JPH0587791B2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a target tracking device that generates a pseudo target in place of an actual aircraft and automatically tracks it in an image tracking device that uses an aircraft as a target, for example. It is.

(Summary of the Invention) The present invention is a target tracking device that generates a pseudo target in place of an actual target such as an aircraft and automatically tracks it, and uses a pseudo image generator to create a highly realistic image of the pseudo target. This system secures the tracking error performance of the pseudo target without increasing the dead time in the tracking loop of the pseudo target while displaying the image.

(Prior Art) FIG. 2 shows an example of the configuration of a conventional target tracking device. In the figure, 1 is an imaging device for capturing an optical image including an actual target, and 2 is an imaging device 1
3 is an image processing device that extracts a target from the image signal from the imaging device 1 and generates a target tracking error signal; 4 is an image processing device that displays an image signal from the image pickup device 1, etc.; A servo amplifier 5 amplifies the target tracking error signal from the processing device 3;
This is a drive device that directs the object toward the target direction. Reference numeral 6 denotes a pseudo target generator that generates a position signal of a pseudo target in place of the actual target, and 7 receives a position signal of the pseudo target from the pseudo target generator 6 and generates a pseudo target image (for example, an airplane, etc.) in place of the real target. This is a pseudo image generating device that generates an image signal including an image that specifically represents a shape. Reference numeral 9 denotes an image switching device that receives image signals from the imaging device 1 and the pseudo image generating device 7 and selects one of the image signals.When tracking an actual target, the image signal from the imaging device 1 is selected. , when performing training, etc., the image signal of the pseudo image generator 7 is selected. That is, when tracking an actual target, the image switcher 9 selects the image signal output by the imaging device 1 and outputs it to the display device 2 and the image processing device 3, and the target tracking error signal obtained by the image processing device 3 is used. is output to the servo amplifier 4, and the driving device 5 directs the imaging device 1 in the target direction. Also,
When tracking a pseudo target, the image switcher 9 selects the image signal of the pseudo image generator 7 and outputs it to the display device 2 and image processing device 3, and the target tracking error signal obtained by the image processing device 3 is sent to the servo. The signal is output to the amplifier 4, and the driving device 5 directs the imaging device 1 in the direction of the pseudo target.

(Problems to be Solved by the Invention) By the way, since conventional target tracking devices are configured in this way, they are designed to faithfully represent an image of, for example, an airplane, so that the pseudo target has reality. If a pseudo target image is generated in , the processing time for generating the pseudo target image in the pseudo image generating device 7 increases. This increase in processing time acts as a dead time element in the primary transfer characteristics of the target tracking control system. It is well known that when a control system is expressed as a one-loop transfer function, if the phase exceeds 180 degrees with a gain of 1 or more, the control becomes unstable, and the dead time equivalently acts as a phase delay. For example, in a primary servo system that includes a dead time element, if the dead time is Td, the system time constant is To, and the system loop gain is K, then the open loop characteristic is K・e ^-Td

Claims (1)

[Scope of Claims] 1. An imaging device that captures an optical image including a real target, a drive device that drives the pointing direction of the imaging device, and a pseudo target generator that generates a position signal of a pseudo target in place of the real target. a pseudo-image generating device that receives a position signal of the pseudo-target outputted by the pseudo-target generating device and generates an image signal including a pseudo-target image in place of the real target; the imaging device and the pseudo-image generating device; an image switching device that receives an image signal from a device, selects one of the image signals, and outputs the selected one; a display device that receives one of the image signals selected by the image switching device and displays an image; and the image switching device. an image processing device that receives one of the image signals selected in the image signal, extracts the target in the image signal, and outputs a target tracking error signal for tracking the target; an angle comparator that generates an angular error signal by comparing a signal indicating the direction of the pseudo target with a signal indicating the pointing direction of the imaging device from the driving device or the imaging device; and the target outputted by the image processing device. a tracking error switch that receives a tracking error signal and the angle error signal output from the angle comparator and selects and outputs either one; and a tracking error switch that receives the output of the tracking error switch and amplifies the signal to drive the drive. and a servo amplifier for outputting to the device, and when tracking the actual target, the image switching device selects an image signal output from the imaging device and outputs it to the image processing device, and the image processing device selects an image signal output from the imaging device. The obtained target tracking error signal is output to the servo amplifier via the tracking error switch, and when tracking the pseudo target, the image switch selects the image signal of the pseudo image generator, and the A target tracking device characterized in that a tracking error switch selects the angle error signal obtained by the angle comparator and outputs it to the servo amplifier.