RU2686388C1 - Aiming method for aerial target - Google Patents

Abstract

FIELD: aviation.SUBSTANCE: invention relates to means for guiding an aerial target. Method is intended for guidance of a carrier with an optical homing head on the target. Light from target in air through lens is projected onto receiver. Signals from pixels of the photosensitive matrix are recorded and recorded in stages. Starting from the first row of the Y matrix, signals from pixels are processed, signals from pixels in the next line are recorded simultaneously with processing signals from pixels in the current line. H values of the signals from each pixel are averaged. Derived values of H are converted depending on brightness of the target relative to the brightness of the background, and the difference H of the averaged and non-averaged signals is determined. Starting from the beginning of the current line, determining the pixel number X1, for which the value H becomes positive, the maximum positive value Hm, the pixel number X2, after which the value of H in the current line is not positive, the number of the current line Y is recorded in memory X1, Hm, X2, Y. Next row of the matrix is processed to determine the values X1, Hm, X2, Y. If value Hm of the value recorded for the previous line is exceeded, new values X1, Hm, X2, Y are overwritten in memory, upon completion of signal processing of all rows of the matrix, target coordinates are determined as (X1 + X2)/2 and Y and corresponding control signals are output to carrier actuators. Technical result consists in reduction of computational load of signal processing device, reduction of number of operations of storing and transmitting data arrays, faster processing of images obtained by OGS simultaneously with reception of images, higher stability of operation for coloring of target and emission of light traps.EFFECT: invention enables to solve the problem of accelerating the search for an aerial object, increasing resistance to the use of masking of the target, and issuing a signal when a given distance to a target of known size is achieved.9 cl, 3 dwg

Description

Technical field

The invention relates to the field of homing systems, in particular to methods of pointing the carrier to the target optical homing head (OHS).

Prior art

The known method described in the patent for useful model No. 160102 "Homing head of controlled aircraft products"; priority: 08.26.2015, published: 03/10/2016; IPC F41G 7/22, F42B 15/01 (2006.01); patent holder: Closed Joint-Stock Company "Solution of Information Problems" "REINZ" (RU), authors: Prokuda I.A., Govseev SV, Klimov V.M., Alekseev E.G., Kolokoltsev E.N., Mitrofanov BC, Kuznetsov S.V., Izhikov V.I., Andreev B.M., Martirosov A.V. (RU).

The radiation of the target and other objects, including possible interference, is transmitted to four TV cameras 1, 2, 3, 4 simultaneously. Optical radiation in each TV camera is converted into electrical signals and from each camera these signals are sent to each of the four pre-processing and digitizing units of the video signal corresponding to its own camera. At each of the four pre-processing and video digitizing nodes, the incoming electrical signals are digitized, their gain and offset levels are filtered and determined so that the dynamic range of the input signal is used to the maximum.

The disadvantage of this method is the complexity and limited speed due to the need to transfer and process multiple images. The method is designed to work with targets on the ground, which should be of large size.

The known method on which the patent of the Russian Federation for the invention for invention No. 2603235 "Method of detection and high-precision determination of the parameters of high-speed flying targets and homing head, realizes it", IPC F41G 7/00 (2006.01); priority date 31.03.2015; published: 11/27/2016; Author: Prokuda I.A. (RU); Patentee: CJSC "Information Problem Solving" "REINZ" (RU).

First, actions are taken to isolate target-like objects from background noise and other low-speed large-size interference. Next, produce a selection of goals for a complex of signs: brightness, geometric dimensions, the relative position of parts, shape, etc. The aggregated data is grouped together or images, compared with the “reference” images stored in the memory, and the coordinates of the target are determined.

The disadvantage of this method is the complexity of the technological process of detecting objects, insufficient performance due to the use of a gyro coordinator and multiple frame processing, the impossibility of miniaturizing the device.

As a prototype, the patent of the Russian Federation for the invention №2176773 "Method of guidance", IPC: F41G 7/22, G01S 3/78 (2000.01), priority 08/02/1999, was published: 10.12.2001; Authors: Gurevich M.S., Yeskin V.N., Marchenkov V.M., Pomeranets E.Ya., Prolygin E.V., Toshchakov S.A., Chuprakov A.M .; Patentee (s): LOMO.

The coordinates of target points displayed in the OGS field of view are determined, a matrix of coordinates is formed, the target is identified from one of the contour points of the target image, and the target auto-tracking and carrier control signals are formed in accordance with the coordinates of this point. The coordinates of the geometric center and specific in the mathematical sense points of the contour of the target image are determined.

The disadvantage of this method is the use of the contour of the targets and the possibility of disrupting the auto tracking in cases of masking for purposes such as distortion or rupture of the contour, a light trap. In addition, the complexity of the mathematical processing of the image signal limits the speed of the method.

