JPH10111645A - Method of simulating optical sensor and simulation device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable highly precise simulation operation in an actual environment by transforming an angle of view of an image based on a difference between a approaching speed and an assumed speed of a moving body and operating a target recognition processing with optical sensor to the image transformed in the angle of view. SOLUTION: A simulation is started on a aircraft and starts photographing an image including a target with an infrared camera 1 approaching against the target and calculating a movement of a missile, while an image from the infrared camera 1 is inputted and an image processing device 8 transforms an angle of view based on a difference between an approaching speed of the aircraft to the target and an assumed speed of a missile. When the angle of view transformation device 8 has transformed an angle of view of the image, a computer 9 operates a calculation of an infrared intensity gravity center within the optical sensor field, namely, operates the target processing. Thus, it is possible to understand how an optical sensor reacts to an image transformed in its angle of view. Further, the target side discharges an infrared decoy head for deception against the optical sensor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an optical sensor simulation method and an optical sensor simulation apparatus used for evaluating the performance of an optical sensor mounted on a moving object such as a guided missile.

[0002]

2. Description of the Related Art In order to evaluate the performance of an optical sensor or the performance of defense means against a missile equipped with an optical sensor, it is most reliable to use a real optical sensor and a real moving object in a real environment. It is. However, this type of optical sensor has a unique operating environment and is actually restricted in various aspects. Therefore, it is difficult to evaluate the optical sensor using a real product.

Therefore, performance evaluation by simulation is performed. Conventionally, an environment including a target of an optical sensor is modeled and input to a computer, and target recognition processing of the optical sensor is performed in the modeled environment. , The performance of the optical sensor was evaluated.

[0004]

However, in the simulation of the conventional optical sensor as described above, it takes a lot of time and effort to model the real environment, and it is possible to obtain the same reality as the real environment. There was a problem that it was difficult, and solving such a problem was an issue.

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to provide a method and apparatus for simulating an optical sensor capable of performing highly accurate simulation operation in a real environment. And

[0006]

According to a first aspect of the present invention, there is provided a method for simulating an optical sensor in a moving body approaching a target while detecting the target with the optical sensor.
Take an image containing the target while approaching the target,
The angle of view of the image is converted based on the difference between the approaching speed and the assumed speed of the moving body, and the target recognition processing of the optical sensor is performed on the image obtained by the angle of view conversion. The moving object is assumed to have a higher speed than the approach speed, and the angle-of-view conversion is an angle-of-view conversion for enlarging an image by affine transformation in a digital image. Is assumed to be large, and the image conversion is a view angle conversion for reducing the viewing angle of the optical sensor with respect to the digital image. As a fourth aspect, the image conversion is performed by an imaging unit that captures an image including a target. The configuration is performed by a zoom mechanism, and the above configuration is used as means for solving the problem.

In the method for simulating an optical sensor according to the first aspect, an aircraft can be used to capture an image including a target while approaching the target. In the simulation method of the optical sensor according to the first aspect, the magnitude relationship between the approach speed to the target and the assumed speed of the moving object is not particularly limited. For example, even when the assumed speed is lower than the approach speed. Although a simulation is possible, in actuality, the approach speed to the target can be close to zero, so that the assumed speed of the moving body is higher than the approach speed to the target as described in claims 2 and 3. It is desirable to use it.

According to a fifth aspect of the present invention, there is provided a simulation apparatus for an optical sensor in a moving body mounted on an aircraft and approaching the target while detecting the target with the optical sensor. Means, image processing means for converting the angle of view of the image captured by the imaging means based on the difference between the speed of the aircraft and the assumed speed of the moving object, and performing target recognition processing of the optical sensor on the image obtained by converting the angle of view. According to a sixth aspect of the present invention, there is provided a configuration in which the imaging means is mounted inside the tip of a pod detachable to the outside of the aircraft, and the above configuration is a means for solving the problem. .

In the optical sensor simulation apparatus according to the present invention, the magnitude relationship between the speed of the aircraft and the assumed speed of the moving object is not particularly limited. Since it can be close, it is desirable to use it for simulation of an optical sensor in a moving object that is faster than an aircraft equipped with the device.

[0010]

According to the method for simulating an optical sensor according to the first aspect of the present invention, an image including a target is taken while approaching the target, and based on the difference between the approach speed and the assumed speed of the moving body. Since the angle of view conversion of the image is performed, the image whose angle of view has been converted becomes an image equivalent to a state where the moving object approaches the target at its own speed. Since the recognition processing is performed, the simulated operation of the optical sensor in a real environment is substantially performed.

