CN109738163B - Method for acquiring image rotation-out-of-target amount in photoelectric tracking equipment - Google Patents

Abstract

The invention proposes a method for acquiring the off-target amount of deimage rotation applied in photoelectric tracking equipment. The system image rotation angle is obtained by introducing the reference laser into the photoelectric tracking device, and the position of the reference light spot image is extracted in the detector. The missed target amount can be used as the tracking error control amount of the photoelectric tracking system. The angle measuring device that does not require a rotating platform provides the angle information in real time, and only needs to detect the relative rotation angle β between the reference light image point and the reference light image point at the reference zero point in real time on the detector. The rotation angle includes the rotation amount information of the multi-dimensional motion platform and the relative rotation amount between the mirrors in the optical path of the system. The rotation matrix is generated by the rotation angle β, and the matrix is multiplied by the original miss amount (γ _y , γ _z ), and finally get The amount of off-target racemization (γ _y1 , γ _z1 ). The method is simple and has high precision of racemic off-target amount.

Description

A method for obtaining the amount of deimaged spin off-target applied in optoelectronic tracking equipment

technical field

The invention belongs to the technical fields of optical engineering, tracking control and the like, and in particular relates to a method for acquiring a deimager missing target amount applied in a photoelectric tracking device.

Background technique

The acquisition method of the deimager missing target is applied to the tracking control of the target by the photoelectric tracking equipment system. The target light passes through the multi-dimensional motion platform to reach the detector, and the image will cause rotation, resulting in the extracted target image point off-target amount containing the rotational motion information of the motion platform, which does not really reflect the motion characteristics of the target, and the non-racemic off-target amount information It cannot be used as the control error of the system, otherwise the system tracking will fail. In the past, beam derotation generally used two methods: hardware beam derotator or software motion platform angle measurement information. The beam derotator contains gears and other transmission mechanisms inside, and the unstable movement of the transmission mechanism will affect the stability of the target image point; The angle measurement information method using the motion platform will be affected by the angle measurement accuracy of the angle sensor, and only contains the rotation angle information of the motion platform, but does not include the rotation information between the internal mirrors. This method is also affected by the system to a certain extent. The influence of the orthogonality of the equipment motion platform has high requirements on the system assembly and adjustment accuracy. However, using the method of the present invention to perform deimage rotation processing on the off-target amount is simple and easy to implement, does not require the angle measurement information of the moving platform sensor, and only needs the position information provided by the detector, the reliability is further improved, and the angle measurement accuracy is also improved. higher than previous methods.

SUMMARY OF THE INVENTION

Aiming at the technical problems of the above demagnetization method, an easier-to-implement method for obtaining the off-target amount of demagnetization in photoelectric tracking equipment is proposed, which can fundamentally solve the above problems.

In order to achieve the purpose of the present invention, the present invention provides an easy-to-implement method for obtaining the deimage rotation off-target amount applied in photoelectric tracking equipment. The technical solution adopted to solve the technical problem includes: emitting a laser beam as a reference light, At the front of the entrance pupil of the system, the laser, beam collimator and cube mirror couple the collimated laser beam into the photoelectric tracking equipment system; before the tracking equipment starts to track the target, the reference laser beam is calibrated and recorded on the detector target surface coordinate system The image point position information and the zero point of the detector target surface coordinate system form a vector OP ₀ ; when the target image enters the system detector, the image processing system obtains the original missing target amount information of the target with image rotation in the detector target surface coordinate system (γ _y , γ _z ), the position of the reference laser image point is detected from this moment, and a vector OP ₁ is formed with the zero point of the detector target surface coordinate system, and the angle β between the vector OP ₀ and the vector OP ₁ is calculated. The coordinate rotation matrix R _β is formed from the included angle β, and the original miss-target amount information (γ _y ,γ _z ) of the target is multiplied to the left to obtain the de-imaged miss-target amount information (γ _y1 ,γ _z1 ).

Among them, the introduced laser beam needs to adjust the angle between the beam and the viewing axis of the system according to the field of view ω of the equipment system, so that the image point position P ₀ (y, z) of the reference laser on the detector is far from the detector coordinate zero point O(0, 0) Greater than two-thirds of the field of view.

