JPH0522299U - Imaging device - Google Patents

Abstract

(57) [Summary] [Purpose] To eliminate the deviation between the image in the flight and the outside world when displaying the image acquired by the imaging unit mounted on the wing of an aircraft on the HUD in the cockpit. [Configuration] An HPF that cuts low-frequency components of the deviations of the attitude angle signals of the inertial navigation device and the attitude detector is added, and the gimbal rotation unit is used to cancel the LOS deviation between the imaging unit and the HUD using the output of the HPF. To drive. [Effect] Since the offset error and the drift error of the inertial navigation device and the attitude angle detector can be removed and the image on the outside and the HUD can be correctly displayed in superimposition, the visibility of the operator can be improved.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an image pickup device mounted on an aircraft.

[0002]

[Prior Art]

 FIG. 3 is an example of a configuration diagram of a conventional imaging device. In the figure, 1 is an aircraft, 2 is an image pickup unit attached to a wing of the aircraft 1, 3 is an image signal output from the image pickup unit 2, 4 is a head-up display (hereinafter abbreviated as HUD) for displaying the image signal 3, Reference numeral 5 is an operator, 6 is a visual axis (hereinafter abbreviated as LOS) to which the imaging unit 2 is facing, 7 is a visual axis of the HUD 4 (hereinafter abbreviated as LOS), and 8 is an inertial navigation device attached to the fuselage of the aircraft 1. (Hereinafter abbreviated as INS), 9 is an attitude angle signal detected by INS 8, 10 is an attitude detector that detects the attitude of a fixed part of the imaging unit 2 on the wing, and 11 is an attitude angle signal output from the attitude detector 10. Reference numeral 12 is a gimbal rotation unit that can change the direction of the LOS 6 of the image pickup unit 2, 13 is an addition / subtraction unit, 14 is a calculation output, 15 is a drive unit that drives the gimbal rotation unit 12, and 16 is a driving force.

FIG. 4 is another example of a configuration diagram of a conventional image pickup apparatus. In the figure, 1 to 11, 13 and 14 are the same as in FIG. Reference numeral 17 is an image moving unit that moves the display position of the image signal 3, and 18 is an image signal.

Next, the operation will be described. The imaging unit 2 converts an image of the outside world into an image signal 3 and outputs it. The HUD 4 receives the image signal 3 and displays the image captured by the imaging unit 2. Since the HUD 4 is semi-transparent, the operator 5 sees the outside world and the image of the imaging unit 2 through the HUD 4 in an overlapping manner. LOS6 and LOS7 are matched as follows. The INS 8 is usually installed at a position close to the operator 5 and the HUD 4, and the attitude angle signal 9 can be regarded as the attitude angle of the LOS 7. The attitude detector 10 detects the attitude of the position where the imaging unit 2 is fixed to the wing, and outputs an attitude angle signal 11. The addition / subtraction unit 13 calculates the relative angle of the LOS 7 with respect to the position where the attitude angle signals 9 and 11 are fixed to the wing of the imaging unit 2, that is, the rotation angle of the gimbal rotation unit 12 required to match L OS6 with LOS7, It is output as the calculation output 14. The driving unit 15 converts the calculation output 14 into a driving force 16 and drives the gimbal rotating unit 12. Therefore, LOS6 can be matched with LOS7.

The operation of the conventional apparatus of FIG. 4 will be described. The image moving unit 17 moves the display position of the image signal 3 with respect to the HUD 4 according to the calculation output 14 calculated by the adder / subtractor 13 and outputs the image signal 18 as an image signal 18. By displaying the image signal 18 on the HUD 4, L OS6 can be matched with LOS 7.

In both cases of FIG. 3 and FIG. 4, when the calculation output 14 is zero, the LOS 6 and the LOS 7 are adjusted at the time of ground maintenance so that the image properly overlaps with the outside world.

[0007]

[Problems to be solved by the device]

 Since the conventional image pickup device is configured as described above, if the INS 8 and the attitude detector 10 have an offset error or a drift error, the image is displayed in a manner different from the outside world, which reduces the visibility of the operator. There was a point.

The present invention has been made to solve the above-mentioned problems. Even if the INS 8 and the attitude detector 10 have an offset error and a drift error, the external world and the image are properly displayed in a superimposed manner. An object of the present invention is to obtain an image pickup device capable of performing the above.

[0009]

[Means for Solving the Problems]

 The image pickup device according to the present invention is intended to remove an offset error and a drift error between the inertial navigation device and the attitude detector by adding a high-pass filter that cuts low frequency components.

[0010]

The image pickup device according to the present invention cuts the low frequency component of the deviation between the output of the inertial navigation device and the output of the attitude detector, so that even if there is an offset error or a drift error in both, the external image and the image are removed. It can be displayed correctly on top of each other.

