Small infrared moving target tracking method based on inertial navigation information and brightness correction

Abstract

The invention provides a small infrared moving target tracking method based on inertial navigation information and brightness correction. The method includes the following steps that 1, coarse positioning is conducted; on the basis of current frame target positioning, according to the characteristic that an infrared detector is fixedly connected with an aircraft, the inertial navigation information provided by aircraft inertial equipment is used for predicting the target imaging position of the next frame of target image, and coarse positioning of a moving target is achieved; if the target imaging position of the current frame at the moment of t is known as (ut, vt), the geodetic coordinate position pt corresponding to the current aircraft is equal to [lambdat, Lt and ht], the posture is represented by four elements(the formula is shown in the description), the geodetic coordinate position of the aircraft of the next frame at the moment of t+1 is as followings: pt+1=[lambdat+1, Lt+1 and ht+1], the posture is shown in the description, and the geodetic coordinate position pm of a preset target moving datum region is equal to [lambdam, Lm and hm]; 2, fine positioning is conducted; theinfrared characteristic of the small moving target in an image is used for brightness correction and positioning, the interested infrared moving target displays a locally bright region in the image because of the infrared characteristic of the infrared moving target, and local region brightness center correction is conducted through variable-step self-adaptation iteration.

Description

technical field [0001] The invention belongs to the technical field of aircraft visual navigation and infrared imaging guidance simulation, and in particular relates to an infrared weak and small moving target tracking method based on inertial navigation information and brightness correction. Background technique [0002] Strapdown infrared imaging technology is one of the important development directions in the field of aircraft precision navigation and guidance, and identifying and locking targets as soon as possible is of great significance for aircraft visual navigation and infrared imaging guidance. When the moving target is far away from the aircraft (usually more than two kilometers), the target only occupies a few or a dozen pixels, has no contour and structure information, and there is a lot of noise interference in the complex background with low signal-to-noise ratio, so The tracking of weak and small infrared moving targets is a difficult research point in comput...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the disadvantages of poor accuracy, low reliability, and poor environmental adaptability of the classic machine vision tracking algorithm when tracking small infrared targets, the present invention provides a tracking method for weak infrared moving targets based on inertial navigation information and brightness correction. The inertial equipment of aircraft strapdown uses the fusion of inertial navigation information and image information to realize the positioning of weak infrared targets, and adopts a two-step tracking method of "coarse positioning first and then fine positioning": first, use the inertial navigation corresponding to the two frames of images The information predicts the position of the target to achieve rough positioning; then on the basis of rough positioning, according to the brightness characteristics of the weak and small target, the precise positioning of the weak and small target is realized through iteration

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