CN102455425B - Panoramic photoelectric radar and scanning method utilizing ground object image positioning - Google Patents
Panoramic photoelectric radar and scanning method utilizing ground object image positioning Download PDFInfo
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Abstract
The invention provides a panoramic photoelectric radar which comprises a rotary table which employs a light backflow ring and is capable of rotating 360 degrees continuously, two cameras and a computer matched with the two cameras. A horizontal camera is installed at a horizontal direction of the rotary table, a pitching support of the rotary table is provided with a pitching camera, and the computer is connected with the rotary table and the cameras. The horizontal camera rotates with rotation of the rotary table, and a pitch angle of the horizontal camera is unchanged and is always aimed at a ground object. The pitching camera scans different air areas with change of a pitch angle of the rotary table, and a pitching scanning amplitude is 0 to 90 degrees. The horizontal camera is coaxial with to a vertical direction of the pitching camera. According to the panoramic photoelectric radar, by utilizing a ground object, employing a double site scanning method, omnidirectional scanning with a 0-360 degrees horizontal angle and a 0-90 degrees pitching angle is realized. By utilizing a method of image processing, an air object is identified automatically, by utilizing a method of image coupling, an accurate azimuth angle and distance of a known ground object reference point are notified, accurate positioning and range finding are carried out on an air object, and an image, a motion parameter and a locus of the air object are accurately displayed.
Description
Technical field
The present invention relates to technical field of photoelectric detection, be specifically related to a kind of electro-optic radar that adopts two stations rotation sweep.
Background technology
Electro-optic radar is transmitting radar waves initiatively not, is a kind of employing quilt
Dynamic formula photodetection mode realizes the equipment of radar function.Because the appearance of stealth aircraft, the importance of electro-optic radar is more and more paid attention to by people.But, really can have with the radar of conventional emitting radio wave and also rarely have report at the target electro-optic radar that identification and remote distance measurement function are suitable automatically, reason is that targeted scans, the target of electro-optic radar discern automatically and find range technical difficulty is all arranged.
Existing optical radar scan mode has two kinds: a kind of is gazing type, and its advantage is to moving target, no matter be ground or aerial target all is very easy to find, and real-time is good.But, can only cover very little scope because its field angle is little.Usually the ground location that only is used for close together; Another kind is a scan-type, is installed in usually on the turntable, and scan mode is divided two kinds of rotary and fan sweeping formulas.The scan-type electro-optic radar, sweep limit is big than the gazing type electro-optic radar.But present scan-type electro-optic radar is similar with conventional radar, can only set some specific angles of pitch during scanning.In other words, just can not scan aerial target when the scanning terrain object, the dynamic range of scanning is little.Can't show the scene on aerial target and ground simultaneously simultaneously, can't realize horizontal 0-360 °, pitching 0-90 ° of comprehensive detection and full what comes into a driver's show.
Another technological difficulties of scan-type electro-optic radar be scanning process dynamically in discovery aerial target.Because video camera is difficult to distinguish aerial static target and moving target with turntable in motion.For example, at the night that is covered with star, just aloft aircraft need be distinguished mutually with star and identification automatically, this has certain degree of difficulty technically.
The biggest problem of optical radar is range finding, adopts the optical radar at single station to adopt laser ranging more, and finding range is tens kilometers.It is almost impossible carrying out precision ranging with single website to the outer airbound target of several hundred kilometers.Usually adopt two website modes, obtain the range information of target by two stations convergence ranging method.The target image information of utilizing emitron camera to obtain is carried out the target location parameter calculation, obtains the distance parameter of the detection of a target, and this method all depends on the mechanical precision of turntable, and the parameter errors such as distance that record for remote aerial target are big.
Summary of the invention
The present invention is directed to the deficiency of existing electro-optic radar technology, propose a kind of device and method, horizontal 0-360 ° of pitching 0-90 ° of comprehensive scanning of energy realization; Can utilize image process method to discern aerial target automatically; The method that can utilize images match is by the accurate position angle of known terrain object reference point and apart from aerial target accurately being located and finding range; The full what comes into a driver's electro-optic radar that can accurately show aerial target image and kinematic parameter and track.
