RU2757061C1 - Information overview and panoramic surveillance system - Google Patents

Abstract

FIELD: optics.

SUBSTANCE: invention relates to optoelectronic surveillance systems and can be used in the field of weaponry and military equipment, in particular, in fire control systems of armored vehicles. The surveillance system is comprised of an optical unit (OU), a control unit (CU) with a video viewing apparatus and a control panel, a control station, transceiver equipment, a navigation system with an antenna, an electronic compass, and a cartographic tablet (CGT), means of graphical display of the position and orientation of the object on the electronic map of the CGT, course, roll and pitch sensors. Identical left and right optical units are additionally connected to the OU. The CU is equipped with a helmet-mounted visualisation system and a processing system. The measuring application of the processing system of the CU comprises software-implemented modules or commands. The data exchange module is configured to receive and transmit data. The calibration module is configured to determine the data of external and internal calibration of the cameras of the optical units. The interface module is configured to create image control forms.

EFFECT: reliability is increased.

1 cl, 7 dwg

Description

The invention relates to optoelectronic surveillance systems and can be used in the field of weapons and military equipment, in particular in fire control systems for armored vehicles (BTV), i.e. tanks, BMP, BMD, armored personnel carriers, BRDM, as well as ground robotic, including autonomous and remotely controlled reconnaissance and strike complexes for military purposes, etc. The invention is designed primarily for modern samples of armored vehicles with digital optoelectronic aiming and video surveillance systems. The implementation of the proposed information panoramic observation system is possible during the development of new and during the modernization of existing models of armored vehicles and, in general, is aimed at increasing the indicators of their tactical and technical characteristics.

A remote analogue for the claimed invention is the optical sight of the fire control system (see RF patent for invention No. 2224206 IPC F41G 7/26, published on 20.02.2004 by application No. 2002119974/02 dated 22.07.2002, patent holder State Unitary Enterprise "Design bureau of instrumentation "). The essence of the inventions lies in the fact that a head mirror unit, a survey channel, an optoelectronic observation channel, a return button, a sight channel alignment device, including alignment controls, are introduced into the optical sight. The head mirror unit and the optical-electronic observation channel are connected to a control bus, to which a software device is connected, connected to the head mirror unit, a rangefinder channel, an emitter, a modulator, a pancratic optical system and a return button. Rangefinder, sighting, survey channels and guidance channel are combined into a single module. The optoelectronic observation channel is designed as a separate module. Both of these modules are fixed on the lower surface of the additionally introduced flange, on the upper surface of which the head mirror unit is fixed. The implementation of the invention makes it possible to provide noise immunity and reliability of the fire control system, as well as to increase the maintainability of the sight.

The disadvantage of the analogue is the low efficiency of work at night due to the lack of a thermal imaging channel.

A closer analogue is a sighting device with a laser rangefinder (see RF patent for invention No. 2464601 IPC G02B 23/02 (2006.01) F41G 3/06 (2006.01), published on 20.10.2012 by application No. 2011122221/28 dated 02.06 .2011, patent holder Open Joint Stock Company "Peleng".) The sight-aiming device includes a body and mutually parallel sighting channel, a laser rangefinder, including a transmission channel containing a pulse laser and a telescope, and a receiving channel, including a sighting channel lens, a separation system channels and a photodetector, a laser guidance channel, including a continuous laser, a raster modulator, a pancratic system, a channel separation system and a sighting channel lens. The channel separation system contains a rotary plane-parallel plate with mirror and diffusely reflecting coatings, located on the axis of the guidance channel with the possibility of its output. A visible radiation collimator is inserted into the transmitting channel of the laser rangefinder, and the first alignment system is located at its output. A second alignment system and a visible light illuminator are introduced into the laser guidance channel. An optical unit with a sensor of its position has been introduced, including a prism of the BkR-180 ° type and a retroreflector, a unit of matrix LED indicators, a control panel and a device for controlling and processing electrical signals, which are rigidly connected to each other. The continuous laser is mounted on the housing and is optically coupled to the raster modulator through a hole in the housing. The technical result is an increase in the accuracy of firing and guidance of guided missiles at a target, an increase in reliability, and an expansion of functionality.

Together with this disadvantage of the analogue is that this device does not have the possibility of a panoramic view.

An even closer analogue is the commander's panoramic observation device (see RF patent for invention No. 24682141 IPC F41G 3/00 (2006.01), published on 03/14/2019 by application No. 2018108426 dated 02/12/2018, patent holder Vologda Optical mechanical plant "(JSC" VOMZ ")). The commander's panoramic observation device is designed to survey the terrain, detect and identify targets, measure the range to the target and provide target designation in conditions of insufficient visibility at any time of the day from the spot and on the move. The commander's panoramic observation device includes an optical unit, made in a single, sealed casing that has the ability to install armored plates, including television and thermal vision channels, installed on a gyro-stabilized platform in the vertical and horizontal planes, which has a vertical precise drive located inside horizontal coarse drive, providing 360-degree rotation of the platform without limiting the number of revolutions in any direction, having mechanisms for locking drives, a tracking system computer, a gyroscopic sensor unit, an information exchange unit, a video converter unit, an amplifier unit with a power amplifier board, sensor signal conversion units, cage control board, torque motors, cage electromagnets, digital angle sensors, and the control unit included in the device, made in a single sealed case, including a switch board, boards at information exchange, a converter board, a power board with a digital communication channel. The design of the device provides visualization of service information about the serviceability, the set mode, the state of the device. To ensure the measurement of the range and ensure the positioning of targets relative to the device, in the field of view, there is a rangefinder "with a base on the target". The control unit is made in a single sealed case, it allows integrating the sight into the fire control system of the object of application, as well as providing target designation modes from the commander to the gunner.

The advantage of this analogue lies in expanding the functional capabilities of the combat vehicle by providing the commander with a device with panoramic terrain viewing functions, reducing commander's fatigue due to the convenience of work and the absence of the need to turn when tracking the background target situation, reducing the aiming time due to the target designation mode, increasing range of detection and identification of the target due to the presence of a thermal imaging channel, the ability to conduct reconnaissance when the vehicle is moving due to the presence of a stabilization system for the field of view.

The disadvantage of the analogue lies in the low information content of the images displayed for the operator (the commander of the armored vehicle) on the screen of the video surveillance device (APU).

This disadvantage is explained by the fact that the video images of the terrain on the screen of the APU are "monoscopic", "flat", i.e. formed on the basis of the use of one camera. Such images do not correspond in the width of the surveyed area to the angles characteristic of the human visual system, do not allow seeing a three-dimensional picture, i.e. are not very informative compared to images of the human visual system. As a result, the time for the commander of the armored object increases to analyze them, navigate the terrain and make decisions in the current situation. This is what leads to the fact that quite often the commander of an armored object, especially when operating on unfamiliar terrain, even if he has a high-tech sighting system at his disposal, he prefers to assess the environment and orient himself by directly viewing the terrain through the open hatches of the armored object, which puts his life in danger and contributes to the disruption of the combat mission.

The next disadvantage of the above analogue is the inability to quickly detect targets and aim at them with the central aiming mark of the sight when receiving external target designation, which consists in receiving the coordinates of targets through the channels of the tactical link control system detected by another armored object or reconnaissance means. Moreover, even if the analogue will be used in conjunction with external target designation equipment integrated into a single tactical echelon control system, the need for repeated visual search and detection of each target and important object will remain. Added to this disadvantage is the ability to carry out target designation at a time only for one target. Taken together, the above disadvantages lead to additional time spent on searching and detecting targets when receiving and conducting target designation. Moreover, if on familiar terrain and with a relatively low intensity of combat, the operator for each target can take from units to ten seconds, provided that the target has a clear contrast with the terrain, then in a complex background target situation on unfamiliar terrain with intense combat for each the goal can be spent time measured in minutes. Note one more drawback, which is that even taking into account the automatic transmission of information on the target and "highlighting" its position on the electronic map of the graphics tablet, the time of searching and detecting a target for its further destruction depends on the subjective qualities of the commander's training. In this case, if an operator, for example, the commander of an armored vehicle model, does not orientate correctly on the ground, then the probability of making a mistake when choosing a "highlighted" target for destruction is quite high.

