CN111768414A - Photoelectric rapid aiming method and device for laser countermeasure system - Google Patents
Photoelectric rapid aiming method and device for laser countermeasure system Download PDFInfo
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- CN111768414A CN111768414A CN202010502989.1A CN202010502989A CN111768414A CN 111768414 A CN111768414 A CN 111768414A CN 202010502989 A CN202010502989 A CN 202010502989A CN 111768414 A CN111768414 A CN 111768414A
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Abstract
The invention provides a photoelectric fast aiming method and device for a laser countermeasure system, relates to the field of photoelectric tracking, and can overcome the defects of slow response, large blind area and difficulty in overlapping of coarse and fine aiming view fields in the prior art. The method of the invention comprises the following steps: a coarse tracking aiming step: controlling the turntable to enable the target to appear in the image acquired by the shooting device, and manually marking a first area for indicating the position of the target; a centroid detection step: identifying a centroid location of the target in the first region; and (3) coarse tracking correction: the center of mass position is used for correcting the first area to obtain a second area; a fine tracking and aiming step: the fast-reflection mirror is used for controlling the fast-reflection mirror to accurately track and aim the target according to the second area. The invention also comprises an optoelectronic quick aiming device for the laser countermeasure system. The invention is suitable for laser countermeasure systems.
Description
Technical Field
The invention relates to the field of photoelectric tracking, in particular to a photoelectric quick aiming method and device for a laser countermeasure system.
Background
The low-altitude slow small target (also called as a low-slow small target) has the characteristics of low flying height, good maneuverability, small reverse side of a radar, load carrying and the like, and becomes a difficult point of low-altitude defense. Because the control on the low-slow small target is difficult, the low-slow small target becomes one of the main threats of the urban large-scale gathering and important security activities. In urban areas with low speed, small speed and multiple threats, due to factors of dense population, multiple buildings, noisy electromagnetic environment and the like, the problems of small detection and tracking windows exist, and a detection and tracking system is required to have relatively short response time. The radar detection has the problem of large blind areas in urban environments. The rough and fine tracking view field of the traditional composite shaft photoelectric detection system is not easy to coincide, and the problem of long response time exists.
Disclosure of Invention
The invention aims to overcome the defects of slow response, large blind area and difficulty in superposition of coarse and fine tracking fields in the prior art.
According to a first aspect of the present invention, there is provided an electro-optical fast aiming method for a laser countermeasure system, comprising: a coarse tracking aiming step: controlling the turntable to enable the target to appear in the image acquired by the shooting device, and manually marking a first area for indicating the position of the target; a centroid detection step: identifying a centroid location of the target in the first region; and (3) coarse tracking correction: the center of mass position is used for correcting the first area to obtain a second area; a fine tracking and aiming step: the fast-reflection mirror is used for controlling the fast-reflection mirror to accurately track and aim the target according to the second area.
Preferably, the centroid detecting step comprises: converting the first area into a gray image; performing Gaussian blur on the gray level image to remove noise points in the image; performing morphological gradient operation for identifying the target contour; calculating a self-adaptive threshold value and carrying out binarization for separating a target region and a background region; and calculating the centroid position of the target according to the target area.
Preferably, the coarse tracking step further comprises: and after the first area is marked, coarse tracking focusing is carried out, and the target image keeps clear.
Preferably, in the coarse tracking correction step, after obtaining the second area, the method further includes: and sequentially carrying out target feature extraction, target position detection and target tracking on the second area, and simultaneously controlling the rotary table to roughly aim the target.
Preferably, in the fine tracking step, the method further includes: before accurate tracking aiming is carried out, fine tracking aiming focusing is carried out, so that the icon image is kept clear.
Preferably, the fine tracking specifically comprises: and performing target feature extraction, target position detection and target tracking on the second area after the fine tracking and aiming focusing is performed, and simultaneously controlling the fast-reflection mirror to perform accurate tracking and aiming on the target.
According to a second aspect of the present invention, there is provided an electro-optical fast aiming device for a laser countermeasure system, comprising: a coarse tracking module: controlling the turntable to enable the target to appear in the image acquired by the shooting device, and marking a first area for indicating the position of the target according to a signal input by a user; a centroid detection module: identifying a centroid position of the target in the first region; a coarse tracking correction module: the center of mass position is used for correcting the first area to obtain a second area; the fine tracking module: the fast-reflection mirror is used for controlling the fast-reflection mirror to accurately track and aim the target according to the second area.