A kind of full what comes into a driver's electro-optic radar of the present invention comprises 360 ° of turntables that can rotate continuously that adopt light to reflux and encircle, two video cameras and supporting with it computing machine; In the horizontal direction on the described turntable pitching video camera of installation on a horizontal video camera and the pitching support at turntable is installed, supporting with it computing machine is connected with turntable and video camera; Described horizontal video camera rotates along with the rotation of turntable, the constant terrain object of always aiming at of its angle of pitch, and described pitching video camera is along with the variation of the turntable angle of pitch scans facing to different aerial zones, and the pitching sweep amplitude can from 0 to 90; Described horizontal video camera is coaxial with pitching video camera vertical direction.
Further, for improving the measuring accuracy of electro-optic radar, on the described full what comes into a driver's electro-optic radar high-precision laser range-finding instrument can be installed.
Described horizontal video camera and pitching shooting is a kind of photodetector of broad sense, and it can be a visible light camera, also can be any near infrared, short-wave infrared, medium wave is infrared or the combination of Long Wave Infrared Probe and detector.
Use above-mentioned full what comes into a driver's electro-optic radar and utilize the scan method of terrain object framing, adopt two website scannings, two full what comes into a driver's electro-optic radar website scannings simultaneously separated by a distance, when the turntable of each full what comes into a driver's electro-optic radar website rotates from 0 ° to 360 °, horizontal video camera with continuous acquisition to the terrain object image be spliced into 0 ° to 360 ° complete terrain object omnidirectional images with the method for images match, obtained two 0 ° to 360 ° terrain object omnidirectional images, simultaneously, the pitching video camera obtains 360 ° of comprehensive spatial domain figure at particular pitch angle; When the angle of pitch of pitching video camera along with the rotation of the every circle of turntable when 0-90 ° scans stage by stage, just realized that the full what comes into a driver's of omnibearing ground and aerial target is surveyed.
Concrete scan method is:
The aerial target automatic testing method is: the pitching video camera is captured aerial image facing to aerial zone continuously with the maximum video acquisition frame number of video camera, and by computing machine two adjacent frames is carried out difference processing and automatically identify aerial target; The image that identifies this frame of aerial target is a marker stores with the time of catching moment; Computing machine is in the moment of finding aerial target, and terrain object image and the full what comes into a driver's figure of terrain object that the terrain object video camera is taken the photograph carry out images match, find out the accurate position of an above-mentioned two field picture in the comprehensive figure of terrain object; Simultaneously mark on a map the location of picture of the image base area appearance of the aerial target of this moment, be placed in the spatial domain corresponding with its terrain object, what the horizontal direction of terrain object showed at this moment is a corresponding above-mentioned frame aerial target position angle, and vertical direction shows is the angle of pitch of an above-mentioned frame aerial target, promptly obtains the aerial target orientation diagram.
When the angle of pitch of turntable from 0 ° to 90 ° after the fractional scanning, the image of whole aerial target will have in the spatial domain of the top correspondence that is not presented at the comprehensive figure of terrain object with omitting; The comprehensive figure of terrain object adds that aerial target that its top captures in spatial domain formed the full what comes into a driver's figure of electro-optic radar; Computing machine just can be calculated whole parameters of its corresponding aerial target automatically from the full what comes into a driver's figure of two base stations, comprises position angle, the angle of pitch, to the movement locus of distance, flying speed and the aerial target of website.
When the full what comes into a driver's figure with two base stations calculates the distance of aerial target, utilize the accurate distance of terrain object reference point that the angle of pitch of aerial target is proofreaied and correct, improved the precision of the angle of pitch among the full what comes into a driver's figure.Finally improved the aerial target distance measuring precision on this basis.The present invention is to improve to catch to unite when the time measurement precision of aerial target during moment realizes high precision for another means that improve the electro-optic radar measuring accuracy.The precision of time system is brought up to Millisecond by tens of milliseconds.Make the distance accuracy of electro-optic radar system further be improved.
