RU2305296C2 - Method for measurement of mismatching in two-dimensional follow-up systems and device for its realization - Google Patents

Abstract

FIELD: two-dimensional television follow-up system.

SUBSTANCE: the method for measurement of mismatching is based on plotting of a differential correlation function, where the modules of the values of the differential correlation functions in each channel are increased by the error value, the device has a video amplifier, threshold device, standard-pulse generator, delay line, control unit, recording unit standard image memory unit from the first to the fifth multiplies, from the first to the sixth low-pass filters, the first and second multipliers with an automatic gain control, the first and second subtracters, function generator σ, as well as the first and second function generators K*_diff.

EFFECT: eliminated error arising at a joint operation of the channels of the follow-up system.

2 cl, 5 dwg

Description

The invention relates to the field of two-dimensional television tracking systems, namely to television sighting systems.

и

эталонных изображений В(x-ΔX) и В(x+ΔX), сдвинутых на фиксированные значения ±ΔX, и текущего изображения В(x-X), по которым определяют значение рассогласования X как обратную функцию пеленгационной характеристики ΔK(X)=К₁(X)-К₂(X) в каждом канале [1].A known method for measuring the mismatch in two-dimensional tracking systems based on the differential (difference) method for constructing direction-finding characteristics of two channels under the accepted hypothesis of channel independence (each channel functions as a one-dimensional differential correlator), in which two values of the correlation function are calculated

and

reference images B (x-ΔX) and B (x + ΔX) shifted by fixed values ± ΔX, and the current image B (xX), which determine the mismatch value X as the inverse function of the direction-finding characteristic ΔK (X) = K ₁ ( X) -K ₂ (X) in each channel [1].

A device for measuring the mismatch with two independent identical channels for calculating the mismatch U _Δy and U _Δz , consisting of a video amplifier, a threshold device, a standard pulse generator, a delay line, a recording unit, a memory block of the reference image, four multipliers that multiply the current image with the reference shifted by ± τ per line and ± T per frame, four filters, two subtractors and two amplifiers with automatic gain control, while the analog input of the video amplifier is the input The input of the threshold device is the output of the video amplifier, the input of the standard pulse generator is the output of the threshold device, the input of the delay line is the output of the standard pulse generator, synchronizing pulses are received at the input of the control unit, the inputs of the recording unit are the output of the control unit and the first output of the delay line, the input of the block the memory of the reference image is the output of the recording unit, the first inputs of the first, second, third and fourth multipliers are the corresponding outputs the memory block of the reference image and the second inputs are the second output of the delay line, the inputs of the first, second, third and fourth low-pass filters are the outputs of the first, second, third and fourth multipliers, respectively, the inputs of the first subtractor are the outputs of the first and second low-pass filters, the inputs of the second a subtractor - the outputs of the third and fourth low-pass filters, the outputs of amplifiers with automatic gain control are the outputs of the device, the signals from which are fed to the drives s system to eliminate the error [2].

,

текущего изображения B_тек(z, y) и опорных (эталонных) изображений B_оп(z, y-T) и B_оп(z, y+T), сдвинутых на ±Т по кадру (каналу Y), дифференциальная корреляционная функция К_дифY(τ)=К_2Y(τ)-К_1Y(τ), а значит, и рассогласование у_изм (или z_изм при работе канала Z) вычисляются без ошибок.If there is a mismatch in only one (for example, Y) channel (Fig. 2) correlation functions

,

current image B _tech (z, y) and reference (reference) images B _op (z, yT) and B _op (z, y + T) shifted by ± T in the frame (channel Y), the differential correlation function K _{diff Y} ( τ) = K _2Y (τ) -K _1Y (τ), which means that the mismatch in _ISM (or z _ISM during the operation of channel Z) is calculated without errors.