As a prototype, a sight was chosen using the method of external target designation with target indication for samples of armored weapons (see RF patent for invention No. 2697047 IPC F41G 3/00 (2019.05), published on 08.04.2019 by application No. 2019101696, dated 22.01.2019 ., patent holders Zubar Aleksey Vladimirovich, Kirnos Vasily Ivanovich), including the sight itself of a modular or periscopic design with two-plane independent stabilization of the field of view and optoelectronic observation channels of one or several ranges, connected to the processing system. The processing system is connected to the navigation system, the receiving and transmitting equipment of the tactical link control system, as well as the heading, roll and pitch sensors of the weapon model.

The peculiarity of the method implemented in the sight is to ensure the reception or transmission of multipurpose target designation in real time both for objects located in the line of sight, and beyond it and with shelters, with a minimum dependence of the target designation result on the complexity of the background target situation, the intensity of the battle, as well as the qualities and training the crew of the weapon model. This feature is provided by additional indication (highlighting) the location of targets directly in the field of view (on the screen of the APU) of the sight. Thus, the target search areas on the sight image are minimized, and, accordingly, the time spent on the search procedure. In addition, the prototype has the ability to display not only targets in the sight of the sight, but also other important objects, for example, concentration areas, column deployment areas, locations of command posts and other tactical information, which increases the speed of the commander's orientation on the ground.

The disadvantages of the prototype are:

- low information content of the images, as in the above analogue, associated with the "plane" of the scene of the surrounding space in the images of the sight;

- the lack of the possibility of displaying targets, as well as the location of tactical and navigation signs on the image, taking into account their relative position not only in the image plane, but also the depth of their location on a real three-dimensional surveyed area;

- the presence of an error in the indication of targets and important objects, increasing from the center to the edges of the image, especially when using wide-angle lenses. This disadvantage is determined by the failure to take into account in the process of calculating the areas of indication of the radial distortion of the lenses, as well as the tangential distortion caused by the error in the installation of the photodetector device (FPU) relative to the optical axis of the lens at the production stage or due to the fault of operation;

- the presence of an error in the indication of targets and important objects due to the neglect of image distortions caused by the refraction of light by the protective glasses of the sight;

- increased complexity of calculations associated with a large number of taken into account internal parameters of optical-electronic observation channels;

- the dependence of the indication accuracy on the persistence of the values of the internal parameters of the optoelectronic observation channels during their operation, including in different climatic conditions.

Thus, the tasks to be solved by the claimed invention are:

- firstly, bringing the simultaneously observed space to the parameters close to the human visual system and three-dimensional visualization of the observed scene through the optical-electronic observation channels of the sight;

- secondly, three-dimensional visualization and spatial scaling of the target selection (indication) areas superimposed on the images, as well as tactical and navigation signs;

- third, an increase in the display accuracy in the presence of distortional distortions of images, as well as in the presence of image distortions caused by the influence of refraction of the protective glass of the sight;

- fourthly, a decrease in the number of internal parameters taken into account, and as a consequence, a decrease in computational complexity and the dependence of the indication accuracy on the persistence of their values during operation.

The solution of the first problem is achieved by introducing narrow and medium fields of view to the optical unit with optoelectronic channels, a laser rangefinder, and independent two-plane stabilization; - a vertical drive providing channel rotation from minus 15 to plus 45 degrees, a horizontal drive providing 360 degrees rotation of the platform without limiting the number of revolutions in any direction, vertical and horizontal guidance sensors, additional identical left and right optical blocks informationally connected through a data bus with a control unit, and having fields of view from 120 to 140 degrees, placed in parallel on the same axis to the left and right of the main optical unit and mechanically coupled with it. Moreover, the control unit is additionally equipped with a processing system with memory for storing data and a measuring application containing executable modules or commands that provide reception, processing and transmission of two paired images or one synthesized stereo image to the operator's helmet-mounted visualization system. In this case, the helmet-mounted visualization system connected to the control unit is made in the form of virtual or augmented reality glasses with one (for broadcasting a stereo image) or two (for broadcasting a pair of images) high-resolution microdisplays and two optical systems for the operator's left and right eyes. In addition, the helmet-mounted visualization system, in the case of augmented reality performance, can contain one (for broadcasting a stereo image) or two (for broadcasting a pair of images) translucent screens that allow the operator to see the transmitted images from microdisplays in augmented reality mode.

The solution to the second problem is achieved by connecting the control unit through a high-speed data bus with the transmitting and receiving equipment of the tactical link control system, navigation system, sight guidance sensors, heading, roll and pitch sensors of the armored vehicle and including a measuring application with software executable modules or commands providing:

- receiving data on the current spatial orientation and coordinates of the weapon sample, as well as data on the current coordinates and orientation of the optical unit, coordinates of targets or important objects, coordinates of points of tactical and navigation signs;

- calculation for each target, important object, tactical and navigational signs of spatial three-dimensional coordinates of points that characterize the shape of their selection areas in space;

- calculation separately for images from the main, left and right optical blocks of pixel coordinates of target selection areas, as well as points of tactical and navigation signs;

- indication separately on the images from the main, left and right optical blocks according to the calculated points of the target or important objects selection areas, as well as tactical and navigation signs.

изображений объектов в СК

оптико-электронного каналов (ОЭК) (камеры) основного, левого и правого оптических блоков (j-индекс камеры оптического блока) к плоским пиксельным координатам n_j, m_j и обратно, а именно:The solution of the third and fourth tasks is achieved by using expressions that allow the transition from metric three-dimensional coordinates

images of objects in the UK

optoelectronic channels (OEC) (cameras) of the main, left and right optical blocks (j-index of the optical block camera) to flat pixel coordinates n _j , m _j and vice versa, namely:

- расширенный вектор плоских пиксельных координат

изображения g-го объекта на плоскости изображения Img_j;where

- extended vector of flat pixel coordinates

images of the g-th object on the image plane Img _j ;

- расширенный вектор трехмерных метрических координат

изображения g-го объекта на плоскости изображения Img_j, отстоящего от оптического центра объектива камеры на расстоянии

- extended vector of three-dimensional metric coordinates

images of the g-th object on the image plane Img _j , spaced from the optical center of the camera lens at a distance

- приведенные пиксельные координаты изображения g-го объекта на изображении Img_j камеры j-го оптического блока;

- reduced pixel coordinates of the image of the g-th object on the image Img _{j of the} camera of the j-th optical unit;

N _j and M _j - horizontal and vertical image resolution;

соответственно;c ₀ , c ₁ , c ₂ ,… c _q and d ₀ , d ₁ , d ₂ ,… d _q - polynomial coefficients of direct transformation of functions

respectively;

- полиномиальные коэффициенты обратного преобразования, соответственно, функций

q-го порядка;

are the polynomial coefficients of the inverse transformation, respectively, of the functions

q-th order;

- углы на интересующий g-ый объект в горизонтальной и вертикальной плоскостях относительно оптической оси объектива;

- angles to the g-th object of interest in the horizontal and vertical planes relative to the optical axis of the lens;

обеспечивает установление математической связи между пиксельными координатами

изображения объекта и его трехмерными координатами

в СК

камеры при работе с дисторсионно-искаженными или искаженными в ходе преломления света в защитном стекле прицела цифровыми изображениями Img_j, в том числе не соответствующими своим разрешением физическому разрешению фотоприемного устройства, а также применение камер с неизвестными техническими параметрами, в том числе с учетом возможных погрешностей, допущенных при их изготовлении или возникших по вине эксплуатации. При чем вычисляться коэффициенты c₀,c₁,c₂,…c_q и d₀,d₁,d₂,…d_q,

должны для каждой j-ой камеры индивидуально при ее производстве и сборке, или уточняться непосредственно перед применением системы наблюдения при воздействии длительных вибрационных или ударных нагрузок, или при смене климатических условий путем проведения калибровки.In this case, the use of polynomials

provides the establishment of a mathematical relationship between pixel coordinates

object image and its three-dimensional coordinates

in the UK

cameras when working with distortion-distorted or distorted during the refraction of light in the protective glass of the sight with digital images Img _j , including those that do not correspond to the physical resolution of the photodetector, as well as the use of cameras with unknown technical parameters, including taking into account possible errors , admitted during their manufacture or arising from the fault of exploitation. Wherein to calculate the coefficients c ₀ , c ₁ , c ₂ ,… c _q and d ₀ , d ₁ , d ₂ ,… d _q ,

must for each j-th camera individually during its production and assembly, or be specified immediately before using the observation system when exposed to prolonged vibration or shock loads, or when changing climatic conditions by means of calibration.

