CN113985395B - Method and system for searching target by guiding photoelectric servo turntable by radar - Google Patents
Method and system for searching target by guiding photoelectric servo turntable by radar Download PDFInfo
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- CN113985395B CN113985395B CN202111246124.4A CN202111246124A CN113985395B CN 113985395 B CN113985395 B CN 113985395B CN 202111246124 A CN202111246124 A CN 202111246124A CN 113985395 B CN113985395 B CN 113985395B
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- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims description 62
- 238000004590 computer program Methods 0.000 claims description 13
- 230000005693 optoelectronics Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 238000010408 sweeping Methods 0.000 claims 1
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- 238000012544 monitoring process Methods 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The invention relates to a method and a system for searching targets by guiding a photoelectric servo turntable by a radar, wherein the method comprises the following steps: enabling the radar to start an emission mode to search for a target, and after searching for the target, transmitting target information to the photoelectric servo turntable; judging based on the target information, if the target information comprises the position information and the position range information of the target, judging the position range information, and when the position range exceeds a set range threshold value, enabling the photoelectric servo turntable to execute a positioning fan-scan mode, otherwise, executing a continuous fan-scan mode; if the target information only comprises the position information of the target, the photoelectric servo turntable is enabled to execute a positioning spiral scanning mode; the invention can search in a proper target searching mode under the condition of limited radar detection precision, thereby shortening the target searching time and improving the working efficiency.
Description
Technical Field
The present invention relates to the field of target detection technologies, and in particular, to a method and system for searching a target by using a radar to guide a photoelectric servo turntable, a computer device, and a computer readable storage medium.
Background
At present, the radar and the photoelectric servo turntable play an important role in searching ground targets, and can ensure normal work of ground reconnaissance and monitoring. In practical applications, in order to control the cost, in the radar and photoelectric detection system for performing ground reconnaissance monitoring, the detection accuracy of the radar is not very high. For example, for a longer range target, the photo detection needs to be observed in a small field of view, the photo detection field angle is below about 0.8 °, and the detection accuracy of the radar is typically above 1 °. In this case, the target position information (i.e., azimuth and elevation information) given by the radar is not very accurate, and the target cannot be directly guided into the field of view of the photoelectric detection, so that the photoelectric servo turntable for performing the photoelectric detection is difficult to search and identify the target once, but multiple searches are required, which is particularly time-consuming and cannot complete the task rapidly.
Disclosure of Invention
The invention aims at least partially overcoming the defects, and provides a method for quickly searching targets by a radar-guided photoelectric servo turntable under the condition of limited radar detection precision, so that the target searching time is shortened, and the working efficiency is improved.
In order to achieve the above object, the present invention provides a method for searching for a target by guiding an optoelectronic servo turntable by a radar, comprising the steps of:
s1, enabling a radar to start an emission mode to search a target, and after searching the target, sending target information to a photoelectric servo turntable;
S2, judging based on the target information, if the target information comprises the position information and the position range information of the target, judging the position range information, and when the position range exceeds a set range threshold value, enabling the photoelectric servo turntable to execute a positioning fan-scan mode, otherwise, executing a continuous fan-scan mode;
If the target information only comprises the position information of the target, enabling the photoelectric servo turntable to execute a positioning spiral scanning mode;
The position information of the target comprises azimuth and pitching information of the target, and the position range information comprises azimuth range and pitching range information;
the photoelectric servo turntable executes the positioning fan-scan mode, comprising: determining a movement range based on the position range information of the target, determining a starting point and an end point of scanning movement according to the movement range, setting a step length, and performing reciprocating scanning in the movement range from the starting point to the end point;
The photoelectric servo turntable executes the continuous fan-scan mode, including: determining a movement range based on the position range information of the target, determining a starting point and an end point of scanning movement according to the movement range, and performing reciprocating scanning in the movement range from the starting point to the end point at a set speed;
The photoelectric servo turntable executes the positioning spiral scanning mode, which comprises the following steps: the starting point of the scanning motion is determined based on the position information of the object to set a step size, and the scanning is spirally performed from the starting point to the outside.
