RU152656U1 - OPTICAL-ELECTRONIC DEVICE FOR DETECTION OF SMALL-SIZED UNMANNED AERIAL VEHICLES - Google Patents

Abstract

1. Optoelectronic device for detecting small-sized unmanned aerial vehicles (MBLA), consisting of television sensors, rigidly interconnected and having outputs, respectively connected to computer inputs with software, the operation of which is to select an object against a remote background, in reception and image formation at spatially separated points, as well as the simultaneous registration of digital images generated by high-speed photodetectors of television sensors, analysis and images are carried out by determining the magnitude of the displacement of the characteristic fragments of the compared image with the same fragments of the reference, characterized in that in the reception and formation of images using eight television sensors placed in three synchronized sets with a protective glass on the platform of the L-shaped view with an angle of 90 ° in the middle, where the first set of television sensors with a protective glass, which consists of four television sensors placed at angles of 45 ° vertically and along orizontali 90 ° from each other, thereby creating a total of review space 360 °, which allows through the use of computer software to detect MBLA in prostranstve.2. The optoelectronic device for detecting MBLA according to claim 1, characterized in that the other two sets of television sensors with protective glass placed on the L-shaped platform at the edges with a base one meter from the central, consist of two television sensors placed under angles of 45 ° vertically and horizontally through 180 ° from each other,

Description

The utility model relates to the field of detection of small unmanned aerial vehicles (MBA) and can be used in military equipment.

There are various methods and technical solutions for detecting aircraft using the circular viewing method with a matrix photodetector and a device for its implementation (RF patent No. 2445644), optical radar circular viewing (RF patent No. 2352957) [1, 2]. The disadvantages are the complexity of the design, large size, high engine power for rotating the camera (all-round visibility) and, accordingly, errors in taking the result.

The device for direction finding and coordinates determination of unmanned aerial vehicles (RF patent No. 126846) consists in using several circular cameras operating in the optical range of electromagnetic waves day and night, a unit for determining the direction of the UAV, a control unit for the moving head, consisting of a radiator and a radiation receiver while the control unit guides the emitter of the moving head on the UAV to measure the distance to it, characterized in that the appearance of the UAV is detected automatically to the interference that occurs on the frame of the video sequence relative to the previous one and using the reference coordinates of the direction finding device (X ₁ , Y ₁ , Z ₁ ), the horizontal angle α ₁ , the vertical angle α ₂ (measured on a space-oriented monitor) using a super-sensitive electric motor direct the moving head which, using laser light, measures the distance to the UAV D, determining the exact location of the UAV in space (X _2, Y _2, Z ₂₎ are calculated with a computer, the automated system GRAIN Information ki determines the direction of movement of the UAV and displays it on a computer monitor [3].

The known device for direction finding and determining the coordinates of unmanned aerial vehicles has the following disadvantages: the use of laser radiation is not effective for detecting MBLAs because it unmasks the hidden positions of reconnaissance vehicles, thereby limiting the use of anti-MBL weapons.

The closest analogue is a television range finder (RF patent No. 126846 prototype) [4], consisting of two television sensors, a scan generator, two working selectors, two control selectors, a measuring device and a subtracter, where the first and second outputs of the scan generator are connected to the first and second the inputs of the first and second television sensors, rigidly interconnected and having outputs, respectively connected to the inputs of the first working selector and the first control selector and to the inputs of the second working selector and a second control selector, characterized in that vertical marker marks are used in television sensors and two object edge analyzers, a second and third measuring device, an AND-OR element block and an adder are introduced, while the outputs of the first and second working selectors through the first and second analyzers the edges of the objects are connected to the first inputs of the first and second measuring devices and, respectively, with the first and second inputs of the block of AND-OR elements having a group of inputs and a group of outputs, respectively, connected non-output with a group of outputs of a third measuring device and with a first group of inputs of an adder having a group of outputs and a second group of inputs respectively connected to a group of inputs of a range indicator and a group of outputs of a subtracter, the first and second groups of inputs of which are respectively connected to the groups of outputs of the first and second measuring device the second inputs of which are respectively connected to the outputs of the first and second control selectors, also connected to the first and second inputs of the third measuring stroystva.

The well-known television rangefinder has the following disadvantages: the complexity of the design using a large number of blocks, which makes this device very powerful, which can be used on stationary and large moving objects; a sufficiently large electricity consumption is needed; the device does not solve the problem of spatial detection of MBLA and determination of their coordinates, since it works in a narrow sector of determining the range and nothing more.

The task facing this device is to detect MBLA 360 ° horizontally and 90 ° vertically, to work in the optical range of electromagnetic waves, to determine the range to MBLA in passive mode of operation.

