RU2674533C1 - Helmet-mounted target designation and indication system and sight line angular position determining method on its basis - Google Patents

Abstract

FIELD: manufacturing technology; aviation.SUBSTANCE: invention relates to the helmet-mounted target designation and indication systems, and is intended for operation in all combat modes of pilots day and night. Claimed helmet-mounted target designation and indication system contains the marks system, a helmet-mounted sighting device connected to the display control and information processing control unit, associated with the having rigid fixation surveillance camera. In the claimed system, at least four passive retroreflective marks of various shapes and geometries are used, which are attached to the helmet-mounted sighting device and are located in different planes so, that at any angle within the helmet rotation by 120 degrees in the horizontal plane never more than two marks lie on the same line; each mark has a unique pattern and / or symbol.EFFECT: enabling the marks reliable recognition at long camera from the mark distance; use of any objects without special requirements for its size and shape; no need to work with the aircraft protective glazing; elimination of the useful signal overlapping from reflecting elements; absence of requirements to the location accuracy relative to the matrix or lens; view of the entire space of possible helmet positions takes place in the single frame taken by the camera.10 cl, 13 dwg

Description

The invention relates to helmet-mounted target designation and indication systems and is designed to work in all modes of combat use of pilots day and night, provides a solution to the following main tasks:

- determination and output of the angular coordinates of the line of sight (LP) relative to the construction axis of the carrier;

- the formation and display in the field of view of the pilot of a collimated image of sighting and symbolic information.

Helmet target designation and indication systems (NSCI) are widely used in aviation. They fulfill the same role as the indicator on the windshield (ILS) - they allow the pilot to carry out flight control and aiming, without looking down at the indicators in the cockpit, i.e. without being distracted from the surroundings. This is necessary in the conditions of hostilities and during the stressful phases of flight, but, unlike ILS, with the help of the NSCI it becomes possible to take targets that are away from the aircraft’s construction axis.

In a number of NSCIs used abroad, on a translucent screen in front of the pilot’s eyes, in addition to the sighting mark, navigation and piloting information is also projected, for example, flight speed, altitude, and the presence of targets.

In the domestic systems “Slit” and “Sura”, implemented on the SU-27, MiG-29 fighters and their subsequent modifications, a sighting and reference device is mounted on the protective helmet, which projects the image of the sight on a small flat meniscus in front of the pilot’s eye. Due to the small angle of the field of view in these systems, projection of the image of the aiming mark only is implemented, in addition, the meniscus holder obscures the viewing space.

The prior art patent US 2013057852 is used for illumination using a narrow collimated beam of light, which limits the movement of the helmet to the diameter of the beam, and, accordingly, to the diameter of the output lens of the camera. In this regard, the patent proposes a scheme for scanning with a light beam using a matrix light source (paragraphs 0068, 0069, Fig. 7 of the patent). This scheme entails a significant complication and appreciation of the camera, and most importantly, a decrease in the measurement speed by a factor of N, where N is the number of sources in the matrix emitter. In our proposed system, an overview of the entire space of possible helmet positions occurs in one frame shot by the camera.

The patent US 2014362386 is known where a lensless focusless optical circuit is used.

Thus, any strong light interference (for example, the sun) entering the field of view of the camera illuminates the entire surface of the photosensitive matrix, which makes it impossible to determine the coordinates of the helmet.

The system we have presented uses a classic lens circuit. In such a scheme, any bright interference looks like a light spot of limited size in the image, which cannot block the useful signal from the reflecting elements, because the surface of the helmet on which they are applied obscures the interference from the camera in the vicinity of the marks.

The cameras used in the patents US 2013057852 and US 2014362386 have a rather complex optical design: either a translucent mirror or a screen. This increases the size, cost, and reduces the reliability of the camera.

In the cameras of the system we claimed, the simplest matrix-lens scheme is used, the backlight diodes are located around the lens circle, and they do not have to meet any requirements for positioning relative to the matrix or lens.

