CN114296072A - A Multispectral Detection and Tracking Method for Anti-UAV - Google Patents

Abstract

The invention discloses an anti-UAV multi-spectral detection and tracking method, which belongs to the technical field of multi-spectral detection and tracking. The target is roughly tracked and closed-loop controlled by the radar to locate the target, so as to achieve real-time stable tracking of the target. On the basis of the coarse tracking closed-loop control, further fine-tracking closed-loop control can eliminate the aiming deviation between the target and the transmitting telescope due to the influence of the environment. On the basis of stable tracking, the stability and tracking accuracy of the imaging optical axis are improved, and the secondary stable and high-precision tracking of the target is realized. At the same time, in the process of coarse tracking closed-loop control, the target is detected and identified by zooming and large field of view through multiple bands such as short-wave, medium-wave, near-infrared and visible light bands. The more accurate field of view control of the target realizes multi-band simultaneous detection and recognition of the target, all-round tracking and recognition, and high recognition accuracy and tracking accuracy.

Description

A Multispectral Detection and Tracking Method for Anti-UAV

technical field

The invention belongs to the technical field of multi-spectral detection and tracking, and more particularly relates to a multi-spectral detection and tracking method for an anti-UAV.

Background technique

Anti-UAV detection and tracking equipment is an important module of directed energy laser weapons. Its function is to detect, identify and stably track targets in complex environments. At the same time, on the basis of stable tracking, the laser is transmitted to the launcher through the emission optical path. The laser can be focused on the target at different distances by focusing the secondary mirror.

The existing anti-UAV detection and tracking technology has the following shortcomings:

The tracking accuracy is not enough. Most of the existing methods use the radar to locate the target and directly use the optical camera to track the target optical imaging. Such tracking accuracy is still insufficient when guiding the weapon to strike the target. The detection band is not enough, resulting in unstable target extraction and low tracking detection rate; directed energy laser weapons have low detection and recognition rate of targets with the change of weather, especially for foggy weather, all-weather work, cloud cover, and complex targets At the same time, the existing equipment cannot realize the integrated integration of multi-spectral detection equipment, resulting in a large system structure space.

SUMMARY OF THE INVENTION

In view of the defects and improvement requirements of the prior art, the present invention provides an anti-UAV multispectral detection and tracking method, which aims to improve the tracking accuracy of the target, improve the detection and recognition rate, and achieve stable tracking of the target.

In order to achieve the above purpose, the present invention provides an anti-UAV multi-spectral detection and tracking method, comprising the following steps:

1) Radar positioning step: locate the target by radar;

2) Coarse tracking closed-loop control steps: use the camera to image the target in real time, calculate the target miss amount information according to the imaging results, and use the target miss amount information as the feedback bias to adjust the orientation of the radar, camera and transmitting telescope in real time, so as to realize the accuracy of the target. coarse tracking;

3) Fine tracking closed-loop control step: use the optical path imaging system to image the target in real time, calculate the position deviation of the target, and use the position deviation as a feedback deviation to adjust the incident angle of the emitted laser to the emission telescope in real time, so as to achieve fine tracking of the target;

4) Laser emission step: emit laser towards the precisely tracked target, and the laser is focused by the emission telescope and then emitted to the target.

Further, the optical path imaging system and the laser emission process in the fine tracking closed-loop control step share the same Coude optical path and the optical paths are mutually inverse.

Further, the method also includes the step of: performing active illumination on the target, and the active illumination optical path and the laser emission process share a Kuder optical path.

Further, the transmitting telescope includes an off-axis transmitting secondary mirror and an off-axis transmitting primary mirror. During the process of emitting laser light toward the target, the distance information between the target and the transmitting telescope is measured in real time, and the transmitting telescope adjusts the off-axis based on the distance information. The distance between the emission secondary mirror and the off-axis emission primary mirror, which is used for imaging focusing and emission focusing on the target.

Further, locating the target by radar specifically includes:

S1.1. Start the search radar to detect the preliminary spatial position information of the target;

S1.2. Measure the horizontal and pitch angles of the tracking radar from the preliminary spatial position of the target, and adjust the tracking radar azimuth according to the two angles to make it face the preliminary spatial position of the target;

S1.3, enable the tracking radar to locate the precise spatial position of the target.