[0011]

【Example】

 Example 1. FIG. 1 shows an embodiment of this invention. 1 to 16 are the same as in FIG. Reference numeral 19 is a high-pass filter (hereinafter abbreviated as HPF) that cuts low-frequency components of the calculation output 14, and 20 is a calculation output of the HPF 19.

The INS 8 and the attitude detector 10 usually have a gyro for detecting angular velocity and an accelerometer for detecting linear acceleration. The initial acceleration is used to detect the inclination of the self with respect to the horizontal plane based on the detected linear acceleration and to detect the orientation of the earth by detecting the rotation of the earth. After the completion of the initial alignment, the posture is calculated by accumulating the angular velocities detected by the gyro and output as the posture angle signal 9 or 11.

Due to the error of the internal gyro and the accelerometer, there is an offset error with respect to the true inclination and azimuth at the time of initial alignment, and a drift error which is a cumulative error occurs after completion of the initial alignment. Since this error is caused by the internal gyro and accelerometer, it occurs individually in the INS 8 and the attitude detector 10, and does not match. Therefore, even if both the INS 8 and the attitude detector 10 have the same attitude, the calculation output 14 does not become zero and has an offset error and a drift error.

The offset error is a DC component that does not change with time, and the drift error also has a property of slowly changing with time. Therefore, if the cutoff frequency is appropriately selected, the calculation output 20 can be obtained by removing the offset error and the drift error from the calculation output 14 by passing through the HPF 19. When the input of the driving unit 15 is zero, the LOS6 and LOS7 are adjusted during the ground maintenance so that they match. Therefore, by inputting the calculation force 20 to the driving unit 15, the offset error to the INS 8 and the attitude detector 10 is increased. Even if there is a drift error, it is possible to display the image correctly on the outside world.

Example 2. FIG. 2 shows another embodiment of the present invention. 1 to 11, 13, 14, 17 and 18 are the same as FIG. 4, and 19 and 20 are the same as FIG.

By inputting the calculation output 20 to the image moving unit 17, even if the INS 8 and the attitude detector 10 have an offset error and a drift error, the external world and the image can be correctly superimposed and displayed.

Further, although the case of the HPF has been described in the above embodiment, a bandpass filter that cuts both the low frequency component and the high frequency component may be used, and the above implementation is performed by appropriately selecting the cutoff frequency. It has the same effect as the example. In this case, there is a side effect that high frequency noise can be removed.

[0018]

[Effect of the device]

 As described above, according to the present invention, since the HPF that cuts the low frequency component of the deviation between the output of the inertial navigation system and the output of the attitude detector is added, even if there are offset error and drift error in both, they are removed and the external environment is removed. The images are correctly overlaid and the visibility is improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an image pickup apparatus showing a first embodiment of the present invention.

FIG. 2 is a configuration diagram of an image pickup apparatus showing a second embodiment of the present invention.

FIG. 3 is a configuration diagram of a conventional imaging device.

FIG. 4 is a configuration diagram of another conventional imaging device.

[Explanation of symbols]

 1 Aircraft 2 Imaging Unit 3 Image Signal 4 Head-Up Display 5 Operator 6 Sight Axis 7 Sight Axis 8 Inertial Navigation Device 9 Attitude Angle Signal 10 Attitude Detector 11 Attitude Angle Signal 12 Gimbal Rotating Unit 13 Addition / Subtraction Unit 14 Calculation Output 15 Driving Unit 16 Driving force 17 Image moving part 18 Image signal 19 High pass filter 20 Calculation output

Claims (2)

[Scope of utility model registration request] 1. A gimbal rotating unit attached to a wing of an aircraft, an image capturing unit capable of changing a visual axis direction by the gimbal rotating unit, an image acquired by the image capturing unit is displayed, and an operator operates an external environment. A head-up display that can see through, an attitude detector that detects the attitude angle of a fixed part of the imaging unit to the wing, an inertial navigation device that detects the attitude angle of the visual axis of the head-up display, and the attitude detector. An adder-subtractor that calculates the rotation angle of the gimbal rotating unit that cancels the deviation of the visual axis of the image pickup unit and the head-up display from the output of the inertial navigation device, a high-pass filter that removes low-frequency components of the output of the adder-subtractor, and the high-pass filter. An image pickup apparatus comprising: a drive unit that converts the output of the filter into the drive force of the gimbal rotation unit. 2. An image pickup unit attached to a wing of an aircraft, an image moving unit for moving a display position of an image acquired by the image pickup unit, and an image signal output from the image moving unit are displayed by an operator. Head-up display that can see the outside world, attitude detector that detects the attitude angle of the image pickup unit, inertial navigation device that detects the attitude angle of the visual axis of the head-up display, and output of the attitude detector and inertial navigation device An image pickup apparatus including: an addition / subtraction unit that calculates an image movement amount in an image movement unit that cancels a deviation between the image pickup unit and the visual axis of the head-up display; and a high-pass filter that removes a low-frequency component of the output of the addition / subtraction unit.