較し、全体的な画像の移動量を検出する相
関処理回路を示す。第７図から第１４図はこの発明によ
る電子的な空間安定化処理を説明するための図であり、
１８は前フレームの画像、１９は次のフレームの画像、
２０は追尾処理等の画像処理エリア、２１はフレームメ
モリ内の各信号データのアドレス番地、２２は相関画像
を示す。FIG. 1 shows a part of the configuration of the guidance device according to the present invention, which does not have a gimbal structure like the conventional guidance device shown in FIG. This shows that it is fixed at 5. 2 to 6 are block diagrams showing the functions and configuration of an example of the guidance device according to the present invention, and 7 is an A/D converting the output image signal of the two-dimensional detector into a digital signal.
Converter; 8 is a correction processing circuit that corrects variations in the device system (sensitivity, geometric distortion, etc.) with respect to the obtained image signal; 9 stores image information of the entire field of view detected by the two-dimensional detector 3; a frame memory; 10 is a target extraction processing circuit that extracts a target from signals in the area read from the frame memory 9; 11 is a target tracking processing circuit that tracks the target selected by the target extraction processing circuit 10; 12 is a tracking circuit; a processing area setting circuit for setting an area for image processing including points; 13 a read address control circuit for reading out an image signal corresponding to the set processing area from the frame memory; 14;
1 is a spatial stabilization processing circuit that converts the changing state of the attitude angle of the flying object obtained from the inertial sensor 6 into the number of pixels in which the field of view has changed; 15 is a coordinate conversion processing circuit that converts the coordinates of the image signal;
6 is a frame memory that stores the output image signal of the detector as a digital signal and samples and holds it by one frame rate; 17 compares the image signal of the previous frame with the image signal of the next frame and calculates the overall amount of image movement; A correlation processing circuit for detection is shown. 7 to 14 are diagrams for explaining electronic space stabilization processing according to the present invention,
18 is the image of the previous frame, 19 is the image of the next frame,
Reference numeral 20 indicates an image processing area for tracking processing, etc., 21 indicates an address of each signal data in the frame memory, and 22 indicates a correlation image.
次に動作・作用について説明する。第２図において２次
元検出器３の出力画像信号は、Ａ／Ｄ変換器７によりデ
ィジタル信号に変換され、補正処理回路８により画像補
正を施されたのちフレームメモリ９に格納される。一般
にフレームメモリからの読出しは、その後の画像処理が
複雑なため、全視野（全データ）について読出さずに追
尾目標を含む限定された領域（処理エリア）のみ読出さ
れるが、第１図に示すように２次元検出器３がシェル５
に機械的に固定されている場合、第７図に示すようにあ
る時刻におけるフレーム画像１８と次のフレームの画像
１９は１フレームレートにおける飛しょう体の姿勢角の
変化分だけピッチ・ヨ一方向にそれぞれΔθｙ、ΔθＸ
ずれることになる。したがって目標を含む処理すべきエ
リア２０のアドレスは１フレームめ（第８図においてア
ドレス２９，３０，３１，３７，３８．３９）と２フレ
ーム（第９図においてアドレス１１，１２゜１３．１９
，２０．２１）めで異なるので、同じアドレスでデータ
を読出していると追尾処理は困難になる。この発明では
、第２図における慣性センザ６が飛しょう体の姿勢角の
変化量（ΔθＸ。Next, the operation/effect will be explained. In FIG. 2, the output image signal of the two-dimensional detector 3 is converted into a digital signal by an A/D converter 7, subjected to image correction by a correction processing circuit 8, and then stored in a frame memory 9. Generally, when reading from frame memory, the subsequent image processing is complicated, so only a limited area (processing area) including the tracking target is read without reading out the entire field of view (all data). As shown, the two-dimensional detector 3 is connected to the shell 5.
When the aircraft is mechanically fixed to the position, as shown in Fig. 7, the frame image 18 at a certain time and the image 19 of the next frame are changed in pitch and yaw direction by the change in attitude angle of the projectile at one frame rate. Δθy and ΔθX, respectively.