Further, the bands used for real-time imaging of the target by the camera include: short-wave, medium-wave, near-infrared and visible light; the bands used for real-time imaging of the target by the optical path imaging system are visible light and near-infrared light.

Further, the missed target amount information is the root mean square error of the target mass center output by the camera relative to the camera target surface center.

Further, the rotation range of the horizontal angle is 0-360°, and the rotation range of the pitch angle is -5° to 80°.

Further, the emitted laser light is in the 1064 nm band.

Further, the illuminating laser is in a band of 808 nm.

In general, through the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

(1) The anti-UAV multi-spectral detection and tracking method of the present invention performs rough tracking closed-loop control on the target through the radar positioning target, realizes real-time stable tracking of the target, and further finely tracks the closed-loop control on the basis of the coarse tracking closed-loop control, Eliminate the aiming deviation between the target and the launch telescope due to the influence of the environment, improve the stability and tracking accuracy of the imaging optical axis on the basis of stable tracking, and realize the secondary stable and high-precision tracking of the target.

(2) As an option, in the coarse tracking closed-loop control process, the target is detected and identified by zooming in a large field of view through multiple bands such as short-wave, medium-wave, near-infrared and visible light bands. In the fine-tracking closed-loop control, visible light and near-infrared The wave optical fixed focus performs more precise control of the field of view of the target, and realizes the comprehensive and accurate detection and identification of the target.

(3) Preferably, the present invention also designs near-infrared active illumination detection imaging, which is used to perform illumination-assisted imaging on the target when the light is insufficient, so as to realize all-weather tracking imaging and identification of the target.

(4) Preferably, the present invention detects the preliminary space position information of the target by starting the search radar, controls the tracking radar to rotate toward the preliminary space position, and further locates the precise space position information of the target. More precise targeting. At the same time, search radar and tracking radar can detect and identify targets in centimeter band and millimeter band, and combine with short-wave, medium-wave, near-infrared and visible light bands to realize comprehensive detection and identification of multiple bands.

(5) The laser emission process, the precise tracking closed-loop imaging process and the active illumination light path in the present invention are designed with a common Coud light path, with few optical components in the imaging light path, high integration, and high imaging precision.

In a word, the present invention improves the tracking accuracy of the target by adopting the secondary stable tracking, and at the same time, it can realize the omnidirectional multi-band imaging of the target, and solve the problems of cloud cover and complex target. The medium wave detection imaging used has strong fog penetration energy. , which can solve the problem of target recognition in foggy weather, and improve the detection and recognition rate of targets. And it can simultaneously realize multi-band simultaneous detection and identification, all-round tracking and identification and auxiliary lighting tracking and identification.

Description of drawings

FIG. 1 is a schematic diagram of a multispectral detection and tracking method for an anti-UAV provided by an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of an equipment for implementing a multispectral detection and tracking method for an anti-UAV provided by an embodiment of the present invention.

FIG. 3 is a schematic diagram of the co-Coude optical path of the laser emission process, the fine tracking closed-loop imaging process, and the illumination detection imaging process.

FIG. 4 is a schematic diagram of a working process of an equipment for implementing a method for multispectral detection and tracking of an anti-UAV provided by an embodiment of the present invention.

Throughout the drawings, the same reference numbers are used to refer to the same elements or structures, wherein:

1-horizontal axis system, 2-off-axis launch primary mirror, 3-off-axis launch secondary mirror, 4-illumination laser, 5-tracking radar, 6-search radar, 7-laser rangefinder, 8-shortwave optical camera, 9-Medium wave optical camera, 10-Visible light and near-infrared optical camera, 11-Tilt axis system, 12-First beam splitter, 13-First relay moving mirror, 14-Second relay moving mirror, 15-No. Two beam splitters, 16 - fast reflection mirror, 19 - third beam splitter, 20 - fourth beam splitter, 21 - guide light source.

