KR101570092B1 - Crossed array infrared detector and method for measuring position error using the same - Google Patents

Crossed array infrared detector and method for measuring position error using the same Download PDF

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KR101570092B1
KR101570092B1 KR1020150068197A KR20150068197A KR101570092B1 KR 101570092 B1 KR101570092 B1 KR 101570092B1 KR 1020150068197 A KR1020150068197 A KR 1020150068197A KR 20150068197 A KR20150068197 A KR 20150068197A KR 101570092 B1 KR101570092 B1 KR 101570092B1
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target
calculating
position error
detection signals
angle
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Korean (ko)
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신수호
전효원
강희수
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엘아이지넥스원 주식회사
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves

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  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A method for measuring position error using a crossed target location tracker is disclosed. The crossed target location tracker includes a lens assembly which receives infrared energy radiated from a target while rotating; a detector assembly which consists of four detection devices which are arranged in cross type, and obtains a detection signal from each detection device according to the rotation of the lens assembly; and a signal processing part which generates a target image based on the obtained detection signal, obtains the moving trajectory of the target based on the generated target image, and calculates the position error of an observer and the target based on the obtained moving trajectory, the detection signal, and the position of the detector.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cross-shaped target position tracker and a method for measuring a position error using the cross-

The present invention relates to a target position tracker, and more particularly, to a method for measuring a position error between a target and an observer using a cruciform target position tracker.

Target location trackers are used in precision-guided weapons that recognize, identify, capture, and track target images. They locate and track targets by receiving only infrared light from the target's electromagnetic waves.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a schematic structure of a target position tracker according to the prior art.

As shown in FIG. 1, a prior art target position tracker combines a lens and a detector in the same assembly so that the lens and detector in the detector assembly rotate together.

Since the target position tracker uses the rotation of the detector itself, a slip ring or the like is connected between the rotating detector assembly and the signal processing unit.

2A and 2B are diagrams for explaining the principle of detecting the position of a target according to the prior art.

Referring to FIG. 2A, a prior art target position tracker rotates a field of view (FOV) with a detector assembly including a bar-shaped detector to detect the position of the target. That is, the bar-shaped detector detects the detection signal at position (3).

However, if the error between the target and the observer is zero or if the detection signal can not be obtained, the distinction becomes ambiguous.

Also, in order to track a target as shown in FIG. 2B, the target position tracker according to the related art needs to know the distance R and azimuth angle information from the center of the tracker. As shown in FIG. 2C, the target position tracker includes a bar- Target 1 and target 2 are positioned at the same angle. Therefore, we must estimate using the width of the detection signal to find how far the target is from the center of the tracker. That is, because the relative angular velocity of target 1 is faster than target 2, it is exposed to a longer time detector.

However, since this width is affected by the area of the target, the location accuracy is degraded in an environment where the size of the target changes.

Moreover, the lifetime of the slip ring connected between the detector assembly and the signal processing part determines the use time of the whole equipment, and is also vulnerable to noise due to rotation of the slip ring.

It is therefore an object of the present invention to combine a lens and a cross-shaped detector in different assemblies, and to detect a target and an observer based on a detection signal obtained from each detector element of the cross- And a method for measuring a position error using a cruciform target position tracker for measuring an error between a target position and a target position.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above objects, a cruciform target position tracker according to one aspect of the present invention includes: a lens assembly for receiving infrared energy radiated from a target as it rotates; A detector assembly comprising four detectors arranged in a cross shape to obtain a detection signal from each detector element as the lens assembly rotates; And acquiring a movement trajectory of the target on the basis of the target image generated by generating the target image based on the obtained detection signal, and acquiring the target of the target and the observer based on the acquired trajectory, And a signal processing unit for calculating a position error.

Preferably, the signal processing section calculates a trajectory length between detection signals obtained from each detection element from the movement trajectory, calculates an angle formed between the detection signal and the position of the detector based on the calculated trajectory length, And calculates a position error between the target and the observer based on the angle.

Preferably, the signal processing unit calculates a first angle formed between the detection signals in the x-axis direction and the position of the detector, and calculates a second angle formed between the detection signals in the y-axis direction and the position of the detector .

Preferably, the signal processor calculates a position error in the x-axis direction based on the calculated first angle, and calculates a position error in the y-axis direction based on the calculated second angle.