Compared with the prior art, the present invention has the following advantages:

1. The motion information of the multi-dimensional motion platform of the system equipment can be measured only by using the reference laser and the detector as angle measuring tools. Compared with the existing beam derotators and angle measuring devices, this method is simple. Easy and economical;

2. The reference laser beam is used to pass through the optical path of the entire system, which not only includes the motion information of the multi-dimensional motion platform, but also includes the image rotation noise caused by the external environment interference inside the system. The measured image rotation angle accuracy and tracking accuracy are higher than the current accuracy. has a method;

3. Compared with the method of using the angle measuring device to measure the image rotation, this method only needs to calibrate the image rotation zero point of the system equipment before use, and does not need to calibrate the influence of the movement direction of each motion platform on the image rotation, which can be used in use. Significant time savings and high reliability.

Description of drawings

Fig. 1 is the layout schematic diagram of the method for obtaining the off-target amount of de-image rotation in photoelectric tracking equipment proposed by the present invention, wherein 1 is a main mirror, 2 is a laser, 3 is a beam collimating mirror, 4 is a reference parallel light source, and 5 is a reference parallel light source. is a cube mirror, 6 is a secondary mirror, and 7 is a detection system.

Figure 2 is a schematic diagram of the telescope (elevation axis system) and the detector coordinate system.

FIG. 3 is a schematic diagram of the coordinate rotation solution of the off-target amount of the deimager.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

The method for obtaining the off-target amount of deimage rotation in the photoelectric tracking device proposed by the present invention includes: coupling the collimated laser beam into the front of the entrance pupil of the system by the laser 2, the beam collimating mirror 3 and the cube mirror 5 Photoelectric tracking equipment system; a reference parallel light source 4 is composed of a laser 2 and a beam collimating mirror 3. Before the tracking equipment starts to track the target, the image point position information of the reference laser beam on the detector target surface coordinate system of the detection system 7 is calibrated and recorded. A vector OP ₀ is formed with the zero point of the detector target surface coordinate system; when the target image enters the detector of the detection system 7, the image processing system obtains the original miss target amount information of the target with image rotation under the detector target surface coordinate system, and from this moment Starting from the detection of the position of the reference laser image point, a vector OP ₁ is formed with the zero point of the detector target surface coordinate system, and the angle β between the vector OP ₀ and the vector OP ₁ is calculated. The coordinate rotation matrix R _β is formed from the included angle β, and the original miss-target amount information (γ _y ,γ _z ) of the target is multiplied to the left to obtain the de-imaged miss-target amount information (γ _y1 ,γ _z1 ).

Specific steps are as follows:

The first step: according to FIG. 1 and FIG. 2, the layout schematic diagram of the reference laser light path and the telescope (that is, the pitch axis system) and the detector coordinate system schematic diagram of the method for obtaining the missed target amount of the de-image rotation in the photoelectric tracking device of the present invention are provided, The reference parallel light source 4 consisting of a small laser 2 and a beam collimator mirror 3 is installed at the front end of the photoelectric tracking device, and the installation position is shown in Figure 2; the corner mirror 5 installed above the photoelectric tracking device will collimate the original direction of the laser. Go back into the tracking system, as shown in Figure 1. Figure 1 shows the overall layout of the reference laser light path. Figure 2 shows the coordinate systems of the telescope and detector, both using a right-handed coordinate system.

The second step: provide the telescope (that is, the pitch axis system) of the present invention and the schematic diagram of the detector coordinate system according to FIG. 2 , the moving platform of the rotating equipment system, such as the azimuth axis system and the pitch axis system, etc., make the telescope coordinate system and the detector coordinate system remain consistent. Initially adjust the angle between the collimated laser source and the system boresight so that the image point of the collimated laser is at 1 point, that is, the zero position of the detector coordinate system. At this time, it means that the collimated laser beam is consistent with the boresight of the system; The angle between the straight laser source and the boresight of the system moves the image point of the collimated laser to the 2 o'clock or 2'o'clock position. Among them, the 2 and 2' points are located outside the 2/3 field of view of the system. On the one hand, they are far away from the target image point to avoid affecting the target imaging and the extraction of the off-target amount. On the other hand, the distance from the detector coordinate zero point O will increase the vector The precision of the solution for OP ₀ and vector OP ₁ .