Preferably, the method for searching the target by the radar guiding photoelectric servo turntable further comprises the following steps:
S0, before the radar is enabled to start a transmitting mode to search for a target, detecting whether communication between the radar and the photoelectric servo turntable is normal, and calibrating the radar and the photoelectric servo turntable.
Preferably, the method for searching the target by the radar guiding photoelectric servo turntable further comprises the following steps:
S3, if the target is not searched after the set time threshold is exceeded, the manual searching mode is changed.
Preferably, the set time threshold does not exceed 20s.
Preferably, the set range threshold is greater than or equal to 5 times the angle of the photoelectric detection field of view.
Preferably, the set step size is smaller than or equal to the angle of the photoelectric detection field of view.
Preferably, the set speed is not more than 1/5 of the range of motion per second.
The invention also provides a system for searching the target by the radar-guided photoelectric servo turntable, which comprises: radar, photoelectric servo turntable and control module;
The radar is used for searching a target and sending target information to the photoelectric servo turntable and the control module;
The control module is used for generating corresponding control instructions according to the target information and sending the corresponding control instructions to the photoelectric servo turntable; if the target information comprises the position information and the position range information of the target, the control module judges the position range information, and when the position range exceeds a set range threshold value, the control module generates a positioning fan-scan mode control instruction, otherwise, generates a continuous fan-scan mode control instruction; if the target information only comprises the position information of the target and no position range information exists, the control module generates a positioning spiral scanning mode control instruction;
And the photoelectric servo turntable responds to the control module and performs searching until a target is searched.
The invention also provides computer equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the method for searching targets by the radar-guided photoelectric servo turntable when executing the computer program.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of searching for a target by a radar-guided electro-optical servo turntable as described in any one of the preceding claims.
The technical scheme of the invention has the following advantages: the invention provides a method and a system for searching targets by a radar-guided photoelectric servo turntable, computer equipment and a computer readable storage medium.
Drawings
FIG. 1 is a schematic diagram of steps of a method for searching for a target by using a radar-guided optoelectronic servo turntable according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of steps of another method for searching for a target by using a radar-guided electro-optical servo turntable according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for searching for a target by a radar-guided electro-optical servo turntable in an embodiment of the invention;
FIG. 4 is a schematic diagram of a positioning fan-scan mode in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a continuous fan-scan mode in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a position spiral sweep pattern in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As described above, in practical applications, in order to control the cost, the detection accuracy of the radar is not very high in the radar and photoelectric detection system that performs ground reconnaissance monitoring. Under the condition, the target position information given by the radar is not very accurate, the target cannot be directly guided into the photoelectric detection view field, the photoelectric servo turntable is difficult to search and identify the target once, multiple times of searching are needed, and the process is particularly time-consuming and cannot finish tasks rapidly. Furthermore, it is possible to provide a device for the treatment of a disease. Some ground reconnaissance surveillance radars can give target azimuth and pitching position information, and can calculate the approximate range of a target through elevation information, while some radars can only give target azimuth and pitching position information. In order to adapt to radars with different designs and meet the requirement of target searching under more practical conditions, the invention provides a mode for enabling the photoelectric servo turntable to adopt different searching strategies according to different specific conditions aiming at the requirement of linkage matching of the radars and the photoelectric servo turntable so as to shorten the time for searching targets and rapidly finish ground reconnaissance monitoring tasks.