Preferably, the centroid detecting module includes: a gradation converting unit for converting the first region into a gradation image; the denoising unit is used for carrying out Gaussian blur on the gray level image and removing noise points in the image; the contour identification unit is used for carrying out morphological gradient operation and identifying a target contour; a binarization unit for calculating an adaptive threshold and performing binarization, and separating a target region from a background region; and the calculating unit is used for calculating the centroid position of the target according to the target area.
Preferably, the coarse tracking module is further configured to perform coarse tracking focusing after marking the first area, so that the target image is kept clear; and after the second area is obtained, the coarse tracking and aiming correction module is also used for sequentially carrying out target feature extraction, target position detection and target tracking on the second area and simultaneously controlling the rotary table to carry out coarse aiming on the target.
Preferably, the fine tracking module is further configured to perform fine tracking focusing before performing accurate tracking aiming, so that the icon image is kept clear; the fine tracking module is also used for carrying out target feature extraction, target position detection and target tracking on the second area after fine tracking focusing and controlling the fast reflecting mirror to carry out accurate tracking and aiming on the target.
The invention has the beneficial effects that:
1. the coarse tracking and aiming tracking model is initialized by using the target mass center position, so that the coarse tracking and aiming efficiency can be effectively improved, and the coarse tracking and aiming time can be greatly reduced.
2. After a coarse tracking model is initialized by using the position of the center of mass of the target, the target can quickly enter a fine tracking view field.
3. The problem that the movement range of a fine tracking servo mechanism is out of limit can be solved by initializing a coarse tracking and pointing tracking model by using the position of the target mass center.
4. The problem of coincidence of a compound axis photoelectric aiming system in a rough and fine aiming view field during aiming at a target can be solved, and the response time of the photoelectric aiming system can be prolonged.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow diagram of a method according to an embodiment of the present invention;
FIG. 2 is a flow chart of one embodiment of a centroid detection step;
FIG. 3 is a flow chart of a method of another embodiment of the present invention;
FIG. 4 is a schematic block diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The laser countermeasure is a threat flyer aiming at a certain range by a laser means, and belongs to defense type countermeasure. For example, in an outdoor important meeting or a large-scale event, in order to ensure the safety of the attendees and property, low-altitude slow-speed small targets (such as civil unmanned aerial vehicles) with potential safety hazards need to be aimed and knocked down. The invention provides a laser aiming measure for the occasion.
< method >
The embodiment provides a photoelectric fast aiming method for a laser countermeasure system, as shown in fig. 1, comprising:
s1, coarse tracking: the turntable is controlled so that the target appears in the image captured by the camera, and a first area indicating a position where the target is located is manually marked.
In the rough tracking aiming, a target is generally searched in a visual field range by using a turntable in cooperation with a shooting device, and in order to perform rough positioning quickly, the embodiment adopts a manual marking mode, namely, a suspicious target in a real-time picture is judged manually, and the position is marked by using a rectangular frame manually.
S2, centroid detection: a centroid location of the target is identified in the first region.
Centroid detection is triggered after the rectangular box is manually marked for identifying the target contour in the first region and calculating the geometric centroid position from the target region for further targeting. An example of the centroid detection step is shown in fig. 2, and includes: converting the first area into a gray image; performing Gaussian blur on the gray level image to remove noise points in the image; performing morphological gradient operation for identifying the target contour; calculating a self-adaptive threshold value and carrying out binarization for separating a target region and a background region; and calculating the centroid position of the target according to the target area.
S3, coarse tracking correction step: and the second area is obtained by correcting the first area according to the centroid position.
The purpose of this step is to further narrow down the first region of the rough mark to obtain a second region that is more conformable to the target. For example, the geometric center of the rectangular frame corresponding to the first area marked by hand may not coincide with the centroid of the target, and then the geometric center of the rectangular frame may be translated to the position of the centroid of the target by this step, and the size of the rectangular frame may be reduced to a size that fits the contour of the target on the basis of the geometric center of the rectangular frame.
S4, fine tracking and aiming: the fast-reflection mirror is used for controlling the fast-reflection mirror to accurately track and aim the target according to the second area.
Namely, after the position of the second area is adjusted through the mass center, the target can be accurately aimed in the second area through the fast reflecting mirror.
Since the target may be moving, it is necessary to combine the turntable and the fast-reflecting mirror through a tracking algorithm so that the camera can always acquire a clear image of the target. Therefore, the steps of rough tracking and fine tracking can be further improved, and focusing and tracking aiming are increased.
