SU1670805A1 - Television direction finder - Google Patents

Abstract

The invention relates to television and can be used to determine the angular coordinates / bearing / monitored objects and automatically track them. The purpose of the invention is to improve the accuracy of changing the bearing to the observed object by eliminating the influence of dimensional instability and centering of the transmitting television camera raster. In the "calibration" mode, the optical switch 1 projects from the source 2 images of reference points a reference image to a transmitting television camera 3, from which the video signal is converted by a background suppressor unit 4 and a binary quantizer 5 into a signal in which the logical point corresponds to a logical unit. Cumulative adders 8 and 9, counters 10 and 11 of the X and Y coordinate signal, block 13 and control block 14 during each frame calculate the coordinates of one reference point. In the "operation" mode, the analog-digital converter 18, the memory block 19 and the address register 20 determine the coordinates of the center of the object, which, based on the information about the coordinates of the reference points, are adjusted in accordance with the parameters of the registry. 2 Il.

Description

(21) 4654514/09

(22) 01/12/89

(46) 08/15/91. Bul MGZO

(72) L.V.Vlasov, V.F. Lebedev, Yu.I.Ponashenko, V.F.Savik and G.P.Habarov

(53) 621.397 (088.8)

(56) USSR Author's Certificate Ns 995377, cl. H 04 N 7/18. 1980

(54) TELEVISION BREAKER

(57) The invention relates to television and can be used to determine the angular coordinates (bearing) of the objects observed and automatically track them. The purpose of the invention is to improve the accuracy of measuring the bearing on the observed object by eliminating the influence of dimensional instability and centering of the transmitting television camera raster. In the Calibration mode, the optical switch 1 projects from the source 2 images of reference points a reference image to a transmitting television camera 3, from which the video signal is converted by a background suppressor unit 4 and a binary quantizer 5 into a signal in which a logical point corresponds to a logical unit. Cumulative adders 8 and 9, counters 10 and 11 of the X and Y coordinate signal, block 13 and control block 14 during each frame calculate the coordinates of one reference point. In the Operation mode, the analog-to-digital converter 18, the memory block 19 and the address register 20 determine the coordinates of the center of the object, which, based on the information about the coordinates of the reference points, are adjusted in accordance with the raster parameters. 2 Il.

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The invention relates to television and can be used to determine the angular coordinates (bearing) of the observed objects and automatically track them.

The purpose of the invention is to improve the measurement accuracy of the bearing on the observed object by eliminating the size instability and centering the raster of the transmitting television camera.

Fig. 1 shows a structural electrical circuit of a television direction finder; in fig. 2 is a structural electrical circuit of a data distribution unit.

The television direction finder contains an optical switch 1, a source 2 images of reference points, transmitting a television camera 3, a background suppression unit 4, a binary quantizer 5, an AND-NOT 6 element, a first strobe generator 7, a first 8 and a second 9 accumulative adders, a coordinate signal counter 10 X, Y signal coordinate counter 11, binary signal counter 12, data distribution block 13, control block 14, driver control signal generator 15, gating block 16, second gate generator 17, analog-to-digital converter (ADC) 18, block 19 pam Ti, address register 20, element 21, element OR 22, and communication unit 23.

Television direction finder works as follows.

Optical switch 1, depending on the external control signal, the Mode (Calibration / Operation) switches to the output either only the image of reference points created by source 2 (in calibration mode), or a combined image of the object and reference points (in operating mode). The first in time is the calibration mode, in which an image of reference points is projected onto the transmitting camera. The video signal of the transmitting camera 3 is fed to the background suppression unit 4, which presses the background component of the video signal by differentiation and one-sided limitation. The video signal from the suppressed background component from the output of block 4 is fed to a binary quantizer 5, which converts the analog signal to a binary one, in which the level log. 1 corresponds to the signal reference point, and the level of the log. O - background signal. This signal is fed to the first input of the element AND-NOT 6, and the second input of which is pulsed with a frequency tag, and the third - a strobe signal (CGR1) from the output of the first generator 7 of the gate.

In the pdC track, the gating slot forms a rectangular zone within which the binary signal is allowed to pass through element 6. The zone dimensions and its position in the raster are determined by the control code signal input to the control input of the generator 7 from the address / data bus (ША / D). The alternate detection of reference points and the measurement of their coordinates (one point per frame) is performed by software movement of the gate PAGE 1 over the area of the raster. In the presence of a binary signal in the strobe zone a reference point at the output of element 6 there is a group of pulses in which the duration of the pulses is equal to the duration of the clock pulse, and the number of pulses in the group is equal to the number of raster elements in the CTP1 zone occupied by the binary signal with the log level. 1 (i.e., the area of the binary projection of the reference point).

From the output of element 6, these pulses go to the control inputs of the first and second cumulative adders 8 and 9, the information inputs of which are connected respectively to the information outputs of counters 10 and 11 of the X coordinate and Y coordinate. Each pulse arriving at the cumulative adder from element 6 initiates the addition of the current value the coordinate code present at the information input of the memory adder, with the sum code of the previous coordinate values already accumulated in the adder. As a result, the sum of horizontal and vertical coordinates of all raster points in the P1 zone, in which the level of the binary signal is equal to the log, accumulates in each of the adders 8 and 9 by the end of the forward stroke interval over the frame. one.

