CN102116596B - Method for judging targeting of simulated shooting for tank element training based on image analysis - Google Patents
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- CN102116596B CN102116596B CN200910264156.XA CN200910264156A CN102116596B CN 102116596 B CN102116596 B CN 102116596B CN 200910264156 A CN200910264156 A CN 200910264156A CN 102116596 B CN102116596 B CN 102116596B
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Abstract
The invention discloses a method for judging the targeting of simulated shooting for tank element training based on image analysis, which comprises the following steps of: installing a video camera facing forwards on one's own gun barrel, and acquiring images by using the video camera, wherein the optical axis of the video camera coincides with or is parallel to the axis of the gun barrel or the axis of a sighting telescope; installing the video camera on a dual-axis tilt sensor in parallel, and providing the horizontal angle and the pitch angle of the video camera by the tilt sensor; installing invisible infrared light sources with different flicker frequencies and beats on different targets to mark the numbers and the indicating positions of the targets; starting to collect images when one's own gunner sights the target, and stopping collection until the gunner presses a shooting button and images that a cannonball reaches the target; and transmitting the collected images to a processing unit, detecting the existence of the light source in each image and the position of the light source by the processing unit, obtaining the flicker frequencies and the beats of the light sources in the visual field through multiple continuous images so as to obtain the identity of a tank, and judging whether the target is hit and the hitting position.
Description
Technical field
The invention belongs to and utilize graphical analysis to judge the technology whether tank hits the mark, particularly a kind of method for judging targeting of simulated shooting for tank element training based on graphical analysis.
Background technology
At present, the main advanced technologies such as laser, computer, radio communication that adopt of tank training, replace transmitting live shell with Emission Lasers.The red blue Confrontation Training Simulation System of this multifunctional comprehensive laser (being called for short MILES) [Mao Dexiang, peak stands in great numbers. Wireless Training System of Laser Shooting Simulator [D], Dalian University of Technology, 2006] mainly by laser transmitter and detector, formed.When weapon-shooting, one's own side's MILES launches the infrared laser parallel with sight line, and target person or target vehicle are provided with infrared laser detecting device, and the microprocessor on detector analyzes to determine whether self is hit to the received signal.There are following several shortcomings in this kind of method:
(1) laser training " a dozen just in " is not inconsistent with true shell.Because the speed of laser beam is the light velocity, the other side's target cannot be evaded, and real shell arrives target and at least needs several seconds from pulling the trigger to.
(2) laser training " a dozen are just ruined " is very large and be difficult to accurately judge whether to hit and distinguish the position of hitting with true shell difference.Because laser always has certain angle of divergence, along with the increase of target range, arrive the hot spot that the laser of target forms very large, cause being difficult to accurately judging whether being difficult to the position of hitting and hitting injure assessment, thereby be mostly to sentence, smash, withdraw from acting; And the size of real shell is changeless, along with the increase of flying distance, do not become large, the position of hitting is also a very little part.
(3) flight path that laser training " laser is by straightaway " can not imitate true shell.The flight path of true shell is parabolic shape, and in order to eliminate the impact of gravity, the region that during aiming, gun tube points to is not the drop point region of shell, and gun tube causes straightaway laser to be beaten in fall short while having certain angle of site.
Along with the development of modern military technology and tank equipment, this training method all can not fully meet the demand of military modernization at aspects such as precision, performances.
Summary of the invention
The object of the present invention is to provide a kind of more can approach ball firing, the training shot of high-precision armored motor unit hits decision method.
