CN112394382B - Low-speed small target tracking device and method capable of resisting long-term shielding - Google Patents
Low-speed small target tracking device and method capable of resisting long-term shielding Download PDFInfo
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Abstract
The invention provides a low-speed small target tracking device and method for resisting long-time shielding, which aims to solve the technical problem that the existing photoelectric tracking device cannot realize the whole-course tracking monitoring of a shielding unmanned aerial vehicle. The invention adopts a combined detection mode of the photoelectric search tracking device and the monitoring unmanned aerial vehicle, discovers, identifies and tracks the target of the black unmanned aerial vehicle through the photoelectric search tracking device, acquires three-dimensional coordinates and tracks of the target, and carries out relay tracking by the monitoring unmanned aerial vehicle on duty above a monitoring area after the target flies into a building background, so that the photoelectric search tracking device and the monitoring unmanned aerial vehicle jointly synthesize the complete flight track and flight parameters of the black unmanned aerial vehicle, thereby providing effective evaluation data for threat level evaluation of the black unmanned aerial vehicle and effectively solving the problem that a single photoelectric detection has a monitoring blind area such as building background shielding.
Description
Technical Field
The invention belongs to the technical field of photoelectric tracking, and relates to a photoelectric searching, identifying and tracking unmanned aerial vehicle method.
Background
The low-low small target is a collective term of low-altitude, low-speed and small-sized targets, and a low-altitude flying object with a flying height of less than 1000m, a flying speed of less than 200 km and a radar reflection area of less than two square meters is generally called a low-low small target. The low-speed small target mainly comprises a part of low-speed small aircrafts such as civil unmanned aerial vehicles, aviation models and the like, and low-altitude flying objects such as flying birds, kites and the like, and has the characteristics of low take-off requirement, strong lift-off abrupt performance, difficulty in finding and disposing and the like.
The existing detection mode of low-speed and small targets mainly comprises a radar mode and a photoelectric mode, and the radar has the advantages of being long in detection distance, free of influence of weather and the like, but is low in angle measurement precision and cannot adapt to complex background conditions such as cities. The photoelectric detection angle measurement and distance measurement precision is high, the targets can be clearly imaged, the types of the targets are further identified, and meanwhile, the unmanned aerial vehicle targets can be tracked under the urban complex background through multispectral fusion and advanced algorithm.
Because urban environment buildings are numerous, threat unmanned aerial vehicles may shuttle in the buildings, so that the tracking process of the photoelectric tracking device is often shielded by the buildings, and the whole-course tracking, threat level evaluation and effective interception of the shielding unmanned aerial vehicles cannot be realized. More advanced detection and tracking means are needed to monitor the whole course of a low-speed small target in real time.
Disclosure of Invention
The invention provides a low-speed small target tracking device and method for resisting long-time shielding, which aims to solve the technical problem that the existing photoelectric tracking device cannot realize the whole-course tracking monitoring of a shielding unmanned aerial vehicle.
The technical scheme of the invention is as follows:
a low-speed small target tracking device for resisting long-time shielding comprises a photoelectric searching and tracking device;
the photoelectric searching and tracking device comprises a turntable, a controller and an upper computer;
the turntable comprises a turntable body, a multiband spectral imaging module, an infrared imaging module, a laser ranging module and an image fusion plate, wherein the multiband spectral imaging module, the infrared imaging module, the laser ranging module and the image fusion plate are arranged on the turntable body;
the controller comprises a time sequence control board, an image analysis board, a servo driver, a turntable servo control board and a GPU image processing platform;
the special feature is that:
the photoelectric searching and tracking device further comprises a first differential GPS and a first wireless instruction transceiver; a guidance algorithm for generating guidance instructions is operated on the GPU image processing platform;
the low-speed small target tracking device further comprises a monitoring unmanned aerial vehicle;
the monitoring unmanned aerial vehicle is a long-endurance hybrid wing unmanned aerial vehicle, and the long-endurance hybrid wing unmanned aerial vehicle is provided with a small-sized photoelectric nacelle, a second differential GPS and a second wireless instruction receiving and transmitting device;
the second differential GPS is used for positioning the current position of the monitoring unmanned aerial vehicle and providing a data source for the guidance algorithm; the second wireless instruction receiving and transmitting device is used for receiving the guidance instruction from the photoelectric searching and tracking device and transmitting the differential GPS positioning data of the second wireless instruction receiving and transmitting device to the photoelectric searching and tracking device.