Preferably, the signal processing section obtains the trajectory length by the following equation: S = w 0 Rt n , where w 0 denotes an angular velocity, R denotes a radius of a moving trajectory, t n denotes an nth detection And the (n + 1) th detection signal.

According to another aspect of the present invention, there is provided a method for measuring a position error using a cruciform target position tracker, comprising: receiving infrared energy emitted from a target as the lens assembly rotates; The detector assembly comprising a detector in which four detection elements are arranged in a cross shape to obtain a detection signal from each detection element as the lens assembly rotates; And a signal processing unit for generating a target image based on the obtained detection signal and acquiring a movement trajectory of the target on the basis of the generated target image. Based on the acquired movement trajectory, the detection signal, and the position of the detector, And calculating a position error of the observer.

Preferably, the calculating step may include calculating a trajectory length between detection signals obtained from the detection elements from the movement trajectory, calculating an angle formed between the detection signal and the position of the detector based on the calculated trajectory length, And calculating a position error between the target and the observer based on the angles.

Preferably, the calculating step calculates a first angle formed between the detection signals in the x-axis direction and the detector, and calculates a second angle formed between the detection signals in the y-axis direction and the detector. do.

Preferably, the calculating step calculates a position error in the x-axis direction based on the calculated first angle and calculates a position error in the y-axis direction based on the calculated second angle .

Preferably, the calculating step calculates the trajectory length by the following equation: S = w 0 Rt n , where w 0 denotes an angular velocity, R denotes a radius of a moving locus, t n denotes an nth And the time interval between the detection signal and the (n + 1) -th detection signal.

Thus, the present invention combines a lens and a cross-shaped detector into different assemblies, and by measuring the error between the target and the observer based on the detection signal obtained from each detector element of the cross-shaped detector as the lens rotates, It is possible to measure accurately by using it. In particular, the extent to which the target has fallen from the center of the tracker was ambiguous due to the influence of the target area in the prior art. However, the present invention can be accurately measured regardless of the size of the target.

Also, if four detectors were used to measure one tracking error in one rotation, the present invention can calculate four positions in one rotation in combination with previous data every time a phase is formed in each detector And the position accuracy can be improved.

In addition, the present invention has the effect of reducing cost because a structure such as a slip ring is not required by rotating only the lens separated from the cross-shaped detector.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a schematic structure of a target position tracker according to the prior art.
2A to 2C are diagrams for explaining the principle of detecting the position of a target according to the prior art.
3 is a diagram illustrating a structure of a target position tracker according to an embodiment of the present invention.
4A to 4B are views for explaining the principle of detecting a target position according to an embodiment of the present invention.
5A to 5B are diagrams showing the principle of calculating the position error of the detector.
6 is a diagram illustrating a method for measuring an error according to an embodiment of the present invention.

Hereinafter, a method for measuring a position error using a cruciate target position tracker according to an embodiment of the present invention will be described with reference to the accompanying drawings. The present invention will be described in detail with reference to the portions necessary for understanding the operation and operation according to the present invention.

In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.

Particularly, in the present invention, a novel method of combining a lens and a cross-shaped detector to different assemblies and measuring an error between the target and the observer based on the detection signals obtained from the respective detection elements of the cross- .

3 is a diagram illustrating a structure of a target position tracker according to an embodiment of the present invention.

3, the target position tracker in accordance with the present invention may include a rotatable lens assembly 110, a detector assembly 120 in which a cross-shaped detector is disposed, and a signal processor 130.

The lens assembly 110 can receive infrared rays emitted from the target while rotating. The lens assembly 110 irradiates the received infrared rays to the detector assembly 120.

The detector assembly 120 can be fixed independently of the rotation of the lens assembly 110, including a detector in which four detection elements capable of detecting the near infrared region are arranged in a cross shape.

The signal processing unit 130 can calculate the position error of the target and the observer, that is, the position error of the detector, based on the detection signal obtained by obtaining the detection signal from each detection element.

The signal processing unit 130 generates a target image based on the obtained detection signal, obtains a movement trajectory of the target based on the generated target image, calculates a trajectory length between the detection signals, a detection signal, And calculates the position error between the target and the observer based on the calculated angle.

