CN112884798A - Verification method of moving target tracking and aiming system - Google Patents
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Abstract
The invention discloses a verification method of a moving target tracking and aiming system, which comprises the following steps: evaluating the size and the flight speed of the target aircraft tracked by the meter A according to a scaling theory, and converting the index into the size in the indoor meter B range; setting the flight track and the flight background of the aircraft; starting indoor tracking and aiming verification, checking a tracking algorithm related to the moving target tracking and aiming system, and determining that the tracking algorithm can track an upper target; and the verification of a real object flight test is carried out at A m outdoors, and the tracking algorithm is proved to be also applicable to tracking of long-distance and large-size targets. According to the method, a scaling test is adopted, so that when the short-distance small-size target and the long-distance large-size target are kept consistent in the angle range and the motion angular speed in the camera view field, the information processed in the target detection and tracking process is basically consistent for a target tracking system under a space polar coordinate system formed by a camera and a rotary table.
Description
Technical Field
The invention relates to the technical field of tracking and aiming, in particular to a verification method of a moving target tracking and aiming system.
Background
The essence of target tracking aiming is to find the position of the target accurately in the image. One of the most practical parts in the modern science and technology field is the tracking of maneuvering targets. Different from the tracking of a non-maneuvering target, when the target maneuvers, the speed and the direction of the target are changed, so that the tracking effect of the target cannot reach the expected accuracy.
The tracking of traditional maneuvering targets requires tracking of one target as accurately as possible, but with the advancement of technology and the need for human society development, multi-target tracking research becomes more valuable. Especially, in the battlefield environment with increasingly complex modern wars, the detector only tracks a single target and can not meet the tracking requirement far away, and the wars of other various requirements such as whether the tracking precision requirement and the stability requirement of multiple targets can be met or not can often influence left and right war offices.
The target tracking aiming test is a verification test for verifying a target tracking algorithm, whether tracking aiming of a single target or tracking aiming of a plurality of targets. The tracking algorithm is influenced by factors such as weather, visibility, places, target flyers and the like, and if the tracking effect is verified by completely adopting an outdoor test, the design and verification of the tracking algorithm are time-consuming and labor-consuming. The optimal scheme is to set up a set of simulated motion system indoors, verify the design of a target tracking algorithm through the system and test the motion tracking effect. Therefore, the indoor verification system for target tracking and aiming has important significance for the tracking research of the target.
This company developed a set of moving target tracking and aiming systems, which are disclosed in the paper "target tracking system based on prediction and location two-satellite compound cameras", and this application shall demonstrate feasibility of the systems.
Disclosure of Invention
The invention provides a verification method of a moving target tracking and aiming system, which proves the feasibility of the moving target tracking and aiming system and provides reliable theoretical support for the moving target tracking and aiming system.
In order to achieve the purpose, the invention adopts the following technical scheme:
a verification method for a moving target tracking and aiming system comprises a target identification module and a servo control module, wherein the target identification module receives video sequence images from a searching camera, a rough tracking camera and a fine tracking camera which are fixed on a rotary table of the servo control module, processes such as target searching, target rough tracking and target fine tracking are realized according to a control instruction sent by a command control center, and a control signal is output to control the rotary table and a fast-reflecting mirror of the servo control module to work so as to realize stable tracking of a target, and the verification method comprises the following steps:
evaluating the size and the flight speed of the target aircraft tracked by the meter A according to a scaling theory, and converting the index into the size in the indoor meter B range;
setting the flight track and the flight background of the aircraft, and simulating the projection of a test target on a curtain by using a projector;
setting up an indoor simulation test environment, starting indoor tracking aiming verification, checking a tracking algorithm related to the moving target tracking aiming system, and determining that the tracking algorithm can track an upper target;
and the verification of a real object flight test is carried out at A m outdoors, and the tracking algorithm is proved to be also applicable to tracking of long-distance and large-size targets.
As a preferable aspect of the above aspect, the scaling theory includes:
camera imaging, using a camera to shoot an object in real space, and converting from a world coordinate system to a camera coordinate system;
conversion from a camera coordinate system to an image coordinate system;
conversion from an image coordinate system to a pixel coordinate system;
finally, one point in the space is converted from the world coordinate system to the pixel coordinate system, and image data is output.