In the method for simulating an optical sensor according to a second aspect of the present invention, the assumed speed of the moving body is higher than the approach speed to the target, and the approaching speed at which the target is imaged and the assumed speed of the moving body. Is performed on the digital image based on the difference between the digital image and the digital image, the image is converted to an image equivalent to a state in which the moving body approaches the target at its own speed.

In the method for simulating an optical sensor according to a third aspect of the present invention, the assumed speed of the moving body is higher than the approach speed to the target, and the approaching speed at which the target is imaged and the assumed speed of the moving body. Is performed based on the difference between the digital image and the viewing angle of the optical sensor with respect to the digital image, so that an image equivalent to a state in which the moving object approaches the target at its own speed is obtained.

According to a fourth aspect of the present invention, there is provided a method for simulating an optical sensor, wherein an imaging means for imaging an image including a target is approaching the target, and a difference between the approach speed and the assumed speed of the moving body. , The image is converted by the zoom mechanism in the image pickup means, so that an image equivalent to a state in which the moving body approaches the target at its own speed is obtained.

According to a fifth aspect of the present invention, there is provided a simulation apparatus for an optical sensor, wherein the apparatus is mounted on an aircraft, an image including a target is captured by an imaging unit while approaching the target, and the aircraft is processed by an image processing unit. The angle of view of the captured image is converted based on the difference between the speed of the moving object and the assumed speed of the moving object, so that the image obtained by the angle of view conversion is equivalent to the image of the moving object approaching the target at its own speed. Since the target recognition processing of the optical sensor is performed by the control means on the image whose angle of view has been converted, the simulation operation of the optical sensor in a real environment is substantially performed.

In the simulation apparatus for an optical sensor according to the sixth aspect of the present invention, a pod is mounted under the wing of an aircraft or the like, and while the aircraft flies toward the target, the target is imaged by imaging means mounted inside the tip of the pod. The image including the image is captured. In this case, the image processing means and the control means are mounted on the machine, and the simulation is performed in real time in the machine.

[0016]

According to the method for simulating an optical sensor according to the first aspect of the present invention, an image equivalent to a state in which a moving object approaches a target at its own speed can be obtained. Simulated operation of highly reliable optical sensors, significantly reducing the time and effort compared to the conventional method of modeling the real environment, and evaluating the performance of highly reliable optical sensors Can be. Further, not only the performance evaluation of the optical sensor on the moving body side but also the performance evaluation of the response means on the target side for the optical sensor can be performed with high accuracy.

According to the optical sensor simulation method according to the second and third aspects of the present invention, the same effect as that of the first aspect can be obtained, and further, since the angle of view conversion is performed on the digital image, the continuous imaging is performed. It is possible to perform image processing on the image at high speed, and it is possible to very easily cope with a case where conditions such as the assumed speed of the moving object are changed.

According to the method for simulating an optical sensor according to a fourth aspect of the present invention, the same effect as that of the first aspect can be obtained, and further, since the image conversion is performed by the zoom mechanism in the imaging means, the imaging can be performed. The image itself can be converted into an image equivalent to the state where the moving object approaches the target at its own speed, and the target recognition processing is performed directly on that image, so a more accurate simulation operation It can be performed. Further, the mechanical zoom mechanism has a simple structure and is easily controlled.

According to the apparatus for simulating an optical sensor according to a fifth aspect of the present invention, in an actual environment, an image equivalent to a state in which the moving body approaches the target at its own speed can be obtained by the image processing means. By the control means, it is possible to perform a simulated operation of a high-precision optical sensor,
Compared with the conventional method of modeling the real environment, time and labor can be greatly reduced, and the performance of the optical sensor can be evaluated with high reliability. Further, not only the performance evaluation of the optical sensor on the moving body side but also the performance evaluation of the response means on the target side for the optical sensor can be performed with high accuracy.

According to the optical sensor simulation apparatus of the sixth aspect of the present invention, since the imaging means is mounted on a pod detachable from the outside of the aircraft, the imaging means can be easily mounted on a pylon or the like under the wing of the aircraft. The simulation can be performed with little modification on the aircraft side and without any hindrance to the operation of the aircraft. In addition, real-time simulation can be performed in the machine by the image processing means and control means mounted in the machine.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method and apparatus for simulating an optical sensor according to the present invention will be described below with reference to the drawings. In this embodiment, as shown in FIG. 3, a simulation of an optical sensor for target detection mounted on an infrared-guided missile M fired from an aircraft A with respect to a target T which is a ship is shown. That is, the moving object approaching the target T while detecting the target T by the optical sensor is the missile M, and its flying speed is higher than that of the aircraft A. At the target T, a deceptive infrared decoy bullet D is fired.

FIG. 2 is a block diagram showing the whole simulation apparatus for the optical sensor. The simulation device is divided into a simulation device mounted on the aircraft A and mounted in the fuselage B, and a simulation device mounted on a pod P detachable outside the aircraft A. In this embodiment, two pods P, P are provided, and each pod P is mounted on, for example, a pylon below the two wings of the aircraft A.

