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Video satellite moving target tracking imaging method and device based on image guidance

A technology for tracking imaging and moving targets, which is applied in image analysis, image data processing, and control of finding targets, etc. It can solve the problems that position and speed information cannot be known in advance, calculation of expected attitude, and difficult to achieve autonomous gaze tracking imaging of targets. Achieve the effect of improving image processing accuracy, simple and fast algorithm, and easy engineering realization

Active Publication Date: 2019-05-21
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] When the target is a non-cooperative moving target, its position and velocity information cannot be known in advance, so it is impossible to calculate the expected attitude from the target position in real time, and it is difficult to achieve autonomous gaze tracking imaging of the target

Method used

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  • Video satellite moving target tracking imaging method and device based on image guidance
  • Video satellite moving target tracking imaging method and device based on image guidance
  • Video satellite moving target tracking imaging method and device based on image guidance

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Embodiment 1

[0137] The optimization of embodiment 1PD controller parameter

[0138] (1) Optimization of the minimum maneuvering time objective, optimizing the parameters of the PD controller to make the adjustment time of the system as short as possible. Assuming that the target is at (1700, 1400) in the pixel coordinate system at the initial moment, the target function adjustment time T is defined as the time required to control the deviation angle α between the target line of sight and the visual axis to within 0.25°.

[0139] Use genetic algorithm to optimize to obtain the shortest adjustment time, set the population size to 20, crossover probability to 0.8, K p and K d The value ranges of are [1,20] and [1,60] respectively.

[0140] The optimized result obtained is:

[0141]

[0142] Using the optimization results obtained in (25) to simulate the tracking imaging process, the results are as follows Figure 5 As shown, the three curves corresponding to the error Euler angles of ...

Embodiment 2

[0148] The space target video captured by the Tiantuo-2 video satellite in orbit is used as the image input of the control loop, the video image is 25 frames per second, and the resolution is 960×576. The control part is implemented through simulation, and the image changes caused by attitude adjustment are simulated. The image is cropped and scaled to 2300×1700, embedded in the frame with actual size of 3500×2900, and filled with white.

[0149] Figure 7 It shows the process of staring and tracking a space moving target. The outer black frame in the figure represents the satellite field of view, the square frame represents the perceived target, the star mark represents the satellite boresight, that is, the center of the image plane, and the luminous bright spot in the figure is the target. Initially, the target is not in the center of the image plane. Through the control method provided by this application, the target is imaged in the center of the screen, effectively reali...

Embodiment 3

[0155] The city video taken by SkySat video satellite in orbit is used as the image input of the control loop. The video image is 29 frames per second and the resolution is 1104×622. The control part is realized through simulation, and the image changes caused by attitude adjustment are simulated.

[0156] In this embodiment, the video satellite is staring at the ground at the initial moment, and the attitude angle and angular velocity at the initial moment are [0.1, -50, 15] deg and [-0.1, 0.4, 0] deg / s respectively. After cropping, the image is scaled to 2900×1800, which is the same as in the second embodiment, embedded in a picture with an actual size of 3500×2900, and filled with white. Figure 9 (a) to (f) show the process of gazing and tracking the aircraft target. The peripheral black frame in the figure represents the satellite field of view, and the small frame in the picture area represents the perceived target (obtained according to the methods disclosed in CN2015105...

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Abstract

The invention discloses a video satellite moving target tracking imaging method based on image guidance. The method comprises the following steps of S100, obtaining coordinate information of a targetin a satellite view angle image; S200, calculating an error quaternion and an error angular velocity from an actual attitude of a satellite to an expected attitude under a satellite body coordinate system according to the coordinate information at the satellite view angle sampling moment, and controlling the satellite to adjust the attitude by adopting a proportional differential controller by taking the error quaternion and the error angular velocity as feedback quantities; and S300, judging whether the target is in the center of the satellite view angle image or not, if not, repeating the steps S100 to S200, and if so, stopping. According to the method, staring tracking imaging can be carried out on the non-cooperative moving target through the video satellite. The invention further provides a device adopting the method.

Description

technical field [0001] The application relates to an image-guided video satellite moving target tracking imaging method and device thereof, belonging to the field of automatic control. Background technique [0002] Video satellite is a space-based information acquisition micro-satellite that adopts video imaging, real-time transmission of video data, and human-in-the-loop interactive operation. Compared with traditional satellites, video satellites can provide real-time video images, increase time-domain information compared with static single images, can obtain dynamic process information of targets, can detect the occurrence of dynamic events, and can Sequence images are reconstructed to obtain higher-resolution images, providing first-hand information for disaster relief, wartime monitoring, and planning and decision-making. [0003] When the target is a cooperative target, the gaze tracking imaging of the moving target by existing video satellites can calculate the desi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12G05D1/08G05B11/42G05B13/04G06T7/70
Inventor 张学阳肖龙龙胡敏杨雅君潘升东刘俊琦潘显俊马聪慧
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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