The third step: according to FIG. 2 and FIG. 3, respectively provide a schematic diagram of the telescope (that is, the pitch axis system) and the detector coordinate system of the present invention and a schematic diagram of the coordinate rotation solution of the de-image rotation miss-target amount, and the detector image processing system extracts and calibrates and records the standard The position of 2 points or 2' of the straight laser image (shown in Figure 2), this image point is equivalent to the collimated laser image point P ₀ (y,z) in Figure 3, as shown in Figure 3, and the coordinates of the detector target surface The system zero O(0,0) forms the vector OP ₀ . Figure 3 shows the positional miss distance information of the reference laser and the target image point on the target surface of the system detector.

Step 4: According to FIG. 3, a schematic diagram of the coordinate rotation solution of the de-image rotation missed target amount of the present invention is provided. When the target image enters the system detector, the image processing system obtains the original missed target amount of the target with the image rotation in the detector target surface coordinate system. Information (γ _y , γ _z ), the position P ₁ (y', z') of the detected reference laser image point from this moment, and the zero point O of the detector target surface coordinate system form a vector OP ₁ .

Step 5: According to FIG. 3 , a schematic diagram of the solution of the coordinate rotation of the off-target amount of the deimager according to the present invention is provided, and the angle formula β=acos(OP ₀ , OP ₁ )=(OP ₀ ·OP ₁ )/(|OP ₀ |· |OP ₁ |) calculates the angle β between the vector OP ₀ and the vector OP ₁ . Determine whether the angle β is clockwise or counterclockwise by the cross product of the two vectors. Let the two elements in the vector OP ₀ be (y, z), and the two elements in the vector OP ₁ are (y', z'), and find the two vectors. The cross product is OP ₀ ×OP ₁ =(y·z')-(y'·z). If the cross product OP ₀ ×OP ₁ >0, indicating that the angle β is counterclockwise, the coordinate rotation matrix is R _β =[cosβ,sinβ;-sinβ,cosβ]. If the cross product OP ₀ ×OP ₁ <0, indicating that the included angle β is clockwise, the coordinate rotation matrix is R _β =[cos(-β),sin(-β);-sin(-β),cos(- β)].

The sixth step: according to FIG. 3 , a schematic diagram for solving the coordinate rotation of the deimager miss-target amount of the present invention is provided, and the coordinate rotation matrix R _β is multiplied by the left-multiplying target original miss-amount information (γ _y , γ _z ), that is, the miss-target amount information of the deimager is obtained. (γ _y1 , γ _z1 )=R _β ·(γ _y , γ _z ).

The above-mentioned embodiments are only intended to explain the present invention, and the protection scope of the present invention should include the entire contents of the claims, and those skilled in the art can realize the entire contents of the claims of the present invention through the examples.

Claims (1)

1. An image rotation-miss amount acquisition method applied to photoelectric tracking equipment is characterized by comprising the following steps: a laser beam is emitted as reference light, and the collimated laser beam is coupled and introduced into a photoelectric tracking equipment system by a laser, a beam collimator and a pyramid lens at the front end of an entrance pupil of the system; before the tracking device begins to track the target, calibrating and recording the image point position information P of the reference laser beam on the coordinate system of the target surface of the detector₀(y, z) and zero point O (0,0) of the coordinate system of the target surface of the detector form a vector OP₀(ii) a The target image enters a system detector, and an image processing system acquires the original miss distance information (gamma) of the target with image rotation under a target surface coordinate system of the detector_y,γ_z) Detecting the position P of the reference laser image point from the time₁(y ', z') forming a vector OP with the zero O of the coordinate system of the target surface of the detector₁Calculating a vector OP₀And vector OP₁The included angle beta of; form a coordinate rotation matrix R from the angle beta_βFrom a matrix R_βLeft-hand multiplication of original miss distance information (gamma) of target_y,γ_z) To obtain the information (gamma) of the amount of the stigmatic miss_y1,γ_z1)；

The introduced laser beam needs to adjust the angle between the beam and the visual axis of the system according to the visual field omega of the equipment system, so that the image point position P of the reference laser on the detector₀(y, z) is more than two-thirds of the field of view from the detector coordinate zero point O (0, 0).

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