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 the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

In the present invention, the terms "first", "second" and the like in the present invention and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

As shown in Figure 1, the present invention provides a multi-spectral detection and tracking method for anti-UAV, comprising the following steps:

1) Radar positioning step: locate the target by radar;

2) Coarse tracking closed-loop control steps: use the camera to image the target in real time, calculate the target miss amount information according to the imaging results, and use the target miss amount information as the feedback bias to adjust the orientation of the radar, camera and transmitting telescope in real time, so as to realize the accuracy of the target. coarse tracking;

3) Fine tracking closed-loop control step: use the optical path imaging system to image the target in real time, calculate the position deviation of the target, and use the position deviation as a feedback deviation to adjust the incident angle of the emitted laser to the emission telescope in real time, so as to achieve fine tracking of the target;

4) Laser emission step: emit laser towards the precisely tracked target, and the laser is focused by the emission telescope and then emitted to the target.

Specifically, in the coarse tracking closed-loop control step, the bands used for real-time imaging of the target by cameras include: short-wave, medium-wave, near-infrared, and visible light; the cameras used are corresponding short-wave optical cameras, medium-wave optical cameras, visible light and near-infrared. Optical camera.

The bands used for real-time imaging of the target by the optical path imaging system are visible light and near-infrared light. In the specific imaging process, a fine-tracking imaging camera is used, and the fine-tracking imaging camera is a corresponding visible light and near-infrared camera.

The missing target amount information is the root mean square error of the target mass center output by the camera relative to the center of the camera target surface (image surface at the center of the camera).

During the laser emission process, the emitted laser light is transmitted and reflected in sequence and then relayed, and the relayed laser light is incident on the transmitting telescope after reflection and angle deflection control. The emitted laser is in the 1064nm band.

In the fine tracking closed-loop control step, the optical path imaging system and the laser emission process share the same Coude optical path and the optical paths are mutually inverse.

Further, in order to enable the method of the present invention to work normally at night or under the condition of insufficient light, the above method further includes the steps of: actively illuminating the target, and the imaging process of the active illumination and the laser emission process share the Coude optical path design.

That is, after the illumination laser is reflected in turn, it is relayed, and the relayed illumination laser is transmitted and reflected to the target. The illumination laser is in the 808nm band.

The above-mentioned transmitting telescope includes an off-axis transmitting secondary mirror and an off-axis transmitting primary mirror. During the process of emitting laser light toward the target, the distance information between the target and the transmitting telescope is measured in real time, and the transmitting telescope adjusts the off-axis transmitting secondary mirror and the distance based on the distance information. The distance between the main mirrors of the axis emission, the imaging focus and the emission focus are performed on the target.

Moreover, locating the target by radar specifically includes the following steps:

S1.1. Start the search radar to detect the preliminary spatial position information of the target;

S1.2. Measure the horizontal and pitch angles of the initial space position of the tracking radar from the target, and adjust the azimuth of the tracking radar according to these two angles to make it face the initial space position of the target;

Wherein, the rotation range of the horizontal angle is preferably 0-360°, and the rotation range of the pitch angle is preferably -5° to 80°.

S1.3, enable the tracking radar, locate the precise spatial position information of the target, and make the tracking radar face the precise spatial position of the target.

Both the coarse tracking closed-loop control step and the fine tracking closed-loop control step realize closed-loop control based on the precise spatial position, respectively.

The present invention also provides a device for implementing the above method.

As shown in FIG. 2, a kind of anti-UAV multi-spectral detection and tracking equipment based on the above method provided by the present invention includes positioning radar, photoelectric tracking turntable, coarse tracking closed-loop control module, fine tracking closed-loop control module, and laser emission module. and launch telescopes;

The positioning radar is set on the optoelectronic tracking turntable. The optoelectronic tracking turntable includes a horizontal axis system 1 and an elevation axis system 11. The elevation axis system is arranged above the horizontal axis system, and a first axis arm and a second axis are arranged on both sides of the elevation axis system. arm, the transmitting telescope is arranged on the first axis arm, the coarse tracking closed-loop control module is arranged on the second axis arm, and the fine tracking closed-loop control module and the laser emission module are arranged inside the horizontal axis;

Positioning radar, used to locate the target;

The laser emission module is used to emit laser light towards the target;

The launch telescope is used to focus and magnify the laser and launch it to the target;

The coarse tracking closed-loop control module is used to use the camera to image the target in real time, calculate the target miss amount information (that is, the horizontal angle and pitch angle between the camera and the target) according to the imaging results, and use the target miss amount information as a feedback deviation command to adjust the photoelectric tracking turntable The horizontal axis and elevation axis are rotated towards the target, and the orientation of the radar, camera and transmitting telescope is adjusted in real time, so as to realize the rough tracking and detection imaging of the target.