The technical scheme that realizes the object of the invention is: a kind of method for judging targeting of simulated shooting for tank element training based on graphical analysis, and step is as follows:
Step 1: the installation of camera system, the video camera of a face forward is installed on the gun tube of one's own side's tank, this video camera is arranged on double-shaft tilt angle sensor, and obliquity sensor provides level and the angle of pitch of video camera; This video camera install can only receive the wave-length coverage of invisible light source consistent optical filter, the image that utilizes video camera to obtain to comprise the place ahead target, and utilize obliquity sensor to obtain Yin Tanke to tilt and image line coordinate and the horizontal angle that rolling causes occur, the horizontal and vertical visual angle of note video camera is respectively w
aand h
adegree, the wide height of video camera gained image is respectively w
pand h
pindividual pixel, the video camera attitude horizontal angle that obliquity sensor records is α degree;
Step 2: the installation of infrared light supply, light source non-visible light, that have different flicker frequencies and beat is installed in target, the line flicker of going forward side by side, the difference of flicker frequency and beat represents different targets;
Step 3: IMAQ, when aiming at, one's own side gunner starts to gather image, until one's own side gunner just stops gathering while arriving target after imaginary shell flight dt after by firing button, obtain a series of images I
1, I
2... Ib ..., Ie, wherein I
1represent piece image, Ib representative percussion image constantly, Ie represents most end piece image, from obtaining the image of Ib image after time dt; Dt looks into firing table according to target range D and bullet kind B to obtain, and looks into firing table and obtain gun tube is raised by gravity fall in flight course angle φ degree for offsetting shell;
Step 4: image registration, the image I of collection
1i
2... I
b... Ie is transferred to processing unit, and processing unit, according to the relative motion state between target, determines whether to carry out image registration, and the accurate good image sequence of establishing is I
1i '
2Λ I '
e, when if one's own side's tank is motionless, without registration, i.e. I
1i
2... Ie is I
1i '
2Λ I '
e; When the other side's tank is motionless if one's own side's tank moves, directly get I '
efor I; If both sides' tank all, when motion, uses image registration techniques to original image sequence I
1i
2... I
b... the every width image I in Ie
ito its last width I '
i-1carry out registration, obtain I
1i '
2Λ I '
e;
Step 5: in the good image I of registration
1i '
2Λ I '
eor I
1i
2... in Ie, detect whether light source in every width image exists and the position of light source, and by continuous multiple image, calculate frequency and the beat of the light source scintillation in the visual field, thereby obtain the identity ID of tank;
Step 6: the imaginary Fall Of Shot region Ω that the image I b of take is reference determines, according to attitude horizontal angle α, φ, the w of video camera corresponding to the Ie image moment
a, h
a, w
pand h
p, in image I b, determine the drop point of shell, drop point is to comprise Ib central series w certainly
p/ 2 anglec of rotation α and central row H
p/ 2 move down certain region Ω of angle φ, and the registration relation obtaining according to step 4, obtain the corresponding region Φ of Ω in Ie;
Step 7: appear at the position in Φ by light source, judge whether target is hit;
Step 8: according to the distance B of target type T and target, by searching the Morphological databank of different target in different distance, obtain the size A that should have and the form S of target in image Φ, and compare with image Φ, further obtain the position that target is hit.
Compared with prior art, its remarkable advantage is in the present invention: (1) is truer: the trajectory of real simulation shell and flight time and target motor-driven.Can guarantee after flight a period of time, to arrive in the image that target takes constantly at imaginary shell, whether hitting of identification target not judges in aiming at image constantly.(2) hit the high resolution at position: be more conducive to identify the position that target is hit in training, be conducive to the assessment of operational efficiency.Video camera is the resolution ratio of Pixel-level, and the physical size of each pixel representative (such as being less than 5cm * 5cm at 2000m place) is far smaller than the hot spot (such as being greater than 400cm * 400cm at 2000m place) of laser.(3) safer: owing to adopting lower powered illuminating source and initiatively shooting, to not injury of human eye, laser is beaten on human eye likely blinding.(4) expandability is strong: can inform target whether by the other side's locking, can add up number of times that each target locked by the other side and once by whose locking, the scalability such as can the image when aiming at and hitting transmit.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the equipment scheme of installation that decision method is hit in armored motor unit's training shot of the present invention is based on graphical analysis.
Fig. 2 is processing unit schematic diagram of the present invention.
Fig. 3 is shell track of the present invention and drop point administrative division map.
