System and method for detecting position and attitude of target by using laser echo and light spot

Abstract

The invention relates to a system and a method for detecting target position and posture by using laser echo and light spot and belongs to the technical field of photoelectric detection. The system disclosed by the invention comprises a pulsed laser, a collimating lens set, an emitting lens, a receiving lens, a beam splitter, an APD detector, a four-quadrant detector, an echo processing circuit, and a light spot processing circuit. The invention also discloses a method realized based on the system, which obtains the position information of a target by analyzing the laser echo, reduces the complexity of the algorithm and saves the imaging processing time; simultaneously, the four-quadrant detector is used to receive the laser spot of the target reflection echo; the posture change of the target is accurately captured to realize quick positioning and accurate posture measurement of the target. The system and the method for detecting target position and posture by using laser echo and light spot in the invention can carry out quick positioning and accurate posture measurement on the dynamic target as well as distinguishing the target deflection angle and direction and improving the detection efficiency. The hardware system of the invention has simple structure and low algorithm complexity, and facilitates extension to applications requiring quick positioning and accurate posture measurement.

Description

technical field [0001] The invention relates to a system and method for detecting the position and attitude of a target by using laser echoes and light spots, in particular to a method for simultaneously acquiring the position and precise attitude of a target, and belongs to the field of photoelectric detection technology. Background technique [0002] With the development of photoelectric detection technology, lidar has been widely used due to its advantages of high resolution, good concealment, small size and light weight. In the field of military reconnaissance, laser radar 3D imaging technology is often used for target positioning and tracking. The intensity image and distance image are obtained by using the laser echo data reflected by the target. The 3D image is formed by image fusion and the 3D point cloud data is obtained. The processing algorithm extracts the target features, and then realizes target positioning and tracking. This method has the characteristics of ...

AI Technical Summary

Problems solved by technology

Utilizing this technology, Xidian University has disclosed a method of using laser one-dimensional distance curves to identify the attitude angle and geometric dimensions of dynamic cone-shaped targets. This method can calculate the deflection angle of the target based on laser echo inversion, but There is still ambiguity about the deflection direction of the target, and the inversion algorithm used is more complicated, which is not conducive to accurately and quickly capturing the attitude of the target

On the other hand, four-quadrant photodetectors are often used in photoelectric guidance, target tracking, beam collimation, etc., and can use the amplitude changes of the output signals of the four quadrants to obtain the deflection direction of the target relative to the optical axis to achieve high precision and high efficiency. target attitude measurement, but the four-quadrant photodetector alone cannot quickly locate the target

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