Description of drawings
The composition of the rotary photodetector of Fig. 1 and turntable and video camera scheme of installation;
Fig. 2 electro-optic radar is formed synoptic diagram;
Fig. 3 website 1 horizontal video camera and pitching ground that video camera is taken the photograph and aerial target synoptic diagram;
Fig. 4 website 1 horizontal video camera and pitching ground that video camera is taken the photograph and aerial target synoptic diagram;
The full what comes into a driver's electro-optic radar of Fig. 5 principle of work synoptic diagram;
Fig. 6 improves the synoptic diagram of aerial target measuring accuracy by the exact position parameter of known ground reference point;
Fig. 7 is by the image of ground reference point, the synoptic diagram of the azimuth accuracy of improving the standard.
Embodiment
The present invention has adopted the photodetector of a kind of new structure shown in Figure 1, it has adopted 360 ° of turntables that can rotate continuously 1 of a light return channel, horizontal direction on turntable is installed a horizontal video camera 3, it rotates along with the rotation of turntable, but the constant terrain object of always aiming at of its angle of pitch; A pitching video camera 2 is installed on the pitching support of turntable, and it is along with the variation of the turntable angle of pitch scans facing to different aerial zones, and the pitching sweep amplitude can from 0 to 90 °.Horizontal video camera is coaxial with pitching video camera vertical direction.When the turntable horizontal direction from 0-360 ° continuously during rotation, horizontal video camera and pitching video camera scan 0-360 ° terrain object and specific spatial domain respectively.When the angle of pitch of pitching video camera along with the rotation of the every circle of turntable when 0-90 ° scans stage by stage, just realized that the full what comes into a driver's of omnibearing ground and aerial target is surveyed.
Fig. 2 has shown the composition of electro-optic radar involved in the present invention.Electro-optic radar involved in the present invention has adopted two website scannings, and two websites are separated by a distance.The photodetector of each website is made up of the photodetector of new structure shown in Figure 1.When turntable rotates from 0 ° to 360 °, the horizontal video camera 3 of two websites and 6 continuous acquisition to the terrain object image by being installed in the image pick-up card digitizing in the computing machine and handling by computing machine 7.Computing machine is automatically sought unique point in the two width of cloth adjacent images (angle of buildings for example in processing, among Fig. 7 39,40,41,42,43), method with images match overlaps unique point, so just is spliced into 0 ° to 360 ° complete terrain object omnidirectional images.Two websites have obtained two 0 ° to 360 ° terrain object omnidirectional images and have been presented on the display of computing machine 8.The method of images match is described further in the explanation of Fig. 7.
Fig. 3 and Fig. 4 have shown the automatic detection process of two station aerial targets involved in the present invention.The present invention continuously captures aerial image facing to aerial zone with the maximum video acquisition frame number of video camera with pitching video camera 3 and 5, and by computing machine two adjacent frames is carried out difference processing.Because aerial background is more even, brightness in the difference processing rear backdrop of adjacent two frames reduces, and aerial target for example the contrast of aircraft and background become big, at this moment aerial target just be rendered as the bright spot in the dark background, can it be split from dark background by the threshold method of setting gray scale and the morphology isolated target method of identification of Flame Image Process, and note the coordinate of center of gravity in this frame of this target.The image that identifies this frame of aerial target is marker stores (time is accurate to millisecond) with the time of catching moment also.Computing machine is in the moment of finding aerial target, terrain object image and the full what comes into a driver's figure of terrain object (as (10) of Fig. 3 and (13) of Fig. 4) that the terrain object video camera is taken the photograph carry out images match, find out the accurate position of this two field picture in the comprehensive figure of terrain object; , be placed on (aerial target t1, t3, t7 among aerial target t0, t3, t5 and Fig. 4 (12) among Fig. 3 (9)) among the spatial domain figure corresponding simultaneously with its terrain object mark on a map the location of picture of the image base area appearance of the aerial target of this moment.What the horizontal direction of terrain object showed at this moment is this corresponding frame aerial target position angle, and the vertical direction demonstration is the angle of pitch of this frame aerial target.Because aerial static target and moving-target are easy to distinguish on full what comes into a driver's figure, the quiet target of different frame is presented on the same position on full what comes into a driver's figure, and the target in the motion of different frame is presented on the diverse location on full what comes into a driver's figure, and this different position has formed movement locus (t0, t3, t5 among Fig. 3 (9)) and (t1, t3, the t7 among Fig. 4 (12)) of target.Realized the automatic detection of aerial target like this.
