CN112648887B - Photoelectric tracking and control method based on common-frame radar composite detection - Google Patents
Photoelectric tracking and control method based on common-frame radar composite detection Download PDFInfo
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- CN112648887B CN112648887B CN202011482611.6A CN202011482611A CN112648887B CN 112648887 B CN112648887 B CN 112648887B CN 202011482611 A CN202011482611 A CN 202011482611A CN 112648887 B CN112648887 B CN 112648887B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H13/00—Means of attack or defence not otherwise provided for
- F41H13/0043—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target
- F41H13/005—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target the high-energy beam being a laser beam
- F41H13/0062—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target the high-energy beam being a laser beam causing structural damage to the target
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
- F41G1/473—Sighting devices for particular applications for lead-indicating or range-finding, e.g. for use with rifles or shotguns
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/883—Radar or analogous systems specially adapted for specific applications for missile homing, autodirectors
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a photoelectric tracking and control method based on common-frame radar composite detection, which comprises the following steps: s1, correcting the optical axis; s2, after the optical axis is corrected, the angle deviation calibration is carried out on the emission optical axis, the imaging optical axis and the mechanical axis of the turntable; s3, after the axis is calibrated, the target is primarily tracked in real time; s4, carrying out fine tracking after the initial tracking of the target is realized; s5, after the target is stably and precisely tracked, emitting, hitting and focusing the target, and focusing the laser capability on the target by emitting laser; the invention realizes the function of multi-mode composite detection integration, and has high tracking and striking precision and the like.
Description
Technical Field
The invention relates to the field of photoelectric tracking, in particular to a photoelectric tracking and control method based on common-frame radar composite detection.
Background
The beam control and tracking equipment (ATP for short) is an important component of laser weapons and multifunctional laser combat vehicles, and is aimed at transmitting high-energy laser to transmitting telescope through relay transmission optical path, and focusing it on far-field target to implement target strike and destroy. The main function of the system is to complete the functional links of high-power laser transmission, pointing control, target identification and tracking, active illumination, aiming, striking and the like.
At present, ATP equipment has the problems of large and heavy structure, low integration level, high use cost, single combat application environment, low working efficiency, improved space for target capture, tracking and hitting precision and the like.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a photoelectric tracking and control method based on common-frame radar composite detection, realizes the function of multi-mode composite detection integration, and has high tracking and striking precision and the like.
The purpose of the invention is realized by the following scheme:
the photoelectric tracking and control method based on the common-frame radar composite detection comprises the following steps:
s1, correcting the optical axis, emitting guide light, guiding the light through the arranged fast reflection mirror 16 and the Kude optical path, and then reaching the visible light fine tracking camera 10 in the fine tracking system, wherein the visible light fine tracking camera is used as the calibration error of the optical axis to output the miss distance of the image; the miss distance is provided for the two-dimensional adjusting movable mirror 11 and the two-dimensional adjusting movable mirror 12, and the value of the miss distance on the visible light fine tracking camera 10 is minimized by adjusting the pitching and horizontal positions of the two-dimensional adjusting movable mirror 11 and the pitching and horizontal positions of the two-dimensional adjusting movable mirror 12, so that the correction of the optical axis is realized;
s2, after optical axis correction, emitting main laser, collimating by a first reflector 23, returning collimated laser to a fine tracking short wave camera 9 after passing through a beam expanding system 24 and being reflected to a spectroscope 26 by a second reflector 25, and after being refracted and reflected by a pyramid prism 28, returning part of weak light transmitted by the spectroscope 26 to the fine tracking short wave camera 9, wherein the fine tracking short wave camera 9 and the collimating lens group 22 are used for forming a control closed loop system, the collimating lens group 22 is a two-dimensional electric adjusting lens group, the minimum miss distance on the fine tracking short wave camera 9 is realized by adjusting the collimating lens group 22, and the calibration of the angle deviation of an emission optical axis, an imaging optical axis and a turntable mechanical axis is realized;