The specific embodiment
The method for judging targeting of simulated shooting for tank element training that the present invention is based on graphical analysis, step is as follows:
Step 1: the installation of camera system.The video camera 2 of a face forward is installed on the gun tube of one's own side's tank, and video camera is arranged on double-shaft tilt angle sensor 1, and obliquity sensor provides level and the angle of pitch of video camera; Video camera is installed the optical filter of specific wavelength, can only receive the light of specific wavelength, consistent with the wave-length coverage of invisible light source in the present invention while specifically implementing, such as the infrared fileter of wavelength at 830-880nm.The image that utilizes video camera to obtain to comprise the other side (the place ahead) target (tank, panzer etc.), and utilize obliquity sensor to obtain Yin Tanke to tilt and image line coordinate and the horizontal angle that rolling causes occurs.The horizontal and vertical visual angle of note video camera is respectively w
aand h
adegree, the wide height of video camera gained image is respectively w
pand h
pindividual pixel, the video camera attitude horizontal angle that obliquity sensor records is α degree.
Image has very high spatial resolution, and the image pixel of video camera can arrive millions of pixels at present, and resolution ratio is more than 1000 * 1000, and the gun tube of energy clear and legible 1.5km place tank, therefore has very high resolution capability to hitting position.Can adopt following video camera mount scheme IA or scheme IB:
Scheme IA:
Video camera and obliquity sensor thereof are installed on gun muzzle, make the dead in line of optical axis and the gun tube of video camera by adjusting the Installation posture of video camera.As Fig. 1 .A is arranged on as shown in gun muzzle.
Scheme IB:
Video camera and obliquity sensor thereof are installed on gun tube, by adjust the Installation posture of video camera make the optical axis of video camera and the axis of gun tube parallel.As Fig. 1 .B is arranged on as shown in gun tube.
Scheme IA has guaranteed that the horizontal range dx vertical range dy of the axis runout barrel axis of video camera is all zero; Scheme IB has guaranteed that the horizontal range dx of the axis runout barrel axis of video camera is that zero-sum vertical range dy is known constant, and the unit of dy is rice (m).
Can adopt the video camera of 1280 * 960 infrared-sensitive, collection image 50 width per second, adopt the camera lens of f=75mm, add the infrared band pass filter of 830-880nm.
Step 2: the installation of infrared light supply.Light source 3 non-visible light, that have different flicker frequencies and beat is installed in target, the line flicker of going forward side by side, the difference of flicker frequency and beat represents different targets.During concrete enforcement, can adopt a plurality of wavelength to form light source of the present invention at the infrarede emitting diode of 845nm, this light source is safe to human eye.In order to guarantee the least possible being blocked, the infrared light supply in this patent can be arranged on the commanding elevation of tank, i.e. the top of tank, as shown in 3 in Fig. 1.The light source of installing on different tanks has different flicker frequencies and beat, to represent different tank numberings.
Can adopt 10 wavelength to form light source of the present invention at the infrarede emitting diode of the power 5w of 845nm, adopt the form of 9 codings, B8B7B6...B0, wherein B8B7B6 is the start bit of coding, B5..B0 is Target id, can represent at most 64 targets (removing the coding that comprises start bit in the coding of B5..B0).Every coding takies the duration of 70ms, when Bi=1, and the bright 70ms of light source; When Bi=0, the light source 70ms that goes out.
In every 50 width images, find the bright number of times of light source, be the flicker frequency of light source, the difference of flicker frequency also can be for the identification of tank ID.
Step 3: IMAQ.In gunner's aiming process, video camera gathers image always, until one's own side gunner just stops gathering while arriving target after imaginary shell flight dt after by firing button, obtains a series of images I
1i
2... Ib...Ie, wherein I
1represent piece image, Ib representative percussion image constantly, Ie represents most end piece image, from obtaining the image of Ib image after time dt; Dt looks into firing table according to target range D and bullet kind B to obtain, and looks into firing table and obtain gun tube is raised by gravity fall in flight course angle φ degree for offsetting shell.