текущего изображения В_тек(z, y) и эталона B_оп(z, y). Численно ошибка измерения значений дифференциальных корреляционных функций определяется

.A disadvantage of the known method and device is an error in determining the value of the mismatch during the joint operation of two channels, arising from the adoption of the hypothesis on the independence of the channels for determining the mismatch. Actually there is a relationship of channels. So, if there is a mismatch in two channels (y ≠ 0 and z ≠ 0), the measured correlation function K _2Y (τ) will be less than its true value K _2Y (τ) _ism by the error δ _Y (Fig. 3). Similarly, in the channel Z: K _2Z (τ) = K _2Z (τ) _{ist −} δ _Z. It is characteristic that the errors in channels Y and Z are equal, since δ _Y = δ _Y = δ. The error in measuring the values of correlation functions can be defined as the area of the current image that did not fall on any of the standards B _op (z, y), B _op (z, y + T), B _op (z, yT), B _op (z, y + τ) and B _op (z, y-τ) (Fig. 3). Then, to determine the error value of the calculation of the differential correlation functions K _{dip Y} (τ) and K _{dip Z} (τ), it is necessary to additionally measure the image area of the standard S and the value of the correlation function

the current image B _tech (z, y) and the reference B _op (z, y). Numerically, the error in measuring the values of differential correlation functions is determined

.

An object of the invention is to take into account the error of measurement of the mismatch caused by the interdependence of the channels, which will eliminate the error in calculating the mismatch determined by the interdependence of the channels, and thereby increase the efficiency of automatic tracking of the tracking object.

, вычисляют площадь эталонного изображения

, вычисляют ошибку измерения значений дифференциальных корреляционных функций

, где К_дифY(τ) - дифференциальная корреляционная функция текущего изображения и эталонов, сдвинутых по каналу Y, К_дифZ(τ)- дифференциальная корреляционная функция текущего изображения и эталонов, сдвинутых по каналу Z, и увеличивают модули дифференциальных корреляционных функций К_дифY(τ) и К_дифZ(τ) на значение ошибки δ, тем самым вычисляя уточненные значения дифференциальных корреляционных функций

и

, которые пропорциональны уточненным значениям рассогласований Δ_Y=k·K*_дифY(τ) и Δ_Z=k·K*_дифZ(τ), где k - коэффициент пропорциональности.The solution to the technical problem by the method is that in the method for measuring the mismatch in two-dimensional tracking systems, based on the differential method of constructing direction-finding characteristics of two channels with the accepted hypothesis of channel independence, where each channel functions as a one-dimensional differential correlator, in which two correlation values are calculated functions of reference images shifted by fixed values and the current image, which determine the value of the mismatch as atnuyu function DF characteristics (differential correlation function) of each channel, further comprises calculating the correlation function of the reference and the current image

calculate the area of the reference image

calculate the error of measuring the values of the differential correlation functions

where K _{diff Y} (τ) is the differential correlation function of the current image and the standards shifted along the Y channel, K _{dip Z} (τ) is the differential correlation function of the current image and the standards shifted along the Z channel and the moduli of the differential correlation functions K _{dip Y} (τ ) and K _{diff Z} (τ) on the error δ, thereby calculating the updated values of the differential correlation functions

and

which are proportional to the adjusted values of the mismatches Δ _Y = k · K * _{differential Y} (τ) and Δ _Z = k · K * _{differential Z} (τ), where k is the coefficient of proportionality.

The inventive method is implemented in a device for measuring the mismatch in two-dimensional tracking systems containing a video amplifier, the analog input of which is the input of the device, a threshold device, the input of which is the output of the video amplifier, a standard pulse generator, the input of which is the output of the threshold device, the delay line, the input of which is the output of the generator standard pulses, a control unit, the input of which receives synchronizing pulses, a recording unit, the inputs of which are the output of bl control windows and the first output of the delay line, the memory block of the reference image, the input of which is the output of the recording unit, the first, second, third and fourth multipliers, the first inputs of which are the corresponding outputs of the memory block of the reference image and the second inputs are the second output of the delay line, the first, the second, third and fourth low-pass filters, the inputs of which are the outputs of the first, second, third and fourth multipliers, respectively, the first and second subtracters, the inputs of the first subtractor are the outputs the first and second low-pass filters, the inputs of the second subtracter are the outputs of the third and fourth low-pass filters, the first and second amplifiers with automatic gain control, the outputs of which are the outputs of the device, the signals from which are fed to the servo system drives to eliminate the mismatch, additionally having a fifth a multiplier which forms the product of the reference _op B (z, y) and the current _flowed B (z, y) of images that arrive from the fifth output of the reference image storage unit and from the second output line latency, fifth and sixth low-pass filters, the fifth input is the output of the fifth multiplier, the sixth input is the fifth output of the reference image memory block, a functional converter δ, whose inputs are the outputs of the fifth and sixth low-pass filters and the first and second subtractors, the first and second functional By _differential converters * modules which increase the measured values of the differential correlation function in each channel on the error value, the first inputs are connected to the functional converters Exit first and second subtractors, respectively, second inputs connected to the output of a functional transducer δ, functional converters _differential outputs K * connected to the inputs of the first and the second amplifier with automatic gain control, respectively.