s3, after the axis is calibrated, the search radar submodule of the common radar 3 captures a target, information of the target is fed back to the tracking radar submodule of the common radar 3, the tracking radar submodule and an angle decoder of the photoelectric tracking rotary table realize control closed loop, the photoelectric tracking rotary table rotates, the tracking target is pointed, the target is captured, after the target is pointed, the target is subjected to real-time ranging through the target ranging machine 5, and distance information of the target is obtained after the ranging; the visible light tracking imaging camera 7 and the infrared tracking imaging camera 4 of the primary tracking system realize real-time zooming and focusing on an object under a specified target, and a clear target image can be obtained after zooming and focusing, so that real-time primary tracking on the target is realized;
s4, after the initial tracking of the target is realized, the target is switched to the transmitting telescope 1, the Kude light guide light path, the spectroscope 26, the imaging spectroscope 27, the fine tracking short wave camera 9, the visible light fine tracking camera 10, the fast reflecting mirror 16 and the display of the fine tracking system by the initial tracking system, and a clear image of an amplified object is obtained on a display control screen of the display; when an object moves in real time, the target distance measurement is realized through the target distance measuring machine 5, the obtained distance information is fed back to the infrared tracking imaging camera 4 and the visible light tracking imaging camera 7 of the primary tracking system, the infrared tracking imaging camera 4 is used at night, and the visible light tracking imaging camera 7 is used in the day; when an object moves, an imaging camera of the primary tracking system obtains miss distance of the image, miss distance information is fed back to a decoder of a horizontal motor and a pitching motor of the tracking photoelectric tracking rotary table, two-dimensional motion of the photoelectric tracking rotary table is achieved, the object is tracked in real time, obtained distance information is simultaneously fed back to a focusing assembly of the imaging camera of the fine tracking system, when the image information of the primary tracking system is transferred to a camera of the fine tracking system, the view field of the camera of the fine tracking system is smaller than that of the primary tracking, the focal distance is larger than that of the camera of the primary tracking system, and the image of the target can be displayed clearly and fully amplified; in the precise tracking system, an imaging module is composed of a precise tracking short-wave camera 9, a visible light precise tracking camera 10, a fast reflecting mirror 16 and a motor; the control closed loop is realized through the fast reflecting mirror 16 driven by the motor, the fine tracking short wave camera 9 of the fine tracking system and the visible light fine tracking camera 10, and the high-frequency shaking of the image can be corrected in real time;
s5, after stable and accurate tracking of the target is achieved, the laser emitting head 21 emits laser, and the laser passes through the first reflecting mirror 23, the beam expanding system 24, the spectroscope 26, the Kude light guide path, the fast reflecting mirror 16, the emission telescope secondary mirror 15 and the emission telescope primary mirror 17 in sequence and then is emitted to the target; the beam expanding system 24 can focus the transmitted laser, after camera locking target in the accurate tracking system and continuously track the target, the information fed back by the target distance measuring machine 5 is transmitted to the beam expanding system 24, and the focusing is struck to the transmission of the target by the lens group of the beam expanding system 24, and the capability of the laser is focused on the target by the transmitted laser.
Further, in step S1, an image decoupling step is included, and the miss distance of the image is output after the image decoupling step.
Further, in step S4, the motor for driving the fast reflecting mirror 16 includes a voice coil motor.
And further, the method comprises a laser lighting step, wherein the target is subjected to laser lighting through a lighting laser device 6, and the target is tracked in real time by matching with a primary tracking system and a fine tracking system.
Further, after the common radar 3 obtains target information, a control loop is formed with an encoder of the photoelectric tracking rotary table, the direction and the pitching of the photoelectric tracking rotary table are adjusted and the target is aligned, then the common radar changes duty to the infrared tracking imaging camera 4 and the visible light tracking imaging camera 7 of the primary tracking system to obtain image information of the target, and after primary tracking, the target is transferred to the fine tracking system through guidance.
Furthermore, the common radar 3, the pitching axis system 2 and the horizontal axis system 8 of the photoelectric tracking rotary table are common, and the scanning beam of the radar can rotate along with the photoelectric tracking rotary table.