The closest analogue is the helmet-mounted system of indication and recognition of objects IS-1200 + HObIT [http://www.intersense.com/pages/66/240; http://www.intersense.com/uploads/documents/IS-1200+_HObIT_Datasheet.pdf], publ.: 01/27/2017.

This system has a fundamentally different arrangement of marks and cameras, in comparison with the claimed invention. In the known solution, the tags are located on the protective glazing, and the camera on the protective helmet. Thus, the system has a drawback - it is connected with the glazing of the aircraft.

The technical problem of the prototype and other well-known solutions is the use of complex marks, which complicates the recognition of marks at large distances the camera is removed from the mark.

Also, the technical problem of the prototype and other known solutions are glass prisms, which have fundamental disadvantages: manufacturing complexity, high cost, fragility, large volumetric dimensions that increase the dimensions of the protective helmet.

The objective of the invention is to eliminate the above disadvantages of the known solutions.

The technical result of the invention is:

- the use of simpler tags, which provides reliable recognition of tags at large distances the camera is removed from the tag;

- the use of passive reflectors, which can be applied to any object without special requirements for its size and shape;

- lack of need to work with protective glazing of the aircraft;

- elimination of overlapping useful signal from reflective elements;

- the lack of requirements for accuracy with respect to the matrix or lens;

- an overview of the entire space of possible positions of the helmet occurs in one shot taken by the camera.

The specified technical result is achieved due to the fact that the declared helmet-mounted target designation and indication system containing a marking system, helmet-mounted sighting device connected to the control unit for the formation of indications and information processing associated with a surveillance camera having a hard fix, characterized in that it is used at least four passive retro-reflective marks of different shapes and geometries, which are mounted on the helmet-mounted sighting device and are located in different planes so that at any angle in ah rotation helmet 120 degrees in the horizontal plane, never more than two tags do not lie on a straight line; Each label has a unique pattern and / or symbol.

Preferably, the inner marking pattern consists of three areas: the outer border area is the outline of the mark; data area divided into 8 sectors of 45 ° each; the central area is the center of the mark.

The helmet-mounted sighting device consists of a projection display, a projection system lens, a “monocle” reflector, an indication module, an ambient light sensor module.

Preferably, in addition to the rigidly fixed surveillance camera, the system also includes two cameras that function as direction finders for the tags located on the helmet-mounted sighting device used to operate the positioning system.

Preferably, the surveillance cameras are capable of forming a video image of the tags located on the helmet-mounted sighting device in the spectral range (950 ± 10) nm and transmitting it to the control unit for forming an indication and processing information for further processing.

Preferably, each surveillance camera includes the following main nodes: a camera module, with an installed matrix photodetector; lens; light filter; LED backlight module.

Labels are made of material whose surface consists of glass microspheres with a high reflection coefficient.

The method for determining the angular position of the line of sight using the above helmet-mounted target designation and indication system is characterized in that the marks are illuminated in the spectral range invisible to the human eye (950 nm); illumination is carried out using a matrix of LEDs located on the surveillance camera; the scattered radiation, invisible to the human eye, from the matrix of LEDs after hitting the reflector marks, illuminates them, and using surveillance cameras form a video stream, individual frames of which are an image of the totality of marks on the helmet-mounted sighting device; using the control unit for the formation of indications and information processing, the angular position of the line of sight (LP) is measured in different ranges; measure the angular position of the drug when the helmet is linearly moved in a three-dimensional coordinate system with a helmet deviation of up to ± 200 mm from the main operating state; calculate the maximum error in determining the angular position of the drug; to determine the angular coordinates of the line of sight, an optical measurement method is used, based on the use of reference marker marks that are installed on the helmet-mounted sighting device; based on input data: frames of surveillance cameras, ZD model of location of marks on the helmet-mounted sighting device and helmet; determine the position of the drug, receiving 6 numbers describing the linear and angular position of the line of sight. The backlighting is carried out in a pulsed mode.