Step 4: image registration.The image I gathering
1i
2... I
b... Ie is transferred to processing unit 4 (can be a kind of computer with image collecting function), processing unit is according to the relative motion state between target, (method of image registration can list of references: Wu Xia to determine whether to carry out image registration, panorama sketch Generation Technology [D] in wide area surveillance, Institutes Of Technology Of Nanjing's Master's thesis 2008).The accurate good image sequence of establishing is I
1i '
2Λ I '
e.If when one's own side's tank is motionless (one's own side is defender), without registration, I1 I2...Ie is I
1i '
2Λ I '
e; When the other side's tank is motionless if one's own side's tank moves (the other side is defender), can directly get I '
efor Ib; If both sides' tank all, when motion (this kind of situation generally do not occur in training), uses image registration techniques to original image sequence I
1i
2... I
b... the every width image I in Ie
ito its last width I '
i-1carry out registration, obtain I
1i '
2Λ I '
e.
Fig. 2 is processing unit schematic diagram of the present invention, mainly contains three modules: picture signal input module be mainly responsible for to gather image, and accepts the further IMAQ that whether needs that processing center transmits; Center processor comprises bullet table, and whether Morphological databank and data processing are mainly judged according to bullet table and Morphological databank whether target is hit, and oneself hit, if oneself is hit, send the indication of smoldering; Information wireless transport module hits instruction (comprising command car and target) for sending, receives the numbering of instruction, lock onto target etc.
Image sequence can be described the movement locus that shooter pulls the trigger rear target tank well, can, in the flight time of analog cartridge, allow target tank within the flight time of shell, to carry out evasive maneuvering; But not as laser a dozen just in, do not reserve target tank and evade the time.
In like manner, defer sentence of the present invention, can embody the lead (not run-home position while aiming at, but the position that shooter's target of prediction arrives after dt) of shooting well, and this is that laser training is not accomplished.
Step 5: in the good image I of registration
1i '
2Λ I '
ein (be exactly I sometimes
1i
2... Ie), detect whether light source in every width image exists and the position of light source, and resolve by continuous multiple image frequency and the beat that (employing image analysis technology) goes out the light source scintillation in the visual field, thereby obtain the identity ID of tank.Under extreme case, in the visual field of video camera, may have many tanks, detect the identity code that obtains many tanks, fetch bit is put and in the most close Step.6, is obtained the identity code of (sx, sy) coordinate as the identity ID of tank target under attack.
The identity ID that obtains tank is can notification target tank locked; Also this identity ID can be sent to command centre, command centre can add up the blocked number of times of target and once by who locking etc.
Step 6: the imaginary Fall Of Shot region Ω that the image I b of take is reference determines.According to attitude horizontal angle α, φ, the w of video camera corresponding to the Ie image moment
a, h
a, w
pand h
p, in image I b, determine the drop point of shell, drop point is to comprise Ib central series w certainly
p/ 2 anglec of rotation α and central row H
p/ 2 move down certain region Ω of angle φ, and the registration relation obtaining according to step 4, obtain the corresponding region Φ of Ω in Ie.During shooting, gunner is by bullet kind and target range D (unit: rice) input processor, processor is looked into firing table according to target range D and bullet kind B and is obtained gun tube is raised by gravity fall in flight course angle φ (unit: degree) for offsetting shell, suppose that the video camera attitude horizontal angle that gun tube obliquity sensor now records is α (unit: degree), by following formula obtain the point of impact coordinate (sx, sy) of imaginary shell in image I b (unit: pixel):
When operational version IA, the calculating that the image coordinate of the point of impact (sx, sy) that the Ib of take is reference adopts Fig. 3 to show.Fig. 3 is that the shell whereabouts track of decision method and schematic diagram and the computational methods in drop point region are hit in the armored motor unit's training shot that the present invention is based on graphical analysis.In figure, image is clapped by video camera in the right, and+word bit is set to point of impact (sx, sy), and oblique rectangle frame is the rectangular area Ω at point of impact center.Wp and hp are respectively width and the height (unit: pixel) of the image of shot by camera, the horizontal and vertical visual angle of their correspondences is respectively wa and ha (unit: degree), L1 is the central series wp/2 of image, L2 is the central row Hp/2 of image, L2 ' is the image line that L2 offsets gun tube elevation angle, L3 signal the earth horizontal line, and L1 ' is the normal trajectories of the whereabouts of shell in image, L3 ' is the horizontal trajectory of Fall Of Shot, and point of impact is the intersection point of L3 ' and L1 '.