An infrared camera 1 as an image pickup means for picking up an image including a target is mounted inside the tip of the pod P. The infrared camera 1 is rotatably held by a gimbal mechanism 2. The gimbal mechanism 2 includes a gimbal sensor 3 for detecting a rotating state of the gimbal mechanism 2 and is drivable by a toka 4. A detection signal from the gimbal sensor 3 is transmitted to the toka 4 via a gimbal controller 5.
Will be fed back.

In the pod P, an electronic device 6 and an image recorder 7 serving as a control section of the infrared camera 1 are housed. In this embodiment, the left and right pods P, P are equipped with infrared cameras 1, 1 having different use frequency bands, and the use frequency band of one infrared camera 1 is three.
And the operating frequency band of the other infrared camera 1 is 8 to 12 μm.

An image picked up by the infrared camera 1 serving as an image pickup means is stored in the body B by the speed of the aircraft A and the missile M.
An image processing device 8 as an image processing means for performing an angle-of-view conversion based on a difference from the assumed speed, and a computer 9 as a control means for performing target recognition processing of an optical sensor on the image subjected to the angle-of-view conversion. .

The image processing device 8 is connected to the electronic device 6 for the infrared camera in the pod P via the first switch 21.
An image captured by the infrared camera 1 is input. The first switch S1 is a switch for selecting inputs from the electronic devices 6 and 6 of the left and right pods P and P. The image whose angle of view has been converted by the image processing device 8 is displayed on a monitor
Is also entered. Note that an image captured by the infrared camera 1 is also input to the monitor 10. Computer 9 has
From the GPS 11 and the inertial sensor 12, the position, azimuth and speed of the aircraft A are input, and by operating the keyboard 13, the conditions of the missile M and the optical sensor to be simulated are input.

The data of the target recognition processing performed by the computer 9 is input to the optical sensor image recording device 14 and also to the image recorder 7 in each pod P, and furthermore, the second and third switches The signals are input to the gimbal controller 5 in each pod P via the terminals 22 and 23. As a result, the infrared camera 1 is rotated based on the data of the target recognition processing, similarly to the operation of the seeker of the guided missile.

The second and third switches 22, 2
Reference numeral 3 denotes input of target recognition processing data from the computer 9 to each gimbal controller 5 and each pod P
Is a switch for switching between input from the manual gimbal controllers 15 and 16 corresponding to. In addition, an infrared camera controller 17 connected to the electronic device 6 for adjusting the infrared camera 1 in each pod P is provided in the body B.

To simulate an optical sensor using the apparatus having the above configuration, the aircraft A is flown at a predetermined altitude and speed, and the azimuth and distance of the target T are measured. As shown in FIG. In step S1, an initial condition is set. In the initial conditions, missile conditions such as a missile model and an optical sensor, and attack conditions such as an initial bearing, a distance, and a speed with respect to the target T are set. This setting is input to the computer 9 by operating the keyboard 13 described above.

The azimuth and distance of the target T are measured as follows.
On the target T side which is a ship, step S1 shown in FIG.
In step 01, TACAN (tactical navigation system) is turned on, and the distance and direction to the aircraft A are transmitted in step S102, and the signal is received by the aircraft A side. In the target T, after transmission, TAKAN is turned off in step S103, and step S10
Become a training star in 4.

Next, in the simulation, the simulation is started in step S2 on the aircraft A side, and the infrared camera 1 approaches the target T while approaching the target T.
Starts capturing an image including the target T in step S3, and calculates the movement of the missile M in step S3.
In step S5, the image processing device 8 converts the angle of view based on the difference between the approach speed of the aircraft A to the target T and the assumed speed of the missile M in step S5.

Here, as shown in FIG. 3, when the aircraft A is approaching the target T from the distance R, the assumed speed Vm of the missile M is higher than the speed Va of the aircraft A and is constant. At the time t has elapsed, the aircraft A advances by Vat and the missile M
mt. In other words, although the target T imaged from the aircraft A is enlarged in the image as it approaches, to obtain an image viewed from the missile M that is faster than the aircraft A based on the image, It is necessary to increase the degree to which the target T is expanded in the image based on the difference between the approach speed of the aircraft A and the assumed speed of the missile M.

The angle of view conversion in the image processing device 8 includes, as a first method, a method of converting a captured image into a digital image and enlarging the digital image by affine transformation. This is obtained by the following equation, where k is the expansion coefficient and θm is the viewing angle of the optical sensor.