As shown in fig. 1, the method for searching the target by guiding the photoelectric servo turntable by the radar according to the embodiment of the invention comprises the following steps:
s1, enabling a radar to start an emission mode to search a target, and after searching the target, sending target information to a photoelectric servo turntable;
S2, judging based on the target information:
if the target information comprises the position information and the position range information of the target, the position range information is further judged, when the position range exceeds a set range threshold value, the photoelectric servo turntable is enabled to execute a positioning fan-scan mode, and otherwise, the photoelectric servo turntable is enabled to execute a continuous fan-scan mode;
if the target information only comprises the position information of the target and no position range information exists, the photoelectric servo turntable is enabled to execute a positioning spiral scanning mode;
the position information of the target comprises azimuth information and pitching information of the target, and the position range information of the target comprises azimuth range information and pitching range information of the target;
The photoelectric servo turntable executes a positioning fan scanning mode, comprising: determining a movement range based on the position range information of the target, further determining a starting point and an end point of scanning movement according to the movement range, and then performing reciprocating scanning in the movement range from the starting point to the end point in a set step length; the reciprocating scan from the start point to the end point covers a movement range, that is, an area range defined according to the position range information of the target;
the photoelectric servo turntable performs a continuous fan-scan mode comprising: determining a movement range based on the position range information of the target, further determining a starting point and an end point of the scanning movement according to the movement range, and then performing reciprocating scanning in the movement range from the starting point to the end point at a set speed;
the photoelectric servo turntable performs a set screw mode comprising: the starting point of the scanning motion is determined based on the position information of the object to set a step size, and the scanning is spirally performed from the starting point to the outside.
In the invention, the radar and the photoelectric servo turntable can give different search strategies according to different conditions. If the radar can calculate the approximate interval range (namely azimuth range and pitching range information) of the target position through the elevation information and the given range is a larger range (namely exceeds a set range threshold value), a positioning fan-scan mode is adopted for quickly searching the target. In the positioning fan scanning mode, the photoelectric servo turntable moves in a fixed step length, so that each image can be ensured not to be repeated, and the effect of quickly searching for a target in a larger range can be achieved. If the radar is able to calculate an approximate interval range giving the target position and the given range is a smaller range (i.e. does not exceed the set range threshold), a continuous sector sweep mode is adopted for quickly searching for the target. In the continuous fan-scan mode, the photoelectric servo turntable moves at a fixed speed, so that the effect of quickly searching for a target in a smaller range can be achieved. If the radar cannot give the approximate interval range of the target position, a positioning spiral scanning mode is adopted for quickly searching the target. In the position spiral scan mode, the current position (i.e., the position determined from the position information of the target) is used as the starting point of azimuth and pitch, and the current position moves from the center to the periphery in a fixed step length.
Preferably, as shown in fig. 2 and 3, the method for guiding the photoelectric servo turntable to search for the target further comprises the following steps:
S0, before the radar is enabled to start a transmitting mode to search for a target, detecting whether communication between the radar and the photoelectric servo turntable is normal, and calibrating the radar and the photoelectric servo turntable.
The radar and the photoelectric servo turntable can be physically connected by adopting a network cable, a communication protocol is set for communication, the radar is firstly connected to the photoelectric servo turntable, the radar stores collected and processed data into a structural body, and the data is integrally packaged and sent to the photoelectric servo turntable according to the communication protocol. In order to ensure accurate data transmission, a simple communication test is performed in step S0.
In the step S0, the radar and the photoelectric servo turntable are required to be calibrated, and the method mainly comprises the steps of powering on the radar to emit, recording corresponding track information of the point track, guiding the photoelectric servo turntable, synchronously reading azimuth and pitching information of a target by the photoelectric servo turntable, and carrying out azimuth and pitching correction according to deviation between the read information and accurate time stamp, azimuth and pitching information. After calibration, the radar starts the transmitting mode again to search the target, the track of the point trace of the target is obtained, and the azimuth and pitching information of the target is sent to the photoelectric servo turntable.
Preferably, the method for searching the target by the radar guiding photoelectric servo turntable further comprises the following steps:
S3, if the target is not searched after the set time threshold is exceeded, the manual searching mode is changed.