The invention has the beneficial effects that:
(1) the invention realizes the function of multimode composite detection integration, has high tracking and striking precision, realizes the deviation correction of an optical axis and a visual axis by using the fast reflecting mirror and the moving mirror, and has the advantages of miniaturization, high integration level, simple system and easy realization; the tracking radar is placed on the light beam tracking and control equipment for tracking scanning detection, so that the beam of the tracking radar is reduced, and the cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of an embodiment of the present invention;
FIG. 2 is a view showing the structure of an optical system of an apparatus for practicing the present invention;
FIG. 3 is a flow chart of method steps of the present invention;
in the figure, 1-transmitting telescope, 2-pitching axis system, 3-common radar, 4-infrared tracking imaging camera, 5-target distance measuring machine, 6-lighting laser device, 7-visible light tracking imaging camera and 8-horizontal axis system; the system comprises a 21-QBH laser emission head, a 22-collimating lens group, a 23-reflector I, a 24-beam expanding system, a 25-reflector II, a 26-spectroscope, a 27-imaging spectroscope, a 28-pyramid prism, a 9-fine tracking short wave camera, a 10-visible light fine tracking camera, an 11-two-dimensional adjusting movable mirror I, a 12-two-dimensional adjusting movable mirror II, a 13-emission window mirror, 14-guiding light, a 15-emission telescope secondary mirror, a 16-fast reflecting mirror and a 17-emission telescope primary mirror.
Detailed Description
All features disclosed in all embodiments in this specification, or all methods or process steps implicitly disclosed, may be combined and/or expanded, or substituted, in any way, except for mutually exclusive features and/or steps.
As shown in fig. 1 and 2, the photoelectric tracking and control method based on the common-frame radar composite detection includes the steps of:
s1, correcting the optical axis, emitting guide light, guiding the light through the arranged fast reflection mirror 16 and the Kude optical path, and then reaching the visible light fine tracking camera 10 in the fine tracking system, wherein the visible light fine tracking camera is used as the calibration error of the optical axis to output the miss distance of the image; the miss distance is provided for the two-dimensional adjusting movable mirror 11 and the two-dimensional adjusting movable mirror 12, and the value of the miss distance on the visible light fine tracking camera 10 is minimized by adjusting the pitching and horizontal positions of the two-dimensional adjusting movable mirror 11 and the pitching and horizontal positions of the two-dimensional adjusting movable mirror 12, so that the correction of the optical axis is realized;
s2, after optical axis correction, emitting main laser, collimating by a first reflector 23, returning collimated laser to a fine tracking short wave camera 9 after passing through a beam expanding system 24 and being reflected to a spectroscope 26 by a second reflector 25, and after being refracted and reflected by a pyramid prism 28, returning part of weak light transmitted by the spectroscope 26 to the fine tracking short wave camera 9, wherein the fine tracking short wave camera 9 and the collimating lens group 22 are used for forming a control closed loop system, the collimating lens group 22 is a two-dimensional electric adjusting lens group, the minimum miss distance on the fine tracking short wave camera 9 is realized by adjusting the collimating lens group 22, and the calibration of the angle deviation of an emission optical axis, an imaging optical axis and a turntable mechanical axis is realized;
s3, after the axis is calibrated, the search radar submodule of the common radar 3 captures a target, information of the target is fed back to the tracking radar submodule of the common radar 3, the tracking radar submodule and an angle decoder of the photoelectric tracking rotary table realize control closed loop, the photoelectric tracking rotary table rotates, the tracking target is pointed, the target is captured, after the target is pointed, the target is subjected to real-time ranging through the target ranging machine 5, and distance information of the target is obtained after the ranging; the visible light tracking imaging camera 7 and the infrared tracking imaging camera 4 of the primary tracking system realize real-time zooming and focusing on an object under a specified target, and a clear target image can be obtained after zooming and focusing, so that real-time primary tracking on the target is realized;