The main technical result provided by the given set of features are:

- less operator fatigue, as well as a reduction in his time spent on orientation in unfamiliar terrain and on the search for targets during external target designation by increasing the information content of images by bringing the observed scene across the width of the observed space to the naturally perceived human visual system, as well as three-dimensional visualization as the most the observed scene, and spatial forms, and the relative position of the selection areas displayed on it, tactical and navigation signs;

- increasing the accuracy of graphic indication when using wide-angle lenses in the presence of distortions of images of radial and tangential distortion, as well as the effect on the refraction of light, and, accordingly, on the geometry of images of protective glasses of sights;

- reducing the requirements for the computing resources of the processing system by reducing the number of taken into account parameters of the OEC observation;

q-го порядка, описывающих математическую связь между вертикальными и горизонтальным углами на интересующий объект и соответствующими значениями его пиксельных координат на принимаемых цифровых изображениях Img_j.- increasing the reliability of the system when exposed to shock or prolonged vibration loads due to the provision of the possibility of additional calibration of the OEC observations, associated with the refinement of the values of the coefficients of the polynomials

q-th order, describing the mathematical relationship between the vertical and horizontal angles to the object of interest and the corresponding values of its pixel coordinates on the received digital images Img _j .

In addition, the technical results can include an increase in the level of integration of the information surveillance and panoramic observation system of an armored vehicle into a unified tactical echelon control system.

The invention is illustrated by drawings, which do not cover and, moreover, do not limit the entire scope of the claims of this invention, but are only illustrative materials of a particular case of implementation:

in fig. 1 shows a variant of the appearance of the optical unit with guidance drives and additional left and right optical sides;

in fig. 2 illustrates a functional diagram of an information surveillance-panoramic surveillance system;

in fig. 3 illustrates the placement and relationship between the described coordinate systems;

in fig. 4 illustrates the relative position of the coordinate system of the optical-electronic channel (camera) of video surveillance, the object of observation, the digital image and the coordinate system of the optical unit in which this camera is installed;

in fig. 5 shows the composition of the control unit of the information surveillance-panoramic surveillance system;

in fig. 6 illustrates points of targets, areas of their selection, points of tactical and navigation signs, the pixel coordinates of which are determined in the control unit for each camera of the optical blocks of the information surveillance-panoramic observation system;

in fig. 7 illustrates digital images with graphically highlighted targets, important objects, tactical and navigation information, displayed not by a video viewing device or on microdisplays of a helmet-mounted visualization system of an operator of an information surveillance-panoramic surveillance system.

The described IOPSN, taking into account the obtained technical results, should contain at least (Fig. 1, Fig. 2):

- the main optical unit (OB) 1 with vertical and horizontal guidance sensors 6;

- additional left (LB) 4 and right (PB) 5 optical blocks;

- control panel (PU) 12;

- high-speed data bus 11;

- a control unit (BU) 7 with a control panel (PNU) 8, a video bridge device (APU) 9 and a helmet-mounted visualization system (NSV) 10;

- equipment 13 for receiving and transmitting information from a unified tactical control system (ESU TZ);

- navigation system (NS) 14 with a cartographic tablet (KGP) 15, an electronic compass (El. Comp.) 16 and an antenna 17;

- heading sensors (DKu) 18, roll (DKr) 19 and pitch (DTg) 20;

- as well as other subsystems and sensors that ensure the implementation of the entire list of functional capabilities and the effective operation of modern sights and observation devices, but are not directly related to the achieved technical results of the claimed invention (not shown in the drawings).

The data bus 11 (Fig. 2) is a serial information bus made with the possibility of connecting additional information-execution units, as well as groups of spatially spaced electronic devices or systems and carrying out high-speed information exchange between them using backup data packets of the main protocol or information exchange by their protocols, or through gateways. BU 7, equipment 13, NS 14, PU 12, LB 5, OB 1, PB 4, DKu 18, DKr 19, DTg 20 and other subsystems and sensors are connected to the data bus 11 with their information outputs through the corresponding protocols.

OB 1 (Fig. 1) can have a modular or periscopic design, is performed in a panoramic design with two-plane independent stabilization of the field of view and contains at least digital television and thermal imaging channels with narrow fields of view, as well as a range finder, for example, a laser. OB 1 is installed in an armored container with protective glass on the turret of an armored vehicle. In addition, OB 1 should be equipped with vertical and horizontal guidance sensors 6, which ensure that the current values of the angles β _OB , α _{OB are} obtained for the deflection of OB 1 relative to the movable base 2, and, accordingly, the deviation of the movable base 2 relative to the fixed base of the sight 3, which ensures its attachment to the sample BTV. In addition, OB 1 can additionally be equipped with an associated machine gun mount.

PU 12 (Fig. 2) is intended for aiming the central aiming mark OB 1 at the detected targets, controlling the guidance of the field of view OB 1 when searching for targets and firing by the commander of the armored object from the OB 1 machine gun mount or the main armament when the dual control mode is activated.

LU 5 and PB 4 (Fig. 1, Fig. 2) are armored containers, inside of which one or more CCTV OEC with a wide field of view is placed behind the protective glass. Guidance and stabilization of LU 5 and PB 4 is carried out depending on OB 1, by means of mechanical fastening (alignment) of LU 5 and PB 4 with the vertical pumping axis of OB 1 in its upper rotary platform 2. Moreover, structurally, as well as in terms of the number and parameters of OEC observation LU 5 and PB 4 must be completely identical and located on the vertical pumping axis of OB 1 to the left and right of it, so that the optical axes of their OEC (cameras) observation always remain parallel in space.

Equipment 13 (Fig. 2) for receiving and transmitting data provides information exchange of tactical information via communication channels ESU TK. In particular, the equipment 13 receives the coordinates and types of detected (uncovered) targets, important objects, the coordinates of points of tactical signs reflecting the tactical tasks of the unit, the position of neighbors, the enemy, concentration areas, deployment areas, minefield areas and other tactical information, examples of such points may be points 39, 40, 43 shown in FIG. 6. In addition, the equipment 13 provides the transfer of tactical information to the ESU TZ system with the combat tasks currently being performed by the armored object, its coordinates, as well as the coordinates and types of detected targets and important objects.

NS 14 (Fig. 2) by means of receiving and processing information from antenna 17 and electronic compass 16 provides:

бронеобъекта и угла ориентации

относительно направления на север;- determination of the current coordinates

armored vehicle and orientation angle

relative to the direction to the north;

- graphic display on the electronic map of the KGP 15 position and orientation of the armored vehicle;

- receiving via the data bus channel from the equipment 13 data on the position of tactical signs and their graphic display on the electronic map of the KGP 15;

- the formation of navigation signs and their display on the electronic map of the area;

- calculation and transmission to BU 7 for each of the navigation signs three-dimensional coordinates of points, describing their shape and position on the electronic map of the area. Examples of such points are points 41, 42 shown in FIG. 6.

NS 14 (Fig. 2) may additionally contain a duplicate inertial navigation system, which ensures the determination of the current coordinates and orientation of the weapon sample during electronic suppression of satellite navigation signals.

ориентации осей СК 22 O_ОВX_ОВY_ОВZ_ОВ (Фиг. 3) образца вооружения относительно осей мировой СК 21 O_WX_WY_WZ_W.Sensors DKu 18, DKr 19, DTg 20 (Fig. 2) provide data on the current values of the angles

the orientation of the axes of the CK 22 O _OV X _OV Y _OV Z _OV (Fig. 3) of the weapon model relative to the axes of the world CK 21 O _W X _W Y _W Z _W.

