RU2526890C1 - Apparatus for selecting moving targets - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: known prototype of the invention does not allow, during selection, to identify moving targets in the presence of multiple objects since the frame of the resultant image contains two images of each moving target - a direct image and an inverse image, which is delayed relative to the first (main) image by a time equal to the frame period. To eliminate inverse images which create the false target effect, the selection device includes a compilation frame computing unit.

EFFECT: high accuracy of selecting moving targets by suppressing inverse images thereof.

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Description

The invention relates to measurement techniques, can be used in geodetic instrumentation and is intended for use as part of devices for measuring the angular coordinates of aircraft.

It is known electronic-digital device for measuring angular coordinates (electronic theodolite), containing a control panel and a lens of the observation channel mounted on a rotary support device, the mechanisms of horizontal and vertical guidance of which contain respectively horizontal and vertical disks with code tracks, optically associated with them respectively block readings from a horizontal disk and a readout unit from a vertical disk, the outputs of which are connected respectively to the first and second inputs of of an educator an angle code, the output of which is with the input of a digital board, as well as a synchronization unit, a video monitoring device, a video monitoring adapter mounted in a rotary support device that is optically coupled to the lens of the observation channel and containing a photodetector array — a photodetector of the observation channel made in the form of a matrix photodetectors, the outputs of which are connected to the input bus of the information reader, the control panel is remote, its first and second outputs are connected to control inputs odes of horizontal and vertical guidance mechanisms, respectively, the third and fourth outputs to the control waters of the horizontal disk reader and the vertical disk reader, respectively, the output of the synchronization block is connected to the sync inputs of the video monitoring adapter and information reading device, the electrical outputs of which are connected to the video monitoring input bus adapter, the output of which is connected to the input of the video monitoring device (see RU No. 2316729, G01C 1/02, 02/10/2008).

The well-known electronic-digital device for measuring angular coordinates (electronic theodolite) provides high accuracy for measuring angular coordinates, the convenience of reading them and allows remote measurements, since the operator can be in a place remote from the installation site of the theodolite.

However, the well-known electronic-digital device for measuring the angular coordinates (electronic theodolite) does not allow remote measurements of the angular coordinates of fast moving objects, since in one cycle the operator measures the angular coordinates of a moving object at one point on its path, the moving object leaves the field of view of the operator, and also does not allow you to select moving objects against a common observable background.

An electronic-digital device for measuring angular coordinates is also known, comprising a control panel and a surveillance channel lens mounted on a rotary support device, the horizontal and vertical pointing mechanisms of which contain respectively horizontal and vertical disks with code tracks, optically connected to them respectively by a horizontal reading unit a disk and a reading unit from a vertical disk, the output of the last of which is connected to the input of the first angle-code converter, as well as ideocontrol device, video control adapter, second angle-code converter, information recording device, readout unit, information control and conversion unit, comprising a synchronization unit, a code converter and a time-code converter, mounted in a rotary support device and optically connected to the channel lens observation photodetector device of the observation channel, made in the form of a matrix of photodetectors, the outputs of which are connected to the input bus of the information reader, the output and the sync input of which are connected respectively to the information input and the sync input of an analog-to-digital converter, the output of which is connected to the first input bus of the information recording device, the second input bus of which is connected to the output of the code converter, the first, second inputs of which are connected to the outputs of the first angle a code, a second angle-code converter and a time-code converter, the input of which is the information input of the control unit and information conversion, the output of the synchronization unit is connected to the clock input of the information reader, the output of which is connected to the information input of the video monitoring adapter, the output of which is connected to the input of the video monitoring device, and the clock input is connected to the output of the sampling unit, the first and second outputs of which are connected to the control inputs of the first and second converters, respectively angle code, the input of the last of which is connected to the output of the reading unit from a horizontal disk, while the control panel is made remote, and its first and second outputs are connected to the control inputs of the mechanisms of vertical and horizontal guidance, respectively (see RU 2358240, G01C 1/06, 06/10/2009).