Fig. 5 has shown that electro-optic radar involved in the present invention is the process of how to find range.The diagram of the website 1 among Fig. 5 has shown turntable 1, horizontal video camera 3 and the pitching video camera 2 in the website 1; The aerial target image that full what comes into a driver's figure that horizontal video camera is taken the photograph and is spliced into and pitching video camera are taken the photograph.Horizontal coordinate Figure 25-27 expression of wherein full what comes into a driver's figure be the turntable rotation time the anglec of rotation of turntable of target correspondence among the full what comes into a driver's figure, 0 ° of aligning be the positive north of turntable.What the vertical coordinate 23-21 of full what comes into a driver's figure represented is the position of the angle of pitch of turntable.Wherein 23 correspondences is 0 ° of angle of pitch, 21 correspondences be 90 ° of angles of pitch.The diagram of the website 2 among Fig. 5 has shown turntable 4, horizontal video camera 6 and the pitching video camera 5 in the website 2; The aerial target image that full what comes into a driver's figure in the ground that horizontal video camera is taken the photograph and is spliced into and pitching video camera are taken the photograph.Horizontal coordinate Figure 26-28 expression of wherein full what comes into a driver's figure be the turntable rotation time the anglec of rotation of turntable of target correspondence among the full what comes into a driver's figure, 0 ° of aligning be the positive north of turntable.What the vertical coordinate 24-22 of full what comes into a driver's figure represented is the position of the angle of pitch of turntable.Wherein 22 correspondences is 0 ° of angle of pitch, 24 correspondences be 90 ° of angles of pitch.Aerial target appears when in the air, during as aircraft, the pitching video camera 2 of website 1 is in the rotary course of turntable, continuous capturing is to the series of frame images 15,16 to 17 of aerial target, and the horizontal coordinate of the ground image of taking the photograph according to horizontal video camera 3 when piecing together the matching of ground reference image among the good full what comes into a driver's figure in advance, and the angle of pitch of pitching video camera 2 and the vertical coordinate among the full what comes into a driver's figure, be placed on the position of the correspondence among the full what comes into a driver's figure.The time (is unit with the millisecond) of catching two field picture such as aerial target 15,16,17 moment also goes on record.For example, 15,16,17 o'clock time of captured frame image is respectively t0, t3 and t5.Similar with website 1 working condition, 18,19,20 o'clock the time of two field picture of the same aerial target that website 2 captures is respectively t1, t3 and t7.Find out the sequence of two framing images of the same target that can be taken the photograph this moment from two diverse locations (website 1 and website 2) of same target its two identical frames of the time of taking the photograph.The time that 16 and 19 liang of frames among the figure are taken the photograph all is t3.Find its corresponding position angle and the angle of pitch 31,29 and 32,30 respectively in our horizontal coordinate from two full what comes into a driver's figure and the vertical coordinate.By the formula of solid geometry cross bearing, can calculate aircraft apart from two websites distance and flying height.If from the sequence of two groups of aerial targets, can not find same two field picture in a flash.Can adopt image approach based on linear interpolation (interpolation or extrapolation) to calculate together the position of two two field pictures in a flash, so just improve bearing accuracy greatly.