When the target is searched for a period of time by adopting an automatic motion strategy (namely a positioning fan-scan mode, a continuous fan-scan mode or a positioning spiral-scan mode), the target is still not searched, and the range given by radar calculation can be wrong, and then the manual searching strategy can be switched. The manual searching mode can set the speed at will, and then the photoelectric servo turntable is controlled to move to search the target. Further, in order to ensure the efficiency of searching for the target, the time threshold is set in step S3 to not exceed 20S. Manual searching is not generally used, and serves as an insurance to ensure that a target can be searched.
Preferably, in step S2, the set range threshold is 5 times or more the angle of the photodetection field of view. If the radar can calculate and give out that the approximate interval range of the target position exceeds 5 times of the angle of the photoelectric detection field corresponding to the current photoelectric servo turntable through the elevation information, namely, the calculated and given azimuth range exceeds 5 times of the angle of the photoelectric detection field, and/or the pitching range exceeds 5 times of the angle of the photoelectric detection field, the radar considers that the given range is a larger range, and the target can be searched out more quickly through the positioning fan-scan mode.
Preferably, in step S2, in the positioning fan scan mode and the positioning screw scan mode, the set step length is equal to or smaller than the angle of the field of view of the photoelectric detection, and more preferably equal to the angle of the field of view of the photoelectric detection. The step length is set to be equal to the angle of the photoelectric detection field of view, so that the quick searching of images which are basically not repeated in the positioning fan scanning mode and the positioning spiral scanning mode can be ensured, the target searching time is shortened as far as possible, the condition of missing targets basically cannot occur, and the rapidity and the accuracy are ensured.
Referring to fig. 4 to 6, in step S2, preferably, the electro-optical servo turntable performs a positioning fan scanning mode to set a step size, and performs a reciprocating scanning within a movement range from a start point to an end point, including:
Starting from the starting point, the method starts from the starting point, scans in azimuth with a set step length, moves to one azimuth boundary (or azimuth movement range boundary) of a movement range, namely, moves from one edge (first) to the other edge (second) with one step length, moves by one set step length along the pitching direction (towards the direction approaching the end point), then turns back, scans in azimuth with the set step length, scans in the opposite direction to the other azimuth boundary of the movement range, moves by one set step length along the pitching direction, and so on until the end point;
Or starting from the starting point, moving in a pitching direction with a set step length, moving in a direction (towards a direction close to the end point) with a set step length after moving to one pitching direction boundary (called a pitching movement range boundary) of the movement range, then reversing, moving in a direction with a set step length after reversely scanning to the other pitching direction boundary of the movement range, and the like until the end point.
Further, in step S2, the electro-optical servo turntable performs a continuous fan scan mode to set a speed, and the method includes the steps of:
As shown in fig. 5, starting from the starting point, scanning at a set speed along azimuth direction, moving to search for a target according to the set speed, moving to a azimuth boundary of a movement range along pitch direction for a set length, then reversing, scanning at the set speed along azimuth direction, reversely scanning to another azimuth boundary of the movement range, moving to a set length along pitch direction, and the like until the end point;
Or starting from the starting point, moving at a set speed along the pitching direction to search for a target, moving at the set speed along the pitching direction boundary of the movement range, moving at a set length along the azimuth direction, then reversing, moving at the set speed along the pitching direction to scan, reversely scanning at the set speed along the pitching direction boundary of the movement range, moving at a set length along the azimuth direction, and the like until the end point.
Preferably, the electro-optical servo turntable performs a continuous fan mode with a set speed not exceeding 1/5 of the movement range per second, i.e. with a set speed of azimuth movement not exceeding v1= (1/5 of the azimuth movement range)/second, with a set speed of pitch movement not exceeding v2= (1/5 of the pitch movement range)/second, more preferably with a set speed not exceeding 1/10 of the movement range per second.
Preferably, the electro-optical servo turntable performs a continuous fan mode with a set length not exceeding 1/5 of the range of motion, more preferably 1/10 of the range of motion. Under a small range, the target can be searched more finely and accurately.