At the same time, the binary signal counter 12, whose input is also connected to the output of element 6, counts the number of such raster elements (the area of the binary signal). In the frame backward interval, the coordinate sum codes and the binary signal area code are transmitted via block 13 via the address / data bus to control block 14, in which operations are performed to calculate the coordinates of the center of the measured reference point and calculate the position of the strobe boundaries to the next frame. The coordinate of the center of the reference point is defined as the quotient of dividing the sum of the corresponding coordinates of the raster elements occupied by the projection of the reference point by the number of these elements (i.e., the number code removed from the corresponding cumulative adder by the number code removed from counter 12 signal.

After removing information from the cumulative adders and the binary signal counter 12, both the adders and the counter are zeroed by pulses arriving at their inputs. After M frames (M is the number of fixed points) in control block 14, an array of coordinates of the centers of all fixed points in the visual field is accumulated. In all subsequent cycles of the measurement of reference points, the process of their search is not performed and the installation of the CTP1 zone is performed according to the data of this generated array (this also applies to the measurement of reference points in the operating mode).

After forming an array of coordinates of the centers of projections of reference points, the coordinates of the projection of the optical axis of the direction finder in the raster are determined as the arithmetic average of the coordinates of the centers of all reference points. These coordinates are also entered into the corresponding memory cells of control unit 14, after which this block forms and outputs the code word Calibration to the external command devices via communication unit 23.

Upon receipt of this codeword, external command devices switch the control signal to Run mode. In this mode, the optical switch 1 projects to the optical input of the transmitting camera 3 a combined image of reference points and an object. In this mode, the procedure for measuring the measurement points is performed in the same volume and sequence as in the calibration mode.

The video processing of an object is performed as follows.

The video signal from the suppressed background component from the output of the background suppression unit 4, via the gating unit 16, controlled by the second input by the strobe signal (PTP2) from the output of the second strobe generator 17, goes to the ADC 18. The video signal of the object about the raster is produced by software frame-by-frame movement of PTP2 through the area of the raster and the analysis of the information obtained at each position of the strobe for compliance with the detection criteria. The A / D converter 18 converts the analog signal of an object into a digital form, as a result, each raster element within PTP2 corresponds to a reference — the video signal code (Brightness), which displays the magnitude of the video signal at a given raster point (element).

The sequence of counts in the order of their arrival is recorded in memory block 19, the address of which is performed by the address register 20. The clock pulses of the counting input 20 are assigned to the counting input

and

through a series-connected element 21 (controlled by a second input by a strobe signal CTP2) and element OR 22.

The recording mode in memory block 19 within the CTP2 zone is provided by applying to the recording control input of memory block 19 a signal from the inverse output of the second strobe generator 17. Accumulated in the block

19, the array of samples in the crawl interval across the frame through block 13 and the address / data bus is sent to control block 14, where processing operations of this array are performed, in particular

summation of all counts and comparing the sum with a threshold value. The criterion for detecting the video signal of an object is that the sum of the samples exceeds the threshold value. If the detection criteria are satisfied, the coordinates of the center of the projection of the object in the PAGE 2 zone are determined as the quotient of dividing the sum of the products (the raster coordinates in the strobe by the value of the video signal in this element) by

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The coordinate of the raster element in the strobe in this case is the address of the corresponding memory location in memory block 19, i.e.

The address register status code corresponding to this memory location is 20.

After calculating the coordinates of the center of the object about the gate, they are recalculated into the coordinates of the center of the object in the raster (according to

known for the analyzed frame coordinates of the boundaries and, accordingly, the center of the strobe in the raster), and then calculating the position of the CTP2 zone for the next frame, based on the centering of the strobe relative to the projection of the object.

Then, the angular coordinates of the object are calculated as the difference between the raster coordinates of the object and the corresponding raster coordinates of the center of the figure formed by the reference points. The calculated values of the angular coordinates of the object (bearing) are transmitted to external command devices via communication unit 23. At the end of the computation cycle, the control unit 14, through the control signal generator 15, sets the accumulative adders 8 and 9, the binary signal counter 12 and the address register 20 to zero. The circuit returns to its original state and is ready to receive and process information in the next television frame.

The process of reading information from the memory block 19 in the retraction interval over the frame is controlled by block 14 through the control signal generator 15: advancing pulses of the address register 20 are connected to the second input element OR 22 of the output of the generator 15, the memory block 19 is in read mode because the inverted signal CTP2 at the control input of block 19 is absent in the flyback interval (due to blocking by a personnel pulse in the gate stator generator circuit of horizontal and clock advancement constituents pulse generator for the counters).

The data distribution unit 13 contains an AND-NE element 24, the first, second and third multiplexers 25, 26 and 27, the address memory register 28, the address decoder 29, the first, second and third trigger signals 30, 31 and 32 of the control signals and the inverter 33.

