RU2775579C2 - Fire control system for armoured vehicles - Google Patents

Abstract

FIELD: weapons.

SUBSTANCE: fire control system (FCS) for armoured vehicles (AV) comprises commander's (CS) and gunner's (GS) sights with laser rangefinders, a back-up gunner's sight (BUGS), a digital processing unit (DPU), horizontal and vertical sight-aiming sensors, an external video surveillance system (EVSS), a tower sensor, a high-speed data bus, video viewing equipment (VVE), remote controls, and commander's and gunner's control panels. The DPU constitutes a remote computer containing a data storage memory and a measuring application stored on a machine-readable medium. The measuring application comprises a data exchange module, a calibration module, an interface module, an auto-tracking module, a module for increasing the resolution of camera images, modules for reading and recording internal and external parameters, respectively, a mutual orientation module.

EFFECT: increase in the survival rate of AV on the battlefield, increase in the reliability of the FC, increase in the speed of measurement, increase in the firing accuracy, preliminary generation of solutions for the commander in a combat situation.

1 cl, 7 dwg

Description

The invention relates to the field of armored weapons (APW) and can be used to passively determine the parameters (coordinates, ranges, sizes, speeds and directions of movement) of detected targets and important objects on tanks, infantry fighting vehicles, armored personnel carriers, artillery systems and ground robotic, including autonomous and remotely controlled reconnaissance and strike complexes for military purposes, etc. The invention is intended primarily for modern armored vehicles with digital optoelectronic aiming and video surveillance systems. The implementation of the proposed fire control system (FCS) is possible in the development of new and in the course of modernization of existing models of armored personnel carriers and is generally aimed at improving their performance characteristics.

Modern control systems for armored personnel carriers are complex combined systems, which include weapons, sighting and observation systems and other systems that interact with each other during operation. At the same time, the composition of the sighting and observation system (PNK), even in the latest promising models of armored vehicles, remains practically unchanged, traditionally including the sights of the commander and gunner, as well as the equipment that ensures their operation. In some cases, an anti-aircraft sight, a gunner's backup sight, or a target tracking machine are added to them. Also, to provide a view to the crew, video cameras located around the perimeter of an armored combat vehicle are increasingly being used instead of or in addition to triplexes. The classic for the LMS of existing ATV models is the use of laser rangefinders (LD). This is determined by their high accuracy characteristics, reliability, compactness of the equipment and real prospects for its improvement due to the microminiaturization of the element base, as well as the simplicity of the range measurement process that does not require special qualities and training of operators.

So, a distant analogue to the claimed invention is the tank weapon control complex (Pat. RF for the invention No. 2226664, IPC 7 F41G 5/24, publ. 10.04.2004, according to application No. transport engineering), containing a gun armament stabilizer with a drive in the vertical guidance plane and a turret drive, an electronic ballistic computer, a loading mechanism complex, gunner and commander jobs, a gunner’s main sight and a commander’s panoramic sight with optical, thermal imaging and rangefinding channels, line control panels sights, displays of visual display of information and switches, a unified electronic monoblock, a multifunctional control panel, a display with elements for switching modes and image adjustments, with electrical switches, with a control panel for the line of sight of the sight. This invention provides an increase in the technical and operational characteristics of the tank weapon control complex, providing the gunner and commander with equal functionality in fire control and improving the ergonomics of workplaces.

The disadvantage is that this system does not allow solving the problems of intelligent multi-channel processing of video images due to the presence of only thermal imaging, optical and ranging channels in the sights.

As an analogue, a computer-television fire control system can also be considered (Pat. RF for the invention No. 2226319, IPC 7 H04N 5/33, G06F 19/00, G06F 171:00, publ. 27.03.2004, according to application No. 2002113719 /09 dated May 28, 2002, patent holder Moscow Design Bureau Electron), containing a two-channel television sight, a laser range finder, a ballistic computer, a pressure sensor, a temperature and humidity sensor, a wind force and direction sensor, a target elevation angle sensor, a point sensor nadir. This invention qualitatively improves the accuracy of shooting due to the maximum consideration of the factors affecting the accuracy of shooting.

The disadvantage of this system is that this system does not allow for the reception and simultaneous processing of two video signals and solve the problem of interactive capture and tracking of the object.

A closer analogue to the claimed invention is an intelligent control system of a combat vehicle (Pat. RF for utility model No. 98237 IPC F41G 5/00, published on 10.10.2010 according to application No. 2010121999/02 dated 10.10.2010, patent holder Open Joint Stock Company "Scientific and Design Bureau of Computing Systems"), containing a gunner's multi-channel thermal imaging sight, a commander's panoramic sight, sensors, a weapon stabilizer control unit, an additional weapons control system control unit, an automatic loader control unit, gunner's and commander's automated workstations, a television backup sight , a surround view video system, a sensor interface unit, a video signal switching unit, a multifunctional control unit, two multiplex information exchange channels.

At the same time, the operation of this OMS is impossible if the means of processing video images fail, which significantly reduces the reliability of the system.