Preferably, in step S2, the electro-optical servo turntable performs a set-screw scanning mode to set a step size, and the step size includes:
starting from the starting point, as shown in fig. 6, a step is moved in a certain direction, such as the azimuth direction, then a step is moved in the pitching direction, then two steps are moved in the azimuth direction opposite to the initial direction, then two steps are moved in the pitching direction opposite to the initial direction, and so on, the starting point scans outwards. Vice versa, i.e. starting from the starting point and moving first in pitch, the same is true.
The invention also provides a system for searching the target by the radar guiding photoelectric servo turntable, which comprises the radar, the photoelectric servo turntable and a control module;
The radar is used for searching a target and sending target information to the photoelectric servo turntable and the control module;
The control module is used for generating corresponding control instructions according to the target information and sending the control instructions to the photoelectric servo turntable; if the target information comprises the position information and the position range information of the target, the control module judges the position range information, when the position range exceeds a set range threshold value, the control module generates a positioning fan-scan mode control instruction and sends the positioning fan-scan mode control instruction to the photoelectric servo turntable, and otherwise, generates a continuous fan-scan mode control instruction and sends the continuous fan-scan mode control instruction to the photoelectric servo turntable; if the target information only comprises the position information of the target and no position range information is included, the control module generates a positioning spiral scanning mode control instruction and sends the positioning spiral scanning mode control instruction to the photoelectric servo turntable;
the photoelectric servo turntable responds to the control module and performs searching until a target is searched.
The invention shortens the time for searching the targets by the radar photoelectric detection system, can meet the searching of the targets under more actual conditions, and completes the ground reconnaissance monitoring task.
Preferably, before the radar is made to start the emission mode to search for the target, it is detected whether the communication between the radar and the optoelectronic servo turntable is normal, and calibration is performed on the radar and the optoelectronic servo turntable.
Preferably, the control module is further configured to generate a manual search mode control instruction and send the manual search mode control instruction to the optoelectronic servo turntable when the target is not yet searched after the set time threshold is exceeded. Further, the set time threshold does not exceed 20s.
Preferably, the set range threshold is 5 times or more the angle of the field of view of the photodetector.
Preferably, the set step size is less than or equal to the photodetection field angle.
Preferably, the set speed does not exceed 1/5 of the range of motion of the movement per second.
Preferably, the control module comprises an upper computer, a DSP processor, an FPGA processor and a driving system, wherein the upper computer is used for transmitting, summarizing and issuing instructions, and the DSP processor and the FPGA processor are matched for use to realize data storage and processing.
In particular, in some preferred embodiments of the present invention, there is also provided a computer device, including a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method for searching for a target by the radar-guided electro-optical servo turntable in any of the above embodiments when the computer program is executed.
In other preferred embodiments of the present invention, there is also provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method for searching for a target by a radar-guided electro-optical servo turntable as described in any of the above embodiments.
Those skilled in the art will appreciate that implementing all or part of the above-described embodiment method may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a non-volatile computer readable storage medium, and the computer program may include the above-described embodiment method of searching for a target by using a radar-guided optical-electrical servo turntable when executed, and will not be repeated herein.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for searching a target by a radar-guided optoelectronic servo turntable, comprising the steps of:
s1, enabling a radar to start an emission mode to search a target, and after searching the target, sending target information to a photoelectric servo turntable;
S2, judging based on the target information, if the target information comprises the position information and the position range information of the target, judging the position range information, and when the position range exceeds a set range threshold value, enabling the photoelectric servo turntable to execute a positioning fan-scan mode, otherwise, executing a continuous fan-scan mode;
If the target information only comprises the position information of the target, enabling the photoelectric servo turntable to execute a positioning spiral scanning mode;
The position information of the target comprises azimuth and pitching information of the target, and the position range information comprises azimuth range and pitching range information;
the photoelectric servo turntable executes the positioning fan-scan mode, comprising: determining a movement range based on the position range information of the target, determining a starting point and an end point of scanning movement according to the movement range, setting a step length, and performing reciprocating scanning in the movement range from the starting point to the end point;
The photoelectric servo turntable executes the continuous fan-scan mode, including: determining a movement range based on the position range information of the target, determining a starting point and an end point of scanning movement according to the movement range, and performing reciprocating scanning in the movement range from the starting point to the end point at a set speed;
The photoelectric servo turntable executes the positioning spiral scanning mode, which comprises the following steps: the starting point of the scanning motion is determined based on the position information of the object to set a step size, and the scanning is spirally performed from the starting point to the outside.