4A to 4B are views for explaining the principle of detecting a target position according to an embodiment of the present invention.

Referring to FIG. 4A, a detection signal can be obtained from each detection element in accordance with rotation of the lens assembly 110. Four detection signals, for example, a first detection signal, a second detection signal, 3 detection signal, and the fourth detection signal.

At this time, the four detecting elements may be arranged in a cross shape so as to be perpendicular (90 DEG) to each other.

It can be seen that each detection signal is detected at a constant interval since the detection signal is obtained from each detection element which reacts with infrared rays as the lens assembly 110 rotates.

Referring to FIG. 4B, the present invention can measure four errors per revolution by using four detection elements, unlike the conventional art which can measure errors one revolution at a time.

5A to 5B are diagrams showing the principle of calculating the position error of the detector.

Referring to FIG. 5A, when four detection signals are obtained from four detection elements while the lens assembly rotates, it can be estimated as a circular shape from the obtained detection signal by the movement trajectory of the target.

First, the target position tracker can calculate the trajectory length between the detection signals obtained from each of the detection elements arranged in a cross shape. The trajectory lengths S1, S2, S3, and S4 can be expressed by the following Equation 1 have.

[Equation 1]

S 1 = w 0 Rt 1 , S 2 = w 0 Rt 2 , S 3 = w 0 Rt 3 , S 4 = w 0 Rt 4

Here, w 0 denotes the angular velocity, R denotes the radius of the movement locus, t 1 denotes the time interval between the first detection signal and the second detection signal, t 2 denotes the time between the second detection signal and the third detection signal T 3 denotes a time interval between the third detection signal and the fourth detection signal, and t 4 denotes a time interval between the fourth detection signal and the fifth detection signal.

The target position tracker can calculate the angle formed by the detection signal and the position D of the detector on the basis of the calculated trajectory length, and the angles? 1 and? 2 can be expressed by the following Equation (2).

At this time, the target position tracker calculates the angle formed by the detection signals P1 and P3 in the y-axis direction and the position D of the detector.

&Quot; (2) "

Figure 112015046877091-pat00001

Figure 112015046877091-pat00002

Here, θ 1 is the inner angle between the detector position and the detection signals in the y-axis direction, and θ 2 is the outer angle between the position of the detector and the detection signals in the y-axis direction.

The target position tracker can calculate the position error in the y-axis direction based on the angle thus calculated. The position error? Y in the y-axis direction can be expressed by the following equation (3).

&Quot; (3) "

Figure 112015046877091-pat00003

Referring to FIG. 5B, the target position tracker can calculate the angle formed by the detection signal and the position D of the detector on the basis of the calculated trajectory length, and the angles? 3 and? 4 are calculated as shown in the following Equation 4 .

At this time, the target position tracker calculates the angle formed by the detection signals P2 and P4 in the x-axis direction and the position D of the detector.

&Quot; (4) "

Figure 112015046877091-pat00004

Figure 112015046877091-pat00005

Here, θ 3 is the inner angle between the detector position and the detection signals in the x-axis direction, and θ 4 is the outer angle between the detector position and the detection signals in the x-axis direction.

The target position tracker can calculate the position error in the x-axis direction based on the angle thus calculated, and the position error? X in the x-axis direction can be expressed by the following equation (5).

&Quot; (5) "

Figure 112015046877091-pat00006

6 is a diagram illustrating a method for measuring an error according to an embodiment of the present invention.

As shown in FIG. 6, the target position tracker according to the present invention can receive the infrared energy emitted from the target by rotating the detector assembly and the separated lens assembly (S610).

Next, the target position tracker can acquire a detection signal from each detecting element in the detector as the lens assembly rotates (S620).

Next, the target position tracker can generate a target image based on the obtained detection signal (S630).

Next, the target position tracker can calculate the position error between the target and the observer based on the generated target image (S640). That is, the target position tracker can acquire the movement trajectory of the target based on the target image.

The target position tracker calculates the trajectory length between the detection signals from the acquired trajectory (S641), and calculates an angle formed between the detection signal and the position of the detector based on the calculated trajectory length (S642).

At this time, the target position tracker calculates a first angle between the detection signals in the x-axis direction and the position of the detector, and calculates a second angle between the detection signals in the y-axis direction and the position of the detector.