The known electronic-digital device for measuring the angular coordinates provides high accuracy of remote measurements of the angular coordinates of fast-moving objects, such as aircraft.

However, the well-known electronic-digital device for measuring angular coordinates does not allow the selection of moving objects against a common observed background.

Closest to the proposed is the known electronic-digital device for measuring angular coordinates with the selection of moving objects, containing a lens of the observation channel mounted on a rotary support device, the mechanisms of vertical and horizontal guidance of which respectively contain vertical and horizontal disks with code tracks, optically associated with them respectively, the reading unit from the vertical disk and the reading unit from the horizontal disk, the outputs of which are connected respectively To the first input of the first angle-code converter and to the first input of the second angle-code converter, a remote control, the first and second outputs of which are connected to the control inputs of the vertical and horizontal guidance mechanisms, respectively, mounted in a rotary support device and optically connected to the lens observation channel, a photodetector of the observation channel, made in the form of a matrix of photodetectors, the outputs of which are connected to the input bus of the information reading device, the output otorogo connected to the information input of the analog-to-digital Converter, a video monitoring adapter, the output of which is connected to the input of the video monitoring device, and the information input is connected to the output of the information reading device, the information recording device, the unit for generating samples, the control unit and converting information containing a synchronization unit, a converter codes and a time-code converter, the input of which is the information input of the control unit and information conversion, the first and second the output outputs of the code converter are respectively connected to the output of the first angle-code converter and the output of the second angle-code converter, the third output is connected to the first output of the time-code converter, the synchronization output of the synchronization unit is connected to the sync inputs of the analog-to-digital converter, video monitoring adapter, and sampling unit, the first output of which is connected to the second input of the first angle-code converter, the second output is connected to the second input of the second angle-code converter, selector device and moving targets, comprising a RAM block of the current video frame, the first input of which is connected to the output of an analog-to-digital converter, a RAM block of the previous video frame, the first input of which is connected to the first output of the RAM block of the current video frame, block for calculating video frame differences, the output of which is connected to the first input of the registration device, the first input is connected to the second output of the RAM block of the current frame of the video image The second input is to the output of the RAM block of the previous frame of the video image, the RAM block of the current code values, the first output of which is connected to the second input of the registration device, the first input is connected to the output of the code converter, the RAM block of the previous code values, the first input of which is connected to the second output of the RAM block of the current values of the codes, a block for calculating the relative shift of the frames of the video images, the output of which is connected to the third input of the block of calculation differences of frames of video images, the first input is connected to the third output of the RAM block of the current code values, the second input is to the output of the RAM block of the previous code values, a memory management device whose sync input is connected to the synchronization output of the synchronization block, the first, second, third, fourth, fifth and the sixth outputs are connected respectively to the second input of the RAM block of the current frame of the video image, to the second input of the RAM block of the previous frame of the video image, to four the first input of the video frame difference difference calculation unit, the third input of the video frame relative shift calculation unit, the second input of the RAM block of the previous code values, the second input of the RAM memory block of the current code values, while the sync output of the time-code converter device is connected to the clock input of the block synchronization (see No. 201032395, G01C 1/06, 02/10/2012).

The known electronic-digital device for measuring angular coordinates with the selection of moving objects of observation provides high accuracy remote measurements of the angular coordinates of fast-moving objects, for example, aircraft with the selection of moving objects against a common observed background.

However, the well-known electronic-digital device for measuring angular coordinates with the selection of moving objects of observation does not allow identification of moving targets in the course of selection if there are several objects (more than 1), since two images of each moving target are present on the frame of the resulting image - direct and inverse, which is delayed relative to the first (main) image for a time equal to the period of the sequence of frames. In this case, inverse images of objects create the effect of “false targets”.

The objective of the invention is to increase the accuracy of selection of moving targets by suppressing their inverse (false) images.

The proposed device for the selection of moving targets can improve the accuracy of selection of moving targets by suppressing their inverse (false) images.