An even closer analogue of the invention according to claim 1 is the SLA of a combat vehicle (Pat. RF for utility model No. 134624, IPC 7 F41G 5/24, published on November 20, 2013 according to application 2013130584/28 dated July 2, 2013, patent holders Open Joint Stock Company " Ural Design Bureau of Transport Engineering" and Open Joint-Stock Company "Scientific Design Bureau of Computing Systems") containing a gunner's multi-channel sight, a commander's panoramic sight, an understudy television sight, a video signal switching unit, a remote machine gun control system control unit, commander's video viewing devices and gunner and commander and gunner consoles, sensors that take into account the position of the gun, the position of the tower, the roll and pitch sensor, the wind sensor, the gun barrel bend sensor, the speed sensor, the multiplex information exchange channel, the automatic loader control unit, the armament stabilization control unit, the digital processing unit video image, download console, remote control i fire control systems of a combat vehicle and an automatic loader, interface and correction equipment, a multiplex information exchange channel, a digital information exchange channel of the RS 422 type and a digital information exchange channel of the CAN type.

The disadvantages of this SLA are that it does not ensure the effective destruction of the entire range of targets intended for BM of the type in question, the possibility of using special weapons for each type of target, the impossibility of remote control of the main weapons, the absence of guided weapons with stabilization independent of the main weapon, insufficiently high reliability of the detection and tracking system goals due to the lack of duplication of these processes.

The MSA was chosen as a prototype (Pat. RF for the invention No. 92718186 F41H 7/02, F41G 5/24, F41G 3/00, F41F 3/04, publ. ., patent holder Open Joint Stock Company "Russian Federation represented by the Ministry of Defense of the Russian Federation"), containing a gunner's sight, a commander's sight, a weapon guidance system control unit, a video image processing unit, gunner's and commander's video modules, commander's and gunner's consoles, sensors that take into account the position of the turret and guns, roll and pitch sensor, wind and carrier speed sensors, additionally introduced a second video image processing unit, gunner and commander input devices, automation control unit, gun control unit, small-caliber launcher control unit, larger-caliber launcher control unit, remote control complex projectile detonation time control, automated workstation control unit, charge temperature sensor, atmospheric state meter ry, protection and switching unit, rotating contact device, CAN digital information exchange channels, digital and analog video channels. The automation control unit contains a ballistic correction calculation module, a video module control module, an automation control module, an interface unit, a secondary power source and a current stabilizer. The invention solves the problem of improving the accuracy and efficiency of firing, as well as the search capabilities of the SLA.

The main disadvantage of both analogues and the prototype lies in the low levels of secrecy of the OMS associated with the use of LD in its composition.

Thus, based on the active principle of operation of laser rangefinders, in order to increase the combat survivability of weapons and military equipment, both special coatings and camouflage nets are being actively developed, which partially absorb and scatter laser radiation, as well as optoelectronic suppression systems, which allow, using optical sensors, installed on the object to reveal both the fact of measurement itself and to determine the direction to the operating laser ranging or target designation device.

To date, such systems are equipped with samples of armored weapons of both the domestic armed forces and the armies of the leading countries of the world.

With the use of warning systems for laser irradiation, the effect of surprise is significantly lost during the first fire contact with the enemy, who has the ability to organize countermeasures to the guidance system. At the same time, the dislocation of the ATV sample itself will be largely detected even before the opening of fire, which may adversely affect its survivability due to the organization of a counter fire effect. At the same time, even taking into account the duplication of LDs for the gunner and the commander of the armored vehicle, this tool is the only one. This, in turn, means that in the event of a failure or in cases of external conditions unfavorable for laser radiation, such as rain, fog, a dust storm, an aerosol screen, including its overheating, the FCS will not be able to provide a high probability of hitting a target from - for reducing the accuracy or impossibility of measuring the range. In addition, the exclusive use of LD due to the impossibility of determining the ranges, coordinates and movement parameters of several targets simultaneously imposes a limitation on the possibility of implementing an intelligent visual image analysis system as part of the LMS, designed to prepare the correct solution for the commander in the current combat situation.

In this regard, in practice, especially in a combat with a technologically advanced enemy, situations will arise when the successful use of tank weapons, in the guidance systems of which laser range measuring devices are used, against objects equipped with laser irradiation warning devices, as well as in conditions of low transparency atmosphere or a small effective dispersion surface of the target may be ineffective, especially when it is a priority to ensure the secrecy of one's intentions and actions.

Based on this, the task to be solved by the claimed invention is to implement, in addition to the standard laser tools for the FCS of modern ATV models, the possibility of real-time determination of the ranges, coordinates and motion parameters of all detected targets and important objects without exposing them to active radiation.

The solution to this problem is achieved through:

- placement of an external video surveillance system on the ATV sample, which, together with standard sights, provides multiple overlapping of the monitored space around the armored object with its fields of view;

- expanding the functionality of the digital processing unit of the control system by introducing additional software-executable modules into it that provide comprehensive automatic processing of video images from optical-electronic channels of sights, devices and cameras for external video surveillance of an armored object.

The main technical results provided by the above set of features are:

- increasing the indicators of the secrecy of the operation of the SLA, and as a result, increasing the survivability of the ATV model on the battlefield, due to a decrease in the effectiveness of the measures taken by the opposing side, means and automatic systems to counter guidance systems with laser rangefinders and target designators;

- increasing the reliability of the OMS by providing the ability to determine the ranges, coordinates and parameters of targets and important objects in situations where the use of LD is impossible (overheating, failure) or ineffective (aerosol or smoke screen, small effective dispersion surface of the object, etc. .);

- increasing the speed of measurements to a variety of targets or important objects due to the absence of the need for sequential guidance on each of the detected objects of the central aiming mark of the sight;

- an increase in the number of analyzed information features when calculating settings for firing (which contributes to the possibility of improving the accuracy of firing) and when implementing an intelligent system for visual image analysis as part of the LMS, designed for preliminary preparation of a solution for the commander in the current combat situation.