Preferably, in the camera imaging process, the conversion from the world coordinate system to the camera coordinate system is a rigid body change, the object is not deformed, only rotation and translation are performed, and the conversion relationship from the world coordinate system to the camera coordinate system is as follows:
in the formula, Xc、Yc、ZcIs a camera coordinate system with the unit of mm; xW、YW、ZWIs a world coordinate system and has the unit of m; r is a rotation matrix; t is a translation matrix.
Preferably, the object undergoes perspective projection transformation from three-dimensional to two-dimensional from a camera coordinate system to an image coordinate system, and the perspective projection transformation formula is as follows:
wherein f is the focal length of the camera; and x and y are image coordinate systems and have the unit of mm.
Preferably, the calculation formula of the camera focal length f is as follows:
f＝||o-Oc|| (3)
where O is the origin in the image coordinate system and Oc is the origin in the camera coordinate system.
Preferably, when the image coordinate system is converted to the pixel coordinate system:
assuming that each pixel corresponds to dx and dy, there are:
in the formula, u and v are pixel coordinate systems and the unit is pixel.
Preferably, in the imaging process of the camera, the imaging size h of the moving object on the camera is calculated according to the following formula:
wherein H is the size of the target; l is an imaging distance; f is the focal length of the camera lens.
Preferably, in the imaging process of the camera, the distance from the moving object to the camera is related to the number of pixels of the object in the camera output image, when the object is close to the camera, the angle range of the object in the camera view field is larger, and the number of pixels in the image is larger; when the object is far from the camera, the angular range of the object in the field of view of the camera becomes smaller, and the number of pixels in the image also becomes smaller.
Due to the structure, the invention has the advantages that:
according to the verification method, when the short-distance small-size target and the long-distance large-size target are kept consistent in the angle range and the motion angular speed in the camera view field by adopting a scaling test, the information processed in the target detection and tracking process is basically consistent for a target tracking system under a space polar coordinate system formed by a camera and a rotary table. The feasibility of the moving target tracking and aiming system is verified, and reliable theoretical support is provided for the moving target tracking and aiming system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a diagram of four coordinate systems for camera imaging;
FIG. 3 is a diagram of a relationship between a camera coordinate system and an image coordinate system;
FIG. 4 is a diagram of the relationship between the image coordinate system and the pixel coordinate system;
FIG. 5 is a perspective projective transformation diagram;
FIG. 6 is a schematic diagram of a spatial polar coordinate system;
fig. 7 is a schematic view of camera lens imaging.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment aims at verifying a moving target tracking and aiming system developed by the company, the moving target tracking and aiming system comprises a target identification module and a servo control module, the target identification module receives video sequence images from a searching camera, a rough tracking camera and a fine tracking camera which are fixed on a rotary table of the servo control module, processes such as target searching, target rough tracking and target fine tracking are realized according to a control instruction sent by a command control center, a control signal is output to control the rotary table and a fast-reflecting mirror of the servo control module to work, and stable tracking of a target is realized.
As shown in fig. 1 to 7, the present embodiment provides a verification method for a moving target tracking and aiming system, including:
s1, evaluating the size and the flying speed of the target aircraft tracked by the meter A (such as 200 meters) according to the scaling theory, and converting the index into the size in the range of the meter B (such as 10 meters) indoors;
s2, setting the flight track and the flight background of the aircraft by the notebook computer, and simulating the projection of the test target on the curtain by the projector;
s3, building an indoor simulation test environment, starting indoor tracking and aiming verification, checking a tracking algorithm related to the moving target tracking and aiming system, and determining that the tracking algorithm can track an upper target;
s4, carrying out physical flight test verification at outdoor A (200 m) m, and proving that the tracking algorithm is also applicable to tracking long-distance and large-size targets.
Wherein:
the scaling theory comprises:
(1) camera imaging, using a camera to shoot an object in real space, and converting from a world coordinate system to a camera coordinate system; camera imaging involves four coordinate systems as shown in fig. 2.
