RU2274876C1 - Method and device for determining coordinates of object - Google Patents

Abstract

FIELD: instrument engineering.

SUBSTANCE: method and device belong to angle-measuring assemblies for determining coordinates of remote object. After coordinates of area of observation are fixed, a set of shoots of panorama of region is made and the shoots made are introduced into memory of frame field unit. Then shoots are combined by means of correlation device into integral reference panorama of region to be observed. Relative angular coordinates in form of points of image are fixed on the base of pre-known parameters of optical system. Then real angular position of panorama is determined. After that the viewer brings pointing direction into coincidence with one or another object to be viewed and recording of corresponding frame is performed. Frame goes to correlation device, which finds location of similar shoot at reference panorama. Control and commutation unit fixes real angles at object of viewing. During process of observation, optical axis of pointing of direction is stabilized due to decoupling it from case of optical device of observer. Device has optical observation system connected with device for fixing optical image in digital form. Device for observation of self-coordinates of observer is introduced into the device for determining coordinates of objects. The former has output connected with input of control and calculation device. Device for fixing optical image in digital form has output connected with input of single-frame memory unit which has its inputs-outputs connected with input-output of correlation device correspondingly. Correlation device has its output-input connected with input-output of frame field memory unit. Correlation device has its output-input connected with input-output of control and calculation unit. Frame field memory unit has its output also connected with input of control and calculation unit which performs function of determination of angular coordinates. All the devices, tools and units are disposed on case of optical observation system.

EFFECT: improved reliability; improved precision.

4 cl, 1 dwg

Description

The invention relates to instrumentation, namely to goniometric complexes for determining the coordinates of a remote object.

Known (see, for example, RF patent No. 2123165) is an optical laser system for aiming and ranging air targets. The system consists of a laser emitter with a pumping unit and a radiation receiver, which are part of the optical servo system and rangefinder channel, as well as a calculation unit. In this case, the tracking system contains a mirror mounted with the possibility of rotation, the position of which is determined by the signal generated by the calculation unit. A telescopic lens is used to reduce beam divergence. The disadvantage of the system is its relatively narrow application - mainly for air-to-air missiles. In addition, the entire system is quite complex and expensive.

Known (see, for example, RF patent No. 2155323) is an optoelectronic target search and tracking system, which contains a movable mirror with an angle sensor and drives, a spectrodividing filter, a direction finding channel, which generates a mismatch signal between the optical axis of the system and the direction to the target, as well as transmitting and receiving laser channels. In the search mode, viewing the target space is carried out by a moving mirror according to the mismatch signals between the direction finding channel information and the external target designation system. The mismatch signal between the optical axis of the system and the direction to the target in two coordinates - azimuth and height is fed to the drives of the moving mirror, bringing the image of the target to the center of the field of view of the sensitive areas. Next, the transition to tracking and ranging mode. The disadvantage of the system is the possibility of its use only for weapons with laser guidance.

Closest to the invention is a location device (see RF patent No. 2032918). A low-power light source, a rotating single-line optical-mechanical scanning device and a control photodetector are introduced in series and optically coupled to it, and an elevation coordinate sensor is introduced, the input of which is connected to the output of the control photodetector, and the output is connected to the second input of the comparison circuit, while a single-line optical-mechanical scanning device is also optically coupled to a laser transmitter and mechanically connected to a rotating azimuth and month angle meter that one. The disadvantage of this device is its limited use - for collision avoidance systems. In addition, the device is quite complex and expensive. This device also does not provide for the possibility of clarifying and stabilizing the spatial axis of sight when observing a distant object.

The objective of the invention is the preliminary formation and orientation of the full panorama of the observed terrain for subsequent fixation of the angular coordinates of the object of observation using the created panorama.

The technical result is high reliability, accuracy and simplicity of the proposed technical solution. In addition, the scope of the invention is expanding significantly, in particular, it can be used on airplanes while maintaining all the available advantages, which previously represented significant difficulties.

The technical result is achieved by the fact that in the method for determining the coordinates of a remote object on the terrain, which includes scanning the terrain, measuring the angular coordinates of terrain objects with data processing in the control and computing device, after fixing the coordinates of the observation site, a series of terrain panoramas are taken from this place and they are introduced into the memory of the block of the field field, then using the correlator the images are combined into a single or reference panorama of the observed area, moreover, they are known in advance the parameters of the optical system on the resulting panorama fix the relative angular coordinates in the form of image points, then orient the panorama with the help of a frame whose coordinates are known, located in the field of view of the observer covered by the panorama, combine the frame with the line of sight, take a picture of this part of the panorama, find a similar picture on the panorama, fix its angular position and with the help of the control device and calculations carry out the corresponding binding of all points of the panorama, that is, determine the source different angular position of the panorama, after which the observer combines the line of sight with one or another observed object and records the corresponding frame, the frame enters the correlator, which finds the position of the same image on the reference panorama, and the control and calculation device captures the true angles to the object of observation, in the process of observation, the optical axis of sight is also stabilized by decoupling it from the body of the observer's optical device.

The technical result is also achieved by the fact that in the device for determining the coordinates of an object on the ground, containing an optical observation system for scanning the terrain, a device for determining angular coordinates, a control and computing device, an optical monitoring system is associated with a device for capturing an optical image in digital form, a device for determining the observer’s own coordinates, connected by its output to the input of the device, was introduced into the device for determining the coordinates of an object on the ground control and computing device for capturing an optical image in digital form is connected by its output to the input of the memory block of one frame, connected by its output-input, respectively, to the input-output of the correlator, which is connected by its output-input, respectively, to the input-output of the frame field memory block and its output-input, respectively, with the input-output of the control and computing device, the frame field memory unit is also connected by its output to the input of the control and computing device, which performs the functions of Nia angular coordinates, the apparatus for fixing an optical image in digital form is placed on the housing of the optical observation system.