Further, the small-sized photoelectric pod adopts a two-axis four-frame structure.
The invention also provides a method for realizing the tracking of the low-speed small target based on the low-speed small target tracking device for resisting long-time shielding, which is characterized by comprising the following steps:
1) The system initialization comprises the steps that an upper computer sets a search airspace range and sends a target search instruction to a controller of a photoelectric search tracking device;
2) The controller receives a target searching instruction, and sets a searching airspace range, and controls the turntable to search targets;
3) The controller identifies the target searched by the turntable, and if the target is detected, the step 4) is entered; if the target is not detected, returning to the step 2);
4) The controller sends the identified target information to the upper computer, and classifies the searched target by deep learning to identify threat level;
5) After the upper computer confirms the target, a target tracking instruction is sent to the controller;
6) The controller receives the target tracking instruction and controls the turntable to capture and track the target;
7) The turntable measures the slant distance of the target through a laser ranging module on the turntable, calculates the three-dimensional coordinate of the target relative to the turntable by combining the azimuth and the pitching angle, and obtains the estimated three-dimensional coordinate of the target in a ground coordinate system after coordinate conversion;
8) The monitoring unmanned aerial vehicle transmits the self-differential GPS positioning information to the controller, and the controller forms a guidance instruction and transmits the guidance instruction to the monitoring unmanned aerial vehicle according to the estimated three-dimensional coordinates of the target in the ground coordinate system and the self-differential GPS positioning information of the monitoring unmanned aerial vehicle;
9) The monitoring unmanned aerial vehicle receives the guidance instruction, approaches to a target according to the guidance instruction, and enters step 10 if the monitoring unmanned aerial vehicle reaches the upper air of the target; if the monitoring unmanned aerial vehicle does not reach the target upper air, returning to the step 8);
10 The photoelectric searching and tracking device sends an active tracking instruction to the monitoring unmanned aerial vehicle, and the monitoring unmanned aerial vehicle captures a target to the center of the field of view of the nacelle by utilizing a small photoelectric nacelle on the monitoring unmanned aerial vehicle and locks the target;
11 Monitoring unmanned aerial vehicle actively tracks the target;
12 Judging whether the target reenters the field of view of the photoelectric searching and tracking device, if so, entering the step 13); if not, returning to the step 11);
13 Judging whether the target reenters the field of view of the photoelectric searching and tracking device, if so, entering the step 13); if not, returning to the step 11);
13 Judging whether to stop tracking the target, if so, ending the flow; if not, returning to the step 6).
Further, the step 11) specifically includes: the monitoring unmanned aerial vehicle obtains the flight track of the target unmanned aerial vehicle according to the self-differential GPS coordinates and the self-azimuth pitching encoder information and the laser ranging information obtained by measuring the airborne small-sized photoelectric pod under the accurate tracking condition, the monitoring unmanned aerial vehicle wirelessly transmits the flight track information of the target unmanned aerial vehicle to the photoelectric searching and tracking device for track synthesis, and the monitoring unmanned aerial vehicle tracks the target unmanned aerial vehicle according to the track synthesized by the photoelectric searching and tracking device.