Optoelectronic device (OEU) detection consists of the following elements: three synchronized sets of television sensors with protective glass 1 are placed on the platform 2 L-shaped with an angle of 90 ° in the middle (Fig. 1). In the middle of the PES, in the center of the angle of the platform 2, there is a set of television sensors with a protective glass 1, which consists of four television sensors 3, placed at an angle of 45 ° vertically b (Fig. 1) and horizontally through 90 ° from each other, thereby creating a 360 ° overview of the space and the ability to detect MBLA in space (Fig. 2). The remaining two sets of television sensors with protective glass 1 are placed on the platform 2 L-shaped at the edges with a base of one meter from the central. These kits are designed to determine the range to MBLA in passive mode and consist of two television sensors placed at angles of 45 ° vertically (Fig. 1) and horizontally through 180 ° from each other (Fig. 2), thereby forming stereo pairs with four television sensors of the central kit. All television sensors are rigidly fixed and strictly aligned among themselves in pairs: 3.1.1-3.2.1; 3.1.2-3.2.2; 3.1.3-3.2.3; 3.1.4-3.2.4 and have outputs respectively connected to the inputs of the computer 4 (Fig. 3). The connection between the television sensors 3 and the computer is carried out by wires laid inside the platform 2 and the cable channel 5. The power of all elements of the device is made from the computer battery 4 (Fig. 3).

The operation and processing of the information obtained is controlled by computer software 4, the operation of which is to select an object against a remote background, receive and form images at spatially separated points, as well as simultaneously register generated digital images with high-speed photodetectors of television sensors, image analysis is carried out using determining the offset values of characteristic fragments of the compared image with similar fragments of the reference (Fig. 3) [5] ·

Television sensors 3 OEUs can correspond to the following values: wide-angle, ultra-sensitive day-night cameras with 1/2 ″ Progressive CMOS CCDs and a resolution of 600 TVL (television lines).

Before starting the operation of the OED, the computer enters the initial data: the coordinates of the OED (X _OEU , U _OEU , Z _OEU ) and the orientation values of the OEU in the direction in space, which depend on the terrain and the object on which we plan to place the OEU. Data is entered manually or automatically from the topographic and navigation sensor 7. If the OED is installed on a moving object, then the information from the topographic and navigation sensor 7 is updated automatically with time coordination [6].

The optical-electronic device for detecting MBLA works as follows: electromagnetic radiation from MBLA 6 is supplied to two television sensors, in this case a stereo pair: 3.1.2 and 3.2.2 (Fig. 4: a - side view, b - top view of the optical electronic device). The detection of MBLA 6 is based on a comparison of the frames of the video sequence and the determination of geometric and color changes formed by the images of the television sensor 3.2.2 [5]. Computer 4 automatically selects the main television sensor for determining the range to MBLA, in this case 3.1.2, and for determining the angle γ the television sensor 3.2.2 (Fig. 5).

The range D to the MBLA is determined by the magnitude of the parallactic angle γ and the size of the base of the device B (stereoscopic basic method of measuring range) [6], determined by the position of the projection point of the MBLA on the CCD 8 matrix (Fig. 5)

.

.

In the device, the angle γ is determined based on the value of the linear parallax P, measured by the device as

,

,

where f is the focal length of the lenses of the device.

The image analysis is carried out on a computer 4 and the displacement value P _3.1.2 (television sensor 3.1.2) is determined, which is the point of the parallel-beam beam D ₁ 9 (television sensor 3.2.2), relative to it P _3.2..2 10 is determined and, accordingly γ (Fig. 6). Television sensors are rigidly fixed, aligned, and their CCD matrices are coordinated, so the error in determining the distance to the MBLA is small.

The range D ₁ to MBLA is determined by the magnitude of the parallactic angle γ determined by the expression γ = P _3.2.2 / f and the magnitude of the base between the sensors B (Fig. 7). Using certain coordinates of the L-shaped platform and direction angles, ε _MBLA , α _MBLA , computer 4 calculates the spatial coordinates of the MBLA in the optical range of electromagnetic waves. Determining the constantly spatial coordinates of the MBLA, the computer 4 determines the speed and direction of movement, which allows for the maintenance of MBLA.

, (Pε_тд величина приращения параллактического смещения Ρ_3.1.2 по оси Y ПЗС - матрицы телевизионного датчика) (фиг. 6) [4].Information about the coordinates of the OEU is determined automatically and comes from the topographic and navigation sensor 7 or manually entered data received from topographic maps (for example, X _OEU , U _OEU , Z _OEU ) and enters into computer 4. In computer 4 received data about the distances between the OED and the MBLA equal to D1, the horizontal angle α _MBLA and the vertical angle ε _MBLA (television sensor), in this case ε _MBLA = 45 ° -ε _td , from the PDU to MBLA 6, the spatial coordinates of the MBLA are processed and calculated using the formulas : X _MBLA = X _OEU + ΔX = X _OEU + D cos (α _MBLA ); In _MBLA = In _OEU + ΔY = In _OEU + D sin (α _MBLA ); Z _MBLA = Z _OEU + ΔZ = Z _OEU + D sin (ε _MBLA ) (Fig. 7), where the horizontal angle - α _{MBLA is} calculated by the formula α _MBLA = Pα / f (Pα is the increment of the parallactic displacement смещ _3.1.2 along the axis X CCD - television sensor matrix), and the vertical angle ε _{td is} calculated by the formula

, (Pε _etc. magnitude of the increment of the parallactic displacement Ρ _3.1.2 along the Y axis of the CCD - the matrix of the television sensor) (Fig. 6) [4].