s4, after the initial tracking of the target is realized, the target is switched to the transmitting telescope 1, the Kude light guide light path, the spectroscope 26, the imaging spectroscope 27, the fine tracking short wave camera 9, the visible light fine tracking camera 10, the fast reflecting mirror 16 and the display of the fine tracking system by the initial tracking system, and a clear image of an amplified object is obtained on a display control screen of the display; when an object moves in real time, the target distance measurement is realized through the target distance measuring machine 5, the obtained distance information is fed back to the infrared tracking imaging camera 4 and the visible light tracking imaging camera 7 of the primary tracking system, the infrared tracking imaging camera 4 is used at night, and the visible light tracking imaging camera 7 is used in the day; when an object moves, an imaging camera of the primary tracking system obtains miss distance of the image, miss distance information is fed back to a decoder of a horizontal motor and a pitching motor of the tracking photoelectric tracking rotary table, two-dimensional motion of the photoelectric tracking rotary table is achieved, the object is tracked in real time, obtained distance information is simultaneously fed back to a focusing assembly of the imaging camera of the fine tracking system, when the image information of the primary tracking system is transferred to a camera of the fine tracking system, the view field of the camera of the fine tracking system is smaller than that of the primary tracking, the focal distance is larger than that of the camera of the primary tracking system, and the image of the target can be displayed clearly and fully amplified; in the precise tracking system, an imaging module is composed of a precise tracking short-wave camera 9, a visible light precise tracking camera 10, a fast reflecting mirror 16 and a motor; the control closed loop is realized through the fast reflecting mirror 16 driven by the motor, the fine tracking short wave camera 9 of the fine tracking system and the visible light fine tracking camera 10, and the high-frequency shaking of the image can be corrected in real time;
s5, after the target is stably and precisely tracked, the laser emitting head 21 emits laser, and the laser passes through the reflector 23, the beam expanding system 24, the spectroscope 26, the Kude light guide path, the fast reflecting mirror 16, the emission telescope secondary mirror 15 and the emission telescope primary mirror 17 in sequence and then is emitted to the target; the beam expanding system 24 can focus the transmitted laser, after camera locking target in the accurate tracking system and continuously track the target, the information fed back by the target distance measuring machine 5 is transmitted to the beam expanding system 24, and the focusing is struck to the transmission of the target by the lens group of the beam expanding system 24, and the capability of the laser is focused on the target by the transmitted laser.
Further, in step S1, an image decoupling step is included, and the miss distance of the image is output after the image decoupling step.
Further, in step S4, the motor for driving the fast reflecting mirror 16 includes a voice coil motor.
And further, the method comprises a laser lighting step, wherein the target is subjected to laser lighting through a lighting laser device 6, and the target is tracked in real time by matching with a primary tracking system and a fine tracking system.
Further, after the common radar 3 obtains target information, a control loop is formed with an encoder of the photoelectric tracking rotary table, the direction and the pitching of the photoelectric tracking rotary table are adjusted and the target is aligned, then the common radar changes duty to the infrared tracking imaging camera 4 and the visible light tracking imaging camera 7 of the primary tracking system to obtain image information of the target, and after primary tracking, the target is transferred to the fine tracking system through guidance.
Furthermore, the common radar 3, the pitching axis system 2 and the horizontal axis system 8 of the photoelectric tracking rotary table are common, and the scanning beam of the radar can rotate along with the photoelectric tracking rotary table.
In other embodiments of the present invention, as shown in fig. 1 and 2, it is a general diagram of the implementation device of the present invention, i.e. the optoelectronic tracking and control equipment, and from this general diagram, it can be seen that it includes a transmitting telescope 1, an optoelectronic tracking turntable (horizontal axis system 8 and pitch axis system 2), a common radar 3, a target distance measuring machine 5, an illumination laser device 6, and a target identification detection initial tracking system and a target identification detection fine tracking system. The target recognition detection initial tracking system comprises an infrared tracking imaging camera 4 and a visible light tracking imaging camera 7, and the target recognition detection fine tracking system comprises a fast reflector 16, a fine tracking short wave camera 9 and a visible light fine tracking camera 10.