To suppress flare and glare, spectral filtering in the range of (950 ± 10) nm is used in the sensors of surveillance cameras.

The use of simpler tags provides reliable tag recognition at large distances the camera is far from the tag.

Passive reflectors used in the claimed system are thin flat retroreflective films that can be applied to any object without special requirements for its size and shape.

The claimed system does not imply any work with protective glazing of the aircraft, because tags are located on the helmet-mounted device, and cameras are installed on the arc of the cockpit lantern in such a way as not to interfere with the pilot during work and emergency escape from the cockpit.

In the presented system, a classical scheme with a lens is used. In such a scheme, any bright interference looks like a light spot of limited size in the image, which cannot block the useful signal from the reflecting elements, because the surface of the helmet on which they are applied obscures the interference from the camera in the vicinity of the marks.

In the cameras of the system we claimed, the simplest matrix-lens scheme is used, the backlight diodes are located around the lens circle, and they do not have to meet any requirements for positioning relative to the matrix or lens. In the claimed system, an overview of the entire space of possible helmet positions takes place in a single frame shot by the camera.

Brief Description of the Drawings

In FIG. 1 shows the appearance of the working model of the NSCI created by the applicant, where it is shown how the helmet-mounted sighting device (NVU) is installed on the protective helmet ZSh-7APN (the protective helmet is not included in the system).

In FIG. 2 shows a block diagram of a helmet-mounted target designation and indication system.

In FIG. 3 shows the appearance of the DUT in the working position of the reflector.

In FIG. 4 shows a block diagram of an IED.

In FIG. 5 shows an example of the information displayed (full painting - imitation).

In FIG. 6 shows a block diagram of a surveillance camera.

In FIG. 7 shows examples of the placement of surveillance cameras in the cockpit.

In FIG. Figure 8 shows the scattered, invisible to the human eye, radiation from a matrix of LEDs that hits the reflector marks, illuminating them.

In FIG. Figure 9 shows an example of the location of tags on an IED.

In FIG. 10 shows an example of the displayed graphical information through the NVU sight (partial painting against the sky).

In FIG. 11 shows an example of an internal label pattern consisting of three areas.

In FIG. 12 shows an example of a sequence set for a label set.

In FIG. 13 shows how the spatial position of the marks in the plane changes depending on the rotation of the helmet.

In the drawings: 1 - helmet-mounted sighting device, 2 - primary surveillance camera, additional surveillance camera, 3 - control unit for the formation of information display and processing, 4 - projection module, 5 - reflector - "monocle", 6 - reflective marks, 7 - indication module (MIC), 8 - projection display, 9 - projection system lens, 10 - light sensor module (MDO), 11 - camera module (MK), 12 - matrix photodetector (MFP), 13 - LED backlight module ( MPS), 14 - camera lens, 15 - light filter, 16 - camera field of view, 17 - helmet , 18 - incident scattered radiation of 950 nm, 19 - reflected radiation from labels, 20 - area of the outer boundary, 21 - data area (inner ring divided into 8 sectors of 45 ° each); 22 is the central region.

The implementation of the invention

The claimed helmet-mounted target designation and indication system (NSCI) is intended for:

- determination and issuance of the angular coordinates of the line of sight (LP) by the angular position of the base protective helmet relative to the construction axis of the carrier, taking into account its linear position;

- the formation and display in the field of view of the pilot of a collimated image of sighting and symbolic information;

- pairing with a protective helmet, while installing using a bracket.