It will shift. Therefore, the addresses of the area 20 to be processed including the target are the first frame (addresses 29, 30, 31, 37, 38.39 in FIG. 8) and the second frame (addresses 11, 12, 13, 19 in FIG. 9).
, 20 and 21), tracking processing becomes difficult if data is read at the same address. In this invention, the inertial sensor 6 in FIG. 2 detects the amount of change (ΔθX) in the attitude angle of the flying object.
Δθｙ）を検出し、この変化量に相当する画素数（第８
図の例では、Δθχ−２画素、Δθｙ−２画素）を空間
安定処理回路１４で計算し、読出しアドレス制御回路１
３へ指令して読み出すアドレスを変更する（第９図）。Δθy) is detected, and the number of pixels (8th
In the example shown in the figure, the spatial stability processing circuit 14 calculates Δθχ−2 pixels, Δθy−2 pixels, and the read address control circuit 1
3 to change the read address (Fig. 9).
この操作を各フレーム毎に連続して行うことにより、空
間的に安定した視野領域２０を追尾処理のために読出す
ことができ、安定した誘導が可能となる。By continuously performing this operation for each frame, a spatially stable visual field region 20 can be read out for tracking processing, making stable guidance possible.
次に第３図において、慣性センサ６が第７図における飛
しょう体の姿勢角の変化量（ΔθＸ、Δθｙ）を検出し
、この変化量に相当する画素数（第８図の例では、Δθ
ｘ＝２画素、Δθｙ＝２画素）を空間安定処理回路１４
で計算し、座標変換処理回路１５にてＸ方向に２画素、
Ｙ方向に２画素の座標変換を行う。第８図の原画像に対
し、座標変換された画像（第１０図）は処理エリア２０
として同じアドレス位置を読出ずように指定しても飛し
ょう体の姿勢角の変化量を補正した信号データ（第９図
と同じアドレス１１，１２，１３゜１９．２０．２１）
を読出しており、空間安定された処理エリアを常に追尾
処理することができる。Next, in FIG. 3, the inertial sensor 6 detects the amount of change (ΔθX, Δθy) in the attitude angle of the flying object in FIG. 7, and the number of pixels corresponding to this amount of change (in the example of FIG.
x = 2 pixels, Δθy = 2 pixels) in the spatial stabilization processing circuit 14
The coordinate conversion processing circuit 15 calculates 2 pixels in the X direction,
Coordinate transformation of two pixels is performed in the Y direction. The coordinate-converted image (Fig. 10) for the original image in Fig. 8 is the processing area 20.
Even if the same address position is specified as not to be read, the signal data is corrected for the amount of change in the attitude angle of the projectile (same addresses 11, 12, 13° 19.20.21 as in Figure 9).
The spatially stabilized processing area can always be tracked.
次に第４図、第１１図、第１２図において、前フレーム
の画像１８を一部フレームメモリ１６に格納し、前フレ
ームの画像１８の中から相関画像２３を抽出・選択して
、相関処理回路１７にて次のフレームの画像１９との相
関をとりＪフレームレートの間の画像の移動量（すなわ
ち検出器３の視野の移動量）を検出して、空間安定処理
回路１４にて画像の移動量を画素数に換算し、読出しア
ドレス制御回路１３へ指令して読み出すアドレスを変更
することにより処理エリア２０の空間安定化を実現させ
る。Next, in FIG. 4, FIG. 11, and FIG. 12, a part of the image 18 of the previous frame is stored in the frame memory 16, a correlated image 23 is extracted and selected from the image 18 of the previous frame, and correlation processing is performed. The circuit 17 correlates with the image 19 of the next frame, detects the amount of movement of the image (that is, the amount of movement of the field of view of the detector 3) during the J frame rate, and the spatial stabilization processing circuit 14 calculates the amount of image movement. Spatial stabilization of the processing area 20 is achieved by converting the amount of movement into the number of pixels and instructing the read address control circuit 13 to change the read address.