The precise tracking closed-loop control module uses the optical path imaging unit to image the target in real time, calculates the position deviation of the target, and uses the position deviation as the feedback deviation to adjust the incident angle of the emitted laser to the launch telescope in real time, so as to realize the precise tracking and detection imaging of the target.

Among them, the cameras in the coarse tracking closed-loop control module are short-wave optical cameras 8 , medium-wave optical cameras 9 , and visible light and near-infrared optical cameras 10 arranged at any position of the second axis arm of the photoelectric tracking turntable. The transmitting telescope includes an off-axis transmitting primary mirror 2 and an off-axis transmitting secondary mirror 3 .

The laser emission module includes a laser transmitter and a laser emission optical circuit unit.

The fine-tracking closed-loop control module includes a fine-tracking imaging camera and a fine-tracking optical path imaging unit. The fine-tracking optical path imaging unit and the laser emission light path unit share a Kuder optical path and the optical paths are mutually inverse.

The positioning radar is a tracking radar 5 and a search radar 6; the tracking radar 5 is arranged above the first shaft arm of the photoelectric tracking turntable, and the search radar 6 is arranged on the top of the photoelectric tracking turntable; off-axis launch primary mirror 2, off-axis launch secondary mirror 3 They are sequentially arranged on the first shaft arm of the photoelectric tracking turntable, and the fine tracking imaging camera and the laser transmitter are arranged inside the horizontal shaft system.

A laser rangefinder 7 is arranged on the second axis arm. The laser rangefinder measures the distance information between the target and the transmitting telescope in real time, and the transmitting telescope adjusts the distance between the off-axis transmitting secondary mirror and the off-axis transmitting primary mirror based on the distance information. Distance, imaging focus and emission focus on the target.

The laser emission optical path unit, the precise tracking optical path imaging unit and the illumination optical path imaging unit are designed with a common Coud optical path, and the optical path is designed inside the photoelectric tracking turntable.

The search radar is used to detect the preliminary spatial position information of the target; the electro-optical tracking turntable calculates the horizontal and pitch angles from the target, and controls these two angles to adjust the rotation of the horizontal axis and the pitch axis to reach the preliminary spatial position of the target; tracking The radar rotates synchronously to the initial spatial position of the target, and locates the precise spatial position information of the target; the photoelectric tracking turntable calculates the horizontal and pitch angles of the photoelectric tracking turntable from the target, and controls these two angles to adjust its horizontal axis and pitch axis. Rotate towards the precise spatial position of the target while tracking the precise spatial position of the radar towards the target.

Among them, the horizontal shaft system includes a motor, a dynamic seal ring, and a slip ring, which can realize 360° horizontal rotation. The pitch shaft system includes a motor, a dynamic seal ring, and a slip ring, which can realize a pitch rotation of -5° to 80°.

Search radar 6, the search angle of the search radar is 360° omnidirectional scanning, which is used for long-distance rough detection of the target (unmanned aerial vehicle).

Tracking radar 5, based on the search radar to obtain the target position information, and then more accurate target position acquisition, the accuracy is higher than the search radar, it is used for precise detection of the UAV, and the tracking radar and the electro-optical tracking turntable share the horizontal axis and The pitch axis system is matched with the coarse tracking field of view of the photoelectric tracking turntable. That is, the tracking radar of the present invention does not need electric scanning, and the scanning beam of the radar can rotate with the photoelectric tracking turntable, so that the obtained target space position information is more accurate, and the cost is reduced at the same time.