Under the world (external) SC 21 O _W X _W Y _W Z _W (Fig. 3) is understood the SC in which the global positioning of objects on the earth's surface is carried out.

бронеобъекта, и ориентации осей O_ОВY_ОВ, O_ОВY_ОВ, O_ОВZ_ОВ относительно осей мировой СК 21, т.е. углы

определяются по информации с навигационной системы и датчиков ДКу 18, ДКр 19 и ДТг 20.SK 22 is understood as SK O _ОВ X _ОВ Y _ОВ (Fig. 3) with its origin located in the geometric center of the plane of the turret shoulder, the axis О _ОВ Х _ОВ directed forward towards the main armament, the axis O _ОВ Y _ОВ - to the left, and the axis O _ОВ Z _ОВ - straight up the tower. Data on the position of the beginning of the SC 22 O _ОВ X _ОВ Y _ОВ , i.e. coordinates

of the armored object, and the orientation of the axes O _OV Y _OV , O _OV Y _OV , O _OV Z _OV relative to the axes of the world SK 21, i.e. corners

determined by information from the navigation system and sensors DKu 18, DKr 19 and DTg 20.

прицела, и ориентации, осей О_ПХ_П, O_ПY_П, O_ПZ_П относительно осей СК 22, т.е. углы

определяются по конструкторской технической документации на бронеобъект, и могут уточняться путем введения соответствующих поправок при проведении внешней калибровки ИОПСН.Under the SK 23 (Fig. 3) position of the sight, the SK O _P X _P Y _P Z _{P is} taken rigidly connected with the attachment point of the fixed base 3 ABOUT 1 on the tower of the BTV sample. Position i.e. coordinates

sight, and orientation, axes O _P X _P , O _P Y _P , O _P Z _P relative to the axes of SK 22, i.e. corners

are determined according to the design technical documentation for the armored vehicle, and can be refined by introducing appropriate amendments during the external calibration of the IOPSN.

ОБ 1, и ориентации, осей О_ПХ_П, O_ПZ_П относительно осей СК 23 O_ПX_ПY_ПZ_П основания прицела, т.е. углы

определяются по конструкторской технической документации на прицел и по информации с датчиков 6 вертикального и горизонтального наведения, а также могут уточняться путем введения соответствующих поправок при проведении внешней калибровки ИОПСН.Under the SK 24 (Fig. 3) position OB 1 is taken SK O _ABOUT X _ABOUT Y _ABOUT Z _ABOUT located by its origin ABOUT _ABOUT in the geometric center ABOUT 1 and the axis ABOUT _ABOUT X _ABOUT -on the axis of vertical pumping ABOUT 1. Axis O _ABOUT Z _ABOUT is directed forward, towards the input windows of the OEK, and the axis O _ABOUT Y _ABOUT - up ABOUT 1. Position, i.e. coordinates

ABOUT 1, and orientation, axes O _P X _P , O _P Z _P relative to the axes of the SC 23 O _P X _P Y _P Z _{P of the} base of the sight, i.e. corners

are determined according to the design technical documentation for the sight and according to information from the vertical and horizontal guidance sensors 6, and can also be refined by introducing appropriate amendments during the external calibration of the IOPSN.

ПБ 4 и ЛБ 5, а также ориентация осей О_ЛБХ_ЛБ, О_ЛБY_ЛБ, O_ЛБZ_ЛБ, О_ПБХ_ПБ, О_ПБY_ПБ, О_ПБZ_ПБ относительно осей СК 24 ОБ 1, т.е. углы

определяются по конструкторской технической документации на прицел, и могут уточняться путем введения соответствующих поправок при проведении внешней калибровки ИОПСН.Under SC 25 and 26 (Fig. 3), respectively, PB 4 and LB 5 are accepted SK O _PB X _PB Y _PB Z _PB and O _LB X _LB Y _LB Z _LB located by their origins O _PB and O _LB in the geometric centers of PB 4 and LB 5 and axes О _ПБ Х _ПБ and О _ЛБ Х _ПБ - on the vertical pumping axis ABOUT 1. Axes O _ПБ Z _ПБ and О _ЛБ Z _{LU is} directed forward, towards the input windows of the OEK, and the axes О _ПБ Y _ПБ and О _ЛБ Y _LB - up LB 4 and LB 5, respectively. Position i.e. coordinates

PB 4 and LB 5, as well as the orientation of the O _LU X _LU , O _LU Y _LU , O _LU Z _LU , O _PB X _PB , O _PB Y _PB , O _PB Z _PB axes relative to the SK 24 OB 1 axes, i.e. corners

are determined according to the design technical documentation for the sight, and can be refined by introducing appropriate amendments during the external calibration of the IOPSN.

где j - индекс принадлежности к ОБ 1, ПБ 4 или ЛБ 5, совпадающие с оптическими центрами объективов, располагаются своими началами

внутри ОБ 1, ПБ 4 или ЛБ 5. Оси

направляется вперед по оптическим осям ОЭК, задаются параллельными друг другу, оси

- вверх, а оси

- вправо ОБ 1, ПБ 4 или ЛБ 5, соответственно. Положение, т.е. координаты

ОЭК ОБ 1, ПБ 4 или ЛБ 5, а также ориентация осей

относительно осей СК O_jX_jY_jZ_j 24, 25, 26 своего оптического блока, соответственно ОБ 1, ПБ 4 или ЛБ5, т.е. углы

определяются по конструкторской технической документации на прицел, и могут уточняться путем введения соответствующих поправок при проведении внешней калибровки ИОПСН.Under SK 27, 28, 29 (Fig. 4), respectively, OEC (cameras) of video surveillance, OB 1, PB 4 and LB 5 are accepted by SK

where j is the index of belonging to OB 1, PB 4 or LB 5, coinciding with the optical centers of the lenses, are located at their origins

inside OB 1, PB 4 or LB 5. Axes

directed forward along the optical axes of the OEC, set parallel to each other, the axes

- up, and the axes

- to the right OB 1, PB 4 or LB 5, respectively. Position, i.e. coordinates

OEK OB 1, PB 4 or LB 5, as well as the orientation of the axes

relative to the axes of the SK O _j X _j Y _j Z _j 24, 25, 26 of its optical block, respectively OB 1, PB 4 or LB5, i.e. corners

are determined according to the design technical documentation for the sight, and can be refined by introducing appropriate amendments during the external calibration of the IOPSN.

BU 7 (Fig. 2) is made in a single sealed case. PNU 8, VSU 9 and NSV 10 are connected to its inputs, together forming a user interface, which, in turn, provides the operator with the choice of images and / or input of processing commands. Processing commands contain, for example, commands to receive video data from OB 1, LU 5 or PB 4, commands to indicate objects of interest, commands to receive or transmit target designation, etc. APU 9 contains a display such as a liquid crystal monitor and is designed to view video data. PND 8, such as a keyboard or pointing device (eg, a mouse, trackball, stylus, touch pad, or other device) is intended to allow an operator to interact with video data. NSV 10 is intended for three-dimensional visualization of the observed terrain and the selection areas displayed on it, tactical and navigation signs.

The control unit 7 (FIG. 5) further comprises a processing system 30. The processing system 30 is a remote computer such as a workstation, personal computer or laptop, it contains a measurement application 32 and a memory 31 for storing data located on a computer-readable medium.

Computer-readable media (not shown) can include volatile media, nonvolatile media, removable media, and non-removable media, and can be any available medium that can be accessed by a general purpose computing device. Non-limiting examples of computer-readable media can include computer storage media and data transmission media. Computer storage devices can further include volatile, nonvolatile, removable and non-removable media implemented in any manner or using any information storage technology, such as computer readable instructions, data structures, program modules, or other data.

The memory 31 is configured to store the processed images and data of the measurement application 32.