In addition, all other indicated devices, devices, and blocks are located on the housing of the optical surveillance system.

Thus, it is possible to fix the true angles to the object of observation by determining the true position of the axis of sight when measuring the coordinates of the object, while the axis of sight is not attached to the body of the optical system. The achieved accuracy and reliability of measurements are maximum. At the same time, the applications in the field of measuring the angular coordinates of distant objects are practically unlimited.

The drawing shows a block diagram of a device for determining the coordinates of an object on the ground.

The device contains an optical surveillance system 1, for example, binoculars, characterized by stabilization of the optical axis of sight due to its decoupling from the housing of the optical monitoring device, as provided for in RF patent No. 2136030. To maintain image stabilization and ease of layout of the device as a whole with all its devices, blocks and elements, it is provided that all of them are placed on the housing of the optical surveillance system. Thus, a stabilized image of an object on the ground through a beam splitter or an additional lens (not shown) is transferred to a device for capturing an optical image in digital form 2, which can be used as a PSZ (charge communication device) - matrix. To record a digitally recorded optical image, the output of the device for capturing an optical image in digital form is connected to the input of the memory unit of one frame 3, which, for example, is a shared memory zone.

The memory block of one frame 3 is connected with its output-input, respectively, to the input-output of the correlator 4, which is part of the universal processor and performs the function of highlighting singular points in the image of the image, finding these singular points on the intersecting parts of the terrain panorama images, comparing singular points of one frame with special points of a panorama of pictures. The correlator 4 is connected by its output-input, respectively, to the input-output of the frame field memory block 5 and to the input-output of the control and computing device 6. The output of the frame field 5 memory block is connected to the input of the control and computing device 6. On the same housing of the optical monitoring system 1, a device can be installed to determine its own coordinates, or a navigation device 7, with its output connected to the input of the control and computation device 6. As a result, the device, in the presence of these connections, functions as a device wa to determine the angular coordinates without using, in particular, individual instruments for measuring the azimuth and measuring the vertical.

A device for determining the coordinates of a remote object on the ground works as follows.

The observer takes the place of observation and determines its coordinates using the navigation device 7. Then the observer makes a series of images of the panorama of the area and enters it into the memory of the frame field 5. After that, it is as if “gluing” the images into a single panorama using the correlator 4. Thus, we get a reference image of the required panorama of the area for further use.

To orient the panorama, the following actions are performed. Since the parameters of the used optical observation system 1 are known, the relative angular coordinates in the form of image points are recorded in the resulting panorama. But the panorama itself is not oriented. In order to orient in the observer’s field of view, covered by a panorama, a certain reference object is selected, that is, an object whose coordinates are known. Using an optical surveillance system 1, a digital optical image capturing device — PSZ-matrices 2 and a memory unit of one frame 3, one more frame is produced so that the frame coincides with the line of sight. Using the correlator 4, this frame is found in the panorama, its angular position is fixed, and the control and computation device 6 solves the topographic and geodetic problem of determining the true angular position of the panorama, which means that all points of the panorama are attached.

After this preliminary work, the observer combines the line of sight with the observed object and records the corresponding frame with its input into the memory unit of one frame 3, from where it enters the correlator 4, which finds the position of the image on the reference panorama, and the control and calculation device 6 captures true angles to the object of observation.

Claims (3)

1. The method of determining the coordinates of a remote object on the terrain, including scanning the terrain, measuring the angular coordinates of terrain objects with data processing in the control and computing device, characterized in that after fixing the coordinates of the observation site from this place, a series of terrain panorama pictures are taken and introduced in the memory of the block of the field of frames, then using the correlator the images are combined into a single reference panorama of the observed area, and according to previously known parameters of the optical system The images on the resulting panorama fix the relative angular coordinates in the form of image points, then they orient the panorama using a frame whose coordinates are known, located in the field of view of the observer covered by the panorama, combine the frame with the line of sight, take a picture of this part of the panorama, find a similar picture in the panorama , fix its angular position and, using the control and calculation device, carry out the corresponding binding of all points in the panorama, that is, determine the true angular position of the pan orams, after that the observer combines the line of sight with one or another observed object and records the corresponding frame, the frame enters the correlator, which finds the position of the similar image in the reference panorama, and the control and calculation device captures the true angles to the object of observation during the observation they also stabilize the optical axis of sight by decoupling it from the body of the optical device of the observer. 2. A device for determining the coordinates of an object on the ground, containing an optical observation system for scanning the terrain, a device for determining angular coordinates, a control and computing device, characterized in that the optical monitoring system is connected with a device for capturing an optical image in digital form, in a device for for determining the coordinates of an object on the ground, a device for determining the observer’s own coordinates has been introduced, connected by its output to the input of the control and computing device, set The optical image capturing property is digitally connected by its output to the input of the memory block of one frame, connected by its output-input, respectively, to the input-output of the correlator, which is connected by its output-input, respectively, to the input-output of the frame field memory block, and its output-input, respectively with the input-output of the control and computation device, the frame field memory unit is also connected by its output to the input of the control and computation device that performs the functions of determining the angular coordinates, a device for fixing an optical image in digital form is placed on the housing of the optical observation system. 3. The device according to claim 2, characterized in that all of the indicated devices, devices and blocks are placed on the housing of the optical surveillance system.