次に第５図において、相関処理回路１７にて、前フレー
ムと次のフレームの画像の相関をとる際に、慣性センサ
６により検出した飛しょう体の姿勢角の変化量をもとに
画像の移動量をおよそ推察し、相関処理を容易に実現さ
せる。Next, in FIG. 5, when correlating the images of the previous frame and the next frame, the correlation processing circuit 17 calculates the image based on the amount of change in the attitude angle of the projectile detected by the inertial sensor 6. The amount of movement can be approximately estimated and correlation processing can be easily realized.
次に第６図において、画像の移動量を検出するために必
要な相関画像を、前フレーｌ、の抽出処理回路１０にて
抽出・選択し、次のフレームの画像との相関処理を行う
ことにより画像の移動量を検出し、読出しアドレスを制
御することにより処理エリアの空間安定化を実現させる
。Next, in FIG. 6, the correlation image necessary for detecting the amount of image movement is extracted and selected by the extraction processing circuit 10 of the previous frame 1, and correlation processing with the image of the next frame is performed. By detecting the amount of movement of the image and controlling the read address, spatial stabilization of the processing area is achieved.
以上のようにこの発明によれば、ジンバル機構のような
複雑な機械的可動部分を有することなく、検出器が機体
に固定された構造でも電子的な処理により、目標追尾を
行う視野領域を空間安定化させることができるため、飛
しょう体の誘導装置の小型化・低価格化が図れるうえ、
信頼性が向上する効果がある。As described above, according to the present invention, even in a structure where the detector is fixed to the aircraft body, the field of view for target tracking can be spatially adjusted without having complicated mechanically movable parts such as a gimbal mechanism. Since it can be stabilized, it is possible to reduce the size and cost of guidance devices for flying objects.
This has the effect of improving reliability.
第１図はこの発明における誘導装置の構成の一部を示す
図、第２図から第６図は、この発明における誘導装置の
一例の機能及び構成を示すブロック図、第７図から第１
２図はこの発明による電子的な空間安定化処理を説明す
るだめの図、第１３図は従来の画像誘導方式により誘導
される飛しよう体の構成を示す図、第１４図は従来の８
￥Ｊ導装置の機能及び構成を示すブロック図であり、１
はレドームまたは光ドーム、２は光学レンズ、３ば２次
元検出器、４はデユワ、５は飛しょう体のシェル、６ば
慣性センサ、７ばＡ／Ｄ変換器、８は補正処理回路、９
はフレームメモリ、１０は目標抽出処理回路、１１は目
標追尾処理回路、１２は処理エリア設定回路、１３は読
出しアドレス制御回路、１４は空間安定化処理回路、１
５ば座標変換処理回路、１６はフレームメモリ、１７ば
相関処理回路、１８は前フレームの画像、１９は次のフ
レームの画像、２０は追尾処理等の画像処理エリア、２
１はフレームメモリ内の各信号データのアドレス番地、
２２は相関画像、２３は２軸のジンバル機構を示す。
なお、図中の同一符号は同一または相当部分を示す。FIG. 1 is a diagram showing a part of the configuration of the guidance device in this invention, FIGS. 2 to 6 are block diagrams showing the function and configuration of an example of the guidance device in this invention, and FIGS.
Figure 2 is a diagram for explaining the electronic space stabilization process according to the present invention, Figure 13 is a diagram showing the configuration of a flying object guided by the conventional image guidance method, and Figure 14 is a diagram showing the configuration of a flying object guided by the conventional image guidance method.