For the coarse tracking step, step S1A may be further included: and after the first area is marked, performing coarse tracking focusing to keep the target image clear. And step S3A: in the step of coarse tracking correction, after the second area is obtained, the method further includes: and sequentially carrying out target feature extraction, target position detection and target tracking on the second area, and simultaneously controlling the rotary table to roughly aim the target.
For the fine tracking step, a step S4A may be further included: before accurate tracking aiming is carried out, fine tracking aiming focusing is carried out, so that the icon image is kept clear. And the fine tracking step S4 may specifically be: and performing target feature extraction, target position detection and target tracking on the second area after the fine tracking and aiming focusing is performed, and simultaneously controlling the fast-reflection mirror to perform accurate tracking and aiming on the target.
That is, after the first area is manually marked in the coarse tracking step, coarse tracking focusing may be performed in order to make the image clearer. After the second area is obtained, the second area frame can always track the target position through a tracking algorithm, and the turntable is controlled if necessary, so that the shooting device can always track the target. And the fine tracking step further carries out focusing and controls the fast-reflecting mirror to further accurately track the target.
Example (b):
the flowchart of this embodiment is shown in fig. 3, and includes:
and the equipment carries out system self-check to ensure that the system parameter initialization and the equipment communication state are normal. And if the self-checking passes, loading the tracking parameters, starting to search the target through the rough tracking, and specifically, searching in a large view field range through controlling the turntable. When the target is found, a rectangular frame is marked manually to serve as a first area, and coarse tracking focusing is carried out to keep the image clear. And calculating the center of mass of the target in the first area. After the centroid position coordinate is obtained, the position of the rectangular frame is adjusted to enable the geometric center of the rectangular frame to be consistent with the centroid coordinate, the size of the rectangular frame is adjusted to enable the edge of the rectangular frame to be matched with the target contour as much as possible, and the corrected rectangular frame is used as a second area; the purpose of the centroid calculation is to make it easier to wrap the coarse tracking target frame around the target based on the centroid position and to initialize the target tracking algorithm. And tracking and aiming the target according to the second area, and simultaneously controlling the rotary table to enable the target to be always present in the coarse tracking and aiming image. And then, whether the target is stably aimed or not is identified when the target is tracked, and fine tracking focusing is carried out after the target is stably aimed. Fine tracking and coarse tracking different photographing apparatuses are used in the present embodiment, and therefore separate focusing is required. And after focusing, continuously tracking and aiming the target through the fast reflecting mirror.
< apparatus >
The present embodiment provides an optoelectronic quick aiming apparatus for a laser countermeasure system, as shown in fig. 4, including:
coarse tracking module 101: the turntable is controlled to make the target appear in the image acquired by the shooting device, and a first area for indicating the position of the target is marked according to a signal input by a user.
Centroid detection module 102: for identifying the centroid position of the object in the first region. The centroid detection module further comprises: a gradation converting unit for converting the first region into a gradation image; the denoising unit is used for carrying out Gaussian blur on the gray level image and removing noise points in the image; the contour identification unit is used for carrying out morphological gradient operation and identifying a target contour; a binarization unit for calculating an adaptive threshold and performing binarization, and separating a target region from a background region; and the calculating unit is used for calculating the centroid position of the target according to the target area.
Coarse tracking correction module 103: and the second area is obtained by correcting the first area according to the centroid position.
The fine tracking module 104: the fast-reflection mirror is used for controlling the fast-reflection mirror to accurately track and aim the target according to the second area.
The rough tracking module is also used for carrying out rough tracking focusing after marking the first area so as to keep a target image clear; and after the second area is obtained, the coarse tracking and aiming correction module is also used for sequentially carrying out target feature extraction, target position detection and target tracking on the second area and simultaneously controlling the rotary table to carry out coarse aiming on the target.
The fine tracking module is also used for fine tracking and focusing before precise tracking and aiming so as to keep the icon image clear; the fine tracking module is also used for carrying out target feature extraction, target position detection and target tracking on the second area after fine tracking focusing and controlling the fast reflecting mirror to carry out accurate tracking and aiming on the target.
The modules of the present embodiment correspond to method embodiments and are not described in detail herein.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. An electro-optical rapid aiming method for a laser countermeasure system, comprising:
a coarse tracking aiming step: controlling the turntable to enable the target to appear in the image acquired by the shooting device, and manually marking a first area for indicating the position of the target;
a centroid detection step: identifying a centroid location of the target in the first region;
and (3) coarse tracking correction: the center of mass position is used for correcting the first area to obtain a second area;
a fine tracking and aiming step: the fast-reflection mirror is used for controlling the fast-reflection mirror to accurately track and aim the target according to the second area.