The coarse tracking closed-loop control module is used for multi-spectral simultaneous detection and imaging, and performs multi-spectral simultaneous imaging and tracking of the UAV based on the position information provided by the search radar 6 and the tracking radar 5. And its tracking accuracy is higher than that of tracking radar. After the tracking radar tracks the target, the azimuth information of the target is guided to the photoelectric tracking turntable. After the photoelectric tracking turntable is turned to the target, the coarse tracking closed-loop control module performs optical imaging on the target. The encoder of the optical imaging and photoelectric turntable realizes the control closed loop, calculates the miss amount information of the target according to the imaging results, outputs the position miss amount of the target in real time, and uses the target miss amount information as the feedback deviation to rotate the horizontal axis and pitch axis of the photoelectric turntable in real time The system achieves stable and rough tracking of the target respectively, and then makes the azimuth of the radar, the camera and the transmitting telescope face the target in real time, so as to realize the rough tracking and detection imaging of the target. Specifically, the coarse tracking closed-loop control module includes: a short-wave optical camera 8, a medium-wave optical camera 9, and a visible light and near-infrared optical camera 10; in this embodiment, the short-wave optical camera, the medium-wave optical camera, the visible light and the near-infrared optical camera Both are on the second axis arm of the pitch axis system, the visible light and near-infrared optical cameras are below the laser rangefinder, the short-wave optical camera is on the upper right of the second axis arm, and the medium-wave optical camera is on the lower right. In other embodiments, the optical cameras of different wavelength bands may be located at any position of the second axis arm. Among them, the short-wave optical camera is preferably a dual-field zoom camera. Compared with visible light and near-infrared, the short-wave optical camera has a strong ability to penetrate fog due to its special wavelength band. The medium-wave optical camera is preferably a dual-field zoom camera; the visible light and near-infrared optical cameras are preferably wired zoom imaging cameras. Specifically, on the image display interface of the optical camera of each band, a wave gate prompt will appear. At this moment, the image is calculating the image deviation of the target relative to the wave gate center at high speed, the amount of deviation and the motor of the horizontal axis system and pitch axis system of the photoelectric tracking turntable. A closed control loop is formed, so as to realize the initial stable tracking of the target.

The precision tracking closed-loop control module outputs the real-time tracking error of the target, and feeds the error back to the fast mirror, so that the tracking error and the angle change of the fast mirror form a closed-loop control system, which is used to eliminate the influence of the environment between the target and the photoelectric tracking turntable. The existing aiming deviation is to adjust the optical axis jitter deviation of the laser emission optical path caused by the environment, and improve the stability and tracking accuracy of the optical axis of the system on the basis of stable tracking. The imaging realizes the secondary stable tracking of the target.

The fine-tracking closed-loop control module includes a fine-tracking imaging camera and a fine-tracking optical path imaging unit. The fine-tracking optical path imaging unit and the laser emission optical path unit share a Coude optical path, and share an off-axis emitting primary mirror 2 and an off-axis emitting secondary mirror 3 . The focal length of the entire system is the focal length of the imaging optical path multiplied by the magnification of the off-axis emission primary mirror 2 .

The laser transmitting module transmits the laser light to the transmitting telescope through the inner channel, and focuses and transmits it to the target to achieve the strike against the target. The laser rangefinder 7 measures the distance between the target and the transmitting telescope in real time, and feeds back the distance information To the transmitting telescope; the laser transmitting module transmits laser light to the transmitting telescope, and the transmitting telescope adjusts the distance between the off-axis transmitting secondary mirror and the off-axis transmitting primary mirror based on the distance information obtained by the laser rangefinder, and performs imaging focusing and transmitting adjustment on the target. focus, so that the laser is focused and emitted to the target.

Wherein, the laser emission module includes a laser transmitter and a laser emission optical circuit unit. The laser emitted by the laser transmitter transmits the laser light to the off-axis emitting secondary mirror and the off-axis emitting primary mirror through the inner channel (ie, the laser emitting optical circuit unit), and is focused and emitted to the target to achieve the strike on the target. As shown in FIG. 3 , the laser emission optical path unit includes sequentially along the optical path direction: a fourth beam splitter 20 , a first beam splitter 12 , a first relay moving mirror 13 , a second relay moving mirror 14 , a second beam splitter 15 and fast mirror 16;

After the laser light emitted by the laser transmitter passes through the fourth beam splitter 20, it is reflected by the first beam splitter 12 to the first relay moving mirror 13 and the second relay moving mirror 14, and then reflected by the second beam splitter 15 to the first relay moving mirror 13 and the second relay moving mirror 14. The fast-reflection mirror 16 reflects the passing laser light to the off-axis emitting secondary mirror 3 and the off-axis emitting primary mirror 2 after angular deflection control.

Among them, the fast reflection mirror is used to improve the aiming accuracy of the target and eliminate the optical axis deviation of the laser emission optical path unit caused by the environment, vibration and other conditions. The emission band of the laser is 1064 nm.