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 execution:

in fig. 1 shows the composition of the described SLA, taking into account the achievement of the claimed technical result;

in fig. 2 illustrates the mutual position of the coordinate system of the BTV sample and the coordinate system of its tower;

in fig. 3 shows a variant of placement of cameras of the external video surveillance system on the tower of the BTV sample;

in fig. 4 illustrates the concept of the near and far measuring space obtained by crossing the fields of view of the cameras of sights and UHVN;

in fig. 5 shows the composition of the digital processing unit, which provides digital image processing and determination of target parameters;

in fig. 6 illustrates the concepts of internal parameters of a camera, the placement and orientation of its coordinate system relative to the digital image;

in fig. 7 shows an example of an image control form.

The described SLA, taking into account the technical results obtained, must contain at least (Fig. 1):

- sights of commander 1 and gunner 2 (PC and PN);

- sight-understudy gunner 5 (PDN) (not shown in the drawings);

- external video surveillance system 15 (SVVN);

- sensors 2, 4, 6 pointing head units PK 1, PN 2 and PDN 5;

- control panels for commander 7 and gunner 8 (PUK and PUN);

- data bus 9;

- control panels of the commander 11 and gunner 12 (PnUK and PnUN);

- video viewing devices (VSU) commander 13 and gunner 14;

- digital processing unit 10 (DPC);

- tower sensor 9 (DB),

- as well as other subsystems and sensors 16 that ensure the implementation of the entire list of functionality and the efficient operation of modern OMS, but are not directly related to the achieved technical results of the claimed invention.

The data bus 10 is a serial information bus, configured to connect additional information-executive units, as well as groups of spatially separated electronic devices or systems and carry out high-speed information exchange between them using backup data packets of the main protocol or information exchange according to their protocols, or through gateways.

Sights 1, 3, 5, sensors 2, 4, 6, 9, consoles 7, 8, BCO 10, SVVN 15 and other subsystems and sensors 16 are connected to the data bus 10 with their information outputs through the appropriate protocols.

PC 1 can have a modular or periscopic design, is made in a panoramic design with a two-plane independent stabilization of the field of view and contains at least digital television and thermal imaging channels, as well as a laser rangefinder. PC 1 is installed in an armored container with protective glass on the tower 17 of the armored object (Fig. 2). In addition, PC 1 must be equipped with vertical and horizontal guidance sensors 2 (VN and GN), which provide the current values of the angles β _PC , α _{PC of} deviation of the optical axis of the sight from the initial (zero) position, respectively, in the vertical and horizontal planes.

PUK 3 is intended for pointing the PK 1 central aiming mark at detected targets, moving the PK 1 field of view when searching for targets, and firing by the armored object commander from the PK 1 machine gun mount or the main armament when the dual weapon control mode is turned on.

PN 3 can have a modular or periscopic design, it is multi-channel with two-plane independent stabilization of the field of view with digital television and thermal imaging channels, a laser rangefinder and a missile control channel. PN 3 is installed in an armored container with protective glass on the tower 17 of the armored vehicle. PN 3 must be equipped with vertical and horizontal guidance sensors 4 (VN and GN) that provide the current values of the angles β _PN , α _PN of deviation of the optical axis of the sight from the initial (zero) position, respectively, in the vertical and horizontal planes.

PUN 8 is intended for pointing the PN 3 central aiming mark at detected targets, moving the PN 3 field of view when searching for targets and firing from the main armament with guided and unguided munitions.

PDN 5 is intended for firing from the main armament of an armored vehicle in case of failure or damage to the main PN 3. PDN 5 is performed with weapon-dependent or independent stabilization of the field of view and is equipped with a television and / or thermal imaging digital camera. If PDN 5 is performed with independent stabilization of the field of view, then it is also equipped with sensors 6 pointing HV and GN.

The sensor 9 of the tower (DB) is a device designed to determine the current value of the angle β _B of the position of the coordinate system (SC) of the SC 18 of the tower 17 of the armored object relative to the SC 19 of its body 20 (Fig. 2). At the same time, SK 17 is understood as SK O _B X _B Y _B Z _B with its origin located in the geometric center of the plane of the shoulder strap of the tower 17, with the axis O _B X _B directed forward towards the main armament, the axis O _B Y _B - to the left, and the axis O _B Z _B - strictly up tower 17. Under SK 19 is understood SK O _BM X _BM Y _BM Z _MB with its origin coinciding with the geometric center of the plane of the shoulder strap of the tower 17, axis O _BM X _BM directed forward towards the front armor plate of the hull 20, axis O _B Y _B - towards the left armor plate of the hull 20, and with the axis O _B Z _B - strictly upwards of the tower 17.

SVVN 15 is designed to provide all-round visibility for crew members of the BTV sample and is a number of stabilized or unstabilized digital video cameras (digital video surveillance devices) placed inside armored replaceable containers with protective glasses on the tower 17 of the armored object (Fig. 3) so that one on the sides, a complete overlap of the observation sector of 360 ° was ensured, and on the other side, the fields of view of the cameras intersected in space, forming a single measuring space around the armament sample. At the same time, close 21 and far 22 measuring spaces are distinguished (Fig. 4). Space 21 is formed at the intersection of the fields of view of the cameras SVVN 15. Space 22 is formed at the intersection of the fields of view of the cameras PK 1 and PN 3 and is characterized by a higher accuracy in determining the parameters of objects due to the greater magnification of the lenses of the cameras of these sights.

