KR102393735B1 - Device for Tracking Target Based on Laser Position Sensor, Method therefor, and Storage Media The Same - Google Patents

Abstract

A laser position sensor-based target tracking device according to an embodiment of the present invention blocks noise and receives a target-indicating laser signal reflected from a target, and a light-receiving optical unit for focusing the laser signal for photodetection, multi-segmented A photodetector that has a detection surface and the focused laser signal is divided into each of the detection surfaces and converts it into an electric signal, and the number of detectors equal to the number of detectors constituting the photodetector is analog amplification to amplify the electric signal converted by the detection unit Receives the control signal output from the tracking control unit and the tracking control unit that converts the electric signal amplified by the unit and the analog amplifier into a digital signal, generates and outputs a control signal by determining the strength of the converted digital signal, and the control signal With a controlled control gimbal driven by the yaw and pitch axes according to can do.

Description

Device for Tracking Target Based on Laser Position Sensor, Method therefor, and Storage Media The Same}

The present invention relates to a laser position sensor-based target tracking device and method, and more particularly, to a laser position sensor-based target tracking device for tracking a target by acquiring direction information, target distance, and speed information based on a laser position sensor and how.

Most of the general laser position sensors acquire the direction information of the object pointed by the pointing laser, which limits the operation of the sensor system because the distance and speed to the target cannot be checked.

A laser rangefinder capable of measuring the laser distance can know the distance to the target, but cannot know the angle information of the target, and the laser must be attached to the sensor.

To overcome the disadvantages of each sensor, a laser position sensor and a laser range finder that can measure distance are used in parallel, but these systems are basically expensive, bulky, and difficult to configure.

In addition, the laser rangefinder has the disadvantage that the laser must be attached to the rangefinder to check the distance.

An object of the present invention is to provide a laser position sensor-based target tracking device and method capable of calculating the angle, distance, and speed of a target and tracking the target using two easily configurable laser position sensors. there is.

An object of the present invention is to provide an apparatus and method for tracking a target based on a laser position sensor that can be obtained as 3D target position information using 2D target information.

An object of the present invention is to provide an apparatus and method for tracking a target based on a laser position sensor that can flexibly acquire information on a target from a near distance to a far distance.

A laser position sensor-based target tracking device according to an embodiment of the present invention includes: a light receiving optical unit for blocking noise and receiving a target indicating laser signal reflected from the target 20, and focusing the laser signal for photodetection; a photodetector having a multi-divided detection surface, wherein the focused laser signal is divided into each of the detection surfaces and converted into an electric signal; an analog amplifying unit configured to have the same number of detectors constituting the photodetector and amplifying the electrical signal converted by the detecting unit; According to the tracking control unit and the gimbal control signal that converts the electric signal amplified by the analog amplification unit into a digital signal, determines the strength of the converted digital signal, generates and outputs a gimbal control signal for tracking the target It includes a control gimbal driven by a yaw axis and a pitch axis.

As an embodiment, the light-receiving optical unit may include a first light-receiving optical system and a second light-receiving optical system having the same shape.

As an embodiment, the first optical receiving optical system and the second optical receiving optical system may each include a focusing lens for collecting the laser signal incident on the photodetector, and a band filter for blocking sunlight and receiving only the laser signal.

As an embodiment, the photodetector is coupled to a multi-divided detection surface, a lower portion in a direction opposite to the focusing direction of the detection surface and the laser signal, respectively, and a heater and a temperature for maintaining homeostasis of the detection surface according to temperature change It is possible to have a first photodetector comprising a sensor and a second photodetector.

As an embodiment, the analog amplifier includes a first amplifier and a second amplifier, and each amplifier is configured in multiple stages to amplify an input high current signal to a low current signal.

As an embodiment, the tracking control unit is possible to transmit a control signal for controlling the control gimbal by calculating the angle information, distance information, and speed information of the target through the converted digital signal.

In the laser position sensor-based target tracking method according to an embodiment of the present invention, the control gimbal is initialized, the amplification degree of the amplification unit is set to the maximum value, the photodetector temperature of the photodetector unit is set to the maximum value, and the laser for target indication A target tracking preparation step of transmitting a laser signal toward the target; a target tracking determining step of receiving the laser signal reflected from the target and determining whether to track the target according to the intensity of the received laser signal when the reflected laser signal is normally received; and when starting target tracking in the target tracking step, calculating target angle information, calculating target distance information based on the target angle information, and calculating target speed based on the target angle information and the target distance information. includes steps.

As an embodiment, in the target tracking determining step, when the laser signal is not received, it is possible to drive the yaw axis and the pitch axis of the control gimbal to perform target search.

As an embodiment, in the target tracking step, when the intensity of the received laser signal is greater than a preset amplification, it is possible to reduce the amplification of the amplification unit or decrease the temperature of the photodetector.

As an embodiment, in the target tracking step, when the target is tracked, the calculated target angle information, the target angle information, and the target speed information are output, and the target is controlled to be located at the center of the target tracking device It is possible to drive the gimbal's yaw axis and pitch axis.

The laser position sensor-based target tracking apparatus and method according to an embodiment of the present invention can calculate the angle, distance, and speed of a target using two easily configurable laser position sensors and track the target.

The laser position sensor-based target tracking apparatus and method according to an embodiment of the present invention may be obtained as 3D target position information using 2D target information.

A laser position sensor-based target tracking apparatus and method according to an embodiment of the present invention can flexibly acquire information about a target from a short distance to a long distance.

Since the laser position sensor-based target tracking apparatus and method according to an embodiment of the present invention know the angle and distance information, it is possible to also acquire speed information of the target.

In the laser position sensor-based target tracking apparatus and method according to an embodiment of the present invention, since it is possible to identify erroneous target information due to multiple reflection and scattering with three-dimensional target position information, the tracking accuracy for the target is improved.

1 is a functional block diagram of a laser position sensor-based target tracking device according to an embodiment of the present invention.
2 is a flowchart of an apparatus for tracking a target based on a laser position sensor according to an embodiment of the present invention.
3 is a conceptual diagram illustrating a target tracking apparatus based on a laser position sensor according to an embodiment of the present invention for measuring and tracking a target using a target-indicating laser.
4 is a block diagram of a light receiving optical system used in a laser position sensor-based target tracking device according to an embodiment of the present invention.
5 illustrates various types of detection surfaces of a detector used in a laser position sensor-based target tracking apparatus according to an embodiment of the present invention.
6 is a configuration diagram of a detection surface, a heater, and a temperature sensor constituting the detector of FIG. 5 .
7 is a block diagram of an analog amplifier used in a laser position sensor-based target tracking apparatus according to an embodiment of the present invention.
8 is a block diagram of a tracking control unit for digital signal conversion and signal processing used in a laser position sensor-based target tracking device according to an embodiment of the present invention.
9 is a configuration diagram of a control gimbal used in a laser position sensor-based target tracking device according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments published below, but may be implemented in various different forms, and only these embodiments allow the publication of the present invention to be complete, and common knowledge in the technical field to which the present invention pertains It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Hereinafter, preferred embodiments of the present invention will be described, but the technical spirit of the present invention is not limited thereto and may be variously implemented by those skilled in the art without being limited thereto.

It should be noted that in adding reference numerals to the components of each drawing, the same components are given the same reference numerals as much as possible even though they are indicated in different drawings.

When a component is referred to as “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it should be understood that other components may exist in between. something to do.

Terms such as first and second may be used to describe various components, but such components should not be limited by the terms and are used only for the purpose of distinguishing one component from other components.

Hereinafter, a laser position sensor-based target tracking apparatus and method according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 9 .

The laser position sensor-based target tracking device 100 is a device capable of measuring distance, moving speed, and angle information of a target based on the laser position sensor. The laser position sensor-based target tracking apparatus 100 may track the target by acquiring the distance to the target as well as direction information based on the laser position sensor, and speed information based thereon.

1 is a functional block diagram of a laser position sensor-based target tracking apparatus according to an embodiment of the present invention, FIG. 2 is a flowchart of a laser position sensor-based target tracking apparatus according to an embodiment of the present invention, and FIG. 3 is a conceptual diagram in which the laser position sensor-based target tracking device according to an embodiment of the present invention measures and tracks a target using a target-indicating laser.

1 to 3, the laser position sensor-based target tracking device 100 according to an embodiment of the present invention receives and focuses the laser signal for indicating the target reflected from the target 20 ( 110), a photodetector 120 having multiple divided detection surfaces to divide a focused laser signal into each of the detection surfaces to convert it into an electrical signal, and the number of detectors constituting the photodetector 120 is the same An analog amplifying unit 130 configured to amplify the electrical signal converted by the detection unit and converting the electrical signal amplified by the analog amplifying unit 130 into a digital signal to determine the strength of the digital signal, and target 20 ) is configured to include a tracking control unit 140 that generates and outputs a gimbal control signal for tracking, and a control control gimbal 150 driven by a yaw axis and a pitch axis according to the gimbal control signal. .

The target pointing laser 10 transmits the laser to the target 20 to measure the target 20 based on the laser position sensor and transmit the target location information to the target tracking device 100 of the commonly used target pointing device. is a kind

In one embodiment, the target pointing laser 10 tracks the target from the camera input image, calculates an angle with the image center from the position of the target, and controls the small mirror in consideration of the target angle. Laser beam irradiation is possible even if the target is not located in the center of the input image. A laser beam may be irradiated to multiple targets within the input image. Even if the target deviates from the input image, continuous laser beam irradiation is possible by predicting the movement path of the target.

4 is a block diagram of a light receiving optical system used in a laser position sensor-based target tracking device according to an embodiment of the present invention, and FIG. 5 is used in a laser position sensor-based target tracking device according to an embodiment of the present invention. It shows various types of detection surfaces of the detector, FIG. 6 is a configuration diagram of the detection surface, heater, and temperature sensor constituting the detector of FIG. 5, and FIG. 7 is a laser position sensor-based structure according to an embodiment of the present invention. It is a configuration diagram of an analog amplifier used in a target tracking device, and FIG. 8 is a configuration diagram of a tracking control unit for digital signal conversion and signal processing used in a laser position sensor-based target tracking device according to an embodiment of the present invention, 9 is a configuration diagram of a control gimbal used in a laser position sensor-based target tracking device according to an embodiment of the present invention.

In this embodiment, referring to FIGS. 3 and 4 , the light receiving optical unit 110 includes a first light receiving optical system 111 and a second light receiving optical system 112 having the same shape, and includes a first light receiving optical system 111 and The second light receiving optical system 112 includes a focusing lens 212 that collects laser signals incident on the photodetector 120 , and a band filter 213 that blocks sunlight and receives only the laser signal.

In the present embodiment, the light receiving optical systems 111 and 112 have the same shape and may use an optical band pass filter to block sunlight and receive only a laser signal.

In the present embodiment, the light receiving optical systems 111 and 112 may use a focusing lens 212 to collect laser signals incident to the photodetectors 121 and 122 . The focusing lens 212 may be one or more depending on the field of view of the tracking device, but is not necessarily limited thereto.

In the present embodiment, each optical sub-boom of the light-receiving optical systems 111 and 112 is coupled to the housing 211, but is not limited thereto.

The light receiving optical systems 111 and 112 are mounted in the light receiving optical system housing 211 to receive the laser signal and transmit it to the photodetectors 121 and 122, and are composed of a noise blocking band optical filter 213 and a focusing lens 212. .

That is, the optical band pass filter 213 is used to block sunlight and receive only the laser signal. The focusing lens 212 is used to collect the laser signal incident to the photodetector, and may be one or more depending on the field of view of the target tracking device 100 .

In this embodiment, referring to FIGS. 5 and 6 , the photodetector 120 is coupled to the multi-divided detection surface 221 and the detection surface 221 and the lower portion in the opposite direction to the focusing direction of the laser signal to change the temperature. A first photodetector 121 and a second photodetector 122 including a heater 222 and a temperature sensor 223 are provided in order to vary the reactivity of the detection surface 221 according to the

Referring to FIG. 5 , the first photodetector 121 and the second photodetector 122 are composed of several divided surfaces. The first photodetector 121 and the second photodetector 122 may be formed of various types of detection surfaces 221 .

In this embodiment, the focused laser signal may be divided into each division surface and converted into an electric signal. The dividing surface can be applied in various ways, such as a triangle or a square, according to the specification of the tracking device and the shape of the focused spot. Specifically, the detection surface 221 may be divided into quadrants with a quadrangle based on the center, and a circle into quadrants with respect to the center, and may be formed in a honeycomb shape composed of a plurality of hexagons.

In this embodiment, the detection surface 221 is coupled to the heater 222 or the temperature sensor 223, and the reactivity may change according to a change in temperature.

The photodetector 120 converts the laser light signal focused through the light receiving optical systems 111 and 112 into an electrical signal. The divided surface of the detection surface 221 may be variously applied, such as a triangle, a rectangle, etc. according to the specification of the target tracking device and the shape of the focused spot. The detection surface 221 of the photodetector 122 is coupled to the heater 222 and the temperature sensor 223, and the reactivity changes according to the temperature change.

In this embodiment, referring to FIGS. 3 and 7 , the analog amplifier 130 includes a first amplifier 131 and a second amplifier 132 , each of which is configured in multiple stages to input a high current signal. It can amplify low current signals. The analog amplification unit 130 is configured in multiple stages to detect a signal reflected from a target at various distances, and it is possible to vary the amplification factor through an algorithm if necessary. Preferably, the analog amplifier circuit 234 may be configured with the same number of amplifiers as the number of channels of the photodetector.

In this embodiment, the analog amplification circuit 234 serves to amplify the current signal converted by the detector, and may be composed of the same number of amplifiers as the number of channels of the detector. The amplifier is configured in multiple stages, so it can be effectively amplified from a high current signal to a low current signal input to the amplifier.

In this embodiment, referring to FIGS. 3 and 8 , the tracking control unit 140 transmits a control signal for controlling the control gimbal by calculating the angle information, distance information, and speed information of the target through the converted digital signal. it is possible to do The analog signal amplified by the amplifier 232 is converted into a digital signal, and the signals obtained from the plurality of amplifier circuits 234 are calculated as angle information and then calculated as distance information and speed information.

Angle information according to an embodiment of the present invention is transmitted to the target by the laser signal received from the target to the first light receiving optical system 111 and the second light receiving optical system 112. 112) can be confirmed by the angle between In addition, distance information may be calculated based on the time received from the target to the first light receiving optical system 111 and the second light receiving optical system 112 , and speed information may be calculated based on angle information and distance information.

The first ADC 141 and the second ADC 142 convert the analog signal of the amplifier circuit 234 into a digital signal. The signal processing processor 143 determines the signal strength of the digital signal and sends a control signal to the amplification controller 146 . The amplification controller 146 calculates the target angle information, distance information, and speed information through a digital signal, and transmits the control signal to the gimbal controller 144 by reflecting the calculation result. The circuit power supply 145 supplies power to each circuit. The amplification controller 146 receives the control signal of the signal processing processor 143 and adjusts the amplification degree of the analog amplification unit 140 or changes the temperature of the photodetector.

In the laser position sensor-based target tracking method according to an embodiment of the present invention, the control gimbal is initialized, the amplification degree of the amplification unit is set to the maximum value, the photodetector temperature of the photodetector unit is set to the maximum value, and the laser for target indication A target tracking preparation step of transmitting a laser signal toward the target; a target tracking determining step of receiving the laser signal reflected from the target and determining whether to track the target according to the intensity of the received laser signal when the reflected laser signal is normally received; and when starting target tracking in the target tracking step, calculating target angle information, calculating target distance information based on the target angle information, and calculating target speed based on the target angle information and the target distance information. includes steps.

In the target tracking determination step, when the laser signal is not received, it is possible to drive the yaw axis and the pitch axis of the control gimbal to perform target search.

In the target tracking step, when the intensity of the received laser signal is greater than a preset amplification level, it is possible to decrease the amplification level of the amplification unit or decrease the temperature of the photodetector unit.

In the target tracking step, when the target is tracked, the calculated target angle information, the target angle information, and the target speed information are output, and the target is located at the center of the target tracking device. ) axis and pitch axis, it is possible to drive.

Referring to FIG. 2 , power is applied to drive the target tracking device 100 ( S110 ), and it is checked whether there is an abnormality in the target tracking device ( S120 ). At the same time, power is applied to the target pointing laser 10 (S210), and the laser beam is directed to the target 20 to indicate the target (S220).

The control gimbal 150 and the amplification circuit 234 are initialized, and the amplification degree of the amplification circuit 234 is set to the maximum value (S131, S132). Power is applied to the photodetector 120 and the temperatures of the photodetectors 121 and 122 are set to the maximum values (S140).

It is determined whether the laser signal is received (S150), and when the laser signal is received, the intensity of the laser signal is compared with a preset amplification threshold (S160).

If the laser signal is not received, the target search is performed (S151) and the control gimbal is driven by the yaw and pitch axes (S152), and as a result, it is determined whether the laser signal is received.

If the intensity of the laser signal is higher than the preset amplification, it is determined whether the amplification of the amplification stage is reduced to the maximum (S161). When the amplification level of the amplification stage is reduced to the maximum, the temperature of the detector is reduced (S162), and when the amplification level of the amplification stage is not reduced to the maximum, the amplification level of the amplification stage is reduced. According to the result, the intensity of the laser signal is compared with a preset amplification level again.

When the intensity of the laser signal is lower than the preset amplification threshold, target tracking is performed (S171).

Target tracking includes a process of calculating target angle information (S172), calculating target distance information based on the target angle information (S173), and calculating a target speed based on the target angle information and the target distance information (S174) is carried out through

When the target is tracked, the calculated target angle information, the target angle information and the target speed information are output (S180), and the yaw axis of the control gimbal and the control so that the target is located at the center of the target tracking device The pitch axis is driven (S190).

The laser position sensor-based target tracking device presented in an embodiment of this patent uses two easily configurable laser position sensors to calculate the angle, distance, and speed of the target and to track the target. have

In addition, there is an advantage that it can be used independently of the laser. This does not mean that there is no need for a laser, but it means that it can be operated even if it is separated without being configured in one system.

Since the laser position sensor-based target tracking device according to an embodiment of the present invention can acquire distance information as well as direction angle, it is possible to acquire two-dimensional target information as three-dimensional target position information.

Since the laser position sensor-based target tracking device according to an embodiment of the present invention knows angle and distance information, it can also acquire speed information of the target.

The laser position sensor-based target tracking device according to an embodiment of the present invention improves the tracking accuracy of the target because it is possible to identify the wrong target information due to multiple reflection and scattering with the three-dimensional target position information.

The laser position sensor-based target tracking device according to an embodiment of the present invention can flexibly acquire information about a target from a short distance to a long distance by adjusting the reactivity through a change in the detector temperature and adjusting the amplification of the analog amplification circuit. Do.

Even though all the components constituting the embodiment of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more. In addition, all of the components may be implemented as one independent hardware, but a part or all of each component is selectively combined to perform some or all of the functions combined in one or a plurality of hardware program modules It may be implemented as a computer program having In addition, such a computer program is stored in a computer readable media such as a USB memory, a CD disk, a flash memory, etc., read and executed by a computer, thereby implementing an embodiment of the present invention. The recording medium of the computer program may include a magnetic recording medium, an optical recording medium, and the like.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes and substitutions within the scope without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

110: light receiving optics department
111: first light receiving optical system
112: second light receiving optical system
120: light detection unit
121: first photodetector
122: second photodetector
130: analog amplifier
131: first analog amplifier
132: second analog amplifier
140: target control unit
141: first ADC
142: second ADC
143: signal processing unit
144: gimbal controller
145: power supply
150: control gimbal

Claims (11)