The beneficial effects of the invention are as follows:
the invention adopts a combined detection mode of the photoelectric search tracking device and the monitoring unmanned aerial vehicle, discovers, identifies and tracks the target of the black unmanned aerial vehicle through the photoelectric search tracking device, acquires three-dimensional coordinates and tracks of the target, and carries out relay tracking by the monitoring unmanned aerial vehicle on duty above a monitoring area after the target flies into a building background, so that the photoelectric search tracking device and the monitoring unmanned aerial vehicle jointly synthesize the complete flight track and flight parameters of the black unmanned aerial vehicle, thereby providing effective evaluation data for threat level evaluation of the black unmanned aerial vehicle and effectively solving the problem that a single photoelectric detection has a monitoring blind area such as building background shielding.
Drawings
FIG. 1 is a block diagram of the composition of the low-slowness small target tracking device of the present invention that is resistant to long-term occlusion.
FIG. 2 is a schematic diagram of the connection relationship between the components of the low-speed small target tracking device resistant to long-term occlusion.
Fig. 3 is a schematic view of a surveillance drone in the present invention.
FIG. 4 is a schematic diagram of the operation of the low-slowness small target tracking device of the present invention against long-term occlusion.
FIG. 5 is a flowchart of the operation of the low-slowness small target tracking device of the present invention against long term occlusion.
Fig. 6 is a schematic structural view of the electro-optical pod in the present invention.
Fig. 7 is a schematic diagram of the joint measurement of the photoelectric search tracking device and the monitoring unmanned aerial vehicle in the invention.
Fig. 8 is a simulation track of the joint measurement of the photoelectric search tracking device and the monitoring unmanned aerial vehicle in the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figures 1 and 2, the low-speed small target tracking device capable of resisting long-time shielding comprises a photoelectric searching tracking device and a monitoring unmanned aerial vehicle.
The photoelectric searching and tracking device comprises a turntable, a controller, an upper computer and accessories (keyboard and mouse display and power supply isolation).
The turntable is mainly used for performing target searching imaging, tracking imaging, laser ranging and searching and tracking actions. The turntable comprises a load assembly and a turntable body; the load assembly is an execution part for photoelectric measurement by the photoelectric searching and tracking device and mainly comprises a multiband spectral imaging module (consisting of three detectors and a multiband spectral imaging zoom lens), an infrared imaging module (consisting of an infrared camera and a lens), a laser ranging module and an image fusion plate; the multi-band spectral imaging module and the infrared imaging module are used for carrying out multi-spectrum detection on the target unmanned aerial vehicle under the complex background, wherein the multi-band spectral imaging module is used for acquiring a multi-spectrum image of the target, and the infrared imaging module is used for acquiring an infrared image of the target; the laser ranging module is used for measuring the slant range of the target unmanned aerial vehicle; the image fusion plate is used for compressing images acquired by the multiband spectral imaging module and the infrared imaging module, converting the images into optical fiber signals and transmitting the optical fiber signals to the image analysis plate in the controller. In order to realize the stability of the platform under the vehicle-mounted condition, an azimuth gyro and a pitching gyro are also arranged on the turntable body. In order to prevent the natural heat dissipation effect of the load assembly from being poor, a heat dissipation fan interface and a heat dissipation fan installation position are reserved on the load assembly structure. The turntable body adopts the existing unit as a bearing mechanism of the load assembly, and can execute azimuth and pitching rotation motions under the instruction of the controller, so that the load assembly can perform scanning search and tracking. The turntable body mainly comprises a frame main body, and an azimuth motor and encoder, a pitching motor and encoder, an azimuth gyro, a pitching gyro, an azimuth photoelectric slip ring, a pitching photoelectric slip ring, a differential GPS module and a fiber gyro north seeker which are arranged on the frame main body, wherein the differential GPS module is used for realizing the positioning of a photoelectric searching and tracking device and obtaining the accurate coordinates of the photoelectric searching and tracking device; the optical fiber gyro north seeker is used for measuring an included angle between a zero position of the azimuth encoder and a north-oriented reference; the azimuth gyro signal and the pitching gyro signal are respectively transmitted to a gyro compensation control board in the controller through a square photoelectric slip ring and a pitching photoelectric slip ring.