Digital images Img _j (Fig. 4) obtained from the j-th cameras OB 1, LB 5 and PB 4 consist of pixels. Each pixel is characterized by a value that consists of a grayscale value or a color value. In grayscale images, a pixel value is a single value that characterizes the brightness of a pixel; The most common format for describing a pixel is an image byte, where the pixel value is represented by an eight-bit integer ranging from 0 to 255. Typically, a pixel value of zero is used to denote a black pixel, and a value of 255 is used to denote white. pixel. Intermediate values describe different shades of midtones. In color images, to describe each pixel (located in an RGB color space - red, green, blue), the red, green and blue components must be separately defined. In other words, the pixel value is actually a vector, described by three numbers. The three different components can be saved as three separate halftones, known as color planes (one each for red, green, and blue), which can be reconnected when displayed or processed.

Measurement application 32 (Fig. 5) contains software-executable modules or commands made with the possibility of execution by at least one processor and providing data reception and processing. For example, measurement application 32 may include automatic search, automatic alignment, target detection and recognition modules, digital visual field stabilization modules, image enhancement modules, training and self-testing modules, and the like. To ensure the achievement of the technical result of the claimed invention, the measuring application must contain at least the following software-executable modules.

The data exchange module (MOD) 33 (Fig. 2) is configured to receive and transmit data via the corresponding interface and protocols with the data bus 11. In particular, the MOD 33, when connected to the data bus, detects a wired connection and receives digital images from cameras OB 1 , LB 5, PB 4, data from sensors DKu 18, DKr 19 and DTg 2, data from equipment 16, NS 15, and PU 17 and transfers them to memory 31 for storage.

Calibration module (MCL) 34 is configured to determine the data of external and internal calibration of cameras OB 1, LB 5 and PB 4.

q-го порядка взаимосвязей между вертикальными и горизонтальным углами

на интересующий g-ый объект относительно j-ой камеры с соответствующими значениями его пиксельных координат

на принимаемых с j-ой камеры цифровых изображениях.The internal calibration of the OEC (cameras) OB 1, PB 4 or LB 5 is understood as the process of describing by polynomials

q-th order relationships between vertical and horizontal angles

to the g-th object of interest relative to the j-th camera with the corresponding values of its pixel coordinates

on digital images received from the j-th camera.

External calibration consists in determining the coordinates and mutual orientations of the SK 22-26 (Fig. 3), comparing the values obtained with the values from the design documentation for the weapon sample and the values from the guidance sensors 6 OB 1, sensors DKu 18, DKr 19 and DTg 20, clarification with saving the corresponding amendments in memory.

The interface module (MI) 35 (Fig. 5) is configured to create forms 44, 45 (Fig. 7) for image control to be displayed through the APU 9 or NSV 10 of the operator (Fig. 2) and contains commands that allow interacting with measuring application 32.

Forms 44, 45 (Fig. 7) of image control contain various types that provide the ability to display video data, graphical display of selection areas, tactical and navigation signs, user interaction with video data, indicating targets or important objects that need to be taken for auto-tracking and target designation , as well as displaying other technical information about the state and operating modes of the sighting and observation complex of a sample of armored weapons, for example, graphic markers of tactical signs, navigation signs according to their type, graphical presentation of highlight areas. Moreover, the amount of simultaneously displayed graphic information MI 35 at any time can be changed by the operator IOPSN. In addition, MI 28 supports the ability to display the field of view of the OB 1 camera in the fields of view of LB 5, PB 4 by the type "picture in picture".

и

в память 31.The auto-tracking module (MAC) 36 (Fig. 5) is made with the possibility of automatic tracking of the IOPSN specified by the operator, as well as those received through the target designation channels or detected as a result of the operation of the automatic detection system of targets and important objects and the transmission of tracking information about them, in particular, vectors

and

in memory 31.

The spatial position module (MPP) 37 (Fig. 5) is configured to:

угла на север

углов

и записи в память 31 матрицы

положения СК 22 O_obX_obY_ob образца вооружения (фиг. 3) в мировой СК 21 O_WX_WY_WZ_W - reading from memory 31 current values of coordinates

corner north

corners

and writing to the memory of 31 matrices

positions of the CK 22 O _ob X _ob Y _ob of the weapon model (Fig. 3) in the world CK 21 O _W X _W Y _W Z _W

where

и текущих значений углов

ориентации основания 3 (фиг. 1, 2) прицела и записи в память 31 матрицы

положения СК 23 O_ПX_ПY_ПZ_П основания прицела (фиг. 3) в СК 22 O_ОВX_ОВY_ОВ - reading from memory 31 coordinates

and the current values of the angles

orientation of the base 3 (Fig. 1, 2) of the sight and recording in the memory of 31 matrix

positions SK 23 O _P X _P Y _P Z _{P of} the sight base (Fig. 3) in SK 22 O _OV X _OV Y _OV

where

положения ОБ 1 прицела и текущих значений углов

его ориентации и записывает в память 31 матрицы

положения СК 24 O_ОБX_ОБY_ОБZ_ОБ ОБ 1 (фиг. 3) в СК 23 O_ПX_ПY_ПZ_П основания прицела- reading from memory 31 coordinates

position ON 1 sight and current values of angles

its orientation and writes 31 matrices to memory

positions SK 24 O _ABOUT X _ABOUT Y _ABOUT Z _ABOUT ABOUT 1 (Fig. 3) in SK 23 O _P X _P Y _P Z _{P of the} base of the sight

и значений углов

ориентации ПБ 4 (фиг. 3) и записи в память матрицы

положения СК 25 O_ПБХ_ПБY_ПБZ_ПБ ПБ 4 в СК 24 O_ОБX_ОБY_ОБZ_ОБ ОБ 1- reading from memory 31 coordinates

and angle values

orientation of PB 4 (Fig. 3) and recording in the matrix memory

positions SK 25 O _PB X _PB Y _PB Z _PB PB 4 in SK 24 O _OB X _OB Y _AB Z _AB OB 1

where

и значений углов

ориентации ЛБ 5 (фиг. 3) и записи в память 31 матрицы

положения СК 26 О_ЛБХ_ЛБY_ЛБZ_ЛБ ЛБ 5 в СК 24 O_ОБХ_ОБY_ОБZ_ОБ ОБ 1- reading from memory 31 coordinates

and angle values

orientation of LU 5 (Fig. 3) and recording in memory 31 matrix

provisions SK 26 O _LB X _LB Y _LB Z _LB LB 5 in SK 24 O _OB X _OB Y _AB Z _AB OB 1

where

и значений углов

ориентации СК 27, 28, 29 ОЭК видеонаблюдения (камер) (фиг. 4) и записи в память 31 матриц

положения СК 27, 28, 29

соответственно в СК 24, 25, 26 ОБ 1, ПБ 4 и ЛБ 5 (фиг. 3)- reading from memory 31 coordinates

and angle values

orientation SC 27, 28, 29 OEC video surveillance (cameras) (Fig. 4) and recording in the memory of 31 matrices

provisions of the UK 27, 28, 29

respectively in SK 24, 25, 26 OB 1, PB 4 and LB 5 (Fig. 3)

where

Module 38 (Fig. 5) for integrating tactical and navigational information (ICTNI) is configured to:

1) in the mode of receiving target designation:

целей, важных объектов, точек тактических и навигационных знаков и информации о их типах;- reading from memory 31 three-dimensional coordinates

targets, important objects, points of tactical and navigation signs and information about their types;

камер ЛБ 5, ОБ 1 и ПБ 4 (Фиг. 4), путем применения следующих математических операций:- converting the coordinates of targets or important objects, as well as points of tactical and navigation signs from SK 21 O _W X _W Y _W Z _W (Fig. 3) to SK 27, 28, 29

cameras LB 5, OB 1 and PB 4 (Fig. 4), by applying the following mathematical operations:

в СК 28

камеры ОБ 1 преобразуются в дальности

согласно выражению

а затем сравниваются с величинами L_PV и L_INT соответственно, означающие дистанции прямой видимости и интересов, задаваемые оператором или вычисляемые автоматически на основании технических данных ИОПСН, ландшафта местности и поставленной боевой задачи;- determination of targets or important objects that may be in the line-of-sight or zone of interest of the IOPSN, for which the calculated coordinates

in SC 28

cameras OB 1 are converted to range

according to the expression

and then they are compared with the values L _PV and L _INT, respectively, meaning the distances of line of sight and interests, set by the operator or calculated automatically based on the technical data of the IOPSN, the terrain and the assigned combat mission;

до которых меньше значения L_PV, согласно их типу дополнительных точек, характеризующих форму и размер их областей выделения, для чего для каждой дополнительной точки записываются координаты

где s - количество дополнительных координат. При чем количество s дополнительных координат и соответственно их взаимное положение формируется согласно встроенному алгоритму для каждого типа цели отдельно. Неограничивающим примером формирования дополнительных точек является чертеж, представленный на фиг. 6, где показано, что для наземных подвижных объектов область выделения может задаваться в виде четырех дополнительных точек, которые оконтуривают цель прямоугольной формой, для воздушных целей могут формироваться три дополнительные точки, располагаемые по вершинам равностороннего треугольника и т.п. для каждого типа цели или объекта;- formation separately for j-th cameras LU 5, OB 1 and PB 4 for each g-th target or important object, distance

up to which the value of L _PV is less, according to their type of additional points characterizing the shape and size of their selection areas, for which coordinates are written for each additional point

where s is the number of additional coordinates. Moreover, the number s of additional coordinates and, accordingly, their relative position is formed according to the built-in algorithm for each type of target separately. A non-limiting example of additional dots generation is the drawing of FIG. 6, which shows that for ground mobile objects, the selection area can be set in the form of four additional points that outline the target in a rectangular shape; for air targets, three additional points can be formed located at the vertices of an equilateral triangle, etc. for each type of target or object;

целей или важных объектов, координат точек тактических и навигационных знаков, которые находятся в пределах дальности L_INT интереса, а также координат

точек областей интереса, находящихся в пределах дальности L_PV прямой видимости, из трехмерных метрических координат в СК 27, 28, 29

камер ЛБ 5, ОБ 1 и ПБ 4 в плоские пиксельные координаты

в СК изображений Img_j j-ых камер ЛБ 5, ОБ 1 и ПБ 4 (Фиг. 4) путем вычисления векторов

согласно выражению:- transformation with subsequent storage of coordinates in memory

targets or important objects, coordinates of points of tactical and navigation signs that are within the range L _{INT of} interest, as well as coordinates

points of areas of interest located within the range L _PV line of sight, from three-dimensional metric coordinates in SK 27, 28, 29

cameras LB 5, OB 1 and PB 4 into flat pixel coordinates

in SC images Img _j j-th cameras LU 5, OB 1 and PB 4 (Fig. 4) by calculating vectors

according to the expression:

where

- polynomials of the q-th order of the inverse transformation, calculated according to expressions (5) and (6), respectively;

2) in target designation transmission mode:

g-ой обнаруженной цели или важных объекта на изображении Img_ОБ камеры ОБ 1;- reading the vector of pixel coordinates from memory

g-th detected target or important object on the image Img _OB camera OB 1;

g-ой цели;- generation of guidance signals of the central aiming mark (CPM) OB 1 to the specified g-th target until the moment when the pixel coordinates of the CPM in the field of vision of the OB 1 camera become equal to the pixel coordinates

g-th goal;

до g-ой цели;- generation of control signals to the OB 1 laser rangefinder for range measurement

to the g-th goal;

цели в СК 21 O_WX_WY_WZ_W (Фиг. 3) путем:- calculation and storage in memory of 31 three-dimensional coordinates

goals in SK 21 O _W X _W Y _W Z _W (Fig. 3) by:

- calculation of the reduced pixel coordinates of the g-th target

прямого преобразования согласно выражений (3) и (4), вычисления вектора

трехмерных метрических координат изображения g-ой цели в плоскости изображения Img_ОБ камеры ОБ 1- with the use of polynomials

direct transformation according to expressions (3) and (4), calculating the vector

three-dimensional metric coordinates of the g-th target in the image plane Img _{OB of the} camera OB 1

трехмерных метрических координат g-ой цели в СК 28 камеры ОБ 1- vector calculations

three-dimensional metric coordinates of the g-th target in SK 28 of the camera OB 1

координат g-ой цели в СК 21 O_WX_WY_WZ_W согласно выражению:- calculations and writing to memory 31 for further reading by equipment 13 and NS 14 vector

coordinates of the g-th target in SC 21 O _W X _W Y _W Z _W according to the expression:

IOPSN works as follows.

The IOPSN operator, for example, the commander of an armored vehicle, using the image from the screen of the Armed Forces 9 or through a three-dimensional representation through the NSV 10, monitors and navigates the surrounding area, independently or using an automatic visual detection system, searches, detects and recognizes targets and important objects. Acting on the PU 12, the operator changes the angular orientation of OB 1, acting on the PNU 8, the operator sets the control commands for the measuring application 32 BU 7.

Data bus 11 carries out high-speed information exchange between BU 7, equipment 13, NS 14, PU 12, LB 5, OB 6, PB 4, DKu 18, DKr 19, DTg 20.

Equipment 13 receives and transmits tactical information with coordinates and types of detected targets, coordinates of points of tactical signs to ESU TK.

NS 14 receives tactical information from equipment 13, according to signals from Ant. 17, El. Comp. 16 carries out the determination and orientation of the position of the sample of armored weapons on a digital map, converts the coordinates of points of tactical signs into graphic tactical signs and displays a digital map of the terrain with a graphic overlay of tactical signs on it, as well as navigation signs about the surrounding geographical objects on the KGP 15.

Sensors DKu 18, DKr 19, DTg 20 transmit to BU 7 signals with current information about the angular orientation of the CK 22 O _OV X _OV Y _OV Z _OV of the BTV sample relative to the axes of the world CK 21 O _W X _W Y _W Z _W.

At the command of the operator or on a command from the automatic visual detection system, a command is sent to start the measuring application 32. In this case, the MOD 33 carries out information exchange of data with the data bus 11, constantly writes to the memory 31 the current frames of digital images Jmg _j from cameras LU 5, OB 1 , PB 4, as well as angle values from sensors 18, 19, 20 and El. Comp. 16 HC 14.

пиксельных координат g-го объекта. Кроме этого MAC формирует и записывает в память 31 отдельно для ЛБ 5, ОБ 1 и ПБ 4 для каждой цели или важного объекта согласно их типу векторы

с пиксельными координатами дополнительных точек 39.1 (Фиг. 6), характеризующих форму и размер их областей выделения.MAC 36 captures and automatically tracks the g-th target on the image of the LU 5, OB 1 or PB 4 camera, on which it was detected. In addition, the MAC 36 searches for images of the tracked target on all other images of LU 5, OB 1 and PB 4. In particular, the MAC 36 reads the j-th image from the memory of the 31st image and, when the capture command for tracking arrives, prepares for tracking and with the arrival of the next the image frame searches for the tracked object on the images of the LU 5, OB 1 and PB 4 cameras. For each image frame of the j-th cameras, the most probable position of the tracked object is determined. Information about the position of the tracked object for each image of the j-th camera is transmitted to the operator at the APU 9, NSV 10 and stored in memory 31. At the same time, vectors are stored in memory 31 for each j-th camera LU 5, OB 1 and PB 4

pixel coordinates of the g-th object. In addition, the MAC generates and stores in memory 31 separately for LU 5, OB 1 and PB 4 for each target or important object according to their type vectors

with pixel coordinates of additional points 39.1 (Fig. 6), characterizing the shape and size of their selection areas.