Fig. 2 is a diagram of an optical system of the electro-optical tracking and control apparatus of the present invention. In fig. 2, the guiding light 14 can be green light of 532nm, and after being emitted, the green light passes through the fast-reflection mirror 16 and the coude light guiding path, and then passes through the visible light fine tracking camera 10 in the fine tracking system, and the visible light fine tracking camera is used as a calibration error of an optical axis to output an off-target amount of an image; when the photoelectric tracking rotary table rotates horizontally and in a pitching mode, a certain axial difference exists between a mechanical axis and an optical axis of the rotary table, the axial difference is reflected on the visible light fine tracking camera 10 and has a certain deviation with a calibrated optical axis center, the miss distance of an image is output after image decoupling, the miss distance is provided for the two-dimensional adjusting movable mirror I11 and the two-dimensional adjusting movable mirror II 12, the value of the miss distance on the visible light fine tracking camera 10 is the minimum by adjusting the pitching and horizontal positions of the two-dimensional adjusting movable mirror I11 and adjusting the pitching and horizontal positions of the two-dimensional adjusting movable mirror II 12, and correction of the optical axis is achieved.
After the optical axis is corrected, the main laser can be output through a QBH laser emission head 21 (which can be an optical fiber laser emission head), and is collimated through a first reflector 23, the collimated light passes through a beam expanding system 24 (including a focusing function), and is reflected to a spectroscope 26 through a second reflector 25, part of weak light transmitted through the spectroscope 26 returns to a fine tracking short-wave camera 9 after being reflected through a pyramid of a pyramid prism 28, and the fine tracking short-wave camera 9 and a collimating lens group 22 jointly form a control closed-loop system, wherein the collimating lens group 22 is a two-dimensional (up-down and horizontal) electric adjusting lens group, the miss distance on the fine tracking short-wave camera 9 is minimum through adjusting the collimating lens group 22, and the angle deviation of an emission optical axis, an imaging optical axis and a mechanical axis of a rotary table in a complex environment, particularly when the temperature difference is large and the vibration environment is strong is realized.
After the axis is calibrated, after a target is captured by a search radar submodule of the common radar (3), information of the target is fed back to a tracking radar submodule, the tracking radar submodule realizes control closed loop through an angle decoder of a rotary table, the rotary table rotates through a decoupling numerical value, the tracking target is pointed to, capture of the target is realized, after the target is pointed, the target is subjected to real-time ranging through a target ranging machine 5, and distance information of the target relative to photoelectric equipment is obtained after the ranging. At the moment, the visible light tracking imaging camera 7 and the infrared tracking imaging camera 4 realize real-time zooming and focusing on an object under a specified target, and a clear target image can be obtained after zooming and focusing, so that real-time primary tracking on the target is realized.
After the initial tracking of the target is realized, the target is transferred to the transmitting telescope 1, the kude light guide light path, the spectroscope 26, the imaging spectroscope 27, the fine tracking short wave camera 9, the visible light fine tracking camera 10, the fast reflecting mirror 16 and the display of the fine tracking system by the initial tracking system, and a clear image of an amplified object is obtained on a display control screen of the display.
When an object moves in real time, the target distance measurement is realized through the target distance measuring machine 5, the obtained distance information is fed back to the infrared tracking imaging camera 4 and the visible light tracking imaging camera 7 of the primary tracking system, the infrared tracking imaging camera 4 is mainly used at night, and the visible light tracking imaging camera 7 is used in the day; when an object moves, an imaging camera of the primary tracking system obtains miss distance of the image, miss distance information is fed back to a decoder of a horizontal motor and a pitching motor of the tracking photoelectric tracking rotary table, two-dimensional motion of the photoelectric tracking rotary table is achieved, the object is tracked in real time, obtained distance information is simultaneously fed back to a focusing assembly of the imaging camera of the fine tracking system, when the image information of the primary tracking system is transferred to a camera of the fine tracking system, the view field of the camera of the fine tracking system is smaller than that of coarse tracking, the focal distance is larger than that of the camera of the primary tracking system, and the image of the target can be displayed clearly and fully amplified. The beam splitter 26 can be used for high-energy main laser beam splitting and imaging light band beam splitting, and the imaging beam splitter 27 is used for short-wave 1 um-1.3 um imaging beam splitting and visible light 460nm-760nm imaging beam splitting.