The precise tracking optical path imaging unit and the laser emission optical path unit are reciprocal processes, and share the same Kuder optical path. Specifically, as shown in FIG. 3 , the precise tracking optical path imaging unit sequentially includes along the optical path direction: the imaging target is reflected by the off-axis emission primary mirror 2 , the off-axis emission secondary mirror 3 , the fast reflection mirror 16 , and the second beam splitter 15 in sequence. , the energy is stored by the second relay moving mirror 14 and the first relay moving mirror 13 , the energy is stored and reflected to the first beam splitter 12 , and then imaged through the first beam splitter 12 to the precise tracking imaging camera.

Among them, the precise tracking imaging band ranges from visible light to near-infrared band. The precise tracking imaging camera is a visible light and near-infrared camera, specifically, a long-focus fixed-focus visible light and near-infrared camera. Visible light detection is used during the day and near-infrared detection is used at night.

Furthermore, the visible light camera cannot detect and image the target at night, the detection resolution of the medium and long-wave infrared cannot reach, and the tracking accuracy of the high-speed target, the closed-loop bandwidth is not enough. Therefore, the present invention also designs an active illumination imaging module, the illumination laser is arranged on the first axis arm of the photoelectric tracking turntable, and is used for illumination-assisted imaging of the UAV. If it is night, for the coarse tracking closed-loop control module, the visible light and near-infrared cameras cannot see the target. The illumination laser can be used to illuminate the target. The light returned by the illumination light can be imaged on the near-infrared camera, or through the medium wave The camera directly captures the target and performs stable tracking. It is convenient to realize the all-weather work of the equipment of the present invention. For the precision tracking closed-loop control module, when the illumination laser is used to illuminate the target, the returned illumination light is imaged on the precision tracking imaging camera (that is, the long-focus fixed-focus visible light and near-infrared camera), and after imaging, it forms a secondary level with the fast mirror. stable tracking.

The active illumination imaging module includes an illumination laser 4 and an illumination optical path imaging unit; the illumination optical path imaging unit and the laser emission optical path unit share a Kuder optical path; as shown in FIG. 3 , the illumination optical path imaging unit sequentially includes along the optical path direction: a fourth beam splitter 20, The first beam splitter 12 , the first relay moving mirror 13 , the second relay moving mirror 14 , the second beam splitter 15 and the third beam splitter 19 ; the illumination laser emitted by the illumination laser is reflected by the fourth beam splitter 20 , After being reflected by the first beam splitter 12 to the first relay moving mirror 13 and the second relay moving mirror 14 to be relayed, the relayed illumination laser is transmitted to the third beam splitter 19 through the second beam splitter 15 , and then passes through the third beam splitter. After being reflected by the mirror 19, the illuminating laser is reflected to the drone.

Among them, the illuminating laser adopts the 808 nm band, that is, preferably 808 semiconductor wire laser, to assist the illumination of the target. After the 808nm laser tracks the target, it can be detected and tracked by the near-infrared band module of the fine tracking closed-loop control module.

It should be noted that, in addition to relaying the corresponding laser light, the first relay moving mirror 13 and the second relay moving mirror 14 in the above-mentioned laser emission optical path unit, illumination optical path imaging unit and fine tracking optical path imaging unit also relay the corresponding laser light. Play the role of optical axis calibration. Specifically, after the entire device is powered on, the guiding light source 21 located in the photoelectric tracking turntable emits guiding light of 532 nm, and the guiding light is transmitted through the third beam splitter 19 and the second beam splitter 15 and transmitted through the second relay. The mirror 14 and the first relay moving mirror 13 are reflected and transmitted through the first beam splitter 12 to reach the fine tracking imaging camera; each relay moving mirror has two degrees of freedom, and the angle change of the optical axis of the fine tracking imaging camera is Δx, Δy, Δz, by adjusting the angle change posture of the two relay moving mirrors, the calibration of the optical axis is realized, so that the optical imaging visual axis and the mechanical axis of the photoelectric turntable are coaxial. Its use process is to calibrate the optical axis after power on, guide the light to give the deviation to the two relay moving mirrors, adjust the deviation through the angle change, and adjust the azimuth and pitch attitude of the two relay moving mirrors, so that the optical The imaging viewing axis coincides with the mechanical axis of the photoelectric turntable. After calibration, the position of the two relay mirrors will not be changed.