NSCI provides:

- target designation, aiming and indication of onboard symbolic information harmonized with the symbolic information of the ICS required by the pilot;

- determination and delivery of the angular coordinates of the drug by the angular position of the base protective helmet relative to the axes of the carrier, taking into account the linear position of the base protective helmet in the following ranges:

- measurement and delivery to the sighting and navigation system (PRN) of the carrier of the angular position of the drug with linear movement of the pilot's head along the axes X, Y and Z of the aircraft up to ± 200 mm from the equilibrium (main) working position;

- the formation in the field of view of the right eye of the pilot of a collimated image of signographic sighting and navigation information, consisting of stationary symbols with constant coordinates and moving symbols with variable coordinates.

- interfacing with external systems through one multiplex channel for information exchange (MKIO) in accordance with GOST R 52070 in terminal device mode (OS).

Information display parameters can be exemplified by those shown in table 2.

The appearance of the working model of the NSCI created by the applicant is shown in FIG. 1, which shows how the helmet-mounted sighting device (NVU) is mounted on a protective helmet ZSh-7APN (a protective helmet is not included in the system).

The block diagram of the helmet-mounted target designation and indication system is shown in FIG. 2.

The external view of the DUT in the working position of the reflector is shown in FIG. 3.

НВУ 1 includes the following main functional units:

a) projection module 4, consisting of a projection display and a lens of the projection system;

b) reflector - “monocle” 5;

c) indication module (MIC) 7;

d) light sensor module (MAO) 10;

d) a set of passive retro-reflective labels 6 (for positioning system).

The block diagram of the DUT is shown in FIG. four.

An example of the displayed information is shown in FIG. 5.

NVU provides the following tactical and technical characteristics of the NSCI:

a) the formation in the field of view of the pilot's right eye of a collimated image of digital, alphabetic and symbolic information consisting of stationary and moving symbols;

b) ensuring reliable reading of images at different ambient light conditions, in flight conditions, day and night, both against the background of the cockpit space and against the background of the cockpit;

c) providing manual adjustment of image brightness;

d) adaptive change in display brightness depending on the ambient light in the cabin;

d) the installation of NVU on the helmet ZSh-7APN is carried out on a standard bracket NVU.

The NSCI includes at least one camera 2, but it is better to have at least three cameras (one main camera 2, and additional cameras 2a), which serve as direction finders for the position of tags 6 located on the NVU, necessary for the operation of the positioning system.

Chambers 2, 2a are designed to form a video image of tags located on NVU 1 in the spectral range (950 ± 10) nm and transfer it to the control unit for the formation of information indication and processing (BFFS) 3 for further processing.

Each camera 2, 2a includes the following main nodes:

a) the camera module 11, with the installed matrix photodetector (MFP) 12;

b) lens 14;

c) filter 15;

d) LED backlight module 13.

The block diagram of the surveillance camera is shown in FIG. 6.

The cameras provide the following tactical and technical characteristics of the NSCI:

a) measurement of the angular position of the drug in three ranges: mainly (ϕ _у = ± 15 °, (ϕ _z = ± 15 °), extended (ϕ _у = from -65 ° to -15 °, from + 15 ° to + 65 ° , ϕ _z = from -65 ° to -15 °, from + 15 ° to + 65 °,) and the limiting (ϕ _у = from -120 ° to -65 °, from + 65 ° to + 120 °, (ϕ _z = from -80 ° to -65 °, from + 65 ° to + 80 °);

b) measurement of the angular position of the drug during linear movement of the pilot's head along the X, Y, Z axes of the SSC of the aircraft up to ± 200 mm from the main operating condition.

The control unit for the formation of indications and information processing (BUFO).

BUFO 3 is designed to control and process information from cameras and NVU 1, as well as to ensure information exchange with the sighting and navigation system (PrNK).

