JPS6079283A - Remote measuring apparatus - Google Patents

Abstract

PURPOSE:To achieve a higher guiding accuracy to the target for a moving object without impairing secrecy by measuring distance to the target in a fully passive manner through an image measurement. CONSTITUTION:A quasi-stationary target is picked up with a camera 1 and a video signal is digitized with an A/D converter 2. The digitized video signal is binary coded with a binary coding circuit 3 using threshold outputted from a threshold circuit 4. An apparent angle calculation circuit 5 receives the binary- coded image to measure a horizontal apparent angle, for instance, at the whole or a part of the target and outputs a resulting apparent angle data 6 to a microprocessor 11. On the other hand, an acceleration detector 7 always measures the acceleration (a) of a moving body itself and outputs a resulting acceleration data 8 to the microprocessor 11. In addition, a timer 9 always outputs a time data 10 to the microprocessor 11.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention is a method for passively measuring the distance to a quasi-stationary target on a moving object without transmitting radio waves, optical beams, etc. Regarding distance measuring instruments.

[Prior art]

Conventionally, in order to measure the distance to a target, if you keep a special public
Using the radar device shown in No. 21674, radio waves, optical beams, etc. are emitted toward a target, and the distance to the target is determined from the propagation delay time of one reflected wave. , transmission and reception of light beams, etc.) Radar equipment is required.

The device not only has the disadvantage of being large-scale and expensive, but also has the disadvantage of being easily detected by the other party.

[Summary of the invention]

This invention provides a means to eliminate these drawbacks by completely passively measuring the distance to a target by one-image measurement.This invention will be explained in detail below using Figure 1. do.

[Embodiments of the invention]

FIG. 1 is a diagram showing an embodiment of the configuration according to the present invention, in which (11 is an imaging device, and (21 is a b converter).

(31 is a binarization circuit, (4ru Okada circuit, +51)
The prospect angle calculation circuit, (6) is the prospect angle data, (71
is an acceleration detection device, (8) is acceleration data, (9) is a timer, αI is time data, (ill is a microprocessor, and Q is distance data.

In FIG. 1, a quasi-stationary target is imaged by an imaging device (1), and the video signal is digitized by a '/D converter +21.

The digitized video signal is binarized by the z-value conversion circuit +31 using the dark value output from the threshold circuit (4).

The probability calculation circuit (51 inputs this binarized image.

For example, the horizontal viewing angle of the entire target or a portion of the target is measured, and the resulting viewing angle data (6) is output to the microprocessor 111.

On the other hand, the acceleration detection port device (71) randomly measures the Karo velocity a of the moving body itself and outputs the resulting acceleration data (8) to the microprocessor (11).

In addition, the timer (9) receives 2 hour data (to!'z always
] also outputs to the microprocessor (111).

FIG. 2 is a diagram showing the principle of distance measurement in this invention, where αJ is the target, (141 is the moving body position at time tl, and u5) is the moving body position @m (16) at time t.
is the position of the moving body at time t2 (1" is exceeded by the center line of the moving trajectory).

trench 1 time t1. Then, at time t2 after a minute time Δ, the angle of view calculated by the potential calculation circuit (51) is respectively θ1 and θ2.Also, the angle of view at time t between t and t2 is assumed to be θ.Target Assuming that the inside is W, a linear equation is established from FIG.

2R1ja+: (θl/2)=W(112R2tan
(θ2/2) = W f212R1a11(θ/z
) = W t31RI R2 == a(△t) 2 D (4) Here, D represents the distance traveled by the mobile object during △t.

From these formulas, we can see that R1, n, , W'l, which cannot be measured
By eliminating i'', a linear equation is obtained.

Tokoro t', general VC, W/R, w/R1, W/R2
(1, so tan (f'A) Zθ/2.
bud(θt/2)”: U 1/2.

It can be approximated as tan(θ2/2)202/2 (Equation 51 is.

It can be approximated as follows.

R″0(silkworm-,) = D [61 (From equation 61, the target distance R at time 2 t can be calculated as quintic.

θl　θ2 R=□・D(7) θ(θ2-01) In FIG. 1, the microprocessor α1).

θ θ θ, a, and Δt are each input, +41. +
The calculation shown in Equation 71 as 1 #21 is executed, and distance 11 data (121) indicating the entire target distance R at time t is output.

〔Effect of the invention〕

As described above, according to the present invention, the distance from a moving object to a quasi-stationary target can be measured completely passively using a simple image measuring device, so the distance from a moving object to a quasi-stationary target can be measured completely passively. This can significantly improve the accuracy of guidance to the target.

[Brief explanation of the drawing]

The first factor is a diagram showing an example of the configuration of the present invention. FIG. 2 is a diagram illustrating the distance measuring principle in this invention, in which (1) is an imaging means, (51 is a prospect calculation circuit, (61 is a prospect angle data, (71 is an acceleration detection device, (
8j is acceleration data, (9) is timer, uol is time data, (12+ is distance data. Agent Masuo Oiwa)

Claims (1)

[Claims] The present invention includes an imaging means and a means for measuring the target width 2, etc. by measuring nine images. + h<t< in a distance measuring instrument mounted on a mobile object
At different times t1+Lt2, the angle of view θ of the target location! , θ, 02wo respectively. 9. A means for measuring an image, a means for measuring the distance traveled by the moving object itself from time t1 to t2, and a means for calculating the distance to the target using the angle of view θ11''21θ and the distance ~LD. A distance measuring instrument characterized by comprising: