KR20180085300A - Apparatus for calculating target information, method thereof and flight control system comprising the same - Google Patents

Abstract

The present invention relates to a target information calculation apparatus, a method thereof, and a flight control system having the same. According to one aspect of the present application, a relative distance between a flying object and a target can be accurately calculated only by an angle between the position of the flying object and the target at two different viewpoints. Therefore, the present invention can estimate the size of the target from the calculated relative distance, and a target tracking function can be improved for an airplane controlled by the apparatus.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a target information calculation device, a method thereof, and a flight control system including the target information calculation device,

The present application relates to a target information calculation apparatus, a method thereof, and a flight control system including the same.

Missile is a flying object that shoots a target. The missile should have a function to accurately track the target. Generally, the missile can use a known algorithm considering the size of the image target captured by the image searcher attached to the missile during the target tracking. However, most of these algorithms are difficult to operate in real time. For example, a typical algorithm DOG (Difference of Gaussian) considering the size of an image target is limited in performance in order to operate in real time.

On the other hand, the image searcher used in the missile can use various frequencies (Hz), but generally uses 30Hz or 60Hz which is often used in the camera. In addition, the target tracking hardware of the missile with limited amount of mount is often chosen to have lower performance than the PC used in the market because it uses the proven product to prevent malfunction in advance.

For these reasons, it is possible to use various algorithms known for target tracking even in the missile using the image explorer, but due to the nature of the missile, high-performance hardware such as a general computer can not be used unconditionally. Therefore, an algorithm that can operate in real time in a limited system is required.

As described above, the missile can use an algorithm that takes into account the size of the image target to track the target. This is because the image target of the missile rapidly changes in proportion to the speed of the missile, and it is difficult to accurately track the target if the size of the image target is not considered. At this time, the size of the image target can be accurately estimated through the relative distance with the target.

In the related art, there has been known a technique of estimating the size of an image target by measuring a relative distance through an active sensor such as a radio frequency sensor or a laser sensor. However, the above-mentioned active sensor is costly in terms of cost, and the use of the active sensor can confirm whether or not the target has launched the missile, thereby negatively affecting the interception rate of the missile.

Meanwhile, a passive sensor such as an infrared image sensor or a charge-coupled device image sensor can solve the problem caused by using the active sensor, It is difficult to measure the relative distance. Therefore, since the size of the target can not be accurately estimated by using a known algorithm, the tracking function of the missile There is a problem of deterioration.

Therefore, there is a need for a technique that can improve the tracking function of the missile by accurately calculating the relative distance to the target while using a passive sensor.

The present application is intended to provide a target information calculation apparatus and method that can accurately calculate the relative distance between a flying object and a target based on the position of a fuselage and the angle of a target, thereby accurately estimating the size of the target. It is another object of the present invention to provide a flight control system capable of controlling a flight in which a tracking function of a flight body is improved by receiving the above information.

A sensor for detecting a target, a sensor for detecting the target, a receiver for receiving the position of the target and the object captured from the sensor, a display for displaying the received position as an image, There is provided a target information calculation device for calculating a relative distance between a vehicle and a target at a first point of time based on a position of a fuselage and an angle of a target at a second point in time,

The target information calculation device according to an embodiment of the present application calculates a relative distance between a flying object and a target on the basis of the position of the flying object and the angle of the target, By precisely identifying the target, only the target can be precisely intercepted.

1 is a configuration diagram of an exemplary target information calculation device according to the present application.
2 is a flowchart of an exemplary target information calculation method according to the present application.
3 is a conceptual diagram showing a general triangulation algorithm.
4 is a diagram for explaining the application of the triangulation algorithm in the calculation unit of the target information calculation apparatus according to the present application.
5 is a diagram showing a simulation for verifying the performance of the target information calculation apparatus according to the present application as one embodiment.
Figures 6 and 7 are the results displayed on the images at 220 and 270 frames, respectively, when the target of the simulation is leftward.
Figures 8 and 9 show the results displayed on the images at 220 and 270 frames, respectively, when the target of the simulation is backward.

The present application relates to a target information calculation apparatus. Exemplary target information calculation apparatus of the present application can acquire distance and size information by only the angle between the position of the fuselage and the target so that the fuselage controlled by the device can improve the target tracking function to accurately intercept the target have.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. However, the present application may be embodied in many different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

1 is a configuration diagram of a target information calculation device of the present application.

1, the target information calculation apparatus includes a sensor unit 10, a receiving unit 20, a display unit 30, and a calculating unit 40. [

The target information calculation apparatus according to an embodiment of the present invention includes a sensor unit 10 provided on a vehicle for capturing a target and a receiver 20 for receiving the position of the target and the object captured from the sensor unit 10, A display unit 30 for displaying the received position as an image, a display unit 30 for displaying the received position at a first point of time, a second point of time at the first point of time, And a calculation unit 40 for calculating the relative distance between the flying object and the target.

The flight vehicle may be a flight vehicle requiring a function of tracking a target, for example, a military missile, an unmanned exploration system, or the like, and may be a guided car. In addition, the target may be an object to be traced by a vehicle, for example, the target may be a stopped object.

In one example, the sensor unit 10 may be provided on a vehicle for capturing a target. For example, the sensor unit 10 may transmit the position of the captured target to the receiving unit 20 in real time. The location may be, for example, longitude, latitude, altitude, and the like. The position can be displayed as an image by the display unit 30 to be described later, and can be converted into relative distance or size information through an equation described later, and the flight vehicle receiving the converted information can accurately display the target and the surrounding environment Identification is possible, and the tracking function can be improved. Also, since the sensor unit 10 continuously updates the position of the flying object and the position of the captured target from the sensor unit, the reliability of the relative distance value calculated from the position can be excellent.

The normal sensor unit 10 may be, for example, a passive sensor, and may be an infrared image sensor or a charge-coupled device image sensor. The passive sensor can be implemented at a lower cost than the active sensor, and in conjunction with the device according to the present application, a target tracking function similar to an active sensor.

The receiving unit 20 can receive the position of the target and the object captured from the sensor unit 10 in real time. Since the position of the receiving unit 20 is continuously updated, the reliability of the relative distance value calculated by the calculating unit 40 described later can be excellent.

In another example, the display unit 30 may display the received position as an image. For example, the display unit 30 can display an x-axis coordinate, a y-axis coordinate, an altitude of a flying object, an x-axis coordinate of a target, a y-axis coordinate of a target, and an altitude of a target.

In the present application, the term " first time point " means a time point at which a relative distance between a flight vehicle and a target is calculated, the term " second time point " means a previous time point of the first time point, Is not limited to a specific point in time but means an arbitrary point of time for indicating a continuous point of view.

In the present application, the calculating unit 40 can calculate the relative distance between the object and the target using a triangulation algorithm.

3 is a conceptual diagram showing a general triangulation algorithm.

를 구하는 알고리즘이다.Referring to FIG. 3, the triangulation algorithm is generally applied to astronomical observation, distance measurement, and position confirmation. The algorithm uses two coordinates of coordinates and an angle of an object identified at each of the observation positions, Referring to FIG. 3, the triangulation algorithm includes two observation positions A and B, and an angle α with respect to the position C of the object with respect to each observation position, And β are used to determine the distance from the object to the specific position (H)

.

For example, the calculating unit 40 may calculate an x-axis coordinate, a y-axis coordinate, an altitude of a flying object, an x-axis coordinate of a target, a y- The relative distance can be calculated.

In one embodiment, the calculating unit 40 calculates the angle between the object and the target based on the position of the object and the object, and calculates a relative distance between the object and the object at the first point of time from the calculated angle Can be calculated.

For example, the calculating unit 40 may calculate the relative distance r by the following equation (1).

[Equation 1]

는 표적 각도을 나타내며,

는 제1 비행체 각도를 나타낸다.In the above Equation 1, M, T, t, and t-1 denote a flying object, a target, a first viewpoint and a second viewpoint, respectively,

Represents the target angle,

Represents the first air vehicle angle.

4 is a diagram for explaining the application of the triangulation algorithm in the calculation unit of the target information calculation apparatus according to the present application.

는 제1 시점에서의 비행체와 표적의 위치를 직선으로 연결한 거리를 나타내고,

는 제1 시점에서의 비행체와 제2 시점에서의 비행체의 위치를 직선으로 연결한 거리를 나타낸다. 또한, 표적 각도(

)는 제1 시점에서의 비행체 위치, 제2 시점에서의 비행체 위치 및 표적 위치를 직선으로 연결하여 이루는 삼각형에 대해서, 표적의 위치가 중심이 되는 내각을 나타내고, 제1 비행체 각도(

)는 상기 삼각형에 대해서, 제1 시점에서의 비행체의 위치가 중심이 되는 내각을 나타낸다.Referring to FIG. 4, in Equation (1)

Represents a distance obtained by straightly connecting the position of the target and the object at the first view point,

Represents a distance obtained by connecting the position of the air vehicle at the first time point and the position of the air vehicle at the second time point in a straight line. Also, the target angle (

Represents a cabin centered on the position of the target with respect to a triangle formed by connecting the position of the fighter at the first point of time, the position of the fighter at the second point of time and the target position with a straight line,

Represents an internal angle at which the position of the flying object at the first time point is centered with respect to the triangle.

As described above, the target information calculation device according to the present application can accurately calculate the relative distance using only the position and angle of the flying object and the target at two different view points using Equation (1), and the known arc tangent and the Kalman Accurate estimation of the target size from the calculated relative distance is possible through the filter algorithm, so that a good target tracking function can be implemented in the airplane controlled by the device.

), 제2 비행체 각도(

) 및 표적 각도(

)를 산출할 수 있다.In one example, the calculating unit 40 compares the altitudes of the flights at the first and second points of time,

), The second flight angle (

) And target angle (

) Can be calculated.

) 및 표적 각도(

)을 산출할 수 있다.For example, when the flight altitude at the first point in time is higher than the flight altitude at the second point in time, the calculation unit 40 calculates the first aircraft angle

) And target angle (

) Can be calculated.

&Quot; (2) "

&Quot; (3) "

는 제1 산출각을 나타내고,

는 제2 산출각을 나타내며, α는 비행체의 제1 좌표 설정값을 나타낸다.In Equation (2)

Represents a first calculation angle,

Represents a second calculation angle, and a represents a first coordinate set value of the flying object.

Wherein the first calculated angle is an angle obtained by converting the position of the target with respect to the position of the fighter at the first point of time displayed on the image into an angle and then adding the fellow attitude angle at the first point of time tilted toward the target side, The calculation angle is an angle obtained by converting the position of the target with respect to the position of the fighter at the second time point displayed on the image to an angle and adding the fighter posture angle at the second time point inclined to the target side.

In one example, the first coordinate set value? Of the air vehicle may be determined by the following equation (4).

&Quot; (4) "

는 제2 시점에서의 비행체의 x축 좌표를 나타내고,

는 제1 시점에서의 비행체의 y축 좌표를 나타낸다.In Equation (4)

Axis coordinate of the flying object at the second time point,

Represents the y-axis coordinate of the flying object at the first time point.

) 및 표적 각도(

)을 산출할 수 있다.In another example, when the flight altitude at the first point in time is lower than the flight altitude at the second point in time, the calculation unit 40 calculates the first airplane angle < RTI ID = 0.0 >

) And target angle (

) Can be calculated.

&Quot; (5) "

 &Quot; (6) "

는 제1 산출각을 나타내고,

는 제2 산출각을 나타내며,

는 비행체의 제2 좌표 설정값을 나타낸다. 상기 비행체의 제2 좌표 설정값(

)은, 예를 들어, 하기 수학식 7에 의해 결정될 수 있다.In Equation (5)

Represents a first calculation angle,

Represents a second calculation angle,

Represents the second coordinate set value of the air vehicle. The second coordinate set value (

) Can be determined, for example, by the following equation (7).

&Quot; (7) "

는 제1 시점에서의 비행체의 x축 좌표를 나타내고,

는 제2 시점에서의 비행체의 y축 좌표를 나타낸다.In Equation (7)

Axis coordinate of the air vehicle at the first time point,

Represents the y-axis coordinate of the flying object at the second time point.

In one example, the target information calculation device may further include an estimation unit 50. [ The estimator 50 can accurately estimate the size of the target based on the calculated relative distances using arc tangent and Kalman filter algorithms described later.

In another example, the target information calculation device may further include a control unit 60. [ The control unit 60 can control the air vehicle and can control the air vehicle to identify the target and the surrounding environment based on the calculated relative distance and the size of the estimated target to precisely intercept the target only have.

As described above, the target information calculation device according to the present application can accurately and quickly calculate the relative distance between the object and the target with only the position and angle information at two different viewpoints, and is relatively inexpensive, Can be applied to a flight vehicle equipped with a passive sensor to limit the target tracking function of the flight vehicle.

The present application relates to a method for calculating target information. The above calculation method can be performed using the above-described calculation apparatus, and thus the contents overlapping with the above description will be omitted.

2 is a flowchart of an exemplary target information calculation method according to the present application.

2, an exemplary target information calculation method includes a receiving step of receiving a flying object and a target position, a display step of displaying the received position as an image, a display step of displaying the received position as a first point, And a calculating step of calculating a relative distance between the flying object and the target at the first point of view based on the position of the fuselage and the angle of the target at the two points of time.

In addition, the method may further include estimating the size of the target from the calculated relative distances using arc tangent and Kalman filter algorithms to be described later.

The present application also relates to a flight control system.

An exemplary flight control system includes a flight vehicle and the aforementioned target information calculation device. Since the system can control the air vehicle using the above-described target information calculation device, the description of the parts overlapping with those described in the target information calculation device will be omitted.

Hereinafter, the performance of the facial expression information calculating apparatus of the present application is verified by using arc tangent and Kalman filter algorithm.

The arc tangent algorithm is an algorithm for converting the above-described relative distance into pixel information on an image screen. The Kalman filter algorithm verifies the pixel information, and calculates the size of a target of the next time based on the verified pixel information It is an algorithm to estimate continuously. In the present application, the above two algorithms are combined to enhance the verification reliability of the target information calculation device.

Specifically, the arc-tangent algorithm exhibits a function relationship as shown in Equation (9).

&Quot; (9) "

은 영상 표적의 크기(픽셀 단위)를 의미하고,

은 영상의 총 픽셀의 크기를 의미한다. 또한

은 영상을 촬영하는 카메라의 총 각도를 의미하고, a는 표적의 실제 크기를 의미하며, r은 전술한 수학식 1에 의해 산출되는 상대 거리를 의미한다.here,

Means the size (in pixels) of the image target,

Is the total pixel size of the image. Also

Denotes a total angle of a camera for capturing an image, a denotes an actual size of a target, and r denotes a relative distance calculated by the above-described equation (1).

The camera for capturing the image means the above-described sensor unit 10, for example, an infrared sensor. In addition, the size of the image target can be measured based on the MBR (Minimum Boundary Rectangular) of the target displayed on the image by the display unit 30.

및

은 상수이므로 하기 수학식 10로부터 유도할 수 있다.In Equation (9)

And

Is a constant, it can be derived from the following equation (10).

&Quot; (10) "

은 영상 표적의 크기(각도 단위)를 의미한다.here,

Means the size (in angular units) of the image target.

In this functional relation, the actual size (a) of the target calculated by the least squares method can be substituted.

Specifically, the actual size of the target can be calculated by the following Equation (11).

&Quot; (11) "

는 i시점에서의 표적까지의 거리를 의미하며,

는 i시점에서의 영상 표적의 크기(각도 단위)를 의미한다.Here, i means a time point when an image target is photographed,

Is the distance to the target at i,

Means the size (in angular units) of the image target at the i-th viewpoint.

Further, the distance information estimated by using the Kalman filter algorithm represented by the following equation (12) is used as the arc tangent of the arc tangent model, The size of the target can be estimated by reflecting on the model.

&Quot; (12) "

는 제1 시점에서 추정된 거리값을 나타내고,

는 제2 시점에서 쇄신(update)된 거리값을 나타내며,

는 제1 시점에서 추정된 오차 분포에 대한 공분산 행렬을 나타내고,

는 제2 시점에서 쇄신된 오차 분포에 대한 공분산 행렬 나타내며,

는 상태천이 행렬의 천이행렬을 나타내고,

는 제2 시점에서 프로세스 노이즈 분산값을 나타내고,

는 상태천이 행렬을 나타낸다.In Equation (12)

Represents the estimated distance value at the first time point,

Represents a distance value updated at the second time point,

Represents a covariance matrix for the estimated error distribution at the first time point,

Represents a covariance matrix for the error distribution reconstructed at the second time point,

Represents the transition matrix of the state transition matrix,

Represents a process noise variance value at a second time point,

Represents a state transition matrix.

The Kalman filter algorithm is updated according to the following equation (13) or (14) according to the presence or absence of a measurement, and the presence or absence of the measurement is calculated by calculating a probability area Based on the effective measurement area.

&Quot; (13) "

는 제1 시점에서 상태 행렬을 나타내고,

는 제1 시점에서 전술한 삼각측량법 알고리즘에 의해 산출된 상대 거리를 나타내며,

는 비행체에 의해 측정된 속도를 나타내고,

는 초당 영상생성개수(frame per second)를 나타낸다.In the above equation (13)

Represents a state matrix at a first time point,

Represents the relative distance calculated by the triangulation algorithm at the first point in time,

Represents the speed measured by the vehicle,

Represents the number of image generation per second (frame per second).

&Quot; (14) "

는 제1 시점에서 구한 칼만계수를 나타내고,

는 관측행렬을 나타내며,

는 제1 시점에서의 측정잡음 공분산 행렬을 나타내고,

는 제1 시점에서 전술한 삼각측량법에 의해 산출된 상대거리를 나타낸다.In Equation (14)

Represents the Kalman coefficient obtained at the first time point,

Represents an observation matrix,

Represents the measurement noise covariance matrix at the first time point,

Represents the relative distance calculated by the above-mentioned triangulation method at the first time point.

&Quot; (15) "

는 최대거리 오차값을 나타내고,

는 최소거리 오차값을 나타내며,

는 유효한 표적으로 판단하기 위한 최대 오차크기를 나타내며,

는 제1 시점에서의

의 1행 1열값을 나타내고,

는 제1 시점에서의

의 1행 1열값을 나타낸다.In Equation (15)

Represents the maximum distance error value,

Represents the minimum distance error value,

Represents the maximum error size for judging as a valid target,

Lt; RTI ID = 0.0 >

Quot; 1 " and " 1 "

Lt; RTI ID = 0.0 >

Quot; 1 "

의 값이 9일 때, 산출된 r_max, r_min 값 사이에 측정치가 존재하지 않는 경우, 상기 수학식 13에 따라 칼만 필터 알고리즘이 쇄신된다. 반대로, 측정치가 존재하는 경우, 상기 수학식 14에 의해 칼만 필터 알고리즘이 쇄신된다.Specifically, in Equation (15)

Is 9, and there is no measurement value between the calculated r _max and r _min values, the Kalman filter algorithm is renewed according to Equation (13). Conversely, if there is a measurement, the Kalman filter algorithm is refined according to Equation (14).

In one embodiment, the arctangent algorithm and the Kalman filter algorithm are combined to verify the performance of the target information calculation device according to the present application, and the simulation is configured as shown in FIG. Referring to FIG. 5, the simulation allows the target to stop. In order to analyze and compare the accuracy of estimating the size of the accurate stop target, an ideal environment is established without any obstacle in the vicinity of the target or the moving object. The target used in the simulation was a tank, and the tank was set to have a size of about 10 m in width, 8 m in height, and 6 m in height except gun barrel. Therefore, since the shape is long in the left and right directions, it is possible to confirm the performance of the target when it is directed toward the backward and leftward directions.

Figures 6 and 7 are the results displayed on the images at 220 and 270 frames, respectively, when the target of the simulation is leftward.

Figures 8 and 9 show the results displayed on the images at 220 and 270 frames, respectively, when the target of the simulation is backward.

The above simulation is performed and the results displayed on the image at 270 frames are shown in Table 1 below.

Performance comparison index Left Backward The percentage of the target that is present in the region of interest 98% 100% Percentage of non-MBR pixels in the target area 18.3% 0% MBR (Minimum Boundary Rectangular): An outermost rectangle that can surround an object

As shown in Table 1, 98% of the object is out of a certain level in the region of interest due to a pixel error of the object used in the target tracking filter in the left direction, and 100% exists in the backward direction. In addition, when the complex shape of the object is viewed as a simple rectangle using the MBR, the ratio of the pixels other than the object in the region of interest excluding the MBR is 18.3% and 0%, respectively. Comprehensive analysis using the above two data shows that most of the targets are included in the area of interest by the target size estimation algorithm and the error of estimating the error outside target size due to the complex shape of the object is less than 20%. Therefore, the target information calculation apparatus of the present application for calculating the relative distance using the triangulation method is shown to be suitable for object size estimation.

As described above, although the present application has been described with reference to the limited embodiments and drawings, the present application is not limited thereto, and various modifications and variations may be possible.

10: Sensor unit
20: Receiver
30:
40:
50:
60:

Claims (9)

A sensor unit provided on a vehicle for capturing a target;
A receiver for receiving the position of the target and the object from the sensor unit;
A display unit for displaying the received position as an image; And
And calculates a relative distance between the flying object and the target at the first point of time based on the first point of time, the position of the fuselage at the second point of time before the first point of time, and the angle of the target. The method according to claim 1,
Wherein the calculating unit calculates the relative distance by the following equation (1): " (1) "
[Equation 1]

In the above Equation 1, M, T, t, and t-1 denote a flying object, a target, a first viewpoint and a second viewpoint, respectively,

Represents the target angle,

Represents the first air vehicle angle. The method according to claim 1,
The calculating unit compares the altitudes of the flying objects at the first and second points of time,

), The second flight angle (

) And target angle (

) Of the target information. The method of claim 3,
When the flight altitude at the first point in time is higher than the flight altitude at the second point in time, the calculation unit calculates the first flight angle

) And target angle (

): ≪ EMI ID = 2.0 >
&Quot; (2) "

&Quot; (3) "

In Equation (2)

Represents a first calculation angle,

Represents a second calculation angle, and a represents a first coordinate set value of the flying object. 5. The method of claim 4,
The first coordinate set value (

) Is determined by the following equation (4):
&Quot; (4) "

In Equation (4)

Axis coordinate of the flying object at the second time point,

Represents the y-axis coordinate of the flying object at the first time point. The method of claim 3,
If the flight altitude at the first point in time is lower than the flight altitude at the second point in time, the calculation unit calculates the first aircraft angle < RTI ID = 0.0 >

) And target angle (

): ≪ / RTI >
&Quot; (5) "

&Quot; (6) "

In Equation (5)

Represents a first calculation angle,

Represents a second calculation angle,

Represents the second coordinate set value of the air vehicle. 7. The method of claim 6, further comprising:

) Is determined by the following formula (7): " (7) "
&Quot; (7) "

In Equation (4)

Axis coordinate of the air vehicle at the first time point,

Represents the y-axis coordinate of the flying object at the second time point. A receiving step of receiving a flying object and a target position;
A display step of displaying the received position as an image; And
Calculating a relative distance between the flying object and the target at the first time point based on the first point of time, the position of the fuselage at the second point of time before the first point of time, and the angle of the target, Way. Flight; And
A flight control system comprising the target information calculation device according to any one of claims 1 to 7 for controlling the air vehicle.

Images