In the precise tracking system, an imaging module of the precise tracking short-wave camera 9, the visible light precise tracking camera 10, the fast reflecting mirror 16 and the motor form an imaging module, the tracking precision of a tracked target is reduced due to high-frequency vibration of a shaft system, optical axis drift caused by temperature change and high-frequency jitter of target pointing, and the control closed loop is realized through the motor-driven fast reflecting mirror and the precise tracking short-wave camera 9 and the visible light precise tracking camera 10 of the precise tracking system, so that the high-frequency shaking of an image can be corrected in real time.
After the target is stably tracked, the laser emits laser through the QBH laser emission head 21, and the laser is emitted to the target after passing through the first reflecting mirror 23, the beam expanding system 24, the spectroscope 26, the Kude light guide path, the fast reflecting mirror 26, the emission telescope secondary mirror 15 and the emission telescope primary mirror 17 in sequence.
In the invention, a transmitting window lens 13 is connected with a pitching shaft system 2, a beam expanding system 24 has a function of transmitting laser for focusing, when a camera in a precise tracking system locks a target and continuously tracks the target, information fed back by a target distance measuring machine 5 is transmitted to the beam expanding system 24, transmitting, striking and focusing on the target are realized by focusing a lens group of the beam expanding system 24, and the capability of the laser is focused on the target by transmitting the laser.
Other embodiments than the above examples may be devised by those skilled in the art based on the foregoing disclosure, or by adapting and using knowledge or techniques of the relevant art, and features of various embodiments may be interchanged or substituted and such modifications and variations that may be made by those skilled in the art without departing from the spirit and scope of the present invention are intended to be within the scope of the following claims.
The functionality of the present invention, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium, and all or part of the steps of the method according to the embodiments of the present invention are executed in a computer device (which may be a personal computer, a server, or a network device) and corresponding software. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, or an optical disk, exist in a read-only Memory (RAM), a Random Access Memory (RAM), and the like, for performing a test or actual data in a program implementation.
Claims (6)
1. The photoelectric tracking and control method based on the common-frame radar composite detection is characterized by comprising the following steps of:
s1, correcting the optical axis, emitting guiding light, guiding the light through a fast reflection mirror (16) and a Kude optical path, and then reaching a visible light fine tracking camera (10) in a fine tracking system, wherein the visible light fine tracking camera is used as a calibration error of the optical axis to output the miss distance of an image; the miss distance is provided for a first two-dimensional adjusting movable mirror (11) and a second two-dimensional adjusting movable mirror (12), the value of the miss distance on the visible light fine tracking camera (10) is minimum by adjusting the pitching and horizontal positions of the first two-dimensional adjusting movable mirror (11) and the pitching and horizontal positions of the second two-dimensional adjusting movable mirror (12), and the correction of the optical axis is realized;
s2, after optical axis correction, emitting main laser, collimating by a reflector I (23), returning collimated laser to a fine tracking short wave camera (9) after passing through a beam expanding system (24) and reflecting to a spectroscope (26) by a reflector II (25), after being reflected by a pyramid of a pyramid prism (28) by a part of weak light transmitted by the spectroscope (26), wherein the fine tracking short wave camera (9) and a collimating lens group (22) are used for forming a control closed loop system, the collimating lens group (22) is a two-dimensional electric adjusting lens group, the minimum miss distance on the fine tracking short wave camera (9) is realized by adjusting the collimating lens group (22), and the calibration of the angle deviation of an emission optical axis, an imaging optical axis and a turntable mechanical axis is realized;
s3, after the axes are calibrated, after a target is captured by a search radar submodule of the common radar (3), information of the target is fed back to a tracking radar submodule of the common radar (3), the tracking radar submodule and an angle decoder of a photoelectric tracking rotary table realize control closed loop, the photoelectric tracking rotary table rotates to point to the tracked target to capture the target, after the target points to the target, the target is subjected to real-time ranging through a target ranging machine (5), and distance information of the target is obtained after ranging; a visible light tracking imaging camera (7) and an infrared tracking imaging camera (4) of the primary tracking system realize real-time zooming and focusing on an object under a specified target, and a clear target image can be obtained after zooming and focusing, so that real-time primary tracking on the target is realized;