и

пиксельных координат целей, важных объектов, областей их выделения, точек тактических и навигационных знаков, а также информации о том, находятся ли они в зоне прямой видимости (в пределах расстояния L_PV) или в зоне интересов (в пределах расстояния L_INT). Если g-ая цель или важный объект находятся в зоне прямой видимости, то МИ 35 осуществляет графическое выделение их областей выделения согласно пиксельных координат

дополнительных точек 39.1 (Фиг. 6) выделения. Если g-ая цель или важный объект находятся в пределах зоны интересов, то МИ 35 по пиксельным координатам

осуществляет графическое представление тактических знаков 39, 40 (Фиг. 6), согласно их типу. Кроме этого МИ 35 по пиксельным координатам точек 39, 40 тактических и навигационных 42 знаков, находящихся в пределах зоны интересов, осуществляет графическое их представление. Также МИ 35 осуществляет графическое отображение дополнительной графической информации через формы управления на экране ВСУ 9 или НСВ 10. При чем количество одновременно отображаемой графической информации МИ 35 в любой момент времени может быть изменено оператором ИОПСН.MI 35 reads 31 vectors from memory

and

pixel coordinates of targets, important objects, areas of their selection, points of tactical and navigation signs, as well as information about whether they are in the line of sight (within the distance L _PV ) or in the area of interest (within the distance L _INT ). If the g-th target or an important object is in the line of sight, then MI 35 graphically selects their selection areas according to pixel coordinates

additional points 39.1 (Fig. 6) selection. If the g-th target or important object is within the zone of interest, then MI 35 in pixel coordinates

carries out a graphical representation of tactical signs 39, 40 (Fig. 6), according to their type. In addition, MI 35, according to the pixel coordinates of points 39, 40 of tactical and 42 navigation signs located within the zone of interest, provides a graphical representation of them. MI 35 also provides graphic display of additional graphic information through the control forms on the screen of the APU 9 or NSV 10. Moreover, the amount of simultaneously displayed graphic information of MI 35 at any time can be changed by the IOPSN operator.

MKl 34 on command, the operator determines the data of external and internal calibration of cameras OB 1, LB 5 and PB 4.

Internal and external calibration is carried out using a calibration image with geometrical primitives applied to it, located at known distances and with a certain location relative to each other by their automatic recognition and appropriate mathematical processing. At that, first the internal calibration is carried out separately for each OEC, and then - the external calibration. In this case, the calibration image, being located in front of the armored object at a certain distance, remains stationary, and the tower and OB rotate smoothly on the hull in different directions until the end of this procedure.

Calibration is performed during the final stages of the IOPSN manufacturing process, for example, after its assembly, maintenance during its adjustment and performance testing. Additionally, calibration can be performed immediately before the combat use of the IOPSN in environmental conditions that can affect the geometry of the system (for example, due to the reduction or expansion of materials) and, accordingly, the location of the OB 1, LB 5 and PB 4 chambers.

угла на север

углов

координаты

и текущие значений углов

координаты

текущие значения углов

координаты

и значения углов

координаты

и значения углов

координаты

и значения углов

. На основе считанных данных МПП 37 рассчитывает и записывает в память 31 матрицы

MPP 37 reads from memory 31 the current values of coordinates

corner north

corners

coordinates

and current values of angles

coordinates

current angles

coordinates

and the values of the angles

coordinates

and the values of the angles

coordinates

and the values of the angles

... Based on the read data, the MPP 37 calculates and stores in the memory 31 matrices

целей, важных объектов, точек тактических 39, 40, 43 и навигационных 41, 42 знаков и информации о их типах, вычисляет векторы

, определяет цели или важные объекты, которые могут находиться в зоне прямой видимости или зоне интересов ИОПСН, формирует отдельно для j-ых камер ЛБ 5, ОБ 1 и ПБ 4 для каждой g-ой цели или важного объекта, находящихся в зоне прямой видимости, согласно их типу дополнительных точек 39.1, характеризующих форму и размер их областей выделения, преобразует с сохранением в память 31 координат

целей или важных объектов, координат точек тактических 39, 40, 43 и навигационных 41, 42 знаков, которые находятся в пределах зоны интереса, а также координат

точек 39.1 областей интереса, находящихся в пределах дальности прямой видимости, из трехмерных метрических координат в СК 27, 28, 29

камер ЛБ 5, ОБ 1 и ПБ 4 в плоские пиксельные координаты

и

в СК изображений Img_j j-ых камер ЛБ 5, ОБ 1 и ПБ 4 путем вычисления векторов

MKTNI 38 at the command of the operator to receive external target designation reads from memory 31 three-dimensional coordinates

targets, important objects, tactical points 39, 40, 43 and navigation 41, 42 signs and information about their types, calculates vectors

, defines targets or important objects that may be in the line of sight or the zone of interest of the IOPSN, forms separately for the j-th cameras LU 5, OB 1 and PB 4 for each g-th target or important object that are in the line of sight, according to their type, additional points 39.1, characterizing the shape and size of their selection areas, transforms with saving 31 coordinates in memory

targets or important objects, coordinates of tactical points 39, 40, 43 and navigation 41, 42 signs that are within the zone of interest, as well as coordinates

39.1 points of interest within the line-of-sight range from three-dimensional metric coordinates in SK 27, 28, 29

cameras LB 5, OB 1 and PB 4 into flat pixel coordinates

and

in SC images Img _j j-th cameras LU 5, OB 1 and PB 4 by calculating vectors

g-ой обнаруженной цели или важного объекта на изображении Img_ОБ ОБ 1, вырабатывает сигналы наведения ЦПМ ОЭК ОБ 1 на указанную g-ую цель до момента, когда пиксельные координаты ЦПМ в поле зрении камеры ОБ 1 не станут равны пиксельным координатам

g-ой цели, вырабатывает сигналы управления на дальномер ОБ 1 для измерения дальности

до g-ой цели, вычисляет и сохраняет в память 31 вектор

трехмерных координат g-ой цели в СК 21 O_WX_WY_WZ_W..At the command of the operator to transmit external target designation, MKTNI 34 reads 31 vector of pixel coordinates from memory

of the g-th detected target or important object in the image Img _OB OB 1, generates signals for pointing the CPM OEC OB 1 to the indicated g-th target until the pixel coordinates of the CPM in the field of view of the camera OB 1 become equal to the pixel coordinates

g-th target, generates control signals to the OB 1 rangefinder to measure the range

to the g-th target, calculates and stores in memory 31 vectors

of three-dimensional coordinates of the g-th target in SC 21 O _W X _W Y _W Z _W ..

Claims (55)

An information panoramic observation system (IOPSN) for samples of armored weapons, including, connected to a high-speed data bus: an optical unit (OB) with optoelectronic channels (OEC) of narrow and medium fields of view, a rangefinder, independent two-plane stabilization, a vertical drive providing channel rotation at least from minus 15 to plus 45 degrees, by a horizontal drive that ensures platform rotation by 360 degrees without limiting the number of revolutions in any direction, vertical and horizontal guidance sensors, providing the current values of the angles β _OB , α _{OB of the} deflection of the OB relative to the movable the base, and, accordingly, the deviation of the movable base relative to the fixed base of the sight, which ensures its attachment to the weapon sample; control unit (CU) with a video viewing device (APU) and a control panel (PNU); control panel (PU); transceiver equipment (hereinafter referred to as equipment), providing information exchange of tactical information via communication channels of a unified tactical echelon control system, in particular, the equipment receives coordinates

and types of detected g-th targets, important objects, coordinates of points of tactical signs reflecting the tactical tasks of the subunit, the position of neighbors, the enemy, concentration areas, deployment areas, minefield areas and other tactical information; a navigation system (NS) with an antenna (Ant.) and an electronic compass (E-Comp.) and a cartographic tablet (CGP), which provides: determination of the current coordinates

armored vehicle and the angles of its current orientation, in particular the angle

relative to the direction to the north; graphic display of the position and orientation of the armored vehicle on the electronic map of the KGP; reception of data on the position of tactical signs from the equipment via the data bus channel and their graphic display on the electronic map of the KGP; formation of navigation signs and their display on an electronic map of the area; calculation and transmission to the control unit for each of the navigation signs of three-dimensional coordinates of points, describing their shape and position on the electronic map of the area; heading (DKu), roll (DKr) and pitch (DTg) sensors, providing data on the current values of the angles