In addition to the described elements, other subsystems and sensors 16 are connected to the data bus 9, which ensure the effective operation of the FCS and the performance of the entire list of functionality, but are not directly related to the achieved technical results of the claimed invention, such systems and sensors, for example, can be a weapon stabilizer control unit , ballistic computer, navigation system, fire extinguishing system, collective protection system, communication system, remote machine gun control and stabilization system, heading, roll, pitch, temperature sensors, fire sensors, wind sensor, etc. etc.

Also, the control center 10 is connected to the data bus 10 through the appropriate interface. The control panels of the commander 11 and the gunner 12, as well as the APU of the commander 13 and the gunner 14, in turn, are connected to the control center 10, which together form a user interface, which in turn provides a choice by the commander and gunner images and/or input of processing commands. The processing commands contain, for example, commands to receive video data from sights 1, 3, 5 or cameras of the video surveillance system 15, commands to indicate objects of interest, commands to start determining the parameters of detected objects, etc. Each of the APUs 13 and 14 contains a display, such as liquid crystal monitor and is designed to view video data. Control panels 11 and 12, such as a keyboard or a pointing device (for example, a mouse, ball pointer, stylus, touch pad or other device) are designed to provide interaction between the commander and gunner of the armored vehicle with video data.

The MCU 10 includes a measuring application 25, a memory 24 for storing data, placed on a machine-readable medium 23. The MCU 24 is a remote computer such as a workstation, personal computer or laptop.

Computer readable media 23 may include volatile media, nonvolatile media, removable media, and non-removable media, and may be any available medium that can be accessed by a general purpose computing device. Non-limiting examples of computer-readable media may include computer storage devices and communication media. Computer storage media may further include volatile, nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data.

The memory 24 is configured to store processed images and measurement application data.

Digital images received from sight cameras 1, 3, 5 and SVVN 15 consist of pixels. Each pixel is characterized by a value, which 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, in which the pixel value is an eight-bit integer ranging from 0 to 255. Typically, a pixel value of zero is used to represent a black pixel, and a value of 255 is used to represent a white pixel. pixel. Intermediate values describe different shades of midtones. In color images, to describe each pixel (located in the RGB color space - red, green, blue), the red, green and blue components must be separately defined. In other words, the value of a pixel is actually a vector described by three numbers. The three different components can be stored as three separate halftone images, known as color planes (one each for red, green, and blue), which can be recombined when displayed or processed.

Measuring application 25 contains software-executable modules or commands that can be executed by at least one processor and provide video data processing, obtaining accurate measurement data about targets and important objects indicated by the commander and gunner, automatically detected or received through the channels of the target designation system, and other important objects. commands and modules to ensure the efficient operation and functionality of the OMS. For example, the Measurement Application may contain modules for automatic search, detection and recognition of targets, modules for digital stabilization of the field of view, modules for enhancing image information content, modules for training and self-testing, and the like. To ensure the achievement of the technical result of the claimed invention, the measurement application must contain at least the following software executable modules (Fig. 5).

The data exchange module (MOD) 26 is configured to receive and transmit data through the appropriate interface and protocols with the data bus 10. In particular, the MOD 26, when connected to the data bus, detects a wired connection and receives digital images from the cameras PC 1, PN 3, PDN 5 and EHVN 15, data from sensors 2, 4, 6 and 9 transmits them for storage in memory 24.

The calibration module (MKl) 27 is configured to determine the calibration data of the cameras PK 1, PN 3, PDN 5 and SVVN 15.

Calibration is the process of correlating the ideal camera model with the actual physical device and determining the position and orientation of the j-th camera relative to the SC 18 of the turret 17 of the weapon. The calibration process is carried out in order to determine (if they are unknown) or refine (if known, but an error is allowed) the external and internal parameters of the cameras. Calibration is performed during the final stages of the OMS manufacturing process, for example, after its assembly, maintenance during its adjustment and performance check. Additionally, calibration can be performed immediately before the combat use of the FCS in environmental conditions that can affect the shape of the tower 17 (for example, due to the reduction or expansion of materials) and, accordingly, the location of the j-th chambers relative to the SC 18, where j ∈ 1 ... J, J - number of video cameras SVVN 15 including cameras PK 1, PN 3 and PDN 5.

At the same time, internal parameters for all j-th cameras of sights and EHVN are understood as information about the values (Fig. 6):

- focal length f _j lenses;

и горизонтальных

размерах пикселей фотоприемных устройств (ФПУ);- vertical

and horizontal

pixel sizes of photodetectors (FPU);

- vertical M _j and horizontal N _j FPU resolutions;

и горизонтальных

линейных расстояниях между геометрическим центрами ФПУ и центрами изображений, формируемых объективами;- vertical

and horizontal

linear distances between the geometric centers of the FPU and the centers of the images formed by the lenses;

- values of skew angles θ _j of images, which occur, as a rule, due to FPA manufacturing errors or inaccurate synchronization of the pixel sampling process;

, где n - количество- coefficients of radial

, where n is the number

дисторсии;coefficients taken into account, and tangential

distortion;

,

- углов наклона защитного стекла относительно СК 36 j-ой камеры, соответственно, в горизонтальной и вертикальной плоскостях;-

,

- tilt angles of the protective glass relative to the SC 36 of the j-th chamber, respectively, in the horizontal and vertical planes;

- n _j - refractive indices of the protective glass of the j-th chamber;

- h _j - thicknesses of the protective glass of the j-th chamber.