BUFO 3 ensures the implementation of the following tactical and technical characteristics of the NSCI:

a) measuring the angular position of the drug in three ranges: mainly (ϕ _у = ± 15 °, ϕ _z = ± 15 °), extended (ϕ _у = from -65 ° to -15 °, from + 15 ° to + 65 °, (ϕ _z = from -65 ° to -15 °, from + 15 ° to + 65 °,) and the limiting (ϕ _y = from -120 ° to -65 °, from + 65 ° to + 120 °, ϕ _z = from -80 ° to -65 °, from + 65 ° to + 80 °);

b) measurement of the angular position of the drug during linear movement of the pilot's head along the axes X, Y, Z of the aircraft up to ± 200 mm from the main operating condition;

c) the maximum error in determining the angular position of the drug: not more than 15 'in the zone of the main range, not more than 30' in the zone of the extended range and not more than 60 'in the zone of the limit range;

d) the maximum error of determining the angular position of the drug is not more than 5 'in the main range (ϕ _у = ± 15 °, ϕ _z = ± 15 °);

e) NSCI has an external technological interface for downloading software through the technological connector of the BUFO without opening it;

f) NSCI receives power from a three-phase alternating current network with a rated voltage of 115 V, frequency of 400 Hz, and is a consumer of the second category in accordance with the requirements of GOST R 54073, Appendix B;

g) NSCI provides interfacing with external systems via one multiplex information exchange channel (ICIE) in accordance with GOST R 52070 in terminal device mode (OS). The principle of the NSCI

NSCI functionally consists of two subsystems: an indication system and a positioning system. The systems are integrated into each other, therefore, the performance of the NSCH depends on the serviceability of both systems.

Indication system is implemented in NVU and BUFO blocks. The system is an optical-electronic system that provides a collimated image of aerobatic sighting and navigation information in the field of view of the pilot's right eye.

The positioning system is implemented in blocks of surveillance cameras, NVU and BUFO. The system is designed to determine and output the angular coordinates of the line of sight by the angular position of the protective helmet. Surveillance cameras are installed on the arc of the lantern of the cockpit to monitor the movement of the pilot's head. A set of passive reflective marks is located on the housing of the NVU.

An optical measurement method is used to determine the angular coordinates of the line of sight. Unlike the electromagnetic positioning system, the optical system is not sensitive to changes in the electromagnetic environment inside the cabin (the appearance of objects made of magnetic materials in the sensor sensitivity area, magnetic field generators on / off, etc.).

In software BUFO implemented an algorithm for determining the position of the drug. Input data for the algorithm: frames of surveillance cameras, ZD model location labels on the NVU and helmet ZSh-7APN. Algorithm output: 6 numbers describing the linear and angular position of the line of sight. The output data is transmitted to the on-board electronic equipment (avionics) via the multiplex channel of information exchange (MKIO). Positioning system

Surveillance cameras are installed on the arc of the cabin lantern with the help of special brackets that provide mechanical strength of the structure and the necessary direction of the camera optical axes.

The location of the cameras is chosen in such a way that with all possible movements of the pilot's head in the cockpit, the landmarks (passive retro-reflective marks) necessary to calculate the required values of the angles of the drug are clearly visible. Passive tags 6 are located on the housing of the NVU 1 and the protective helmet ZSh-7APN-17.

Examples of placing surveillance cameras in a cabin are shown in FIG. 7, where zones 16 of the camera view and their removal from the helmet 17 of the pilot are visible. The principle of operation of the positioning system

The positioning system is optical, based on the use of reference marker marks on the housing of the NVU.

Marker tags are passive reflectors of various shapes and geometries. Labels are highlighted in the spectral range invisible to the human eye (950 nm). The backlighting is carried out using a matrix of LEDs located on the camera. The scattered, invisible to the human eye, radiation 18 from the matrix of LEDs falls on the reflector marks, illuminating them with a reflected stream 19 (Fig. 8). Surveillance cameras form a video stream, the individual frames of which are an image of a set of labels of NVU.

The backlight operates in a pulsed mode, due to which the filtering of the useful optical signal from spurious flare and glare occurs. Also, to suppress flare and glare, spectral filtering is used in the sensors of surveillance cameras to ensure the system operates in the spectral range (950 ± 10) nm. An example of the location of tags on the DUT is shown in FIG. 9.