Fig. 6 has shown method how to utilize the ground reference point of measuring with laser range finder in advance to improve distance measuring precision.33,34,35 is the image that website 1 horizontal video camera is taken the photograph the ground known reference point among the figure, and 36,37,38 is the image that website 2 horizontal video cameras are taken the photograph the ground known reference point.When having installed in the base station with laser range finder, the exact position of these reference point done accurate measurement, coordinate with laser range finder mounting points (being website 1 or website 2) is reference point (knowing its longitude and latitude and sea level elevation), measure position angle, the angle of pitch and the distance of the reference point that this reference point aims at laser range finder, can extrapolate distance and angle between these reference point simultaneously.After aerial target was displayed on the full what comes into a driver's figure, the three-dimensional viewpoin between aerial target and these reference point can be measured from full what comes into a driver's figure.By these known parameters, can set up Simultaneous Equations to calculate the distance of aerial target, and improve the precision of aerial target to website 1 and website 2 by least square method to website 1 and website 2.
Fig. 7 has shown method how to utilize the full what comes into a driver's figure of ground reference point realization assembly and how to have found its accurate position among full what comes into a driver's figure from any frame ground image after picture mosaic is finished.44 single-frame imagess of capturing for horizontal video camera among Fig. 7,45 synoptic diagram for the full what comes into a driver's figure in ground that is spliced into after the turntable 0-360 ° rotation.Wherein 41,42,43 is selected ground reference point.These ground reference points can be a certain angle or other marks with characteristics of top of building.When these ground reference points are installed at electro-optic radar, the radar website is made accurate measurement to accurate distance, position angle and the angle of pitch of reference point with laser range finder.The effect of reference point has two: the one, and the coupling when being used for image tile, the 2nd, the raising of measuring accuracy when being used for the electro-optic radar range finding.The splicing of the full what comes into a driver's figure in ground shown in 45 is finished like this: turntable is arranged on 0 ° of position, position angle (being 0 ° of north by east) candid photograph first width of cloth image earlier it is left in the calculator memory, revolve turn around (360 °) then in a clockwise direction, horizontal video camera is ceaselessly captured terrain object during rotation.The image that adjacent two width of cloth are captured comprises an identical ground reference point target at least.By the coupling to identical ground reference dot image, image of capturing after finding out and the amount of pixels of capturing the horizontal shift of reference point in the image earlier splice a back width of cloth figure on the appropriate location of last width of cloth figure on this basis like this.When turntable had been finished 360 ° rotation, one 360 ° full what comes into a driver's figure just finished.The splicing of full what comes into a driver's figure only need be done for several times when illumination generation significant change (on high just do) among one day.When electro-optic radar normally moved, the pitching video camera was ceaselessly captured aerial image.Have only when determining target to have occurred in the air, horizontal video camera is just captured terrain object, 44 ground image of capturing at this moment for horizontal video camera among Fig. 7.At this moment, computing machine is roughly determined the position of this ground image in full what comes into a driver's figure according to the horizontal azimuth of turntable, method by images match is with the reference point comparison among the reference point image in 44 and the full what comes into a driver's figure then, find out its accurate position (position angle), then the sectional drawing of aerial target is placed on the correspondence position in the spatial domain of full what comes into a driver's figure.
When the angle of pitch of turntable from 0 ° to 90 ° after the fractional scanning, the image of whole aerial target will have in the spatial domain of the top correspondence that is not presented at the comprehensive figure of terrain object with omitting.The comprehensive figure of terrain object adds that aerial target that its top captures in spatial domain formed the full what comes into a driver's figure of electro-optic radar.Computing machine just can be calculated whole parameters of its corresponding aerial target automatically from the full what comes into a driver's figure of two base stations: the movement locus of position angle, the angle of pitch, distance, flying speed and aerial target to website.