DISCLOSURE OF INVENTION

The task, which the claimed invention is directed to, is to accelerate the search for a target (object in the air), increase resistance to the use of masking a target, and issue a signal when a given distance is reached to a target of a known size.

The technical result achieved in solving this problem is to reduce the computational load of the signal processing device, reduce the number of data storage and transmission operations, accelerate the processing of images received by the OGS simultaneously with image reception, increase the durability of work to color the target and emit light traps.

The technical result is achieved by the fact that in the method of aiming at an air target, including determining the coordinates of the target using optical target-induced homing (OGS) in the field of view of the target, according to the invention, signals from pixels of the photosensitive matrix recording the current image of the OGS field of view are recorded and recorded line by line Starting from the first row of the matrix, they process the signals from the pixels. Simultaneously with processing the signals from the pixels in the current line, they record the signals from the pixels in the next line. In the process of processing signals in the current line, the values of signals from each pixel are averaged from a given number of surrounding pixels. The resulting averaged values of the signals are converted depending on the brightness of the target relative to the brightness of the surrounding background and determine the difference H of the averaged and non-averaged signals. Starting from the beginning of the current line, determine the pixel number X1, for which the H value becomes positive, the maximum positive value Hm, the pixel number X2, after which the value of H in the current line is not positive, the number of the current line is Y. Write to memory X1, Hm, X2, Y. The next row of the matrix is processed and the values of X1, Hm, X2, Y are determined in it, and in case of exceeding the value of Hm of the value recorded for the previous row, the new values of X1, Hm, X2, Y are overwritten. Upon completion of signal processing of all rows of the matrix, determine the coordinates of the target as (X1 + X2) / 2 and Y and issue the appropriate control signals to the actuators of the carrier.

The set of essential features ensures obtaining a technical result - reducing the computational load of the signal processing device, reducing the storage and transmission of data arrays, accelerating the processing of images received by the OGS, simultaneously with receiving images, increasing the work resistance to the emission of light traps. This makes it possible to solve the problem of accelerating the search for an air object, increasing its resistance to the use of masking a target, and issuing a signal when it reaches a predetermined distance to an air object of a known size.

It is possible that when the target brightness exceeds the brightness of the surrounding background, the resulting averaged values of the signals increase by a specified amount, the resulting averaged values of the signals from each pixel are subtracted from the values of the signals received from the corresponding pixels, get the value H of the signal difference.

It is possible when the target brightness is less than the brightness of the surrounding background, the resulting averaged values of the signals are reduced by a specified amount, and the values of H of the signal difference are obtained from the obtained reduced averaged values of the signals from each pixel.

This allows you to solve the problem of accelerating the search for an air object, increasing the resistance to the use of masking a target.

During the processing of pixels in the current line, it is possible to re-identify a group of adjacent pixels with a positive value of H, in this case, the value of Hm is redefined and if it exceeds the previously defined value in the current line, X1, Hm, X2, Y are rewritten.

This allows us to improve the technical result in terms of eliminating false targets and interference on the recorded image.

When the value of X2-X1 is reached in advance of a known value, it is possible that a control signal is issued to the actuators of the carrier to attain a given distance to a target of a known size.

This allows you to improve the technical result by the definition of a given distance to the target.

It is possible that the minimum Y1 and maximum Y2 lines, outside of which there are no positive H values, are determined and remembered, when the value (Y2-Y1) reaches a previously known value, a signal is given to the actuators of the carrier to reach a predetermined distance to an air object of a known size.

This allows you to improve the technical result to improve the reliability of determining a given distance to the target, for example, in the case of its maneuvering, changing the angle of its review, lighting.

Possibly, take into account the values of Hm, which fall within the specified range.

This allows you to improve the technical result in terms of target detection with previously known characteristics and to avoid targeting bright foreign objects such as the sun, moon, traps.

Perhaps, in the case of the presence of target fragments with brightness greater or less than the brightness of the surrounding air background, the matrix is separately processed and the coordinates of the target are determined as averaged values (X1 + X2) / 2 and Y.

This allows you to improve the technical result by aiming at a target whose brightness changes as a result of its maneuvering and changes in the conditions of its illumination.

From the completed image matrix processing, it is possible to determine the maximum value of X2-X1 and, when the value of X2-X1 reaches a previously known value, issue a control signal to the actuators of the carrier to reach a specified distance to the target of a known size.

This allows you to improve the technical result to improve the accuracy of determining the distance to the target.

Brief description of drawing figures

FIG. 1 shows a block diagram of the OHS.

FIG. 2 shows the distribution curve of signals from pixels in one row of the matrix in the case when the brightness of the target exceeds the brightness of the surrounding background.