K = tan ^-1 ｛(R−Vmt / R−Va
t) tan θ｝ / θm In other words, the image captured by the infrared camera 1 is converted into a digital image, and the target T is enlarged by k times, which is equivalent to the state where the missile M approaches the target T at its own speed. Can be an image. It should be noted that such angle-of-view conversion is similarly continuously performed on continuously input captured images.

As a second method of angle-of-view conversion, θ
By reducing the viewing angle with respect to the digital image by a factor of m / k, the target T can be substantially enlarged, and an image equivalent to a state where the missile M approaches the target T at its own speed can be obtained. .

After the angle of view of the image is converted by the image processing device 8 as described above, the computer 9 calculates the center of gravity of the infrared intensity in the visual field of the optical sensor, that is, the target recognition process in step S6. This makes it possible to grasp how the optical sensor responds to the image whose angle of view has been converted. Also, on the target T side, in step S105, a deceptive infrared decoy bullet is fired on the optical sensor.

The data obtained in step S6 (computer 9) is fed back to the missile motion calculation in step S3 and sent to the gimbal controller 5 to be used for attitude control data and the like.
Further, in step S7, the parameters of the optical sensor image are calculated. This result can also be sent to the training device display screen in step S8.

In the simulation, the distance to the target T is determined in step S9, and if the vehicle is approaching and the distance is not zero (No), the flow goes to step S9.
3, the above processing is repeated, and when the target T is reached and the distance becomes zero (Yes), step S1 is executed.
0, the final miss distance (distance error from the target T) is calculated, and the result is notified to the target T side (step S
106), and ends the simulation (step S1).
1) Yes.

As described above, in the simulation method and the simulation apparatus of the optical sensor described in the above embodiment, the simulation is performed in real time in the aircraft A, and the target T is included while approaching the target T. Since the image is captured and the angle of view of the image is converted based on the difference between the approach speed and the assumed speed of the missile M, the image after the angle of view conversion is such that the missile M approaches the target T at its own speed. Since the target image recognition processing of the optical sensor is performed on the image whose angle of view has been converted, the simulated operation of the optical sensor in a real environment is substantially performed.

In the above embodiment, the angle of view conversion is performed on the digital image. However, as a simulation method of the optical sensor according to claim 4 of the present invention, the image conversion is
There is also a method of performing this by a zoom mechanism in an imaging unit that captures an image including the target T. In this case, as shown by a dotted line in FIG. 2, an angle-of-view conversion signal from an image processing device (image processing unit) is used. The zoom mechanism Z of the infrared camera 1 which is an imaging unit is driven. As the zoom mechanism, a mechanical mechanism that changes the interval between the built-in lenses by a motor or the like can be adopted.

According to the above-described method, the image itself captured by the infrared camera 1 can be converted into an image equivalent to a state in which the missile (moving object) M approaches the target T at its own speed. Since the target recognition processing is directly performed on the image, a more accurate simulation operation is performed.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a method for simulating an optical sensor according to the present invention.

FIG. 2 is a block diagram illustrating an embodiment of an optical sensor simulation apparatus according to the present invention.

FIG. 3 is a diagram illustrating a positional relationship between a speed difference between an aircraft and a moving object and a target.

[Explanation of symbols]

 A aircraft M missile (moving object) P pod T target Z zoom mechanism 1 infrared camera (imaging means) 8 image processing device (image processing means) 9 computer (control means)

Claims (6)

[Claims] 1. A method for simulating an optical sensor in a moving body approaching a target while detecting the target with the optical sensor, wherein an image including the target is captured while approaching the target, and the approach speed and movement A method for simulating an optical sensor, comprising: converting an angle of view of an image based on a difference from an assumed speed of a body; 2. The method according to claim 1, wherein the assumed speed of the moving object is higher than the approach speed to the target, and the angle-of-view conversion is an angle-of-view conversion for enlarging an image by affine transformation in a digital image. A simulation method of the optical sensor described in the above. 3. The method according to claim 1, wherein the assumed speed of the moving object is higher than the approach speed to the target, and the image conversion is an angle-of-view conversion for reducing the viewing angle of the optical sensor with respect to the digital image. A simulation method of the optical sensor described in the above. 4. A method for simulating an optical sensor, wherein the image conversion is performed by a zoom mechanism in an imaging unit that captures an image including a target. 5. An apparatus for simulating an optical sensor in a moving body mounted on an aircraft and approaching the target while detecting the target with the optical sensor, comprising: an imaging unit;
Image processing means for converting the angle of view of the image captured by the imaging means based on the difference between the speed of the aircraft and the assumed speed of the moving object; and control means for performing target recognition processing of the optical sensor on the image obtained by converting the angle of view. A simulation device for an optical sensor, comprising: 6. An optical sensor simulation apparatus according to claim 1, wherein said imaging means is mounted inside a tip of a pod detachable from said aircraft.