External parameters are understood as information about the position in space and orientation of the SK 36 (Fig. 6) of all j-th cameras of sights and EHVN relative to the SK 18 of the tower 17 of the armored object (Fig. 2), namely:

- горизонтальный, вертикальный и поперечные углы текущей ориентации СК 36 j-ой камеры (Фиг. 6) относительно осей O_БY_Б, O_БX_Б и O_МZ_Б СК 18 башни (Фиг. 2);-

- horizontal, vertical and transverse angles of the current orientation of the SC 36 of the j-th camera (Fig. 6) relative to the axes O _B Y _B , O _B X _B and O _M Z _B SC 18 of the tower (Fig. 2);

- текущие координаты начала СК 36 j-ой камеры (Фиг. 6) относительно начала СК 18 башни (Фиг. 2).-

- current coordinates of the beginning of the SC 36 of the j-th camera (Fig. 6) relative to the beginning of the SC 18 of the tower (Fig. 2).

The interface module (MI) 28 is configured to create an image control form for displaying commander 13 and gunner 14 through the APU and contains modules that allow them to interact with the measurement application 23 through PnUK 11 and PnUN 12.

The image control form 37 contains various views that provide the ability to display video data, user interaction with video data and indicate targets or important objects that need to be taken for auto tracking, determine their coordinates and motion parameters. In FIG. 7 shows a screen version of the image control form 37 displayed on the commander 13 and gunner 14 APU displays. In addition, if the displays of the APU of the commander 13 and gunner 14 are made in the touch version, then the user can interact with the control form 37 directly by clicking on its corresponding elements.

и столбцов

на i-ом кадре) в память 24.The auto-tracking module (MAC) 29 is configured to automatically track those indicated by the commander or gunner, as well as those received through target designation channels or detected as a result of the automatic detection of targets and important objects and transmitting tracking information about them (pixel coordinates of the g-th object in the form of corresponding im row numbers

and columns

i-th frame) into memory 24.

и

и повышения их разрешения в k-раз с применением любого из существующих способов, например, интерполяцией, повышением их резкости и компенсации эффекта «смазывания», возникающего при движении или колебании камер.The resolution module (MP) 30 is configured to read the current i-th image frames of the j-th cameras for which the MAC 29 has stored the coordinates

and

and increase their resolution by a factor of k using any of the existing methods, for example, interpolation, sharpening them and compensating for the “blurring” effect that occurs when the cameras move or oscillate.

The module of internal parameters (MVnP) 31 is configured to read from the memory 24 data on the internal parameters of the j-th, as well as all j+1, j+2, etc. cameras PC 1, PN 3, PDN 5 and EHVN 15, and records based on the received data in the memory 24 matrices K _j of internal parameters, according to the expression

положения, согласно выражениюThe module of external parameters (MVneP) 32 is configured to read from the memory 24 data on the external parameters of the j-th and all j+1, j+2, etc. cameras PK 1, PN 3, PDN 5 and SVVN 15, as well as data with the current value of the angle β _B of the position of the turret 17 of the armament sample relative to its body 20 and records based on the received data in the memory 24 matrices

positions, according to the expression

where.

и

g-ых объектов, а также вычисления и сохранения в памяти 24 матриц взаимной ориентации

и

для всех сформированных пар камер. Для этого в МВО для каждой пары, например j-ой и j+1-ой камеры записывается соответствующие вектор

согласно выражению:The relative orientation module (MVO) 33 is configured to form pairs of cameras between the j-th camera, the image of which is currently tracking the position of the object using MAC 29, and other j+1, j+2, etc. cameras PK 1, PN 3, PDN 5 and SVVN 15, on which MAC 29 calculated and stored 24 pixel coordinates in memory

and

g-th objects, as well as calculating and storing in memory 24 matrices of relative orientation

and

for all formed pairs of chambers. To do this, in the MVO for each pair, for example, the j-th and j+1-th cameras, the corresponding vector is written

according to the expression:

вектора

в вертикальной плоскости:Next, the rotation matrix is calculated

vector

in the vertical plane:

путем вычисления матрицThe position of the SC 36 of the j-th and j+1-th cameras is recalculated, taking into account their rotation by an angle

by computing matrices

Vectors are calculated

в вертикальной плоскости:The rotation matrix of the vector is calculated

in the vertical plane:

, а после - на угол

, для чего вычисляются матрицы

и

The position of the SC 36 of the j-th and j+1-th cameras is recalculated, taking into account their additional spatial rotations, first by the angle

, and after - at the corner

, for which matrices are calculated

and

The angles of mutual orientation of the j-th and j+1-th cameras relative to their parallel position are calculated:

и

просчитываемой пары камер записываются матрицы взаимной ориентацииBased on the obtained values of pairs of angles

and

of the calculated pair of cameras, matrices of mutual orientation are recorded

where

,

и

,

, данных внутренних параметров камер, т.е. матриц K_j и K_j+1, данных внешних параметров камер, т.е. матриц

и

, данных о дисторсии объективов камер, т.е. коэффициентов

,

и

, данных о параметрах защитных стекол камер, т.е. величин

, данных о взаимной ориентации каждой из пар камер, т.е. матриц

и

, вычисления по данным i-ых изображений для каждой измерительной пары j-ой и j+1-ой камер пространственных координат обнаруженных

g-ых объектов, согласно выражению:The coordinate module (MC) 34 is configured to receive for each of the detected g-th objects and the processed pair of the j-th and j+1-th cameras of the current values of the pixel coordinates corresponding to them, i.e.