When operational version IB, first hypothesis is exactly the coordinate (sx, sy) that operational version IA obtains drop point, more on this basis, deducts a correction deltay and get final product (because the axis of gun tube is than the low dy rice of the axis of actual IB).
Wherein, w
pwidth (the unit: pixel), be also the columns of image of the image obtaining for camera acquisition; h
pheight (the unit: pixel), be also the line number of image of the image obtaining for camera acquisition; Ha is the visual angle (unit: degree) of the high and low position of the image that obtains of camera acquisition; Obvious h
p/ h
aline number for the image of every degree representative; During operational version IB, dy/ (D * tag (h
a/ 2)) * (h
p/ 2) for bringing correction because of camera optical axis higher than gun tube optical axis dy.
According to the difference of the far and near D of target range, the regions of getting different sizes of usining centered by (sx, sy) are as the drop point region Ω of imaginary shell.
Step.7 the registration relation obtaining according to step 4, obtain the corresponding region Φ of Ω in Ie.Set its width and be highly respectively Φ
wand Φ
h(unit: pixel); The coordinate of the point of impact of obvious imaginary shell in Φ is (Φ
w/ 2, Φ
h/ 2).Suppose that now the position of light source is (Lx, Ly), by calculating (Lx, Ly) and (Φ
w/ 2, Φ
h/ 2) distance, can judge whether tank is hit.
Step 8: according to the distance B of target type T and target, by searching the Morphological databank of different target in different distance (database is the different target type that establishes the in advance many attitude in different distance), according to the difference of training objective and distance, obtain the size A that should have and the form S of target in image Φ, and compare with image Φ, further obtain the position that target is hit.Can send to command centre by hitting image constantly and the position of hitting of tank, be convenient to further Function Extension.
Claims (6)
1. the method for judging targeting of simulated shooting for tank element training based on graphical analysis, is characterized in that step is as follows:
Step 1: the installation of camera system, the video camera of a face forward is installed on the gun tube of one's own side's tank, this video camera is arranged on double-shaft tilt angle sensor, and obliquity sensor provides level and the angle of pitch of video camera; This video camera is provided with the optical filter that can only receive the light consistent with the wave-length coverage of black light, the image that utilizes video camera to obtain to comprise the place ahead target, and utilize obliquity sensor to obtain Yin Tanke to tilt and image line coordinate and the horizontal angle that rolling causes occur, the horizontal and vertical visual angle of note video camera is respectively w
aand h
adegree, the wide height of video camera gained image is respectively w
pand h
pindividual pixel, the video camera attitude horizontal angle that obliquity sensor records is α degree;
Step 2: the installation of infrared light supply, light source non-visible light, that have different flicker frequencies and beat is installed in target, the line flicker of going forward side by side, the difference of flicker frequency and beat represents different targets;
Step 3: IMAQ, when aiming at, one's own side gunner starts to gather image, until one's own side gunner just stops gathering while arriving target after imaginary shell flight dt after by firing button, obtain a series of images I
1, I
2... Ib ..., Ie, wherein I
1represent piece image, Ib representative percussion image constantly, Ie represents most end piece image, from obtaining the image of Ib image after time dt; Dt looks into firing table according to target range D and bullet kind B to obtain, and looks into firing table and obtain gun tube is raised by gravity fall in flight course angle φ degree for offsetting shell;
Step 4: image registration, the image I of collection
1i
2... I
b... Ie is transferred to processing unit, and processing unit, according to the relative motion state between target, determines whether to carry out image registration, and the accurate good image sequence of establishing is I
1i '
2... I '
e, when if one's own side's tank is motionless, without registration, i.e. I
1i
2... Ie is I
1i '
2... I '