In the figure, OW-XWYWZWA world coordinate system, describing the camera position in m; the Oc-XcYcZc is a camera coordinate system, the light spot is an origin point, and the unit is mm; o-xy is an image coordinate system, and a light spot is an image key point in mm; uv is the pixel coordinate system, the origin is the upper left corner of the image, and the unit is pixel. In the figure, P is a point in the world coordinate system, i.e., a point in space, P is an imaging point in the image, coordinates in the image coordinate system are (x, y), coordinates in the pixel coordinate system are (u, v), f is the focal length of the camera, and is equal to O and OcI.e. f ═ O-Oc||。
In the imaging process of the camera, the conversion from the world coordinate system to the camera coordinate system is rigid body change, the object does not deform and only rotates and translates, and the conversion relationship from the world coordinate system to the camera coordinate system is as follows:
wherein R is a rotation matrix; t is a translation matrix.
As shown in fig. 7, during the imaging process of the camera, the imaging size h of the moving object on the camera is calculated as follows:
wherein H is the size of the target; l is an imaging distance; f is the focal length of the camera lens.
During camera imaging, incident rays of a scene within the camera field angle range pass through the lens to the focal plane of the sensor. Each detection unit of the camera sensor responds to incident light rays in a specific angle range and outputs a response value of a pixel at a corresponding image position. When the focal length of the camera lens is not changed, the angular resolution of each pixel of the camera output image is also fixed.
The distance of the target from the camera determines the angular extent of the target in the field of view of the camera, and thus the number of pixels of the target in the camera output image. When the target is close to the camera, the angle range of the target in the camera view field is larger, and the number of pixels in the image is larger; when the object is far from the camera, the angular range of the object in the field of view of the camera becomes smaller, and the number of pixels in the image also becomes smaller.
(2) Conversion from a camera coordinate system to an image coordinate system;
from the camera coordinate system to the image coordinate system, the object undergoes perspective projection transformation from three dimensions to two dimensions, as shown in fig. 3, the perspective projection transformation formula is as follows:
(3) the transformation from the image coordinate system to the pixel coordinate system is shown in fig. 4.
Assuming that each pixel corresponds to dx and dy, there are:
(4) in summary, finally, a point in space is converted from the world coordinate system to the pixel coordinate system, and image data is output, wherein the formula is as follows:
namely, it is
In the transformation process, the object is transformed from three-dimensional to two-dimensional through perspective projection transformation, and the transformation process is simplified and schematically shown in fig. 5. Two objects of different sizes in fig. 5 are at different positions from the camera, and since their angular ranges in the camera's field of view are equally large, the number of pixels that the two objects occupy in the camera's output image is also the same.
In the target recognition system, the camera is fixed on the turntable, and assuming that the optical center of the camera coincides with the azimuth and the axis of the pitching motion of the turntable, the camera and the turntable can be considered to be in a spatial polar coordinate system, and the coordinate system is composed of an azimuth angle, a pitch angle and a distance, as shown in fig. 6.
When the turntable is stationary, the camera obtains a two-dimensional image of a scene having a particular azimuth and pitch angle within a field angle range in the direction of the camera's optical axis. The image output by the camera can only obtain the azimuth angle and the pitch angle information of the target in the space polar coordinate system, and cannot obtain the distance information of the target. According to the perspective projection imaging principle, when the objects at different distance positions occupy the same angle range in the view field, namely the size of the objects accords with the zoom ratio of the camera imaging process, the camera cannot distinguish the difference between the objects and the camera.
When the turntable moves, the direction of the optical axis of the camera changes. In the target tracking process, the change of the target position in the sequence image is converted into the angle change under a polar coordinate system, and the deviation of the angle of the target center position and the angle of the camera view field center can be used for controlling the turntable to change the pitch angle and the azimuth angle, so that the target is kept at the view field center of the camera. When the maximum angular velocity of the movement of the rotary table in the target tracking system is greater than the angular velocity of the target moving in the space relative to the tracking system, the target tracking system can realize effective tracking. When objects at different distances move at the same angular velocity relative to the tracking system, the target tracking system cannot distinguish the difference in the motion characteristics of the two objects.
In summary, when the short-distance small-size target and the long-distance large-size target are kept consistent in the angular range and the angular velocity of motion in the camera field of view by using the scaling test, the information processed in the target detection and tracking process is basically consistent for the target tracking system under the spatial polar coordinate system formed by the camera and the turntable. Scaling experiments can be used to verify the performance of the target tracking system without considering energy attenuation caused by light transmitted through the atmosphere during imaging.