1 is a block diagram showing the function and configuration of the JJ conductor;
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 shell of a flying object, 6 is an inertial sensor, 7 is an A/D converter, 8 is a correction processing circuit, 9
1 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 spatial stabilization processing circuit, 1
5: a coordinate conversion processing circuit; 16: a frame memory; 17: a correlation processing circuit; 18: an image of the previous frame; 19: an image of the next frame; 20: an image processing area for tracking processing, etc.;
1 is the address address of each signal data in the frame memory,
Reference numeral 22 indicates a correlation image, and reference numeral 23 indicates a two-axis gimbal mechanism. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (5)
固定され所定方向の範囲の像を結像させ得る２次元検出
器と、前記検出器の出力画像信号をディジタル信号とし
て格納するフレームメモリと、前記２次元検出器が検知
する全視野領域のうち追尾を行う目標付近の領域を目標
の抽出・追尾を行うための画像処理を施す処理エリアと
して限定する回路と、前記フレームメモリから設定され
た処理エリアに相当する視野領域の信号を抽出するよう
にメモリからデータを読出すアドレスを制御するアドレ
ス制御回路と、飛しょう体の姿勢角を検出する慣性セン
サと、前記慣性センサにより得た飛しょう体の姿勢角の
変化量を２次元検出器の視野の変化量として何画素分に
相当するかを計算し、前記アドレス制御回路に対し飛し
ょう体の姿勢角の変化量に相当する画素数分だけフレー
ムメモリからの読出しアドレスを変更する指令を発する
回路とを具備したことを特徴とする誘導装置。(1) A guidance device for an image-guided spacecraft includes a two-dimensional detector fixed to the aircraft body and capable of forming an image in a predetermined direction, and a frame memory that stores the output image signal of the detector as a digital signal. , a circuit that limits an area near the target to be tracked out of the entire visual field detected by the two-dimensional detector as a processing area for performing image processing for extracting and tracking the target, and a circuit configured from the frame memory. an address control circuit that controls the address for reading data from the memory so as to extract signals in a visual field corresponding to the processing area; an inertial sensor that detects the attitude angle of the flying object; and an inertial sensor that detects the attitude angle of the flying object. Calculate how many pixels the amount of change in the attitude angle of the body corresponds to as the amount of change in the field of view of the two-dimensional detector, and calculate the number of pixels equivalent to the amount of change in the attitude angle of the projectile to the address control circuit. 1. A guidance device comprising: a circuit that issues a command to change a read address from a frame memory;
固定され所定方向の範囲の像を結像させ得る２次元検出
器と、前記検出器の出力画像信号をディジタル信号とし
て格納するフレームメモリと、前記２次元検出器が検知
する全視野領域のうち追尾を行う目標付近の領域を目標
の抽出・追尾を行うための画像処理を施す処理エリアと
して限定する回路と、前記フレームメモリから設定され
た処理エリアに相当する視野領域の信号を抽出するよう
にメモリからデータを読出すアドレスを制御する回路と
、飛しょう体の姿勢角を検出する慣性センサと、前記慣
性センサにより得た飛しょう体の姿勢角の変化量を２次
元検出器の視野の変化量として何画素分に相当するかを
計算する回路と、この回路の出力を入力し、前記２次元
検出器が検知した画像信号を慣性センサにより検出した
飛しょう体の姿勢角の変化量に相当する座標変換を行う
回路とを具備したことを特徴とする誘導装置。(2) A guidance device for an image-guided spacecraft includes a two-dimensional detector fixed to the aircraft body and capable of forming an image in a predetermined direction, and a frame memory that stores the output image signal of the detector as a digital signal. , a circuit that limits an area near the target to be tracked out of the entire visual field detected by the two-dimensional detector as a processing area for performing image processing for extracting and tracking the target, and a circuit configured from the frame memory. A circuit that controls an address for reading data from memory so as to extract a signal in a field of view corresponding to the processing area, an inertial sensor that detects the attitude angle of the flying object, and an inertial sensor that detects the attitude angle of the flying object obtained by the inertial sensor. A circuit calculates how many pixels the change in attitude angle corresponds to as a change in the field of view of the two-dimensional detector, and the output of this circuit is input, and the image signal detected by the two-dimensional detector is sent to the inertial sensor. A guidance device comprising: a circuit that performs coordinate transformation corresponding to the amount of change in attitude angle of a flying object detected by the method.
