CN101738139A - Image filling type target simulator - Google Patents

Abstract

The invention relates to a digital image filling type target simulator. A tracking training control device of the simulator receives a target initial parameter and a target tracking-aiming equipment parameter, which are sent by a main control computer, computes the number of pixels, which are occupied in the frame of the digital image by the target, and the miss distance in real time and sends the number of pixels and the miss distance to a digital image generating device; the digital image generating device receives image frame frequency, image size and image depth, which are sent by the main control computer, generates the target according to the number of pixels, which are occupied in the frame of the digital image by the target and the miss distance, calls the background image data stored in the tracking training control device, synthesizes the target and the background image and then sends the synthesized image to a digital image filling device in real time; and the digital image undergoes interface matching by the digital image filling device and then is sent to an image processing system. The target simulator can simulate the dynamic flight of the target, so that the simulation detection of the equipment and the operation training task can be completed without using an infrared camera, and the training cost is greatly lowered.

Description

Image filling type target simulator

Technical field

The present invention relates to a kind of target simulator, design a kind of digital picture filling type target simulator engineering especially and use.

Background technology

The main mission of target simulator is the operation training and the detection of dynamic that realize whole Photoelectric Tracking and Aiming System of complete operation hand to Photoelectric Tracking and Aiming equipment.By increasing the practical operation training of operator to equipment, can examine its professional ability on the one hand, also can finish detection and regular maintenance on the other hand to equipment.Therefore, the range test base needs special like this, low-cost and high efficiency simulation trainer.

Abroad, for the research of Photoelectric Tracking and Aiming device emulation training, also do not find relevant achievement in research at present.And China is obtaining some achievements in research aspect the operator simulation training, but these achievements in research are on content, all be to belong to pure Computer Simulation training system, broken away from the concrete equipment of taking aim at of following, catch at a slow speed aspect the target in tracking, can reach good training effect, and with respect to catching high-speed moving object, effect not very desirable just; From operating position, existing equipment simulation training system function singleness, and be difficult near training under the real flying condition; On the other hand, simulated training can not realize the requirement of closed loop, also can't realize the dynamic simulation of Photoelectric Tracking and Aiming equipment is detected.

Therefore, research and development one cover can provide real target flight path, realize target is followed the simulated training system of taking aim at the detection of dynamic of equipment and finishing the closed loop training, has certain engineering significance.

Summary of the invention

The technical problem to be solved in the present invention provides and a kind ofly can provide real target flight path, thereby realizes target with the digital picture filling type target simulator of taking aim at the detection of dynamic of equipment and finishing the closed-loop simulation training.

In order to solve the problems of the technologies described above, the pouring-in target simulator of digital picture of the present invention comprises follows the tracks of training control device, digital picture generating apparatus, digital picture injection device; Target initial parameter that tracking training control device reception main control computer sends and target are with taking aim at device parameter, utilize the target trajectory equation to calculate target shared pixel count and miss distance in the digital picture picture in real time, and send it to the digital picture generating apparatus; The digital picture generating apparatus receives picture frame frequency, image size and the picture depth that main control computer sends, generate target according to target shared pixel count and miss distance in the image picture, call and follow the tracks of the background image data of storing in the training control device, and it is target and background image is synthetic, at last, give the digital picture injection device in real time with the digital picture after synthetic; Digital picture sends target to the image processing system of taking aim at equipment after the digital picture injection device carries out Interface Matching.

Described tracking training control device comprises Nios II SOPC system and as the SDRAM memory and the FLASH memory of this system's running memory and external memory; Background image data programming in advance is in the FLASH memory; Nios II SOPC system is connected with main control computer by the RS422-RS232 translation interface, target initial parameter that the reception main control computer sends and target are with taking aim at device parameter, utilize the target trajectory equation to calculate target shared pixel count and miss distance in the digital picture picture in real time, and send it to the digital picture generating apparatus.

The present invention can utilize target initial parameter that main control computer sends, target to calculate target shared pixel count and miss distance in the digital picture picture in real time with taking aim at device parameter and target trajectory equation, after generating target, itself and background image data are synthesized a width of cloth digital picture, be injected into target with taking aim in the digital image processing system of equipment, thereby realize the structure of target dynamic flight and targeted environment.The present invention can simulated target dynamic flight, thereby under the situation of not opening infrared camera, finish emulation detection and operation training task to equipment, significantly reduced the training cost.It is simple and convenient, workable that the present invention realizes.

Description of drawings

Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.

Fig. 1 is the structured flowchart of digital picture filling type target simulator of the present invention.

Fig. 2 is for realizing hardware circuit block diagram of the present invention.

Fig. 3 is a FPGA main control module structured flowchart.

Fig. 4 is a Nios II SOPC system architecture diagram.

Fig. 5 is an asynchronous FIFO modular structure block diagram.

Fig. 6 is an object space coordinate system schematic diagram.

Fig. 7 generates and background synthesis module flow chart for target.