e; When the other side's tank is motionless if one's own side's tank moves, directly get I '
efor I
b; If both sides' tank all, when motion, uses image registration techniques to original image sequence I
1i
2... I
b... I
ein every width image I
ito its last width I '
i-1carry out registration, obtain I
1i '
2... I '
e;
Step 5: in the good image I of registration
1i '
2... I '
eor I
1i
2... in Ie, detect whether light source in every width image exists and the position of light source, and by continuous multiple image, calculate frequency and the beat of the light source scintillation in the visual field, thereby obtain the identity ID of tank;
Step 6: the imaginary Fall Of Shot region Ω that the image I b of take is reference determines, according to attitude horizontal angle α, φ, the w of video camera corresponding to the Ie image moment
a, h
aand the wide high w of image
pand h
pindividual pixel is determined the drop point of shell in image I b, and drop point is to comprise Ib central series w certainly
p/ 2 anglec of rotation α and central row h
p/ 2 move down certain region Ω of angle φ, and the registration relation obtaining according to step 4, obtain the image Φ of the corresponding region of Ω in Ie; In image I b, play point coordinates for (sx, sy);
Step 7: appear at the position in the image Φ of corresponding region by light source, judge whether target is hit;
Step 8: according to the distance B of target type T and target, by searching the Morphological databank of different target in different distance, obtain the size A that should have and the form S of target in the image Φ of corresponding region, and compare with the image Φ of corresponding region, further obtain the position that target is hit.
2. the method for judging targeting of simulated shooting for tank element training based on graphical analysis according to claim 1, it is characterized in that in step 1, video camera and obliquity sensor thereof are installed on gun muzzle, make the dead in line of optical axis and the gun tube of video camera by adjusting the Installation posture of video camera.
3. the method for judging targeting of simulated shooting for tank element training based on graphical analysis according to claim 1, it is characterized in that in step 1, video camera and obliquity sensor thereof are installed on gun tube, by adjust the Installation posture of video camera make the optical axis of video camera and the axis of gun tube parallel.
4. the method for judging targeting of simulated shooting for tank element training based on graphical analysis according to claim 1, it is characterized in that in step 5, locked when obtaining the identity ID notification target tank of tank, or when this identity ID being sent to Shi， command centre of command centre can add up the blocked number of times of target and once by whose locking.
5. the method for judging targeting of simulated shooting for tank element training based on graphical analysis according to claim 1, it is characterized in that in step 5, if while there is many tanks in the visual field of video camera, detect the identity code that obtains many tanks, fetch bit is put and in the most close step 6, is obtained the identity code of (sx, sy) coordinate as the identity ID of tank target under attack.
6. the method for judging targeting of simulated shooting for tank element training based on graphical analysis according to claim 1, is characterized in that in step 7, sets its width and is highly respectively Φ
wand Φ
h, unit is pixel; The coordinate of the point of impact of imagination shell in Φ is (Φ
w/ 2, Φ
h/ 2); Suppose that now the position of light source is (Lx, Ly), by calculating (Lx, Ly) and (Φ
w/ 2, Φ
h/ 2) distance, can judge whether tank is hit.
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| CN105004266A (en) * | 2015-06-26 | 2015-10-28 | 哈尔滨工程大学 | Multiple-launch rocket firing accuracy measuring instrument provided with filter |
| CN106980738B (en) * | 2017-04-12 | 2020-06-12 | 中国人民解放军63867部队 | Method and device for constructing ammunition power firing watch |
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| CN109408877B (en) * | 2018-09-17 | 2021-01-12 | 北京晶品镜像科技有限公司 | Intelligent shooting decision-making method for anti-tank missile teams |
| CN109522890B (en) * | 2018-09-21 | 2020-11-03 | 北京晶品特装科技有限责任公司 | Method for identifying tank target by using near-infrared flash light source |
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