,

and

,

, data of internal parameters of cameras, i.e. matrices K _j and K _j +1, data of external parameters of cameras, i.e. matrices

and

, data on camera lens distortion, i.e. coefficients

,

and

, data on the parameters of the protective glasses of the chambers, i.e. quantities

, data on the relative orientation of each of the pairs of cameras, i.e. matrices

and

, calculations according to the data of the i-th images for each measuring pair of the j-th and j+1-th cameras of the spatial coordinates of the detected

g-th objects, according to the expression:

- вектор трехмерных координат g-го объекта на i-ых кадрах в СК измерительной пары j-ой и j+1-ой камер;where

- vector of three-dimensional coordinates of the g-th object on the i-th frames in the SC of the measuring pair of the j-th and j+1-th cameras;

- вектор скорректированных координат изображения g-го объекта на i-ом кадре цифрового изображения j-ой камеры;

- vector of corrected image coordinates of the g-th object on the i-th frame of the digital image of the j-th camera;

- вектор трехмерных координат изображения g-го объекта на i-ом кадре в СК j-ой камеры;

- vector of three-dimensional coordinates of the image of the g-th object on the i-th frame in the CS of the j-th camera;

- расширенный вектор пиксельных координат изображения g-го объекта на i-ом кадре цифрового изображения j-ой камеры;

- extended vector of pixel coordinates of the image of the g-th object on the i-th frame of the digital image of the j-th camera;

- матрица коррекции дисторсии для текущего i-ого кадра j-ой камеры;

- distortion correction matrix for the current i-th frame of the j-th camera;

- коэффициент коррекции радиальной дисторсии объектива j-ой камеры;

- coefficient of correction of the radial distortion of the lens of the j-th camera;

- коэффициент коррекции тангенциальной дисторсии j-ой камеры в горизонтальной плоскости;

- coefficient of correction of tangential distortion of the j-th camera in the horizontal plane;

- коэффициент коррекции тангенциальной дисторсии j-ой камеры в вертикальной плоскости;

- coefficient of correction of tangential distortion of the j-th camera in the vertical plane;

- расстояние от центра изображения j-ой камер i-ом кадре до изображения g-го объекта на нем;

- distance from the center of the image of the j-th camera in the i-th frame to the image of the g-th object on it;

- значения первого и второго столбца вектора

;

- values of the first and second columns of the vector

;

- проекционная матрица для пары j-ой и j+1-ой камер;

- projection matrix for a pair of j-th and j+1-th cameras;

- проекционный коэффициент для пары j-ой и j+1-ой камер;

- projection coefficient for a pair of j-th and j+1-th cameras;

- вектор скорректированных координат изображения g-го объекта на i-ом кадре цифрового изображения j+7-ой камеры;

- vector of corrected image coordinates of the g-th object on the i-th frame of the digital image of the j+7th camera;

- вектор трехмерных координат изображения g-го объекта на i-ом кадре в СК j+1-ой камеры;

- vector of three-dimensional coordinates of the image of the g-th object on the i-th frame in the CS j+1-th camera;

- расширенный вектор пиксельных координат изображения g-го объекта на i-ом кадре цифрового изображения j+7-ой камеры;

- extended vector of pixel coordinates of the image of the g-th object on the i-th frame of the digital image of the j+7th camera;

- матрица коррекции преломления защитного стекла j-ой камеры;

- refractive correction matrix of the protective glass of the j-th chamber;

- horizontal correction for the protective glass of the j-th chamber;

- vertical correction for the protective glass of the j-th chamber.

и т.д., проводится уточнение и сохранение в памяти 24 вычисленных по i-ым кадрам текущих координат g-го объектаAfter calculating the coordinates of the gth object for all generated pairs jth and j+1st, jth and j+2nd, jth and j+3rd, etc., i.e. pairs of cameras on the image of which MAC determined the position of the g-th object, based on the parameters of the cameras and their mutual geometry of placement in MK 34, the calculation of the weighting coefficients of measurements is carried out, i.e.

etc., 24 current coordinates of the g-th object calculated from the i-th frames are refined and stored in memory

g-го объекта с i-го кадра, а также координат

с i+1-го и последующих кадров, вычисления и сохранения в память 24 по крайней мере следующих параметров каждого обнаруженного g-го объекта относительно СК образца БТВ, а именно:Movement parameters module (MTD) 35 is configured to receive 24 coordinates from memory

g-th object from the i-th frame, as well as coordinates

i+1-th and subsequent frames, calculating and storing in memory 24 at least the following parameters of each detected g-th object relative to the SC of the BTV sample, namely:

- current range:

- range change rate between the i-th and i+1-th frames:

where Fps _i - frame rate (number of processed frames per second);

и горизонтального

наведения на g-ый объект:- vertical angles

and horizontal

pointing at the g-th object:

и вертикального

движения g-го объекта относительно бронеобъекта:- angular velocities of the horizontal

and vertical

movement of the g-th object relative to the armored object:

- motion vector of the g-th object:

- speed of movement of the g-th object relative to the weapon model:

The OMS works in the following way.

The commander or gunner of the ATV sample, independently using surveillance equipment through their APU 13 and 14, or together with the automatic visual detection system, search, detect and recognize targets and important objects. At the same time, acting on their PUK 7 or PUN 8, they control the current orientation of the fields of view of their sights PK 1, PN 3 or PDN 5.

The data bus 9 carries out high-speed exchange of information between the BTS 10, SVVN 15, PC 1, PN 3, PDN 5, sensors 2, 4, PUK 7, PUN 8, DB 9 and other subsystems and sensors 16.