a light-receiving optical unit for blocking noise and receiving a target-indicating laser signal reflected from a target, and focusing the laser signal for photodetection;
a photodetector having a multi-divided detection surface, wherein the focused laser signal is divided into each of the detection surfaces and converted into an electric signal;
an analog amplifier configured to have the same number as the number of detectors constituting the photodetector and amplify the electrical signal converted by the photodetector;
a tracking control unit for converting the electric signal amplified by the analog amplifier into a digital signal, determining the strength of the converted digital signal, and generating and outputting a gimbal control signal for tracking the target; and
It includes a control gimbal driven by the yaw axis and the pitch axis according to the gimbal control signal,
The light-receiving optical unit includes a first light-receiving optical system and a second light-receiving optical system having the same shape,
The tracking control unit confirms the angle between the target and the first light-receiving optical system and the second light-receiving optical system by the laser signal received by the first optical receiving optical system and the second optical receiving optical system, and the angle and the laser signal are Check the distance between the target and the first light receiving optical system and the second light receiving optical system according to the received time, and calculate the speed and the traveling direction of the target through the angle and the distance,
Obtaining three-dimensional target position information through two-dimensional target position information including the angle, the distance, and the moving direction of the target,
The photodetector includes a multi-divided detection surface, a heater and a temperature sensor coupled to a lower portion in a direction opposite to the focusing direction of the detection surface and the laser signal to vary the reactivity of the detection surface according to temperature change. a photodetector and a second photodetector,
The tracking control unit compares the intensity of the received laser signal with a threshold of a preset amplification, and tracks the target when the intensity of the laser signal is lower than the preset amplification, and the intensity of the laser signal is a preset amplification. If it is higher, it is determined whether the amplification of the amplification stage is reduced to a maximum, and the intensity of the laser signal is compared with the threshold of the preset amplification level again,
When the intensity of the laser signal is higher than a preset amplification degree, the tracking control unit decreases the temperature of the first photodetector and the second photodetector using the heater when the amplification degree of the amplification stage is reduced to the maximum, A laser position sensor-based target tracking device, characterized in that it reduces the amplification level of the amplification stage when it is not reduced to the maximum. delete According to claim 1,
The first optical receiving optical system and the second optical receiving optical system each include a focusing lens for collecting the laser signal incident to the photodetector, and a band filter for blocking sunlight and receiving only the laser signal. Based on a laser position sensor target tracking device. delete According to claim 1,
The analog amplifying unit includes a first amplifier and a second amplifier, and each amplifier is configured in multiple stages to amplify the input current signal. According to claim 1,
The tracking control unit calculates the angle information, distance information, and speed information of the target through the converted digital signal, and transmits a control signal for controlling the control gimbal. In the target tracking method based on the laser position sensor by the target tracking device,
a target tracking preparation step in which the control gimbal is initialized, the amplification degree of the amplification unit is set to the maximum value, the photodetector temperature of the photodetector unit is set to the maximum value, and the target-indicating laser transmits a laser signal toward the target;
a target tracking determining step of receiving the laser signal reflected from the target and determining whether to track the target according to the intensity of the received laser signal when the reflected laser signal is normally received; and
When target tracking is started in the target tracking determining step, target tracking for calculating target angle information, calculating target distance information based on the target angle information, and calculating a target speed based on the target angle information and the target distance information comprising steps;
In the target tracking step, the angle between the target and the first light receiving optical system and the second light receiving optical system by the laser signals respectively received by the light receiving optical unit including the first and second light receiving optical systems having the same shape Check, check the distance between the target and the first optical system and the second optical system according to the angle and the time when the laser signal is received, and the speed and the traveling direction of the target through the angle and the distance to calculate,
Obtaining three-dimensional target position information through two-dimensional target position information including the angle, the distance, and the moving direction of the target,
The photodetector includes a multi-divided detection surface, a heater and a temperature sensor coupled to a lower portion in a direction opposite to the focusing direction of the detection surface and the laser signal to vary the reactivity of the detection surface according to temperature change. a photodetector and a second photodetector,
In the target tracking step, the intensity of the received laser signal is compared with a threshold of a preset amplification, and when the intensity of the laser signal is lower than a preset amplification, the target is tracked, and the intensity of the laser signal is amplified by a preset amplification. If it is higher than FIG., it is determined whether the amplification of the amplification stage is reduced to the maximum, and again the intensity of the laser signal and the threshold of the preset amplification are compared,
In the target tracking step, when the intensity of the laser signal is higher than a preset amplification degree, when the amplification degree of the amplification stage is reduced to the maximum, the temperatures of the first photodetector and the second photodetector are reduced using the heater, , A laser position sensor-based target tracking method, characterized in that reducing the amplification degree of the amplification stage if not reduced to the maximum. 8. The method of claim 7,
In the target tracking determining step, when the laser signal is not received, the laser position sensor-based target tracking method, characterized in that the control gimbal is driven by the yaw axis and the pitch axis to perform target search. 8. The method of claim 7,
In the target tracking step, when the intensity of the received laser signal is greater than a preset amplification, the amplification level of the amplification unit is reduced or the temperature of the photodetector unit is reduced. 8. The method of claim 7
In the target tracking step, when the target is tracked, the calculated target angle information, the target angle information, and the target speed information are output, and the target is located at the center of the target tracking device. ) A laser position sensor-based target tracking method, characterized in that it is driven by the axis and the pitch axis. A computer-readable recording medium in which information coded as an instruction executable in a computer for the laser position sensor-based target tracking method according to any one of claims 7 to 10 is recorded.

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