The controller is mainly used for image processing and target identification, control of searching and tracking modes of the photoelectric searching and tracking device, control of the multiband spectral imaging module, the infrared imaging module and the laser ranging module and information interaction with the upper computer. The controller comprises a GPU image processing platform, a wireless instruction receiving and transmitting device, a time sequence control board, a turntable servo control board, a gyro compensation control board, a servo driver, an image analysis board and a power module; the wireless instruction receiving and transmitting device is used for sending guidance instructions to the monitoring unmanned aerial vehicle and receiving differential GPS coordinate information returned by the monitoring unmanned aerial vehicle; the time sequence control board is used for providing control time sequence for the GPU image processing platform and the turntable servo control board; the turntable servo control board is used for carrying out servo control on the turntable body; the gyro compensation control board is used for processing gyro signals of the azimuth gyro and the pitching gyro, performing stable image compensation and resolving, and transmitting resolving results to the turntable servo control board for servo feedback control; the servo driver is a power driving mechanism of the azimuth motor and the pitching motor; the image analysis board is used for decompressing the compressed image transmitted by the image fusion board and transmitting the compressed image to the GPU image processing platform; the power supply module is used for converting the voltage of an external isolated power supply to supply power for each module in the controller; the GPU image processing platform is used for performing image processing on the decompressed image, controlling the laser ranging module and receiving laser ranging results, and generating guidance instructions.
The upper computer and the keyboard and mouse display unit are used for displaying search images and tracking images, manually confirming targets, setting relevant parameters of search and tracking and controlling modes. As shown in fig. 3, the monitoring unmanned aerial vehicle is a long-endurance hybrid wing unmanned aerial vehicle, and an onboard small-sized photoelectric pod, a second differential GPS and a second wireless instruction transceiver are installed on the monitoring unmanned aerial vehicle;
the hybrid wing is a combination of four rotors capable of taking off and landing vertically and a fixed wing, a solar panel is arranged on the fixed wing, the monitoring unmanned aerial vehicle can maintain long-time continuous flight by means of the solar panel after taking off, and in a patrol state, the four rotors for taking off and landing vertically do not work, and the monitoring unmanned aerial vehicle is cruised along the periphery of a monitoring area at a higher speed; under the condition of tracking the black flying unmanned aerial vehicle, the monitoring unmanned aerial vehicle is mainly driven by four rotors for vertical take-off and landing, and the flying is stable, so that the on-board small photoelectric pod can conveniently track the black flying unmanned aerial vehicle.
The small photoelectric nacelle is arranged on the long-endurance hybrid wing unmanned aerial vehicle and is used for tracking the black-flying unmanned aerial vehicle in the monitoring area; the miniature optoelectronic pod is an existing unit with the composition shown in fig. 6.
The second differential GPS installed on the long-endurance hybrid wing unmanned aerial vehicle is used for positioning the current position of the monitoring unmanned aerial vehicle and providing a data source for a guidance algorithm.
The second wireless instruction receiving and transmitting device arranged on the long-endurance hybrid wing unmanned aerial vehicle is used for receiving the guidance instruction from the photoelectric searching and tracking device and transmitting the differential GPS positioning data of the second wireless instruction receiving and transmitting device to the photoelectric searching and tracking device.
Fig. 4 is a working schematic diagram of the long-time shielding resistant low-speed small target tracking device, and the positioning precision of the photoelectric searching tracking device and the monitoring unmanned aerial vehicle can be improved by adding the ground differential GPS base station.