固定され所定方向の範囲の像を結像させ得る２次元検出
器と、前記検出器の出力画像信号をディジタル信号とし
て格納するフレームメモリと、前記２次元検出器が検知
する全視野領域のうち追尾を行う目標付近の領域を目標
の抽出・追尾を行うための画像処理を施す処理エリアと
して限定する回路と、前記フレームメモリから設定され
た処理エリアに相当する視野領域の信号を抽出するよう
にメモリからデータを読出すアドレスを制御する回路と
、前記検出器の出力画像信号をディジタル信号として格
納し１フレームレートだけサンプルホールドするフレー
ムメモリと、前フレームの画像信号と次のフレームの画
像信号を比較し、全体的な画像の移動量を検出する相関
処理回路と、前記画像の移動量をフレームメモリのアド
レス位置に換算して読出し前記アドレス制御回路にフレ
ームメモリからの読出しアドレスを変更する指令を送る
空間安定化処理回路とを有することを特徴とする誘導装
置。(3) A guidance device for an image-guided spacecraft includes a two-dimensional detector fixed to the aircraft body and capable of forming an image in a predetermined direction, and a frame memory that stores the output image signal of the detector as a digital signal. , a circuit that limits an area near the target to be tracked out of the entire visual field detected by the two-dimensional detector as a processing area for performing image processing for extracting and tracking the target, and a circuit configured from the frame memory. a circuit that controls an address for reading data from the memory so as to extract a signal in a visual field corresponding to the processing area; a frame memory that stores the output image signal of the detector as a digital signal and samples and holds it at one frame rate; , a correlation processing circuit that compares the image signal of the previous frame with the image signal of the next frame and detects the overall amount of image movement, and converts the amount of image movement into an address position of the frame memory and reads out the address. A guidance device comprising: a space stabilization processing circuit that sends a command to change a read address from a frame memory to a control circuit.
固定され所定方向の範囲の像を結像させ得る２次元検出
器と、前記検出器の出力画像信号をディジタル信号とし
て格納するフレームメモリと、前記２次元検出器が検知
する全視野領域のうち追尾を行う目標付近の領域を目標
の抽出・追尾を行うための画像処理を施す処理エリアと
して限定する回路と、前記フレームメモリから設定され
た処理エリアに相当する視野領域の信号を抽出するよう
にメモリからデータを読出すアドレスを制御する回路と
、前記検出器の出力画像信号をディジタル信号として格
納し１フレームレートだけサンプルホールドするフレー
ムメモリと、前フレームの画像信号と次のフレームの画
像信号を比較し、全体的な画像の移動量を検出する相関
処理回路と、画像の移動量をフレームメモリのアドレス
位置に換算して読出しアドレス制御回路に指令を送る空
間安定化処理回路と、飛しょう体の姿勢角を検出する慣
性センサとを有し、前記慣性センサで検出した飛しょう
体の姿勢角の変化量をもとに予め相関処理を施す画像を
選定したうえで相関処理を行い、検出した画像の移動量
分だけフレームメモリからの読出しアドレスを変更して
信号を読出すこにより、追尾処理を行う視野を空間基準
座標に対し安定化させて目標の追尾を行うことを特徴と
する誘導装置。(4) A guidance device for an image-guided spacecraft includes a two-dimensional detector fixed to the aircraft body and capable of forming an image in a predetermined direction, and a frame memory that stores the output image signal of the detector as a digital signal. , a circuit that limits an area near the target to be tracked out of the entire visual field detected by the two-dimensional detector as a processing area for performing image processing for extracting and tracking the target, and a circuit configured from the frame memory. a circuit that controls an address for reading data from the memory so as to extract a signal in a visual field corresponding to the processing area; a frame memory that stores the output image signal of the detector as a digital signal and samples and holds it at one frame rate; , a correlation processing circuit that compares the image signal of the previous frame with the image signal of the next frame and detects the overall amount of image movement, and a read address control circuit that converts the amount of image movement into an address position of the frame memory. It has a spatial stabilization processing circuit that sends commands to the spacecraft, and an inertial sensor that detects the attitude angle of the projectile, and performs correlation processing in advance based on the amount of change in the attitude angle of the projectile detected by the inertial sensor. After selecting the image to be processed, correlation processing is performed, and the readout address from the frame memory is changed by the amount of movement of the detected image to read out the signal, thereby stabilizing the field of view for tracking processing relative to the spatial reference coordinates. A guidance device characterized by tracking a target.