эталонного B_оп(z, y) и текущего B_тек(z, y) изображений, определение площади эталонного изображения

определение ошибки вычисления дифференциальных корреляционных функций

и увеличение модулей значений дифференциальных корреляционных функций на значение ошибки, тем самым определение уточненных значений дифференциальных корреляционных функций

и

и элементы устройства: умножитель, формирующий произведение эталонного B_оп(z, y) и текущего B_тек(z, y) изображений, два фильтра низкой частоты, первый из которых интегрирует сигнал эталонного изображения B_оп(z, y), второй - произведение эталонного B_оп(z, y) и текущего B_тек(z, y) изображений, функциональный преобразователь δ, определяющий значение ошибки вычисления корреляционных функций, и два функциональных преобразователя

, увеличивающих модули измеренных значений дифференциальных корреляционных функций в каждом канале на величину ошибки, тем самым формирующие уточненные значения дифференциальных корреляционных функций.The essential distinguishing features reflected in the claims are new actions in determining the mismatch, namely the calculation of the correlation function

reference B _op (z, y) and current B _tech (z, y) images, determining the area of the reference image

determination of the error in calculating differential correlation functions

and an increase in the moduli of the values of the differential correlation functions by the error value, thereby determining the adjusted values of the differential correlation functions

and

and device elements: a multiplier forming the product of the reference B _op (z, y) and the current B _tech (z, y) images, two low-pass filters, the first of which integrates the signal of the reference image B _op (z, y), the second is the product reference B _op (z, y) and current B _tech (z, y) images, a functional converter δ, which determines the value of the error in calculating the correlation functions, and two functional converters

, increasing the modules of the measured values of the differential correlation functions in each channel by the amount of error, thereby forming refined values of the differential correlation functions.

The technical result of the invention is achieved by taking into account the error of measurement of the mismatch caused by the interdependence of the channels when using new actions in the method, new elements of the device and new connections in the circuit of the device.

The structural diagram of the tracking system is presented in figure 1; figure 2 is a drawing illustrating the formation of the correlation function of the tracking system in the presence of a mismatch in only one channel; figure 3 is a drawing illustrating the formation of the correlation function of the tracking system during the joint operation of two channels (if there is a mismatch in both channels); figure 4 - three-dimensional and contour graphs of the error in determining the mismatch δ (z, y) from the values of the mismatch in the channels Z and Y of the prototype; figure 5 - when using the proposed method and device.

22, с вычитателя 20 - на функциональные преобразователи δ 21 и

23, с функционального преобразователя δ 21, сигнал поступает на функциональные преобразователи

22, 23, обработанные в функциональных преобразователях

22, 23 сигналы поступают на усилители с автоматической регулировкой усиления 24 и 25 и далее на привод следящей системы для устранения рассогласования.Description of the device. The video signal from the vidicon is sent to the video amplifier 1 and then to the threshold device 2, from the threshold device, the binary image is sent to the standard pulse generator 3; reduced to pulses of the same duration, the contour image is fed to the delay line 4, from where it enters the recording unit 5 and five multipliers 8-12 in the form of an array of zeros and ones; the recording unit 5 at the commands of the control unit 6 periodically provides an image for overwriting the standard in the memory unit 7; the reference (reference) image from the memory unit 7 is supplied to the multiplier 10 and the low-pass filter 16, where it is summed, in the multiplier 10, the reference image is multiplied by the current image coming from the delay unit 4; the multiplication result is summed in the low-pass filter 15, the signals from the low-pass filters 15, 16 are fed to the functional converter δ 21; in four multipliers 8, 9, 11, 12, the reference images shifted by values of ± T and ± τ are multiplied by the current image coming from the second output of the delay unit 4; the results of the multiplication are summed in the low-pass filters 13, 14, 17, 18 and served on the subtractors 19, 20; from the subtractor 19, the signal enters the functional converters δ 21 and

22, from the subtractor 20 - to functional converters δ 21 and

23, from the functional converter δ 21, the signal is fed to the functional converters

22, 23 processed in functional converters

22, 23, the signals are fed to amplifiers with automatic gain control 24 and 25 and then to the servo system drive to eliminate the mismatch.