The processing and control unit 14 turns to the switch by placing one of the addresses assigned to the switch to the address / data bus, which is written to the register 28 by the write pulse of the address RpA arriving at the record control input (D-input) of the register 28 for a separate bit on the ShA bus / D.

The recorded address is decrypted by the decoder 29 on the corresponding output address code of which the potential log is established. O, setting the corresponding memory trigger (30, 31, or 32) to either state or log. Oh, or log. 1 (depending on which of the installation inputs of the trigger received the potential of the log. O from the output of the decoder.

The outputs of the trigger signals of the control signals are connected respectively to the control inputs of the switching of the multiplexers. Filing capacity log. About to the multiplexer switching control input causes a connection to the upper output according to the input scheme, filing a log. G - connection to the output of the lower input.

In addition, to sample a microcircuit (bring it from a state of high impedance output to the active state), a potential log must be sent to the input of the sample. A. At the inputs of a sample of multiplexers 25 and 26, this potential is constantly applied. To select the multiplexer 27, it is necessary to write to the register 28 an address corresponding to the output of the address decoder 29 connected to the input of the inverter 33, and then send an SC pulse (data reading) over a separate SHA / D bit, while throughout the duration of the SC pulse multiplexer 27 is in active state passing on its output

the code present on the input that is determined by the signal (logic level) at the input of the switching control.

So, if the multiplexer switching control inputs are connected

direct outputs of memory registers of control signals, for example, to transmit a block of code from the top according to the input of multiplexer 26, it is necessary to set an address code on the address / data bus that corresponds to the output of the decoder connected to the zero input of the trigger 31: write this address in the address register by impulse to set the address corresponding to

connected to the input of the installation unit trigger 32 output decoder; write this address to the register 28 by applying a pulse to set the address code corresponding to the output of the decoder connected to the inverter 33 to the A / D; write this address to the register 28 by applying a pulse ZpA, give a pulse to the SCD.

Claims (1)

The invention of the Television Direction Finder, comprising a transmitting television camera, the first and second synchronization inputs of which are the inputs respectively for the horizontal and frame pulses of the television direction finder, sequentially the included binary quantizer and the NAND element, the serially connected control signal generator, the address register, the memory unit and the data distribution unit, the gating unit, X-axis signal counter, binary signal counter, characterized in that, in order to increase the bearing measurement accuracy on the observed object by eliminating the influence of dimensional instability and centering of the transmitting television camera raster, the reference point image source optically connected to the first optical the input of the inserted optical switch, the second optical input of which is the optical input of the television direction finder, the control input is the input for mode selection television direction finder, and the optical output is connected to the optical input of the transmitting television camera, the background suppression unit, the first and second accumulative adders, the first and second strobe generators, the analog-digital converter, the AND element, the OR element, the control unit, the output of the transmitting television camera through the background suppressor unit of the binary quantizer and to the first input of the gating unit, the output of the NAND element is connected to the control inputs of the first and second cumulative adders and with the counting input of the binary signal counter, the control input nalogo-digital converter is input to clock TV direction finder, the signal input of analog-to-digital converter coupled to an output gating unit, and an output connected to the data input of the memory unit, the first strobe generator output is connected to the second input of AND-NO element. The first output of the second strobe generator is connected to the second input of the gating unit and to the first input of the element I. The second output of the second strobe generator is connected to the control input of the memory unit, the second output of the control signal generator is connected to the first input of the OR element, the second input of which is connected to the output of the element And, and the output - with the second input of the address register, the third output of the control signal generator is connected to the inputs for setting the first and second accumulative adders, the output of the first accumulative sums torus connected to the second and the output of the second cumulative adder - to the third input data distribution unit, the fourth input of which is connected to the output of the binary counter signal, zero setting input of which is connected to the first output of the control signals, the output signal of the counter the X coordinate is connected to the signal input of the first cumulative adder, the output of the signal counter of the Y coordinate is connected to the signal input of the second cumulative adder, the input / output of the control unit is connected by a bi-directional data address bus to the first input of the first strobe generator, to the first input of the second strobe generator, to the driver input control signals, the output of which is connected to the input of the inputted communication unit, with input-output of the control unit, the first input of the control unit is the input for the Start signal t a televised direction finder, and the second input is connected to the mode selection input of the television direction finder, the third input of the NAND element, the second input of the element I, the second input of the first strobe generator, the second input of the second generator of the strobe and the first input of the counter of the X coordinate signal the direction finder, the third input of the first generator of the strobe, the third input of the second generator of the strobe, the second input of the counter of the X coordinate signal and the first input of the counter of the signal of the Y coordinate are connected to the input for the lower-case television signals zionic direction finder, and the fourth input of the first gate generator, the fourth input of the second strobe generator, the second input of the signal counter of the Y coordinate and the third input of the control unit are connected to the input for personnel pulses of the television direction finder, with In this way, the data address bus is the output bus of the television direction finder, and the output of the communication unit is the output of the television direction finder. / T v / y h en Cvj  t / s v 10 CM CO CSJ U v / vk Xj OsJ CO T i