As shown in fig. 5, the workflow of the present invention:
1) Initializing a system: comprises system erection, connection and leveling; powering up the system and performing self-checking on each module; the upper computer sets parameters such as a search airspace, sends a target search instruction, takes off the monitoring type unmanned aerial vehicle, and patrol is carried out along the periphery of a monitoring area;
2) The controller receives a search instruction sent by the upper computer, and controls the turntable to search targets according to the set search airspace range;
3) The controller performs searching target recognition, and if a suspected target is detected, the step d) is performed; if the target is not detected, returning to the step 2);
4) The controller sends the identified target information to the upper computer, classifies the targets by deep learning, and identifies threat levels;
5) After confirming the target, the upper computer sends a target tracking instruction;
6) The controller receives a target tracking instruction sent by the upper computer, controls the turntable to capture and track a target, and utilizes the laser ranging module to perform laser ranging, self-adaptive zooming or manual zooming through the upper computer in the tracking process;
7) The photoelectric searching and tracking device measures the slant range of the target unmanned aerial vehicle through laser ranging, the GPU image processing platform calculates the three-dimensional coordinate of the target unmanned aerial vehicle relative to the photoelectric searching and tracking device through combining the azimuth and the pitching angle, and the coordinate of the photoelectric searching and tracking device can be obtained through a differential GPS, and the estimated three-dimensional coordinate of the target unmanned aerial vehicle in a ground coordinate system can be obtained after coordinate conversion;
8) A wireless communication link exists between the monitoring unmanned aerial vehicle and the photoelectric searching and tracking device, self differential GPS positioning information can be transmitted to the photoelectric searching and tracking device, a GPU image processing platform in the photoelectric searching and tracking device forms a guidance instruction according to the coordinates of the target unmanned aerial vehicle and the estimated three-dimensional coordinates of the GPS of the monitoring unmanned aerial vehicle in a ground coordinate system, and the guidance instruction is transmitted to the monitoring unmanned aerial vehicle so as to guide the monitoring unmanned aerial vehicle to approach the upper air of the target unmanned aerial vehicle;
9) The monitoring unmanned aerial vehicle receives the guidance instruction, approaches to a target according to the guidance instruction, and enters step 10 if the monitoring unmanned aerial vehicle reaches the upper air of the target unmanned aerial vehicle; if the monitoring unmanned aerial vehicle does not reach the upper air of the target unmanned aerial vehicle yet, returning to the step 8);
10 The GPU image processing platform in the photoelectric searching and tracking device sends an active tracking instruction to the monitoring unmanned aerial vehicle, the monitoring unmanned aerial vehicle controls the small photoelectric pod to rotate, the target unmanned aerial vehicle is captured to the center of the pod view field, and the target is locked;
11 Monitoring unmanned aerial vehicle actively tracks the target;
the method comprises the steps that a monitoring unmanned aerial vehicle obtains the flight track of a target unmanned aerial vehicle according to self-differential GPS coordinates and self-azimuth pitching encoder information and laser ranging information obtained by measuring an onboard small-sized photoelectric pod under the condition of accurate tracking, the monitoring unmanned aerial vehicle wirelessly sends the flight track information of the target unmanned aerial vehicle to a photoelectric searching and tracking device to perform track synthesis, and the monitoring unmanned aerial vehicle tracks the target unmanned aerial vehicle according to the track synthesized by the photoelectric searching and tracking device; 12 A controller in the photoelectric searching and tracking device judges whether the target reenters the field of view of the photoelectric searching and tracking device, if yes, the step 13 is entered; if not, returning to the step 11);
13 Judging whether to stop tracking the target by a controller in the photoelectric searching and tracking device, if so, ending the flow; if not, returning to the step 6);
the guidance principle of the invention:
1) Ground coordinate system
The point where the photoelectric tracking device is located is taken as a coordinate origin O of a ground coordinate system, the Y axis points north, the X axis points east, and the Z axis is determined according to the right hand rule. The position posture, speed, angular speed and the like of the target unmanned aerial vehicle are measured relative to the coordinate system, the differential GPS mounted on the monitoring unmanned aerial vehicle obtains the original coordinates relative to the WGS84 (world geodetic coordinate system), the differential GPS on the photoelectric tracking device obtains the coordinates of the photoelectric tracking device relative to the WGS84, and finally all the coordinates are converted into the ground coordinate system through coordinate conversion.