Based on the constant adjustment of the location of the MBLA on the computer monitor 4, the operator is given information about the current coordinates and the distance to the target, as well as the direction of its movement is drawn for aiming the means to combat MBLA.

Thus, having small dimensions, energy consumption and cost, the OED allows detecting MBLA 360 ° horizontally and 90 ° vertically in the optical range of electromagnetic waves, determining the distance to MBLA and, accordingly, spatial coordinates in the passive mode, with the aim of further struggle with them.

Information sources

1. Brown Φ.M., Volkov R.I., Filatov M.I., Khazov A.M. The method of circular review matrix photodetector device and a device for its implementation. - FIPS. Patent for invention №2445644, 03.20.2012

2. Arkhipov V.G., Zhang Yu.V. Optical radar locator. - FIPS. Patent for invention No. 2352957, 04/20/2009

3. Shishkov S.V. Direction finding and coordinates determination of unmanned aerial vehicles. - FIPS. Utility Model Patent No. 126846, 04/10/2013

4. Chasovskoy A.A. Television range finder. - FIPS. Utility Model Patent No. 2310887, November 20, 2007

5. Shishkov S.V., Muzai K., Ustinov E.M., Parkhomenko A.V., Chernov E.M., Scherbakov A.S. A program for determining geometric changes in frames of a video sequence for detecting UAVs. - FIPS. Certificate of state registration of computer programs No. 2013311694, 01/31/13.

6. Parkhomenko A.V. Artillery intelligence. At 2 p.m. Artillery reconnaissance devices. - Penza: PAII, 2010 .-- 422 pp., Ill.

Claims (4)

1. Optoelectronic device for detecting small-sized unmanned aerial vehicles (MBLA), consisting of television sensors, rigidly interconnected and having outputs, respectively connected to computer inputs with software, the operation of which is to select an object against a remote background, in reception and image formation at spatially separated points, as well as the simultaneous registration of digital images generated by high-speed photodetectors of television sensors, analysis and images are carried out by determining the magnitude of the displacement of the characteristic fragments of the compared image with the same fragments of the reference, characterized in that in the reception and formation of images using eight television sensors placed in three synchronized sets with a protective glass on the platform of the L-shaped view with an angle of 90 ° in the middle, where the first set of television sensors with a protective glass, which consists of four television sensors placed at angles of 45 ° vertically and along orizontali through 90 ° from each other, thereby creating in the amount of space on the review of 360 °, which enables through the use of computer software to detect MBLA in space. 2. The optoelectronic device for detecting MBLA according to claim 1, characterized in that the other two sets of television sensors with protective glass placed on the L-shaped platform at the edges with a base one meter from the central, consist of two television sensors, placed at angles of 45 ° vertically and horizontally through 180 ° from each other, thereby forming stereo pairs with four television sensors of the central kit for determining the range to MBLA in passive mode. 3. The optical-electronic device for detecting MBLA according to claim 1, characterized in that it also determines the spatial coordinates X _MBLA , Y _MBLA , Z _MBLA , consists in calculating the EAM according to the formulas: X _MBLA = X _OEU + ΔX = X _OEU + D cos (α _MBLA ); In _MBLA = In _OEU + ΔY = In _OEU + D sin (α _MBLA ); Z _MBLA = Z _OEU + ΔZ = Z _OEU + D sin (ε _MBLA ), where α _MBLA is the horizontal angle, is calculated by the increment of the parallactic displacement of the pixel point along the X axis of the CCD - the matrix of the television sensor, ε _MBLA - the height angle, is calculated by the formula ε _MBLA = 45 ° ± ε _td , where ε _{td is} calculated by the magnitude of the increment of the parallactic displacement of the pixel point along the оси axis of the CCD - the matrix of the television sensor, while the information about the spatial coordinates of the OEDU X _OEU , U _OEU , Z _OEU is entered into a computer in manual mode or in automatic mode with a topographic sensor dressing and navigation. 4. Optoelectronic device for detecting MBLA according to claim 1, characterized in that the television sensors are powered by a computer battery with wires laid inside the platform and through a cable channel connecting the platform with television sensors and computers, as well as used to obtain information , its processing on a computer and issuing the operator to the monitor.

Images