FIG. 3 shows the distribution curve of signals from pixels in one row of the matrix in the case when the brightness of the target is less than the brightness of the surrounding background.

An embodiment of the invention

For the method of aiming at an air target, an optical homing head (OHS) was developed, the block diagram of which is shown in FIG. 1. The OGS includes a lens 1 through which light passes from the target 2 itself (an object in the air) or reflected from it. The image of target 2 is projected on the receiver 3 of the image, made in the form of a photosensitive matrix, for example, CMOS-matrix. On the receiver 3 register the current image of the field of view of the OGS, containing a portion of the sky with goal 2, convert the image into electrical signals that are received in the processing unit 4 images. The processing unit 4 receives signals from each pixel of the photosensitive array of the receiver 3.

FIG. 2 shows the curve 5 of the signal level of the pixels in one row of the matrix, depending on the number of pixels in the row of this matrix. Where X is the pixel number in the Y - matrix row, H is the signal level from the pixel.

The recording of signals from the pixels of the photosensitive matrix in the processing unit 4 occurs line by line.

After writing to the processing unit 4, the first row of the matrix is carried out for each pixel of a given row, the signals are averaged from a specified number of surrounding pixels, directly proportional to the number of pixels in a row. A specified number of surrounding pixels, as a rule, is chosen in the range of 2 ... 10 pixels.

Simultaneously with the processing of the first row, write to the processing unit 4 of the second row of the matrix.

After writing to the processing unit 4 the next row of the matrix, for each pixel of this row, the signals are averaged from a specified number of surrounding pixels. The obtained distribution of the averaged signal corresponds to curve 6 in FIG. 2

The resulting averaged values of the signals increase by a given amount of bias if the brightness of the target exceeds the brightness of the surrounding background. As a result, curve 7 in FIG. 2

The target value is an offset value that corresponds to the noise level of the image receiver 3, or background heterogeneities. As a rule, the average spread of signals from pixels is 10 ... 15%.

The resulting averaged averaged values of the signals from each pixel in the form of curve 7 are subtracted from the values of the signals received from the same pixels in the form of curve 5. The obtained values of the difference of these signals correspond to curve 8 in FIG. 2

Starting from the beginning of the current line, determine the number of pixel X1, for which the value of H becomes positive, the maximum positive value of Hm, the number of pixel X2, after which the value of H in the current line is not positive, as well as the number of the current line Y. Write to memory X1, Hm, x2, y. Process the next row of the matrix and determine the values of X1, Hm, X2, Y in it. If the value Hm is exceeded, the value recorded for the previous line overwrites the new values X1, Hm, X2, Y.

Upon completion of signal processing of all rows of the matrix, determine the coordinates of the target as (X1 + X2) / 2 and Y and issue the appropriate control signals to the actuators of the carrier.

The method of aiming at an air target with a target brightness less than the brightness of the surrounding background is similar to the method described earlier for aiming at an air target with a target brightness exceeding the brightness of the surrounding background.

Registration and recording of signals from pixels of a photosensitive matrix, recording the current image, is the same as when the target brightness exceeds the brightness of the surrounding background, as described earlier.

FIG. 3 shows the curve 5 of the signal level of the pixels in one row of the matrix, depending on the number of pixels in the row of this matrix. Where X is the pixel number in the Y - matrix row, H is the signal level from the pixel.

In the current line, the values of signals from each pixel are averaged from a specified number of surrounding pixels. As a result, curve 6 in FIG. 3

The obtained averaged values of the signals are reduced by a specified amount. As a result, curve 9 in FIG. 3

For each pixel, from the obtained reduced averaged values of the signals on curve 9, the values of the signals on curve 5 are subtracted, as shown in FIG. 3. The resulting values of the difference of these signals correspond to curve 10 in FIG. 3. This is the curve of the current line.

Starting from the beginning of the current line, determine the number of the pixel X1, for which the value of H becomes positive, the maximum positive value of Hm, the number of the pixel X2, after which the value of H in the current line is not positive, the number of the current line of Y. Further essential features for the purposes of greater and lower brightness match.

Thus, this method provides a technical result - acceleration of the processing of images received by the OHS directly during the reception of images, which allows you to speed up the search for an air object. In addition, this method reduces the computational load of the signal processing device, reduces the number of operations for storing and transmitting data arrays, which together leads to a miniaturization of the processing unit 4 and the OGS itself.

Obtained during image processing, the values of X1 and X2 correspond to the dimensions of goal 2 on the horizon, which allows to determine the distance to target 2. When the value (X2-X1) of a given value is reached, processing unit 4 outputs the appropriate control signal to the actuators of the specified target distance 2 known size.