2. The method of radar-guided electro-optical servo turntable searching for a target of claim 1, further comprising the steps of:
S0, before the radar is enabled to start a transmitting mode to search for a target, detecting whether communication between the radar and the photoelectric servo turntable is normal, and calibrating the radar and the photoelectric servo turntable.
3. The method of radar-guided electro-optical servo turntable searching for a target of claim 1, further comprising the steps of:
S3, if the target is not searched after the set time threshold is exceeded, the manual searching mode is changed.
4. A method of searching for a target in a radar-guided electro-optical servo turntable as claimed in claim 3, wherein:
the set time threshold does not exceed 20s.
5. The method for searching for a target by a radar-guided optoelectronic servo turret according to claim 1, wherein:
the threshold value of the set range is more than or equal to 5 times of the angle of the photoelectric detection field.
6. The method for searching for a target by a radar-guided optoelectronic servo turret according to claim 1, wherein:
the set step length is smaller than or equal to the angle of the photoelectric detection field of view.
7. The method for searching for a target by a radar-guided optical-electrical servo turntable of claim 1,
The set speed is not more than 1/5 of the range of motion of the movement per second.
8. A system for radar-guided electro-optical servo turret searching for a target, comprising: radar, photoelectric servo turntable and control module;
The radar is used for searching a target and sending target information to the photoelectric servo turntable and the control module;
The control module is used for generating corresponding control instructions according to the target information and sending the corresponding control instructions to the photoelectric servo turntable; if the target information comprises the position information and the position range information of the target, the control module judges the position range information, and when the position range exceeds a set range threshold value, the control module generates a positioning fan-scan mode control instruction, otherwise, generates a continuous fan-scan mode control instruction; if the target information only comprises the position information of the target and no position range information exists, the control module generates a positioning spiral scanning mode control instruction;
the photoelectric servo turntable responds to the control module and performs searching until a target is searched;
The position information of the target comprises azimuth and pitching information of the target, and the position range information comprises azimuth range and pitching range information;
The photoelectric servo turntable responds to the positioning fan scanning mode control instruction generated by the control module to execute searching work, and the photoelectric servo turntable comprises the following steps: determining a movement range based on the position range information of the target, determining a starting point and an end point of scanning movement according to the movement range, setting a step length, and performing reciprocating scanning in the movement range from the starting point to the end point;
The photoelectric servo turntable responds to the continuous fan-sweeping mode control instruction generated by the control module to execute searching work, and the method comprises the following steps: determining a movement range based on the position range information of the target, determining a starting point and an end point of scanning movement according to the movement range, and performing reciprocating scanning in the movement range from the starting point to the end point at a set speed;
The photoelectric servo turntable responds to the positioning spiral scanning mode control instruction generated by the control module to execute searching work, and the method comprises the following steps: the starting point of the scanning motion is determined based on the position information of the object to set a step size, and the scanning is spirally performed from the starting point to the outside.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method of searching for targets of the radar-guided optoelectronic servo turret according to any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of the method of radar guided electro-optical servo turntable search target of any one of claims 1 to 7.
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| 赵顾颢 ; 赵尚弘 ; 蒙文 ; 王翔 ; 朱子行 ; 陈晨.多光束连续扫描卫星光通信捕获技术的系统容错性分析.2010国防空天信息技术前沿论坛.2010,全文. * |
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