At the command of the commander or gunner, or at the command from the automatic visual detection system, a command is given to start the measurement application 25. At the same time, the MOD 26 carries out information exchange with the data bus 9, constantly records in the memory 24 the current frames of digital images from the cameras PC 1, PN 3, PDN 5 and SVVN 15, as well as angle values from sensors 2, 4, 6 and 9.

и столбцов

на i-ом кадре.MAC 29 acquires and automatically tracks the target on the camera image on which it was detected. To do this, MAC 29 reads images from memory 24 and, upon receipt of a capture command for tracking, prepares for tracking and, with the arrival of the next frame of images, searches for the tracked object on the images of cameras PC 1, PN 3, PDN 5 and EHVN 15. For each i-th 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 and stored in memory 24. At the same time, pixel coordinates of the g-th object are stored in memory 24 for each j-th camera in the form of their corresponding line numbers

and columns

on the i-th frame.

MI 28 provides a graphical display of the location of the detected targets and the output of additional graphic information through the control form 37 on the screens of the APU 13 and 14.

MP 30 reads from memory 24 digital images on which MAC 29 has detected and accompanies the g-th target, increases their resolution by k times and digitally processes them, aimed at sharpening and compensating for the effect of “blurring” images due to camera movement or vibration, and then saves the processed images to memory 24.

MVnP 31 reads from memory 24 data on the internal parameters of the cameras PC 1, PN 3, PDN 5 and SVVN 15, calculates and writes to memory 24 the corresponding matrices K _j of internal parameters.

их текущего положения в СК образца БТВ.MVneP 32 reads from memory 24 data on the external parameters of the cameras PC 1, PN 3, PD N 5 and SVVN 15, calculates and writes to memory 24 the corresponding matrices

their current position in the SC of the BTV sample.

для каждой из отслеживаемых g-ой цели, формирует измерительные пары камер, на изображениях которых обнаружена g-ая цель, вычисляет и сохраняет в память 24 матрицы

текущей взаимной ориентации для каждой из сформированных пар камер.MVO 33 reads 24 pixel coordinate values from memory

for each of the tracked g-th target, forms measuring pairs of cameras, on the images of which the g-th target is detected, calculates and stores 24 matrices in memory

the current relative orientation for each of the generated pairs of cameras.

g-ой цели с i-го кадра, а также ее координат

с i+1-го и последующих кадров, вычисляет и сохраняет в памяти 24 параметры (дальность

, скорость изменения дальности

, углы вертикального

и горизонтального

наведения, угловые скорости горизонтального

и вертикального

движения, вектор

и скорость

движения) каждой g-ой цели относительно образца БТВ.MTD 35 reading from memory 24 coordinates

g-th target from the i-th frame, as well as its coordinates

i + 1st and subsequent frames, calculates and stores in memory 24 parameters (range

, range change rate

, angles of the vertical

and horizontal

guidance, angular velocity of the horizontal

and vertical

movement, vector

and speed

movement) of each g-th target relative to the ATV sample.

At the same time, if it is necessary to obtain more accurate information on the g-th target, at the command of the commander or gunner of the armored object, the fields of view of PC 1 and PN 3 are aimed at it with the simultaneous setting of their lenses to maximum magnification, i.e. organization of measurements of the coordinates and parameters of the movement of the target in the far measuring space 22.

If necessary, the crew of the armored vehicle before combat use is given a command to launch the MKL 27 and external and internal calibration of the PK 1, PN 3, PDN 5 and SVVN 15 cameras is carried out, which consists in determining or refining the external and internal parameters of the cameras by recognizing and mathematically processing images of geometric primitives calibration template. What is carried out first internal calibration separately for each camera PK 1, PN 3, PDN 5 and SVVN 15, and then their pairwise external calibration. In this case, the calibration template, located in front of the armored object at some distance, remains motionless, and the tower 17 rotates smoothly on the body 20 until the end of this procedure.

Claims (63)

Fire control system (FCS) for samples of armored vehicles (BTV), including commander's (PC) and gunner's (PN) sights connected to a high-speed data bus with laser rangefinders, gunner's backup sight (PDN), digital processing unit (DPC), sensors horizontal and vertical aiming of sights, an external video surveillance system (EVVN), a turret sensor, a high-speed data bus, video viewing devices (VSU), commander’s and gunner’s consoles and control panels, and characterized by the ability to simultaneously passively determine the coordinates, ranges, speeds and directions of movement of all detected targets without irradiation with active radiation due to the placement of optical-electronic channels of sights, devices and external video surveillance cameras on the tower of the ATV sample in such a way that, on the one hand, a complete circular overlap of the observation sector of 360 ° is provided and, on the other hand, the field the view of the cameras in space intersected, forming a single measuring space around the armored object, transmitting their video images to the BSC, which is a remote computer, such as a workstation, personal computer or laptop, and containing memory for data storage placed on a machine-readable medium and a measuring application containing, in turn, executable modules or commands, configured to be executed by at least one processor, namely: a data exchange module configured to receive digital images from PC, PN, PDN, and VVVN cameras, as well as data from sight sensors and transmission turrets for storage in memory, via the FCS data bus; a calibration module configured to determine the data of internal and external calibration of j-x cameras, where j∈1…J, J is the number of video cameras PC, PN, PDN and UHVN, and write them to memory, namely: focal length ƒ _j lenses ; vertical

and horizontal

pixel sizes of photodetectors (FPU); vertical M _j and horizontal N _j FPU resolutions; vertical

and horizontal

linear distances between the geometric centers of the FPU and the centers of the images formed by the lenses; the values of the angles of distortion θ _j images, arising, as a rule, due to errors in the manufacture of FPU or inaccurate synchronization of the pixel sampling process; coefficients of the radial