2) Machine body coordinate system
The machine body coordinate system is fixedly connected to the monitoring unmanned aerial vehicle, the coordinate origin O is located at the centroid of the monitoring unmanned aerial vehicle, the X axis is located in the symmetry plane of the monitoring unmanned aerial vehicle and is parallel to the design axis of the monitoring unmanned aerial vehicle, and the X axis points to the front of the machine head. The Y axis is perpendicular to the symmetrical plane of the monitoring unmanned aerial vehicle body and points to the right of the body. The Z axis is in the symmetry plane of the monitoring unmanned aerial vehicle, is perpendicular to the XOY plane and points to the lower part of the monitoring unmanned aerial vehicle.
The photoelectric search tracking device is a measuring base station, the position coordinates of the measuring base station are obtained by a differential GPS, and the differential position coordinates of the current measuring base station i are set as (x) i (t),y i (t),z i (t)), after the photoelectric search tracking device aims at the target, the laser range finder measures the target slant distance R (t) in real time, meanwhile, the GPU image processing platform reads out the azimuth encoder value alpha (t) corresponding to the north correction at the current moment, reads out the elevation encoder value beta (t) at the current moment, and then the coordinate of the target unmanned plane, which is observed by the photoelectric search tracking system, in the WGS84 coordinate system is (x) 0 (t),y 0 (t),z 0 (t)) as follows:
after the monitoring type unmanned aerial vehicle takes off, real-time coordinates are obtained by a differential GPS (global positioning system) of the machine body, the monitoring type unmanned aerial vehicle sends the self coordinates to the photoelectric searching and tracking device, and the photoelectric searching and tracking device generates guidance instructions according to the self coordinates of the monitoring type unmanned aerial vehicle and the coordinates of the target unmanned aerial vehicle under the WGS84 coordinate system to guide the monitoring type unmanned aerial vehicle to approach the target unmanned aerial vehicle according to the guidance track. When the distance between the monitoring unmanned aerial vehicle and the target unmanned aerial vehicle is small to a certain threshold value, the photoelectric pod is started to search the target unmanned aerial vehicle, the target unmanned aerial vehicle is captured to the center of the pod view field, and the target is locked.
As shown in fig. 6, the small-sized photoelectric pod on the monitoring unmanned aerial vehicle adopts the existing two-axis four-frame structure, and the two-axis four-frame stabilizing mode is widely applied to a high-precision photoelectric stabilizing system. The system adopts a stable mode of coarse-fine combination, and has obvious structural superiority compared with the traditional two-shaft two-frame system. The main expression is as follows: 1) The motion isolation is good, and the stability and the precision are high; 2) The ring frame locking phenomenon of the stabilizing system at high elevation angle can be avoided; 3) The power and volume of the motor can be reduced.
The outer frame is a coarse stabilizing system, the inner frame is a fine stabilizing system, the inner ring is provided with a stabilized load and a gyroscope, the gyroscope is respectively sensitive to the disturbance motion of pitching and azimuth axial directions, and deviation signals are respectively sent to the inner ring azimuth and pitching motors through a stabilizing loop so as to offset the disturbance. When the base is disturbed, the optical axis deviates from the original inertial space due to friction constraint coupling and geometric constraint coupling. And after the gyro arranged on the inner ring frame receives the interference rate, the inner azimuth ring motor and the inner pitching ring motor are driven to generate compensation rates which are equal to the interference rate and opposite in direction, so that the interference rate is counteracted, and the optical axis is kept stable. Meanwhile, the outer ring frame follows the error signal of the inner ring frame, so that the inner pitch and the outer pitch and the azimuth ring frames are kept parallel, the inner pitch and the inner azimuth shaft are ensured to be always vertical, and geometric coupling is reduced. The coarse and fine stabilizing systems are relatively independent, the inner ring is an independent gyroscopic stabilizing system, and the outer ring is a follower system that follows the inner ring.