эталонного и текущего изображений (фиг.3). В фильтре низкой частоты 16 производится суммирование сигнала опорного изображения B_оп(z, y), тем самым формируется значение площади изображения эталона

. В четырех умножителях 8, 9, 11, 12 сдвинутые на величины ±Т и ±τ опорные изображения умножаются на текущее изображение, поступающее с блока задержки 4; фильтры низких частот 13, 14, 17, 18 производят суммирование результатов произведения, тем самым формируя корреляционные функции

и

Вычитающие устройства 19, 20 реализуют дифференциальный принцип вычисления рассогласований, формируя дифференциальные корреляционные функции К_дифZ(τ)=К_2Z(τ)-К_1Z(τ) и К_дифY(τ)=К_2Y(τ)-К_1Y(τ) (пеленгационные характеристики). Сигналы с вычитателя 19 поступают на функциональные преобразователи δ 21, и

22. Сигналы с вычитателя 20 поступают на функциональные преобразователи δ 21, и

23. Функциональный преобразователь δ 21 определяет значение ошибки вычисления дифференциальных корреляционных функций К_дифY(τ) и K_дифZ(τ) по формуле

и выдает ее на функциональные преобразователи

22, 23. Функциональный преобразователь

22 увеличивает модуль измеренного значения дифференциальной корреляционной функции К_дифY(τ), а функциональный преобразователь

23 увеличивает модуль измеренного значения дифференциальной корреляционной функции К_дифZ(τ) на величину ошибки δ, тем самым формируя уточненные значения дифференциальных корреляционных функций

и

которые пропорциональны уточненным значениям рассогласований

и

Далее сигналы усиливаются в усилителях с автоматической регулировкой усиления 24, 25 и поступают на привод следящей системы для устранения рассогласования.The device operates as follows. The video signal from the Vidicon through the video amplifier 1 is fed to a threshold device 2, the output of which is a binary signal: one if the video signal is greater than the threshold value, and zero if less. From the output of the threshold device 2, a binarized image of the tracking object is fed to a standard pulse generator 3, at the output of which pulses are generated with the same duration τ equal to the period of the synchronizing pulses. The delay line τ _and / 2 4 compensates for the systematic shift of the memory frame due to time quantization, in addition, the image is digitized by logical multiplication of the pulses of the contour of the tracking object and synchronizing pulses. The recording unit 5 by the commands of the control unit 6 periodically overwrites the reference image. From the output of the recording unit, the image in the form of an array of zeros and ones goes to the memory block 7, where it is stored in the form of a reference (reference) image B _op (z, y) (Figs. 2, 3). The memory unit 7 provides a reference image B _op (z, y) and shifted by values of ± T on channel Y and ± τ on channel Z reference images B _op (z, y + T), B _op (z, yT), B _op (z, y + τ) and B _op (z, y-τ). The reference image B _op (z, y) in the multiplier 10 is multiplied by the current image B _tech (z, y) coming from the delay unit 4; the result of the multiplication is summed up in the low-frequency filter 15, thereby forming the value of the correlation function

reference and current images (figure 3). In the low-pass filter 16, the reference image signal B _op (z, y) is summed, thereby forming the value of the image area of the reference

. In four multipliers 8, 9, 11, 12, the reference images shifted by the values ± T and ± τ are multiplied by the current image coming from the delay unit 4; low-pass filters 13, 14, 17, 18 summarize the results of the product, thereby forming correlation functions

and

Subtracting devices 19, 20 implement the differential principle of calculating the mismatches, forming the differential correlation functions K _{dip Z} (τ) = K _2Z (τ) -K _1Z (τ) and K _{dip Y} (τ) = K _2Y (τ) -K _1Y (τ) (direction finding characteristics). The signals from the subtractor 19 are fed to the functional converters δ 21, and