Specifically, as shown in FIG. 4 , the working principle of an anti-UAV multispectral detection and tracking device implementing the method of the present invention is as follows:

The photoelectric tracking turntable realizes all-round pointing and tracking of the target. The photoelectric tracking turntable is divided into an elevation axis system and a horizontal axis system. The elevation axis system is rotated 360°, and the horizontal axis system is rotated from -5° to 85°. The search radar performs 360° rotation. °Rotation is used for initial detection and search of the target to obtain the initial spatial position information of the target. After the search radar module detects the target, it feeds back the preliminary spatial position information of the target to the encoder of the photoelectric tracking turntable, and the encoder of the photoelectric tracking turntable feeds back the preliminary spatial position information to the angle decoder of the photoelectric tracking turntable motor, and solves the photoelectric tracking The rotation angle of the turntable in the horizontal and vertical directions, start the servo motor of the photoelectric tracking turntable to make the horizontal axis and the pitching axis of the photoelectric tracking turntable rotate to the preliminary spatial position of the target respectively, and realize the tracking of the target through coarse tracking detection.

The tracking radar is set above the first axis arm of the optoelectronic tracking turntable, and shares a horizontal axis system and an elevation axis system with the optoelectronic tracking turntable. The tracking radar will rotate with the horizontal axis and pitch axis of the electro-optical tracking turntable. After the tracking radar turns to the initial spatial position toward the target, the tracking radar obtains higher-precision position information of the target. At the same time, the tracking radar feeds back the acquired precise spatial position information to the angle decoder of the photoelectric tracking turntable motor, and calculates the rotation angle of the photoelectric tracking turntable in horizontal and pitch. The servo motor of the photoelectric tracking turntable controls the photoelectric tracking turntable to rotate to the target based on this angle. After the tracking radar detects more accurate target position information, the more accurate target position information is given to the coarse tracking closed-loop control module, that is, to the short-wave optical camera, the medium-wave optical camera, and the visible light and near-infrared optical cameras. After the camera of each band sees the target, it performs multi-band imaging, and feeds back the off-target amount of the target to the photoelectric tracking turntable encoder. After the encoder calculates the rotation angle of the horizontal axis motor and the pitch axis motor, the servo motor is activated The horizontal axis and pitch axis of the photoelectric tracking turntable are rotated to the target respectively.

The field of view of the coarse tracking closed-loop control module matches the tracking accuracy of the tracking radar. The detection and imaging of the target is realized through the coarse tracking closed-loop control module. The coarse tracking closed-loop control module and the encoder of the photoelectric tracking turntable realize the control closed-loop, and the cameras of each band are output in real time. The off-target position of the target is given to the encoder of the photoelectric tracking turntable host computer, and the photoelectric tracking turntable is controlled to rotate in real time to achieve stable and rough tracking of the target.

After stable tracking, the laser emission module turns on the laser to emit laser, and the emitted laser is transmitted to the off-axis emission secondary mirror and the off-axis emission primary mirror through the laser emission optical circuit unit, and the distance between the target and the off-axis emission primary mirror is measured in real time by the laser rangefinder. Based on the distance information, the off-axis transmitting primary mirror adjusts the focal length of the off-axis transmitting secondary mirror, and performs imaging focusing and emission focusing on the target, so that after the laser is focused, Launch to the target, keep stable tracking of the target, and strike the target. Among them, the launching telescope is an off-axis launching system, and the laser directed energy weapon compresses the divergence angle of the beam through the off-axis launching system and focuses all the energy on the target.

The multi-spectral detection process is that after the search radar detects the target, the position information of the target is given to the tracking radar and the photoelectric tracking turntable. After the photoelectric tracking turntable is rotated to the corresponding position, the tracking radar will follow the horizontal axis of the photoelectric tracking turntable. It rotates with the pitch axis system, and after turning to the initial position of the target, the tracking radar will detect a more accurate target position, and the tracking radar will then send the more accurate position information to the photoelectric tracking turntable. After the photoelectric tracking turntable reaches the precise position, the visible light, near-infrared camera, short-wave optical camera, and medium-wave optical camera of the coarse tracking closed-loop control module are used to identify the target, and the coarse tracking and photoelectric tracking turntable are closed through closed-loop control, so that The target is always in the center of the coarsely tracked field of view.