2. The optoelectronic fast aiming method for laser countermeasure system as claimed in claim 1, wherein the centroid detecting step comprises:
converting the first area into a gray image;
performing Gaussian blur on the gray level image to remove noise points in the image;
performing morphological gradient operation for identifying the target contour;
calculating a self-adaptive threshold value and carrying out binarization for separating a target region and a background region;
and calculating the centroid position of the target according to the target area.
3. The optoelectronic fast aiming method for laser countermeasure system as claimed in claim 1, wherein the coarse tracking step further comprises:
and after the first area is marked, performing coarse tracking focusing to keep the target image clear.
4. The optoelectronic fast aiming method for laser countermeasure system as claimed in claim 1, wherein the coarse tracking correction step, after obtaining the second region, further comprises:
and sequentially carrying out target feature extraction, target position detection and target tracking on the second area, and simultaneously controlling the rotary table to roughly aim the target.
5. The optoelectronic fast aiming method for laser countermeasure system as claimed in claim 1, wherein the fine tracking step further comprises:
before accurate tracking aiming is carried out, fine tracking aiming focusing is carried out, so that the icon image is kept clear.
6. The photoelectric fast aiming method for the laser countermeasure system according to claim 5, wherein the fine tracking step is specifically:
and performing target feature extraction, target position detection and target tracking on the second area after the fine tracking and aiming focusing is performed, and simultaneously controlling the fast-reflection mirror to perform accurate tracking and aiming on the target.
7. An electro-optical quick-aiming device for a laser countermeasure system, comprising:
a coarse tracking module: controlling the turntable to enable the target to appear in the image acquired by the shooting device, and marking a first area for indicating the position of the target according to a signal input by a user;
a centroid detection module: identifying a centroid position of the target in the first region;
a coarse tracking correction module: the center of mass position is used for correcting the first area to obtain a second area;
the fine tracking module: the fast-reflection mirror is used for controlling the fast-reflection mirror to accurately track and aim the target according to the second area.
8. The optoelectronic rapid sighting device for laser countermeasure system as claimed in claim 7, wherein the centroid detecting module comprises:
a gradation converting unit for converting the first region into a gradation image;
the denoising unit is used for carrying out Gaussian blur on the gray level image and removing noise points in the image;
the contour identification unit is used for carrying out morphological gradient operation and identifying a target contour;
a binarization unit for calculating an adaptive threshold and performing binarization, and separating a target region from a background region;
and the calculating unit is used for calculating the centroid position of the target according to the target area.
9. The optoelectronic quick aiming device for laser countermeasure system as claimed in claim 7,
the rough tracking module is also used for carrying out rough tracking focusing after marking the first area so as to keep the target image clear;
and after the second area is obtained, the coarse tracking and aiming correction module is also used for sequentially carrying out target feature extraction, target position detection and target tracking on the second area and simultaneously controlling the rotary table to carry out coarse aiming on the target.
10. The optoelectronic quick aiming device for laser countermeasure system as claimed in claim 7,
the fine tracking module is also used for fine tracking and focusing before precise tracking and aiming so as to keep the icon image clear;
the fine tracking module is also used for carrying out target feature extraction, target position detection and target tracking on the second area after fine tracking focusing and controlling the fast reflecting mirror to carry out accurate tracking and aiming on the target.
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Citations (4)
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| US5973309A (en) * | 1997-08-27 | 1999-10-26 | Trw Inc. | Target-tracking laser designation |
| CN103499818A (en) * | 2013-10-10 | 2014-01-08 | 中国科学院上海技术物理研究所 | Infrared and laser compound detection system |
| CN109584165A (en) * | 2018-11-30 | 2019-04-05 | 泰康保险集团股份有限公司 | A kind of antidote of digital picture, device, medium and electronic equipment |
| CN110536068A (en) * | 2019-09-29 | 2019-12-03 | Oppo广东移动通信有限公司 | Focusing method and device, electronic equipment and computer readable storage medium |
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2020
- 2020-06-05 CN CN202010502989.1A patent/CN111768414A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5973309A (en) * | 1997-08-27 | 1999-10-26 | Trw Inc. | Target-tracking laser designation |
| CN103499818A (en) * | 2013-10-10 | 2014-01-08 | 中国科学院上海技术物理研究所 | Infrared and laser compound detection system |
| CN109584165A (en) * | 2018-11-30 | 2019-04-05 | 泰康保险集团股份有限公司 | A kind of antidote of digital picture, device, medium and electronic equipment |
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Application publication date: 20201013 |