固定され所定方向の範囲の像を結像させ得る２次元検出
器と、前記検出器の出力画像信号をディジタル信号とし
て格納するフレームメモリと、前記２次元検出器が検知
する全視野領域のうち追尾を行う目標付近の領域を目標
の抽出・追尾を行うための画像処理を施す処理エリアと
して限定する回路と、前記フレームメモリから設定され
た処理エリアに相当する視野領域の信号を抽出するよう
にメモリからデータを読出すアドレスを制御する回路と
、前フレームの画像信号と次のフレームの画像信号を比
較し、全体的な画像の移動量を検出する相関処理回路と
、画像の移動量をフレームメモリのアドレス位置に換算
して読出しアドレス制御回路に指令を送る空間安定化処
理回路と、目標抽出処理回路とを有し、前フレームにお
いて目標抽出処理を行う際予め相関処理にて次のフレー
ムと比較する相関画像を選定しておき、その相関画像に
関する相関処理を行い、検出した画像の移動量分だけフ
レームメモリからの読出しアドレスを変更して信号を読
出すことにより、追尾処理を行う視野を空間基準座標に
対し安定化させて目標の追尾を行うことを特徴とする誘
導装置。(5) A guidance device for an image-guided spacecraft includes a two-dimensional detector fixed to the aircraft body and capable of forming an image in a predetermined direction, and a frame memory that stores the output image signal of the detector as a digital signal. , a circuit that limits an area near the target to be tracked out of the entire visual field detected by the two-dimensional detector as a processing area for performing image processing for extracting and tracking the target, and a circuit configured from the frame memory. A circuit that controls the address for reading data from memory so as to extract the signal in the visual field corresponding to the processing area, and a circuit that compares the image signal of the previous frame with the image signal of the next frame and determines the overall image movement amount. , a spatial stabilization processing circuit that converts the amount of image movement into an address position of the frame memory and sends a command to the read address control circuit, and a target extraction processing circuit. When performing extraction processing, a correlated image to be compared with the next frame is selected in advance by correlation processing, and correlation processing is performed on the correlated image, and the read address from the frame memory is changed by the amount of movement of the detected image. A guidance device characterized in that a target is tracked by stabilizing a field of view in which tracking processing is performed with respect to spatial reference coordinates by reading out a signal from the target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2220533A JP2504308B2 (en) | 1990-08-22 | 1990-08-22 | Guidance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2220533A JP2504308B2 (en) | 1990-08-22 | 1990-08-22 | Guidance device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04102907A true JPH04102907A (en) | 1992-04-03 |
| JP2504308B2 JP2504308B2 (en) | 1996-06-05 |
Family
ID=16752489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2220533A Expired - Fee Related JP2504308B2 (en) | 1990-08-22 | 1990-08-22 | Guidance device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2504308B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0767719A (en) * | 1993-04-06 | 1995-03-14 | Yves Saint Laurent Sarl | Adjustably opening type case for make-up goods and powder case in same manner |
-
1990
- 1990-08-22 JP JP2220533A patent/JP2504308B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0767719A (en) * | 1993-04-06 | 1995-03-14 | Yves Saint Laurent Sarl | Adjustably opening type case for make-up goods and powder case in same manner |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2504308B2 (en) | 1996-06-05 |
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