Under the theoretical guidance of the verification method, the following experimental verification is carried out on the moving target tracking and aiming system:
laboratory test
And (3) in 2018 and 12-2019, setting up an indoor simulation test environment, and performing tracking and aiming indoor simulation tests, wherein the indoor tests mainly verify schemes such as target detection, target identification, target tracking control and the like. The notebook computer sets the motion size and the track of the target, the test target is simulated by projection on the curtain by the projector, and the tracking system can realize the identification and tracking of the target according to the indoor test result.
200m outdoor test
And 3, 2019 and 8, 2019, an outdoor test environment is set up, the target aircraft is a Xinntom Standard 3 aircraft in Xinjiang, the outline dimension is 289mm multiplied by 289.5mm multiplied by 185mm, the target tracking distance is about 200m, the target flying speed is less than 10m/s, a composite shaft tracking and aiming system is adopted to carry out searching, detecting, coarse tracking and fine tracking tests on the target, and stable detection and tracking of the unmanned aerial vehicle at different speeds can be realized through multiple tests. The target tracking precision is 0.2mrad by subsequently calculating the position of the target central point.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A verification method for a moving target tracking and aiming system comprises a target identification module and a servo control module, wherein the target identification module receives video sequence images from a searching camera, a rough tracking camera and a fine tracking camera which are fixed on a rotary table of the servo control module, processes such as target searching, target rough tracking and target fine tracking are realized according to a control instruction sent by a command control center, and a control signal is output to control the rotary table and a fast-reflecting mirror of the servo control module to work so as to realize stable tracking of a target, and the verification method is characterized by comprising the following steps:
evaluating the size and the flight speed of the target aircraft tracked by the meter A according to a scaling theory, and converting the index into the size in the indoor meter B range;
setting the flight track and the flight background of the aircraft, and simulating the projection of a test target on a curtain by using a projector;
setting up an indoor simulation test environment, starting indoor tracking aiming verification, checking a tracking algorithm related to the moving target tracking aiming system, and determining that the tracking algorithm can track an upper target;
and the verification of a real object flight test is carried out at A m outdoors, and the tracking algorithm is proved to be also applicable to tracking of long-distance and large-size targets.
2. The validation method of claim 1, wherein scaling theory comprises:
camera imaging, using a camera to shoot an object in real space, and converting from a world coordinate system to a camera coordinate system;
conversion from a camera coordinate system to an image coordinate system;
conversion from an image coordinate system to a pixel coordinate system;
finally, one point in the space is converted from the world coordinate system to the pixel coordinate system, and image data is output.
3. The verification method according to claim 2, wherein during the camera imaging process, the conversion from the world coordinate system to the camera coordinate system is a rigid body change, the object is not deformed and only rotates and translates, and the conversion from the world coordinate system to the camera coordinate system is as follows:
in the formula, Xc、Yc、ZcIs a camera coordinate system with the unit of mm; xW、YW、ZWIs a world coordinate system and has the unit of m; r is a rotation matrix; t is a translation matrix.
4. The authentication method according to claim 3, wherein the object is subjected to perspective projection transformation from three-dimensional to two-dimensional from a camera coordinate system to an image coordinate system, the perspective projection transformation formula being as follows:
wherein f is the focal length of the camera; and x and y are image coordinate systems and have the unit of mm.
5. The authentication method according to claim 4, wherein the calculation formula of the camera focal length f is as follows:
f＝||o-Oc|| (3)
where O is the origin in the image coordinate system and Oc is the origin in the camera coordinate system.
6. The authentication method according to claim 4, wherein, when the image coordinate system is converted to the pixel coordinate system:
assuming that each pixel corresponds to dx and dy, there are:
in the formula, u and v are pixel coordinate systems and the unit is pixel.
7. The verification method according to claim 2, wherein the imaging size h of the moving object on the camera during the imaging process of the camera is calculated according to the following formula:
wherein H is the size of the target; l is an imaging distance; f is the focal length of the camera lens.
8. The authentication method according to claim 2, wherein in the camera imaging process, the distance from the moving object to the camera is related to the number of pixels of the object in the camera output image, when the object is close to the camera, the angle range of the object in the camera field of view is larger, and the number of pixels in the image is larger; when the object is far from the camera, the angular range of the object in the field of view of the camera becomes smaller, and the number of pixels in the image also becomes smaller.
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