The specific embodiment

As shown in Figure 1, the pouring-in target simulator of digital picture of the present invention comprises tracking training control device, digital picture generating apparatus and digital picture injection device.

Follow the tracks of the major function of training control device: the one, the initial parameters (starting point, object height, target velocity, the target sizes that comprise target) of the target that the reception main control computer sends, target is gathered and calculated to target with azimuth A value and the angle of pitch E value of taking aim at encoder output in real time with taking aim at device parameter (comprising optical focal length, angle of half field-of view, CCD size, equipment azimuth and the equipment angle of pitch); The 2nd, l-G simulation test is set (being the flight path target setting equation of locus of simulated target), thereby the l-G simulation test process is controlled; The 3rd, the initial parameters and the target of target are calculated target trajectory in real time with taking aim at device parameter substitution target trajectory equation; And pixel count and the miss distance of target in the digital picture picture is shared that calculates sent to the digital picture generating apparatus; The 4th, the storage background image data.

It is the SECO of being responsible for whole generation digital picture that the digital picture generating apparatus mainly acts on.Digital picture is divided into two parts, and a part is a background image, and a part is a target image.The major function of this device: the one, receive picture frame frequency, image size and picture depth that main control computer sends; The 2nd, receive in real time by following the tracks of target that the training control device sends shared pixel count and miss distance in the digital picture picture, and generation target, call background image data simultaneously, with target and the synthetic width of cloth digital picture of background image, the 3rd, give the digital picture injection device in real time with synthetic digital picture.

The digital picture injection device provides the digital picture grouting socket, and responsible DID Control on Communication, and its communication should be consistent with taking aim at equipment with tested target with interface.The digital picture injection device carries out Camera Link Interface Matching to DID among the present invention, adopts Camera Link interface chip to be connected with the image processing system of taking aim at equipment with tested target.Camera Link interface standard uses every link to need Low Voltage Differential Signal (LVDS) transmission technology of two leads, owing to adopt LVDS to transmit, has improved the transmission range and the precision of signal.

As shown in Figure 2, the pouring-in target simulator of digital picture of the present invention adopts FPGA as main control module, at its outside SDRAM memory and FLASH memory of expanding.Main control computer is connected by Byte-Blaster II download cable with configuring chip EPCS4.As shown in Figure 3, FPGA inside mainly be divided into Nios II SOPC system module (embedded soft nuclear SOPC design principle of .Nios II and application such as Li Lanying. publishing house of BJ University of Aeronautics ﹠ Astronautics), target generates and background synthesis module, Camera Link Interface Matching module Beijing:.SDRAM memory and FLASH memory use as the internal memory and the external memory that make up the operation of NiosII SOPC system respectively, and wherein the FLASH memory also is used for storing the data of target background.Following the tracks of the training control device is realized by the Nios II SOPC system module in the FPGA main control module, Nios II SOPC system module uses RS422-RS232 serial communication interface and main control computer communication, by the RS422-RS232 serial communication interface LVDS signal is converted to the TTL signal.The digital picture generating apparatus is generated by the target in the FPGA main control module and the background synthesis module is realized.The digital picture injection device is realized by the Camera Link Interface Matching module in the FPGA main control module.Camera Link Interface Matching module adopts Camera Link interface to be connected with the image processing subsystem of taking aim at equipment with tested target as the camera interface of standard.

As shown in Figure 4, the hardware design of Nios II SOPC system module realizes that by software Quartus II SOPCBuilder the software design realizes by the C Programming with Pascal Language.Major function is the reception that is used for realizing serial data, the calculating of target trajectory and the background image data in the transmission FLASH memory.The initial parameters (starting point, object height, target velocity, the target sizes that comprise target) of the serial data target that mainly to be operator send by main control computer, and target with the target of the equipment of taking aim at by main control computer transmission with taking aim at device parameter (comprising optical focal length, angle of half field-of view, CCD size, equipment azimuth and the equipment angle of pitch), adopt the mode of DMA (direct memory visit) reception UART data to realize.The result of calculation of target trajectory is delivered in target generation and the background synthesis module by PIO interface.Background image data in the FLASH memory is together in programming to the fixing memory block, to read out from the inside by the FLASH read command when using in the programming program, sends in the asynchronous FIFO module by PIO interface again.

The asynchronous FIFO module as shown in Figure 5, major function is the caching function that is used for realizing background image data, realizes buffer memory with the two-port RAM in the FPGA sheet, so the speed of reading and writing is very fast.The asynchronous FIFO module can adopt common external cache device to replace.

The simulation of target dynamic flight can be set up by the target trajectory equation.Illustrate the process of setting up of target trajectory equation below, but this can not constitute any restriction to protection scope of the present invention.

The foundation of object space coordinate system:

In simulation training experiment, must consider the geometry of target, and can not be target as a particle, when describing the space coordinates of target, with the geometric center (centre of form) of target as with reference to point.(x, y z) describe, as shown in Figure 6 the space coordinates of target with rectangular co-ordinate under the o-xyz.Before the simulated training test, need given object run parameter, in training process, according to the given parameters of target motion and the real-time spatial value of calculating target of test process time.