Display system

The display system is an integral part of the NVU unit and is an optoelectronic projection system that forms a collimated image of aerobatic sighting and navigation information. The main elements of the system:

- projection display;

- lens of the projection system;

- reflector - "monocle".

An example of the displayed graphic information through the NVU sight is shown in FIG. 10.

Various types of projection systems for transmitting a display image that could be used for display purposes are known in the art. For helmet-mounted systems in which an aim mark is formed, only systems with an image at infinity are suitable. In this case, the display should be in the focus of the projection system, then a parallel beam of light that focuses on the retina will fall from the point on the display into the eye.

The projection system can consist of a single lens, and can form an intermediate image for a virtual increase in the size of the display. In this case, the output of the projection system is an eyepiece, and the eye should be located in the exit pupil. For less accurate positioning of the eye, a sufficiently large exit pupil size (5-10 mm) is required.

Another important feature of the projection system is the presence of a light divider (combiner), on which the radiation flows from the display and from the space in front of the pilot’s eyes. The exit pupil should be made so far that it is possible to place the remaining elements of the optical system located on the display side so that they do not obscure the space viewed by the pilot. The combiner can be a flat beam splitting mirror or have a shape with optical power.

The NVU implements an optical system, including a flat combiner and a lens on the axis of the optical system in a layout with a flick reflector - “monocle”. The advantage of this approach is that with the same dimensions and weight as in the targeting devices currently used in the troops, a wider field is achieved with the ability to display complete information that duplicates all the data on the ILS.

Due to the location of the DUT on the protective helmet, close to the pilot's face, in designing the unit, special attention is paid to minimizing the weight and longitudinal length of the lens (to reduce the overall overall size).

In the process of working with the NSCI, the user, moving his head in space, observes a change in symbolism depending on the direction of his gaze, the position of the head, as well as on various additional information provided by the carrier. At the same time, all the symbolism can be conditionally divided into mobile and motionless. The fixed part in its functional purpose does not move around the image (displayed in a fixed place), in contrast to the moving part, which, depending on the current direction of the user's gaze, moves through the image. Symbology connects the user's field of vision with the information field of the medium.

The novelty of the claimed invention is that special support marks made of retroreflective material are installed on the housing of the NVU.

Labels can be made of material whose surface consists of glass microspheres with a high reflection coefficient. Such material, due to its design, reflects incident light in the opposite direction (with minimal diffusion). This property ensures a uniform reflected signal in the image by each surveillance camera when IR illumination hits the reference mark plane at viewing angles from 0 ° to 75-85 ° depending on the distance from the camera lens output to the mark plane. In other words, the image of the reference mark (reflection of the IR illumination signal) falls into the frame of the video stream received by the sensor of the surveillance camera.

Reference marks can have, for example, a round shape, a fixed size and a special internal pattern (hereinafter, the mark code) that uniquely identifies each of them. The size and location of the reference marks on the NVD is determined by the shape and overall dimensions of the NVU itself, the optical characteristics of the sensors of the surveillance camera (matrix size and resolution, field of view angles and focal length of the lens, brightness and angular field of IR illumination, etc.) and their relative position on carrier.

The location of the reference marks on the housing of the NVU is set by the 3D model of the NVU. Each label inside the model is specified by a unique serial number in the model, the identifier of the label code (uniquely defined by the internal pattern), diameter in mm, XYZ coordinates of the center in mm and the normal vector to the label plane. If the label with the given code identifier is installed in the singular number (no repetition), then after recognizing the code, you can uniquely determine the correspondence between the 2D coordinates of the center of the mark image and the coordinates of the mark in the 3D model of the NVU.

It is possible to determine the position and orientation of the DED in space if there are at least 4 correspondences between the centers of the marks in the image from the surveillance camera (2D) and the centers of the corresponding marks in the DUT model (3D).