The minimum Y1 and maximum Y2 values, outside of which there are no positive H values, determined during image processing for different lines correspond to the dimensions of goal 2 vertically. This allows you to determine the distance to the target 2. When the value (Y2-Y1) reaches the specified value, the processing unit 4 outputs the corresponding control signal to the OGS actuators to reach the specified distance to the air target 2 of a known size.

Thus, the solution of the problem of issuing a signal when reaching a given distance from OGS to an air target of 2 known sizes is provided.

In the event that the brightness of the target 2 is less than the brightness of the surrounding background, then the light traps ejected by the target of masking cannot give in the difference curve 10 in Fig. 3 pixels with a positive difference.

Thus, it becomes possible to determine the coordinates of target 2 in the event of the emission of light traps by it.

In the case of masking the target 2, its image can be a set of light and dark spots. In this case, the matrix is processed in both the light and dark parts of target 2 in parallel. The processing results are summarized.

If the initial information on the degree of brightness of target 2 is known before the start of OGS operation, in processing unit 4, those targets whose brightness values are outside the specified range may not be taken into account. Thus, you can exclude targeting in the form of super-bright sources, for example, the sun.

This allows this method to obtain a technical result in the form of increasing resistance to the use of masking a target, triggering on all targets that are both darker and lighter than the background.

Industrial Applicability

The most effective is the use of the proposed method in the homing devices, aviation, space and rocket production industry. The considered embodiment of the invention can be implemented on the currently existing equipment using existing materials. This shows its performance and confirms industrial applicability.

Claims (9)

1. A method of aiming at an air target, which includes determining the coordinates of the target from field targets induced by the optical homing head (OGS) to target points, characterized in that signals from pixels of the photosensitive matrix recording the current image of the OGS field of view, starting with the first, are recorded and recorded line by line matrix rows, process signals from pixels; simultaneously with signal processing from pixels in the current line, record signals from pixels in the next line, during signal processing in the current article They average the values of signals from each pixel from a given number of surrounding pixels, convert the averaged values of the signals depending on the brightness of the target relative to the brightness of the surrounding background, and determine the difference H of the averaged and non-averaged signals, starting from the beginning of the current line, determine the pixel number X1, for which value H becomes positive, the maximum positive value Hm, the number of the pixel X2, after which the value H in the current line is not positive, n p of the current row Y, stored in the memory X1, Hm, X2, Y, process the next row of the matrix, determine the values of X1, Hm, X2, Y in it, and in case of exceeding the value Hm of the value recorded for the previous row, overwrite the new the values of X1, Hm, X2, Y, at the end of processing the signals of all rows of the matrix, determine the coordinates of the target as (X1 + X2) / 2 and Y and issue the corresponding control signals to the actuators of the carrier. 2. The method of pointing to an air target according to claim 1, characterized in that when the target brightness exceeds the brightness of the surrounding background, the obtained averaged values of the signals increase by a specified amount, the resulting averaged values of the signals from each pixel are subtracted from the values of the signals received from the corresponding pixels, get the value of the N difference signal. 3. The method of pointing to an air target under item 1, characterized in that when the target brightness is less than the brightness of the surrounding background, the resulting averaged values of the signals are reduced by a specified amount, from the resulting reduced averaged values of the signals from each pixel subtract the signals received from the corresponding pixels , get the value of H difference signal. 4. The method of pointing to an air target under item 1, characterized in that during the processing of pixels in the current line, when a group of adjacent pixels with a positive value of H is re-detected, the value of Hm is redefined and, if it exceeds the previously defined one in the current line, is rewritten X1, Hm, X2, Y values 5. A method of aiming at an air target according to claim 1, characterized in that when the value X2-X1 is reached a known value, a control signal is issued to the actuators of the carrier to reach a predetermined distance to the target of a known size. 6. The method of aiming at an air target according to claim 1, characterized in that the minimum Y1 and maximum Y2 values of the lines are determined and stored, outside which there are no positive H values, when reaching the value (Y2-Y1) of a predetermined value, give a signal to the actuators carrier about the achievement of a given distance to the air object of a known size. 7. The method of aiming at the air target under item 1, characterized in that they take into account the values Hm, which fall within the specified range. 8. A method of pointing to an air target according to claim 1, characterized in that in case of presence of target fragments with brightness more and less than the brightness of the surrounding air background, the image matrix is separately processed and the target coordinates are determined as averaged values (X1 + X2) / 2 and Y. 9. The method of aiming at the air target according to claim 8, characterized in that the maximum value of X2-X1 is determined from the performed matrix processing, and when the value of X2-X1 reaches a known value, a control signal is given to the actuators of the carrier to reach the specified distance to the target size.

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