To achieve the technical result, a moving target selection device comprising a RAM block of the current video image frame, the first input of which is connected to the output of the digital image sensor, a RAM block of the previous video image frame, the first input of which is connected to the first output of the RAM block of the current video image frame, unit for calculating the differences of frames of video images, the output of which is connected to the first input of the registration device, the first input is connected to the second output of the RAM block of the current frame of the video image, the RAM block of the current code values, the first output of which is connected to the second input of the registration device, the first input is connected to the output of the corner code generation block, the RAM of the previous code values, the first input of which is connected to the second output a block of RAM for the current values of the codes, a unit for calculating the relative shift of frames of video images, the first input is connected to the third output of the block of RAM the current code values, the second input - to the output of the RAM block of the previous code values, a memory control device whose sync input is connected to the synchronization output of the synchronization unit, a compilation frame calculation unit is introduced, the output of which is connected to the second input of the video frame difference calculation unit, the first and second inputs of which connected respectively to the second output of the RAM block of the current frame and the output of the RAM block of the previous frame of the video image, the third input is connected nen with the output of the unit for calculating the relative shift of frames of video images, and the fourth input is connected to the output of the memory management device.

The drawing (figure 1) shows a functional diagram of the inventive device for the selection of moving targets (USP), where:

1 - a block of RAM of the current frame of the video image;

2 - memory management device;

3 - a block of RAM of the current code values;

4 - block compilation of the compilation frame;

5 - a block of RAM of the previous frame of the video image;

6 - block calculating the differences of the frames of the video images;

7 - unit for calculating the relative shift of frames of video images;

8 - a block of RAM of the previous code values;

9 - registration device;

10 - digital image sensor;

11 - block synchronization;

12 - block forming the corner codes.

The moving target selection device (USP) comprises a RAM block 1 of the current video image frame, the first input of which is connected to the output of the digital image sensor 10 (or digital photodetector), 5 RAM block of the previous video image frame, the first input of which is connected to the first output of block 1 RAM of the current frame of the video image, the compilation frame calculation unit 4, the first and second inputs of which are connected respectively to the second output of the current RAM unit 1 of the first frame and the output of the RAM block 5 of the previous frame of the video image, the third one is connected to the output of the block 7 for calculating the relative shift of the frames of the video images, and the fourth input is connected to the output of the memory management device 2, the block 6 for computing the differences of the frames of the video images, the output of which is connected to the first input of the device 9 registration, the first input is connected to the second output of block 1 of the RAM of the current frame of the video image, the second input is connected to the output of block 4 of the calculation of the compilation frame, block 3 RAM of the current code values, the first output of which is connected to the second input of the registration device 9, the first input is connected to the output of the corner code generation unit 12, RAM unit 8 of the previous code values, the first input of which is connected to the second output of the RAM unit 3 codes, unit 7 for calculating the relative frame shift of video images, the output of which is connected to the third input of the compilation frame calculation unit 4, the first input is connected to the third output of the operation unit 3 in the current memory of the current code values, the second input is to the output of the RAM unit 8 of the previous code values, a memory management device 2, the sync input of which is connected to the sync output of the synchronization unit 11, the first, second, third, fourth, fifth, sixth and seventh outputs are connected respectively to to the second input of the RAM block 1 of the current frame of the video image, to the second input of the RAM block 5 of the previous frame of the video image, to the third input of the difference frame calculation block 6 of the video image, to the third entry unit 7 calculating the relative shift of video frames to a second input of RAM previous code data unit 8, to the second input of the RAM 3 the values of the current code to the fourth input of block 4 forming the compilation frame.

The device operates as follows.

The mobile target selection device is connected to a digital image sensor, a synchronization unit, an angle code generation unit, and an information recording device. A sequence of digital television frames is received from the digital image sensor.

Before the information of the next frame arrives, information from the RAM unit 1 of the current frame of the video image is copied to the RAM unit 5 of the previous frame of the video image. Synchronously, the telemetry information package from block 3 of the RAM of the current code values is written to block 8 of the RAM of the previous code values.