, where n is the number of coefficients taken into account, and the tangential

distortion; corners

,

inclination of the protective glass relative to the coordinate systems (SC) of the cameras, respectively, in the horizontal and vertical planes; refractive indices n _j of protective glasses; thicknesses h _j protective glasses; horizontal

, vertical

and transverse

angles of the current orientation of the SC cameras relative to the axes of the SC tower; current coordinates

the beginning of the SC of the j-x chambers relative to the beginning of the SC of the tower; an interface module configured to create image control forms for displaying the commander and gunner through the APU and containing modules that allow them to interact with the measurement application through PnUK and PnUN, while the image control form contains various views that provide the ability to display video data, user interaction with video data, for example, indications of targets or important objects that need to be taken for auto tracking, determine their coordinates and movement parameters; an auto-tracking module configured to capture and automatically track those indicated by the commander or gunner, as well as those received through target designation channels or detected as a result of the operation of the automatic visual detection system of g-th targets and important objects on the i-th image frames from the j-th PC cameras, PN, PDN and SVVN and saving their pixel coordinates as the corresponding line numbers

and columns

in memory; a resolution module configured to read the current i-th image frames of the j-th cameras, for which the auto-tracking module has stored coordinates

and

, increasing their resolution by k times by any of the existing methods, for example, interpolation, digital image processing aimed at increasing sharpness and compensating for the effect of “blurring” images when the camera moves, as well as storing processed images in memory; internal parameters module, configured to read from the memory data about internal parameters j-th, as well as all j+1, j+2, etc. cameras PC, PN, PDN and UHVN and records based on the received data in the memory of the matrices K _j of internal parameters, according to the expression:

external parameters module configured to read data about external parameters j-th and all j+1, j+2, etc. from the memory. PK, PN, PDN and UHVN cameras, as well as data from the turret sensor with the current value of the angle β _B of the position of the armament sample turret relative to its hull and records based on the received data in the matrix memory

positions, according to the expression:

where

a relative orientation module configured to form pairs of cameras between the j-th camera, on the image of which the position of the object is currently tracked using the auto-tracking module, and other j+1, j+2, etc. PC, PN, PDN and UVVN cameras, on which the auto-tracking module calculated and stored pixel coordinates in memory

and

g-th targets, as well as calculation and storage in memory for each of the formed pairs of cameras of matrices of mutual orientation

where

by: vector records

, calculation of rotation matrices

vectors

in the vertical plane at an angle

:

matrix calculations

and

positions of the SC of the j-th and j+1-th cameras, taking into account their rotation by an angle

:

vector calculations

; matrix calculations

rotation vectors

in the vertical plane at an angle

:

; matrix calculations

and

positions of the SC of the j-th and j+1-th cameras, taking into account their additional spatial rotations, first by the angle

, and then - at the corner

:

and calculating the values of the angles of mutual orientation of the j-th and j+1-th cameras relative to their parallel position in space:

a coordinate module configured to calculate the spatial coordinates of the detected

g-th objects, according to the expression:

where

- vector of three-dimensional coordinates of the g-th object on the i-th frames in the SC of the measuring pair of the j-th and j+1-th cameras;

- vector of corrected image coordinates of the g-th object on the i-th frame of the digital image of the j-th camera;

- vector of three-dimensional coordinates of the image of the g-th object on the i-th frame in the CS of the j-th camera;

- extended vector of pixel coordinates of the image of the g-th object on the i-th frame of the digital image of the j-th camera;

- distortion correction matrix for the current i-th frame of the j-th camera;

- coefficient of correction of the radial distortion of the lens of the j-th camera;

- coefficient of correction of tangential distortion of the j-th camera in the horizontal plane;

- coefficient of correction of tangential distortion of the j-th camera in the vertical plane;

- distance from the center of the image of the j-th camera in the i-th frame to the image of the g-th object on it;

- projection matrix for a pair of j-th and j+1-th cameras;

- projection coefficient;

- vector of corrected coordinates of the image of the g-th object on the i-th frame of the digital image of the j+1-th camera;

- vector of three-dimensional coordinates of the image of the g-th object on the i-th frame in the CS j+1-th camera;

- extended vector of pixel coordinates of the image of the g-th object on the i-th frame of the digital image of the j+1-th camera;

- refractive correction matrix of the protective glass of the j-th chamber;

- horizontal correction for the protective glass of the j-th chamber;

- vertical correction for the protective glass of the j-th chamber; calculations for g-th targets and all formed measuring pairs j-th and j+1-th, j-th and j+2-th, j-th and j+3-th, etc. based on their parameters and relative orientation of measurement weights

etc., carrying out refinement with saving in memory the current coordinates of the g-th object calculated from the i-th frames, according to the expressions:

motion parameters module configured to receive coordinates from the memory

g-th object from the i-th frame, as well as coordinates

i+1-th and subsequent frames, calculating and storing in memory at least the following motion parameters of each g-th object relative to the BTV sample, namely: - current range:

- range change rate between i-th and i+1-th frames:

where Fps _i - frame rate (number of processed frames per second); - vertical angles

and horizontal

pointing at the g-th object:

- angular velocities of the horizontal

and vertical

movement of the g-th object relative to the armored object:

- motion vector of the g-th object:

- speed of movement of the g-th object relative to the weapon model:

Images