The target position tracker calculates the position error of the target and the observer based on the calculated angle (S643).

At this time, the target position tracker calculates a position error in the x-axis direction based on the calculated first angle and calculates a position error in the y-axis direction based on the calculated second angle.

It is to be understood that the present invention is not limited to these embodiments, and all of the elements constituting the embodiments of the present invention described above are described as being combined or operated together. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer-readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

110: lens assembly
120: detector assembly
130: Signal processor

Claims (10)

A lens assembly for receiving infrared energy emitted from the target as it rotates;
A detector assembly including a detector in which four detection elements are arranged in a cross shape, the detector assembly obtaining detection signals from the respective detection elements as the lens assembly rotates; And
Generating each target image based on the obtained detection signals, acquiring a movement trajectory in which the target moves using each of the generated target images, and acquiring the obtained trajectory, detection signals, and movement A signal processing unit for calculating a position error of the target and the target position tracker using a center point of the trajectory;
A cross-shaped target location tracker. The method according to claim 1,
The signal processing unit,
Calculates a locus length between detection signals obtained from the respective detection elements on the moving locus,
Calculating an angle formed by the detection signals and the center point of the movement locus based on the calculated locus length,
And calculating a position error of the target and the target position tracker based on the calculated angle. 3. The method of claim 2,
The signal processing unit,
calculating a first angle formed by detection signals in the x-axis direction and a center point of the movement locus, and calculating a second angle between the detection signals in the y-axis direction and the center point of the movement locus, tracer. The method of claim 3,
The signal processing unit,
Calculates a position error in the x-axis direction based on the calculated first angle, and calculates a position error in the y-axis direction based on the calculated second angle. 3. The method of claim 2,
The signal processing unit,
Wherein the trajectory length is obtained by the following equation S = w 0 Rt n , where w 0 represents an angular velocity, R represents a radius of a trajectory of movement, t n represents an nth detection signal and an (n + 1) Wherein the cross-shaped target locator indicates a time interval between signals. Receiving infrared energy emitted from the target as the lens assembly rotates;
Wherein the detector assembly includes a detector in which four detection elements are arranged in a cross shape, the detection signal being obtained from each of the detection elements as the lens assembly rotates; And
The signal processing unit generates each target image based on the obtained detection signals, acquires a movement trajectory in which the target moves using each of the generated target images, and acquires the obtained trajectory, detection signals, Calculating a position error of the target and the target position tracker using a center point of the movement locus;
A method for measuring position error using a cruciform target position tracker comprising: The method according to claim 6,
Wherein the calculating step comprises:
Calculates a locus length between detection signals obtained from the respective detection elements on the moving locus,
Calculating an angle formed by the detection signals and the center point of the movement locus based on the calculated locus length,
And calculating a position error of the target and the target position tracker based on the calculated angle. 8. The method of claim 7,
Wherein the calculating step comprises:
calculating a first angle formed by detection signals in the x-axis direction and a center point of the movement locus, and calculating a second angle between the detection signals in the y-axis direction and the center point of the movement locus, A method for measuring position error using a tracker. 9. The method of claim 8,
Wherein the calculating step comprises:
Calculating a position error in the x-axis direction based on the calculated first angle, and calculating a position error in the y-axis direction based on the calculated second angle, A method for measuring an error. 8. The method of claim 7,
Wherein the calculating step comprises:
Wherein the trajectory length is obtained by the following equation S = w 0 Rt n , where w 0 represents an angular velocity, R represents a radius of a trajectory of movement, t n represents an nth detection signal and an (n + 1) And a time interval between the signals. A method for measuring a position error using a cruciform target position tracker.
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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013507662A (en) 2009-10-15 2013-03-04 アルファ イメージング ソシエダッド アノニマ Compact multispectral scanning system
KR101281627B1 (en) 2012-01-10 2013-07-03 엘아이지넥스원 주식회사 Apparatus for arranging axies of infrared image seeker and method thereof

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013507662A (en) 2009-10-15 2013-03-04 アルファ イメージング ソシエダッド アノニマ Compact multispectral scanning system
KR101281627B1 (en) 2012-01-10 2013-07-03 엘아이지넥스원 주식회사 Apparatus for arranging axies of infrared image seeker and method thereof

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