After the coarse tracking closed-loop control module detects the target, it uses the fine-tracking imaging camera in the fine-tracking closed-loop control module. In this embodiment, it is preferable to use a long-focus fixed-focus visible light and near-infrared camera to achieve two-stage stable tracking on the target, and the two-stage stable tracking passes. The precise tracking optical path imaging unit realizes the control closed-loop of the fast mirror and the optical line of sight. After the closed loop, the line-of-sight deviation caused by the environment or other vibrations and complex target trajectories can be eliminated, thereby improving the tracking accuracy of the target.

The active illumination imaging module uses the illumination laser to assist the imaging process. At night, visible light, near-infrared, and short-wave optical cameras cannot see the target. Although the medium-wave infrared can see the target, its pixel resolution is low and the chip delay is large. Therefore, the present invention preferably uses the 808nm laser to actively illuminate the distant target, and the return light of the illuminating laser can make the coarse tracking closed-loop control module and the fine tracking closed-loop control module work normally as in the daytime. , visible light, and near-infrared cameras can achieve rough detection of the target, the coarse detection and photoelectric turntable can achieve stable tracking of the target, and the fine tracking and fast mirror can achieve secondary stable detection and tracking of the target.

Those skilled in the art can easily understand that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.

Claims (10)

1. an anti-UAV multi-spectral detection and tracking method, is characterized in that, comprises the steps: 1) Radar positioning step: locate the target by radar; 2) Coarse tracking closed-loop control steps: use the camera to image the target in real time, calculate the target miss amount information according to the imaging results, and use the target miss amount information as the feedback bias to adjust the orientation of the radar, camera and transmitting telescope in real time, so as to realize the accuracy of the target. coarse tracking; 3) Fine tracking closed-loop control step: use the optical path imaging system to image the target in real time, calculate the position deviation of the target, and use the position deviation as a feedback deviation to adjust the incident angle of the emitted laser to the emission telescope in real time, so as to achieve fine tracking of the target; 4) Laser emission step: emit laser towards the precisely tracked target, and the laser is focused by the emission telescope and then emitted to the target. 2 . The detection and tracking method according to claim 1 , wherein the optical path imaging system and the laser emission process in the fine tracking closed-loop control step share a Kuder optical path and the optical paths are mutually inverse. 3 . 3 . The detection and tracking method according to claim 2 , further comprising the step of: illuminating the target actively, and the active illumination light path and the laser emission process share a Kuder light path. 4 . 4. detection and tracking method according to claim 3, is characterized in that, described launch telescope comprises off-axis launch secondary mirror and off-axis launch primary mirror, in the process of launching laser towards target, real-time measurement between target and launch telescope. Based on the distance information, the transmitting telescope adjusts the distance between the off-axis transmitting secondary mirror and the off-axis transmitting primary mirror based on the distance information, and performs imaging focusing and transmitting focusing on the target. 5. detection and tracking method according to claim 4, is characterized in that, locating target by radar specifically comprises: S1.1. Start the search radar to detect the preliminary spatial position information of the target; S1.2. Measure the horizontal and pitch angles of the tracking radar from the preliminary spatial position of the target, and adjust the tracking radar azimuth according to the two angles to make it face the preliminary spatial position of the target; S1.3, enable the tracking radar to locate the precise spatial position of the target. 6. The detection and tracking method according to claim 5 is characterized in that, the wave band used for real-time imaging of the target by the camera comprises: short wave, medium wave, near-infrared and visible light; near infrared light. 7 . The detection and tracking method according to claim 1 , wherein the missed target amount information is the root mean square error of the target center of mass output by the camera relative to the center of the target surface of the camera. 8 . 8 . The detection and tracking method according to claim 5 , wherein the rotation range of the horizontal angle is 0-360°, and the rotation range of the pitch angle is -5° to 80°. 9 . 9 . The detection and tracking method according to claim 8 , wherein the emitted laser light is in a wavelength of 1064 nm. 10 . 10 . The detection and tracking method according to claim 9 , wherein the illumination laser is in an 808 nm wavelength band. 11 .

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