the orientation of the axes of the SC O _OV X _OV Y _OV Z _OV of the weapon model relative to the axes of the world SK O _W X _W Y _W Z _W , as well as other subsystems and sensors that ensure the effective operation of the IOPSN and the implementation of the entire list of functional capabilities, but not directly related to the achieved technical results of the claimed invention, such systems and sensors, for example, can be a control and stabilization system for a remote machine gun, a temperature sensor, a wind sensor, and characterized in that: to the OB are additionally connected to each other identical left and right optical units (LU and PB), informationally connected through the data bus with the control unit, having fields of view close to the human visual system, placed in parallel on the same axis to the left and right of the main OB and mechanically coupled with him; The CU is additionally equipped with a helmet-mounted visualization system (HVS) connected to the CU and a processing system that is a remote computer, such as a workstation, personal computer or laptop, and contains memory for storing data located on a computer-readable medium and a measuring application containing, in turn , software-executable modules or commands that ensure the reception, processing and transmission of two paired images or one synthesized stereo image to the operator's HSS, made in the form of virtual or augmented reality glasses with one or two high-resolution microdisplays and two optical systems for the operator's left and right eyes , moreover, if the NSV is performed as augmented reality glasses, then it may contain one or two translucent screens that allow the operator to see the transmitted images from microdisplays in augmented reality mode; the measuring application of the CU processing system contains software-executable modules or commands, namely: a data exchange module capable of receiving and transmitting data through the appropriate interface and protocols with the data bus, in particular, the MOD, when connected to the data bus, detects a wired connection and receives digital images from OB, LU, PB cameras, current data from DCU sensors, DKr and DTg, data from equipment, NS, and PU and transfers them to memory for storage; a calibration module made with the ability to determine the data of external and internal calibration of the cameras of optical blocks, carried out during the final stages of the manufacturing process of the IOPSN, for example, after its assembly, maintenance during its adjustment and verification of its operability, and under the internal calibration of the OEC OB, PB or LU the process of describing by polynomials is understood

q-th order relationships between vertical and horizontal angles

to the g-th object of interest relative to the j-th camera with the corresponding values of its pixel coordinates

_{on digital images Img j} received from the j-th camera, namely:

where j is the camera index, respectively, OB, LB or PB;

- reduced pixel coordinates of the image of the g-th object on the image Img _{j of the} camera of the j-th optical unit; N _j . and M _j - horizontal and vertical image resolution; c ₀ , c ₁ , c ₂ ,… c _q and d ₀ , d ₁ , d ₂ ,… d _q - polynomial coefficients of direct transformation of functions

respectively;

are the polynomial coefficients of the inverse transformation, respectively, of the functions

q-th order;

- angles to the g-th object of interest in the horizontal and vertical planes relative to the optical axis of the lens; external calibration is understood as the process of determining the coordinates and mutual orientations of the coordinate system (SC)

cameras, SC O _j X _j Y _j Z _j optical blocks, SC O _P X _P Y _P Z _{P of} the sight base, comparison of the obtained values with the values from the design documentation for the weapon sample and the values from the horizontal and vertical guidance sensors of the OB, as well as - sensors ДКу, ДКр and ДТг, updating with saving the corresponding amendments in memory; an interface module configured to create image control forms for display through the operator's APU or NSV and containing commands that allow the operator to interact with the measuring application through the PND, and the image control forms contain various views that provide the ability to display video data, graphical display of selection areas, tactical and navigation signs, user interaction with video data, indicating targets or important objects that need to be taken for auto-tracking and target designation, as well as displaying other technical information about the state and operating modes of the sighting and observation complex of the weapon model, for example, graphic markers of tactical signs, navigation signs according to their type, the graphical representation of the selection areas, and the amount of simultaneously displayed graphical information by the interface module at any time can be changed by the IOPSN operator, except in addition, the interface module supports the possibility of displaying the field of view of the OB camera in the fields of view of the LU, PB as "picture in picture"; an auto-tracking module capable of capturing and automatically tracking the IOPSN specified by the operator, as well as those received via target designation channels or detected as a result of the operation of the automatic detection system of targets and important objects and recording tracking information about them, in particular vectors

with pixel coordinates of targets and

with pixel coordinates of target selection areas, into the memory of the processing system; spatial position module, configured to: reading from the memory of the current values of coordinates

corner north

corners

and writing to the matrix memory

positions of the SK O _OV X _OV Y _OV of the weapon model in the world SK O _W X _W Y _W Z _W

where

readout from coordinate memory

and the current values of the angles

orientation of the sight base and recording in the matrix memory

positions of SK O _P X _P Y _P Z _{P of the} base of the sight in SK O _OV X _OV Y _OV

where

readout from coordinate memory

the position of the OB sight and the current values of the angles

its orientation and writes to the matrix memory

positions SK ABOUT _ABOUT X _ABOUT Y _ABOUT Z _ABOUT ABOUT in SK O _P X _P Y _P Z _{P of the} base of the sight

readout from coordinate memory

and angle values

orientation of the PB and recording in the matrix memory

Provisions SK O _PB X _PB Y _PB Z _PB PB in SK O _OB X _OB Y _AB Z _AB OB

where

readout from coordinate memory

and angle values

orientation of the LU and recording in the matrix memory

provisions SK ABOUT _LB X _LB Y _LB Z _LB LB in SK _ABOUT X _ABOUT Y _ABOUT Z _ABOUT ABOUT

where

readout from coordinate memory

and angle values

orientation of CC OEK video surveillance and recording in matrix memory

UK provisions

respectively, in SK O _LB X _LB Y _LB Z _LB AB, O _LB X _LB Y _LB Z _LB LB and O _PB X _PB Y _PB Z _PB PB

where

a module for integrating tactical and navigation information made with the ability to: in target designation reception mode: reading from the memory of three-dimensional coordinates

targets, important objects, points of tactical and navigation signs and information about their types; converting the coordinates of targets or important objects, as well as points of tactical and navigation signs from SC O _W X _W Y _w Z _W to SC

cameras LU, OB and PB by applying the following mathematical operations:

determination of targets or important objects that may be in the line of sight or the zone of interest of the IOPSN, for which the calculated coordinates

OB cameras are converted to range

according to the expression

and then they are compared with the values L _PV and L _INT , respectively, meaning the distance of line of sight and interests, set by the operator or calculated automatically based on the technical data of the IOPSN, the terrain and the assigned combat mission; formation separately for j-th cameras LU, OB and PB for each g-th target or important object, distance

up to which the value of L _PV is less, according to their type of additional points characterizing the shape and size of their selection areas, for which coordinates are written for each additional point

where s is the number of additional coordinates, and the number s of additional coordinates and, accordingly, their relative position are formed according to the built-in algorithm for each type of target separately; transformations with subsequent storage of coordinates in memory

targets or important objects, coordinates of points of tactical and navigation signs that are within the range L _{INT of} interest, as well as coordinates

points of areas of interest located within the range L _PV line of sight, from three-dimensional metric coordinates in the SC

cameras LU, OB and PB in flat pixel coordinates

in SC images Img _j j-th cameras LU, OB and PB by calculating vectors

according to the expression:

where

polynomials of the q-th order of the inverse transformation, calculated according to expressions (1) and (2), respectively; in target designation transmission mode: reading a vector of pixel coordinates from memory

g-th detected target or important object on the image Img _{OB of the OB} camera; the generation of guidance signals of the central aiming mark (CPM) OB to the indicated g-th target until the pixel coordinates of the CPM in the field of view of the OB camera become equal to the pixel coordinates

g-th goal; generation of control signals to the rangefinder OB for measuring range

to the g-th goal; calculating and storing three-dimensional coordinates in memory

g-th target in SC O _W X _W Y _W Z _W by calculating the reduced pixel coordinates of the g-th target

using polynomials

direct transformation according to expressions (3) and (4), calculating the vector

three-dimensional metric coordinates of the g-th target image in the image plane Img _{OB of the} camera OB

vector computation

three-dimensional metric coordinates of the g-th target in the SC of the camera ABOUT calculation and recording into memory for further reading by the equipment and the NS vector

coordinates of the g-th target in SC O _W X _W Y _W Z _W.

Images