22. The signals from the subtractor 20 are fed to the functional converters δ 21, and

23. The functional Converter δ 21 determines the error value of the calculation of the differential correlation functions K _{dip Y} (τ) and K _{dip Z} (τ) by the formula

and issues it to functional converters

22, 23. Functional Converter

22 increases the modulus of the measured value of the differential correlation function K _{diff Y} (τ), and the functional Converter

23 increases the modulus of the measured value of the differential correlation function K _{diff ZZ} (τ) by the error δ, thereby forming refined values of the differential correlation functions

and

which are proportional to the adjusted mismatch values

and

Next, the signals are amplified in amplifiers with automatic gain control 24, 25 and are fed to the servo drive to eliminate the mismatch.

Information sources

1. Melik-Shakhnazarov A.M., Markatun M.G. Digital measuring systems of correlation type. M .: Energoatomizdat, 1985, p. 53-60 (prototype).

2. Integrated sighting and navigation system PNS-24M / Ed. Ganulich A.K., Sidorina V.M. Part II. Laser-television sighting system "Kaira-24." M .: VVIA them. prof. N.E. Zhukovsky, 1980, S. 60-67 (prototype).

Claims (2)

1. A method for measuring the mismatch in two-dimensional tracking systems, based on the differential method of constructing direction-finding characteristics of two channels under the accepted hypothesis of channel independence, where each channel functions as a one-dimensional differential correlator, in which two values of the correlation function of reference images shifted by fixed values are calculated, and the current image, which determine the value of the mismatch, as the inverse function of the direction-finding characteristic in each channel characterized in that the correlation function is additionally calculated

reference B _op (z, y) and current B _tech (z, y) images, determine the area of the reference image

determine the error in calculating differential correlation functions

where K _{differential Y} (τ) is the differential correlation function of the current image and the standards shifted along channel Y, K _{differential Z} (τ) is the differential correlation function of the current image and the standards shifted along channel Z, and the moduli of differential correlation functions K _{differential Y} (τ) are increased and K _{diff Z} (τ) on the error δ, thereby calculating the updated values of the differential correlation functions

and

which are proportional to the adjusted values of the mismatches Δ _Y = k · K ^* _{differential Y} (τ) and Δ _Z = k · K ^* _{differential Z} (τ), where k is the proportionality coefficient. 2. The device for measuring the mismatch in two-dimensional tracking systems, containing a video amplifier, the analog input of which is the input of the device, a threshold device, the input of which is the output of the video amplifier, a standard pulse generator, the input of which is the output of the threshold device, a delay line, the input of which is the output of the standard pulse generator , a control unit, to the input of which synchronizing pulses are received, a recording unit, the inputs of which are the output of the control unit and the first output delay lines, a memory block of the reference image, the input of which is the output of the recording unit, the first, second, third and fourth multipliers, the first inputs of which are the corresponding outputs of the memory block of the reference image and the second inputs are the second output of the delay line, the first, second, third and fourth low-pass filters, the inputs of which are the outputs of the first, second, third and fourth multipliers, respectively, the first and second subtracters, the inputs of the first subtractor are the outputs of the first and second filters low frequencies, the inputs of the second subtractor are the outputs of the third and fourth low-pass filters, the first and second amplifier with automatic gain control, the outputs of which are the outputs of the device, the signals from which are fed to the drives of the tracking system to eliminate the mismatch, characterized in that it additionally has a fifth multiplier , forming the product of the reference B _op (z, y) and the current B _tech (z, y) images that come from the fifth output of the memory block of the reference image and from the second output of the delay line, p the fifth and sixth low-pass filters, the fifth input is the output of the fifth multiplier, the sixth input is the fifth output of the reference image memory block, a functional converter δ, the inputs of which are the outputs of the fifth and sixth low-pass filters and the first and second subtracters, the first and second functional converters K ^* _dif that increase the modules of the measured values of differential correlation function in each channel on the error value, the first inputs of functional converters connected to the outputs of n of the first and second subtractors, respectively, the second inputs are connected to the output of the functional converter δ, the outputs of the functional converters K ^* _{differential are} connected to the inputs of the first and second amplifier with automatic gain control, respectively.

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