s4, after the initial tracking of the target is realized, the target is switched to a transmitting telescope (1), a Kude light guide path, a spectroscope (26), an imaging spectroscope (27), a fine tracking short wave camera (9), a visible light fine tracking camera (10), a fast reflecting mirror (16) and a display of a fine tracking system by the initial tracking system, and a clear image of an amplified object is obtained on a display control screen of the display; when an object moves in real time, the target is measured in real time through the target distance measuring machine (5), the obtained distance information is fed back to the infrared tracking imaging camera (4) and the visible light tracking imaging camera (7) of the primary tracking system, the infrared tracking imaging camera (4) is used at night, and the visible light tracking imaging camera (7) is used in the day; when the object moves, the imaging camera of the primary tracking system obtains the miss distance of the image, the miss distance information is fed back to the decoder of the horizontal motor and the pitching motor of the tracking photoelectric tracking rotary table, the two-dimensional motion of the photoelectric tracking rotary table is realized, the object is tracked in real time, and the obtained distance information is simultaneously fed back to the focusing assembly of the imaging camera of the fine tracking system; in the precise tracking system, an imaging module is composed of a precise tracking short wave camera (9), a visible light precise tracking camera (10), a fast reflecting mirror (16) and a motor; a control closed loop is realized through a fast reflecting mirror (16) driven by a motor, a fine tracking short wave camera (9) of a fine tracking system and a visible light fine tracking camera (10), and high-frequency shaking of an image can be corrected in real time;
s5, after stable and accurate tracking of the target is achieved, laser is emitted by the laser emitting head (21), and the laser is emitted to the target after passing through the first reflecting mirror (23), the beam expanding system (24), the spectroscope (26), the Kude light guide path, the fast reflecting mirror (16), the emission telescope secondary mirror (15) and the emission telescope primary mirror (17) in sequence; beam expanding system (24) can be to transmitting laser focusing, and after camera locking target in the smart tracking system and continuously tracked the target, through the information of target range finder (5) feedback, transmit simultaneously and expand beam system (24), through the mirror group of beam expanding system (24), realize striking the focusing to the transmission of target, then focus on the target with the ability of laser through transmitting laser.
2. The photoelectric tracking and control method based on co-frame radar composite detection according to claim 1, wherein in step S1, an image decoupling step is included, and the miss distance of the image is output after the image decoupling step.
3. The co-ordinate radar complex detection based photoelectric tracking and control method according to claim 1, wherein in step S4, the motor for driving the fast reflecting mirror (16) comprises a voice coil motor.
4. The photoelectric tracking and control method based on the common-frame radar composite detection according to any one of claims 1 to 3, characterized by comprising a laser illumination step, wherein a target is subjected to laser illumination through an illumination laser device (6), and the target is tracked in real time by matching with a primary tracking system and a fine tracking system.
5. The photoelectric tracking and control method based on common-frame radar composite detection according to claim 1, characterized in that after target information is obtained by the common-frame radar (3), a control loop is formed with an encoder of a photoelectric tracking rotary table, the direction and the pitch of the photoelectric tracking rotary table are adjusted and the photoelectric tracking rotary table is aligned to a target, then shift is performed to an infrared tracking imaging camera (4) and a visible light tracking imaging camera (7) of a primary tracking system to obtain image information of the target, and after primary tracking, the target is transferred to a fine tracking system through guidance.
6. The photoelectric tracking and control method based on the co-frame radar composite detection is characterized in that the co-frame radar (3) is co-frame with a pitch axis system (2) and a horizontal axis system (8) of a photoelectric tracking rotary table, and a scanning beam of the radar can rotate along with the photoelectric tracking rotary table.
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