The next sending of the video frame information from the digital image sensor 10 is recorded in the RAM block 1 of the current video frame. Synchronously, an information package from a telemetry source 12 with angle codes and a time code is recorded in block 3 of the RAM of the current code values. At the end of the recording, information from the RAM unit 3 of the current code values and information from the RAM unit 8 of the previous code values are sent to the unit 7 for calculating the relative frame shift of the video images, where the number of rows and the number of columns of the frame shift of the video image is calculated when moving the digital image sensor conducting the observation for objects.

The number of row lines N _v and the number of columns N _{h of the} frame shift of the video image are found in a manner known from the prior art and are recorded in the compilation frame calculation unit 4.

The elements of the compilation frame are calculated based on the data of block 1 of the RAM of the current frame and block 5 of the RAM of the previous frame, taking into account the frame shift in rows N _v and in columns N _h in accordance with the formula:

; $$I_K\left(x,y\right)=\{\begin{array}{l}{I}_i\left(x,y\right)PR\mathrm{and}{I}_i\left(x,y\right)<I_{i-\mathrm{one}}\left(x+N_v,y+N_h\right)\\ I_{i-\mathrm{one}}\left(x+N_v,y+N_h\right)PR\mathrm{and}{I}_i\left(x,y\right)>I_{i-\mathrm{one}}\left(x+N_v,y+N_h\right)\end{array}$$

;

where I _K (x, y) is the element of the compilation frame with coordinates x and y;

I _i (x, y) - element of the current frame of the video image with coordinates x, y from memory block 1;

I _i-1 (x + N _v , y + N _h ) - element of the previous frame of the video image with coordinates x, y from memory block 5, taking into account the frame shift in columns and rows.

Each compilation frame I _K consists of the minimum values of the corresponding pixels of two consecutive frames, taking into account their shift.

In the block 6 for computing the differences of the frames of the video images, the data of the block 4 for calculating the compilation frame is subtracted pixel by pixel from the data of the block 1 of the RAM of the current frame of the video image. As a result of such subtraction, the total observed background is excluded. At the same time, in the prototype, on the frame of the differential video image, two images of the moving target are stored - direct and inverse, delayed relative to the first, which at the subsequent stages of processing makes identification difficult, creating the effect of a false target, the image of which is identical to the main one. In the proposed device, the selection of moving targets by subtracting the compilation frame of the inverse image does not occur, which simplifies the identification of the observed moving object.

The frame of the differential video image from the block 6 for calculating the differences of the frames of the video images and the information of the codes of the angular position and time from the block 3 of the main memory of the current values of the codes are copied, for example, to the recording device 9 as shown in the drawing (Fig. 1) for further processing, and can also be used to generate a control signal for a system of automatic tracking of targets.

All data transfer operations between blocks as part of a moving target selection device are carried out using a memory management device 2, to the input of which a synchronization signal is supplied.

The proposed device for the selection of moving targets can improve the accuracy of selection of moving targets by suppressing their inverse (false) images.

Claims (1)

A moving target selection device comprising a RAM block of a current video image frame, a first input of which is connected to an output of a digital image sensor, a RAM block of a previous video image frame, a first input of which is connected to a first output of a RAM block of a current video image frame, a video image frame difference calculation unit, the output of which is connected to the first input of the registration device, the first input is connected to the second output of the RAM block of the current video image, a memory block of the current code values, the first output of which is connected to the second input of the registration device, the first input is connected to the output of the corner code generation block, a RAM block of previous code values, the first input of which is connected to the second output of the current memory block of current codes , a unit for calculating the relative shift of frames of video images, the first input is connected to the third output of the RAM block of the current code values, the second input is to the output of the block o memory of the previous code values, a memory control device whose sync input is connected to the sync output of the synchronization unit, characterized in that a compilation frame calculation unit is introduced, the output of which is connected to the second input of the video frame difference calculation unit, the first and second inputs of which are connected respectively to the second output RAM block of the current frame and the output of the RAM block of the previous frame of the video image, the third input is connected to the output of the calculation unit relative shift frame, and a fourth input coupled to an output of the memory control device.