This condition requires a minimum of 4 tags.

Moreover, if less than 6 2D-3D matches are obtained from the image from the surveillance camera, then certain limitations are imposed on the possibility of successfully determining the position and orientation of the DUT.

The round shape of the mark in the projection onto the image plane at any viewing angle will give an outline in the form of an ellipse, determining the parameters of which (the center and axis of the ellipse), knowing the real dimensions of the mark and the location in the model of the NLD, you can get the interpolated mark image while maintaining the relative dimensions of the details of the internal figure . Having received such a label image, and knowing the geometric parameters of the internal drawing, you can recognize the data encoded in it (label code). However, there are limitations.

Whatever passive retro-reflective marks of various shapes and geometries are used, there must be at least four of them and they must be mounted on the helmet-mounted sighting device and located in different planes so that at any angle within the helmet’s rotation by 120 degrees in the horizontal plane, never more two marks does not lie on one straight line.

Only under this condition, in any possible situations, is it possible to identify each label as unique and there is no ambiguity.

Each mark has a unique pattern and / or symbol, and at any angle with respect to any mark, the scanned image of each mark is recognized as unique.

The internal marking pattern consists of three areas (Fig. 11): the area of the outer border 20 (the outer solid ring defines the contour of the mark); data area 21 (inner ring divided into 8 sectors of 45 ° each - sets 8 data bits for the label number); central region 22 (central solid circle — sets the center of the mark).

The outer boundary region together with the central region are reference for separating the mark from external noise. If the average brightness of pixels in these areas is less than a predetermined threshold, then the image is considered noise and discarded. Sectors of the data area specify the bits of the label number (0 - sector black, 1 - sector white).

Since this geometry of the internal pattern does not specify the orientation, it is impossible to unambiguously determine the first bit of data (the image of the mark can be rotated at an arbitrary angle). Therefore, it is proposed to use a set of binary sequences representing the so-called combinatorial necklaces as the code for the label number. The main property of such sequences, which allows them to be used to identify labels, is that for any sequence from a given set, any derived sequence obtained from the original cyclic shift in a given direction (in this case, the shift is performed to the right or in a clockwise direction), will not coincide with any other of this set, as well as with their derivatives obtained in the same way. Since labels can only be seen on one side, mirror sequences remain discernible. The number of such sequences N _{k is} calculated by the following formula:

, где n - число узлов, k - размер алфавита, di - делители числа узлов n, a ϕ(d) - функция Эйлера. В данной работе используется набор последовательностей из n=8 узлов по k=2 возможных значения на каждый узел (бит данных - {0, 1}). Для указанных значений n и k количество комбинаторных ожерелий (с учетом зеркальных) равно 36 (Фиг. 12).

, where n is the number of nodes, k is the size of the alphabet, di are the divisors of the number of nodes n, and ϕ (d) is the Euler function. In this work, we use a set of sequences of n = 8 nodes with k = 2 possible values for each node (data bit is {0, 1}). For the indicated values of n and k, the number of combinatorial necklaces (including mirror ones) is 36 (Fig. 12).

This coding principle of reference marks is easily scalable to increase the number of unique codes. The main ways are:

- an increase in the bit depth of the code (n is the number of nodes of combinatorial necklaces) - for example, using n = 10 digits, the data area in the internal marking pattern is divided into 10 sectors of 36 ° and in this case we have 108 unique marks (for n = 12 - sectors of 30 ° and 352 unique tags);

- increasing the dimension of the code (k - the size of the alphabet of combinatorial necklaces) - for example, using the additional possible attribute inside the geometry of each sector in the data area (for example, the presence of a white / black contrast point depending on the color of the sector), you can increase the dimension to k = 3 and in this case, with a bit length of n = 8, we have 834 unique labels (for k = 4 and n = 8 we have 8230 unique labels).