The position coordinates of the monitoring type unmanned aerial vehicle are obtained by a differential GPS, and the differential position coordinates of the current monitoring type unmanned aerial vehicle are set as (x 1i (t),y 1i (t),z 1i (t)) after the monitoring unmanned aerial vehicle aims at the target, the laser range finder aims at the target slant distance R in real time 1 (t) measuring while reading out the azimuth angle alpha after north-pointing correction of the optical axis corresponding to the current time by an internal and external azimuth encoder 1 (t) reading out the value beta of the pitching angle of the optical axis at the current moment through the inner pitching encoder and the outer pitching encoder 1 (t) if the target unmanned aerial vehicle observed by the monitoring unmanned aerial vehicle is atThe coordinates in the WGS84 coordinate system are (x 1 (t),y 1 (t),z 1 (t)) as follows:
the measurement track of the final target unmanned aerial vehicle is the target unmanned aerial vehicle track (x 0 (t),y 0 (t),z 0 (t)) and a target unmanned aerial vehicle trajectory (x) measured by a monitoring unmanned aerial vehicle 1 (t),y 1 (t),z 1 (t)) synthesis. If the photoelectric searching and tracking device is used alone for measurement, when the target unmanned aerial vehicle is shielded by a building, the track of the shielding part cannot be obtained, and the photoelectric searching and tracking device can lose the target under the condition of long-time shielding.
Fig. 7 and 8 are simulation diagrams of the photoelectric search tracking device and the monitoring unmanned aerial vehicle combined detection target unmanned aerial vehicle motion track. Under the condition that the building background does not shield the target unmanned aerial vehicle, the detection track of the photoelectric searching and tracking device is taken as the main part, under the condition that the building background shields the target unmanned aerial vehicle, the monitoring unmanned aerial vehicle detects the movement track of the target unmanned aerial vehicle, and finally, the detection track of the photoelectric searching and tracking device and the detection track of the monitoring unmanned aerial vehicle form a target unmanned aerial vehicle movement track.
Claims (4)
1. A low-speed small target tracking device for resisting long-time shielding comprises a photoelectric searching and tracking device;
the photoelectric searching and tracking device comprises a turntable, a controller and an upper computer;
the turntable comprises a turntable body, a multiband spectral imaging module, an infrared imaging module, a laser ranging module and an image fusion plate, wherein the multiband spectral imaging module, the infrared imaging module, the laser ranging module and the image fusion plate are arranged on the turntable body;
the controller comprises a time sequence control board, an image analysis board, a servo driver, a turntable servo control board and a GPU image processing platform;
the method is characterized in that:
the photoelectric searching and tracking device further comprises a first differential GPS and a first wireless instruction transceiver; a guidance algorithm for generating guidance instructions is operated on the GPU image processing platform;
the low-speed small target tracking device further comprises a monitoring unmanned aerial vehicle;
the monitoring unmanned aerial vehicle is a long-endurance hybrid wing unmanned aerial vehicle, and the long-endurance hybrid wing unmanned aerial vehicle is provided with a small-sized photoelectric nacelle, a second differential GPS and a second wireless instruction receiving and transmitting device;
the second differential GPS is used for positioning the current position of the monitoring unmanned aerial vehicle and providing a data source for the guidance algorithm; the second wireless instruction receiving and transmitting device is used for receiving the guidance instruction from the photoelectric searching and tracking device and transmitting the differential GPS positioning data of the second wireless instruction receiving and transmitting device to the photoelectric searching and tracking device.
2. The long-term occlusion resistant low-slow small target tracking device of claim 1, wherein: the small photoelectric pod adopts a two-shaft four-frame structure.