Suppose A, B is two theoretical flight paths, (x ₀, y ₀, z ₀) be the target starting point, z ₀Be the target starting altitude, hypothetical target is highly constant in the flight process, and then following equation (1) is satisfied in the target location in the flight course:

$\left\{\begin{array}{c}x=x_0\±v_{x}t\\ y=y_0\±v_{y}t\\ z=z_0\end{array}\right.---\left(1\right)$

V in the equation (1) _x, v _yBeing the speed of target in x direction and y direction, is d in order to satisfy intercept, v _x, v _yShould satisfy equation (2):

$\frac{v_x}{v_y}=\sqrt{\frac{d^2}{y_0^2-d^2}}---\left(2\right)$

Can calculate the speed of target in x direction and y direction by equation (2), formula is shown in (3):

$\left\{\begin{array}{c}{v}_x=v\cos \left(\arctan \sqrt{\frac{d^2}{{y_0}^2-d^2}}\right)\\ v_y=v\cos \left(\arctan \sqrt{\frac{d^2}{{y_0}^2-d^2}}\right)\end{array}\right.---\left(3\right)$

V is the target flying speed in (3) formula, is known parameters, is provided by main control computer by operator.

The calculating of object pixel size and location of pixels:

The distance R of the relative observation station of target _T, azimuth A _T, angle of pitch E _TComputing formula is shown in (4) formula:

$\left\{\begin{array}{c}{R}_T=\sqrt{x^2+y^2+z^2}\\ A_T=\left\{\begin{array}{cc}90-\arctan \left(\frac{y}{x}\right)& x>0\\ 270-\arctan \left(\frac{y}{x}\right)& x<0\\ 0& x=0,y\&GreaterEqual;0\\ 180& x=0,y<0\end{array}\right.\\ E_T=\arcsin \left(\frac{z}{r}\right)\end{array}\right.---\left(4\right)$

Azimuth of target A according to the calculating of (4) formula _T, angle of pitch Et, obtain actual the sensings A of equipment according to encoder numerical value, E judges target whether in the visual field of tracking equipment, as if | A-A _T|＜w, | E-E _T|＜w (w is the angle of half field-of view of tracking equipment), then target is in the visual field, and miss distance is:

A _i＝A _T-A

E _i＝E _T-E

Then can calculate according to optical system parameter:

Object pixel is of a size of:

$t\arg \mathrm{et}\_\mathrm{pix}=\frac{l\&times;f\&times;n}{R_T\&times;a}$

The target miss distance that with the pixel is unit is:

$t\arg \mathrm{et}\_x=\frac{A_i\&times;n}{2w\&times;\cos \left(E\right)}$

$t\arg \mathrm{et}\_y=\frac{E_i\&times;n}{2w}$

Parameter in the formula: CCD size a * a, the CCD pixel is counted n * x, optical system focal distance f, target size l.

Target generates and the background synthesis module is realized by Verilog HDL Programming with Pascal Language.

As shown in Figure 7, target generation and background synthesis module flow process comprise the steps:

At first receive the image initial parameter (picture frame frequency, image size, picture depth) that main control computer sends; Then receive target component of following the tracks of the training control device and sending (target in image shared pixel count and miss distance) and background image data; Generate target according to the parameter that receives then, and in background, synthesize target; Digital picture after will synthesizing at last sends to Camera Link Interface Matching device.

Camera Link Interface Matching module realizes that by Verilog HDL Programming with Pascal Language the conversion of agreement realizes by the Camera Link interface chip of standard.

Claims (2)

1. the target simulator that digital picture is pouring-in is characterized in that comprising following the tracks of and trains control device, digital picture generating apparatus, digital picture injection device; Target initial parameter that tracking training control device reception main control computer sends and target are with taking aim at device parameter, utilize the target trajectory equation to calculate target shared pixel count and miss distance in the digital picture picture in real time, and send it to the digital picture generating apparatus; The digital picture generating apparatus receives picture frame frequency, image size and the picture depth that main control computer sends, generate target according to target shared pixel count and miss distance in the image picture, call and follow the tracks of the background image data of storing in the training control device, and it is target and background image is synthetic, at last, give the digital picture injection device in real time with the digital picture after synthetic; Digital picture sends target to the image processing system of taking aim at equipment after the digital picture injection device carries out Interface Matching.

2. the pouring-in target simulator of digital picture according to claim 1 is characterized in that described tracking training control device comprises Nios II SOPC system and as the SDRAM memory and the FLASH memory of this system's running memory and external memory; Background image data programming in advance is in the FLASH memory; Nios II SOPC system is connected with main control computer by the RS422-RS232 translation interface, target initial parameter that the reception main control computer sends and target are with taking aim at device parameter, utilize the target trajectory equation to calculate target shared pixel count and miss distance in the digital picture picture in real time, and send it to the digital picture generating apparatus.

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