The use of the above scaling methods is accompanied by the selection of the diameter of the reference mark and the aspect ratio of the areas of the inner pattern. In addition, it should be borne in mind that changes in the geometry of the mark impose restrictions on the characteristics of the sensor of the surveillance camera, in order to ensure in principle the ability to recognize the mark code from the image from the sensor. And also changes the detection range of the reference mark.

Thus, the spatial position of the marks 6 in the plane varies depending on the rotation of the helmet, as shown in FIG. 13.

- Based on the distance between the marks 6, which are uniquely identified, and their spatial location in the plane, three-dimensional coordinates of the marks are formed, and on their basis the angular coordinates of the line of sight (LS) relative to the construction axis of the carrier are determined and output. As a result, a collimated image of sighting and symbolic information is generated and displayed in the field of view of the pilot as shown in FIG. 10.

Claims (10)

1. A helmet-mounted target designation and indication system comprising a marking system, a helmet-mounted sighting device connected to a control unit for generating an indication and information processing associated with a surveillance camera having a rigid fix, characterized in that at least four passive reflective marks of various shapes and geometries are used which are mounted on the helmet-mounted sighting device and are located in different planes so that at any angle within the rotation of the helmet by 120 ° in the horizontal plane there are never more than two tags do not lie on a straight line; Each label has a unique pattern and / or symbol. 2. The helmet-mounted system according to claim 1, characterized in that the internal marking pattern consists of three areas: the outer border area is the mark contour; data area divided into 8 sectors of 45 ° each; the central area is the center of the mark. 3. The helmet-mounted system according to claim 1, characterized in that the helmet-mounted sighting device consists of a projection display, a lens of the projection system, a “monocle” reflector, an indication module, an ambient light sensor module. 4. The helmet-mounted system according to claim 1, characterized in that in addition to the rigidly fixed surveillance camera, the system also includes two cameras that act as direction finders for the tags located on the helmet-mounted sighting device used to operate the positioning system. 5. The helmet-mounted system according to claim 4, characterized in that the surveillance cameras are capable of forming a video image of the tags located on the helmet-mounted sighting device in the spectral range of 950 ± 10 nm, and transmitting it to the control unit for generating an indication and processing information for further processing. 6. The helmet-mounted system according to claim 4, characterized in that each surveillance camera includes the following main components: a camera module with an installed matrix photodetector; lens; light filter; LED backlight module. 7. Helmet system according to claim 1, characterized in that the marks are made of a material whose surface consists of glass microspheres with a high reflection coefficient. 8. The method for determining the angular position of the line of sight using the helmet-mounted target designation and indication system according to claim 1 is characterized in that the marks are highlighted in the spectral range invisible to the human eye (950 nm); illumination is carried out using a matrix of LEDs located on the surveillance camera; scattered radiation, invisible to the human eye, from the matrix of LEDs after being hit by reflective marks illuminates them, and using surveillance cameras, a video stream is formed, individual frames of which are an image of the totality of marks on the helmet-mounted sighting device; using the control unit for the formation of indications and information processing, the angular position of the line of sight (LP) is measured in different ranges; measure the angular position of the drug when the helmet is linearly moved in a three-dimensional coordinate system with a helmet deviation of up to ± 200 mm from the main operating state; calculate the maximum error in determining the angular position of the drug; to determine the angular coordinates of the line of sight, an optical measurement method is used, based on the use of reference marker marks that are installed on the helmet-mounted sighting device; based on input data: frames of surveillance cameras, 3D model of location of marks on the helmet-mounted sighting device and helmet; determine the position of the drug, receiving 6 numbers describing the linear and angular position of the line of sight. 9. The method according to p. 8, characterized in that the backlight is carried out in a pulsed mode. 10. The method according to p. 8 or 9, characterized in that to suppress flare and glare in the sensors of the surveillance cameras use spectral filtering in the range of 950 ± 10 nm.

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