3. A method for implementing slow small target tracking based on the slow small target tracking device with long term blocking resistance as claimed in any one of claims 1-2, comprising the following steps:
1) The system initialization comprises the steps that an upper computer sets a search airspace range and sends a target search instruction to a controller of a photoelectric search tracking device;
2) The controller receives a target searching instruction, and sets a searching airspace range, and controls the turntable to search targets;
3) The controller identifies the target searched by the turntable, and if the target is detected, the step 4) is entered; if the target is not detected, returning to the step 2);
4) The controller sends the identified target information to the upper computer, and classifies the searched target by deep learning to identify threat level;
5) After the upper computer confirms the target, a target tracking instruction is sent to the controller;
6) The controller receives the target tracking instruction and controls the turntable to capture and track the target;
7) The turntable measures the slant distance of the target through a laser ranging module on the turntable, calculates the three-dimensional coordinate of the target relative to the turntable by combining the azimuth and the pitching angle, and obtains the estimated three-dimensional coordinate of the target in a ground coordinate system after coordinate conversion;
8) The monitoring unmanned aerial vehicle transmits the self-differential GPS positioning information to the controller, and the controller forms a guidance instruction and transmits the guidance instruction to the monitoring unmanned aerial vehicle according to the estimated three-dimensional coordinates of the target in the ground coordinate system and the self-differential GPS positioning information of the monitoring unmanned aerial vehicle;
9) The monitoring unmanned aerial vehicle receives the guidance instruction, approaches to a target according to the guidance instruction, and enters step 10 if the monitoring unmanned aerial vehicle reaches the upper air of the target; if the monitoring unmanned aerial vehicle does not reach the target upper air, returning to the step 8);
10 The photoelectric searching and tracking device sends an active tracking instruction to the monitoring unmanned aerial vehicle, and the monitoring unmanned aerial vehicle captures a target to the center of the field of view of the nacelle by utilizing a small photoelectric nacelle on the monitoring unmanned aerial vehicle and locks the target;
11 Monitoring unmanned aerial vehicle actively tracks the target;
12 Judging whether the target reenters the field of view of the photoelectric searching and tracking device, if so, entering the step 13); if not, returning to the step 11);
13 Judging whether the target reenters the field of view of the photoelectric searching and tracking device, if so, entering the step 13); if not, returning to the step 11);
13 Judging whether to stop tracking the target, if so, ending the flow; if not, returning to the step 6).
4. A method according to claim 3, characterized in that: the step 11) specifically comprises the following steps: the monitoring unmanned aerial vehicle obtains the flight track of the target unmanned aerial vehicle according to the self-differential GPS coordinates and the self-azimuth pitching encoder information and the laser ranging information obtained by measuring the airborne small-sized photoelectric pod under the accurate tracking condition, the monitoring unmanned aerial vehicle wirelessly transmits the flight track information of the target unmanned aerial vehicle to the photoelectric searching and tracking device for track synthesis, and the monitoring unmanned aerial vehicle tracks the target unmanned aerial vehicle according to the track synthesized by the photoelectric searching and tracking device.
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| CN113241974B (en) * | 2021-06-09 | 2022-12-06 | 广州科易光电技术有限公司 | Photoelectric pod and photoelectric pod control method |
| CN113741505B (en) * | 2021-11-03 | 2022-03-22 | 武汉高德红外股份有限公司 | Infrared search tracking method, equipment and system based on automatic layer lifting of motion estimation |
| CN113780246B (en) * | 2021-11-09 | 2022-02-25 | 中国电力科学研究院有限公司 | Unmanned aerial vehicle three-dimensional track monitoring method and system and three-dimensional monitoring device |
| CN114119677A (en) * | 2022-01-26 | 2022-03-01 | 华中科技大学 | Maneuvering photoelectric detection and identification system for low-slow small target |
| CN115542318B (en) * | 2022-10-12 | 2024-01-09 | 南京航空航天大学 | Unmanned aerial vehicle group target-oriented air-ground combined multi-domain detection system and method |
| CN116165674B (en) * | 2023-04-25 | 2023-07-25 | 北京融合汇控科技有限公司 | Accurate positioning method for black flying unmanned aerial vehicle |
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