For improving the measuring accuracy of electro-optic radar, the present invention has selected for use the evident characteristic terrain object as distance and azimuthal reference point, and these reference point are accurately measured according to the distance and the position angle of base station with the high-precision laser range-finding instrument, on this basis the position angle of full what comes into a driver's figure is proofreaied and correct, improved the precision of full what comes into a driver's figure azimuthal coordinate.When the full what comes into a driver's figure with two base stations calculates the distance of aerial target, utilize the accurate distance of terrain object reference point that the angle of pitch of aerial target is proofreaied and correct, improved the precision of the angle of pitch among the full what comes into a driver's figure.Finally improved the aerial target distance measuring precision on this basis.The present invention is to improve to catch to unite when the time measurement precision of aerial target during moment realizes high precision for another means that improve the electro-optic radar measuring accuracy.The precision of time system is brought up to Millisecond by tens of milliseconds.Make the distance accuracy of electro-optic radar system further be improved.
Claims (1)
1. scan method of using full what comes into a driver's electro-optic radar and utilizing the terrain object framing, full what comes into a driver's electro-optic radar comprises 360 ° of turntables that can rotate continuously that adopt light to reflux and encircle, two video cameras and supporting with it computing machine, in the horizontal direction on the described turntable pitching video camera of installation on a horizontal video camera and the pitching support at turntable is installed, supporting with it computing machine is connected with turntable and video camera; Described horizontal video camera rotates along with the rotation of turntable, the constant terrain object of always aiming at of its angle of pitch, and described pitching video camera is along with the variation of the turntable angle of pitch scans facing to different aerial zones, and the pitching sweep amplitude can from 0 to 90; Described horizontal video camera is coaxial with pitching video camera vertical direction;
Using full what comes into a driver's electro-optic radar and utilizing the scan method of terrain object framing is to adopt two website scannings, two full what comes into a driver's electro-optic radar website scannings simultaneously separated by a distance, when the turntable of each full what comes into a driver's electro-optic radar website rotates from 0 ° to 360 °, horizontal video camera with continuous acquisition to the terrain object image be spliced into 0 ° to 360 ° complete terrain object omnidirectional images with the method for images match, obtained two 0 ° to 360 ° terrain object omnidirectional images, simultaneously, the pitching video camera obtains 360 ° of comprehensive spatial domain figure at particular pitch angle; When the angle of pitch of pitching video camera along with the rotation of the every circle of turntable when 0-90 ° scans stage by stage, just realized that the full what comes into a driver's of omnibearing ground and aerial target is surveyed;
It is characterized in that: the pitching video camera is captured aerial image facing to aerial zone continuously with the maximum video acquisition frame number of video camera, and by computing machine two adjacent frames is carried out difference processing and automatically identify aerial target; The image that identifies this frame of aerial target is a marker stores with the time of catching moment; Computing machine is in the moment of finding aerial target, and terrain object image and the full what comes into a driver's figure of terrain object that the terrain object video camera is taken the photograph carry out images match, find out the accurate position of an above-mentioned two field picture in the comprehensive figure of terrain object; Simultaneously mark on a map the location of picture of the image base area appearance of the aerial target of this moment, be placed in the spatial domain corresponding with its terrain object, what the horizontal direction of terrain object showed at this moment is a corresponding above-mentioned frame aerial target position angle, and vertical direction shows is the angle of pitch of an above-mentioned frame aerial target, promptly obtains the aerial target orientation diagram;
When the angle of pitch of turntable from 0 ° to 90 ° after the fractional scanning, the image of whole aerial target will have in the spatial domain of the top correspondence that is not presented at the comprehensive figure of terrain object with omitting; The comprehensive figure of terrain object adds that aerial target that its top captures in spatial domain formed the full what comes into a driver's figure of electro-optic radar; Computing machine just can be calculated whole parameters of its corresponding aerial target automatically from the full what comes into a driver's figure of two base stations, comprises position angle, the angle of pitch, to the movement locus of distance, flying speed and the aerial target of website.
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