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A linear target drop point positioning method based on aerial three-dimensional positioning

A positioning method and three-dimensional positioning technology, applied in image data processing, measuring devices, instruments, etc., can solve problems such as accurate positioning of landing targets, three-dimensional space position errors, etc.

Active Publication Date: 2019-06-18
天津国为信息技术有限公司
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  • Claims
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Problems solved by technology

[0004]However, for military training applications such as airborne bomb shooting to the ground, the bomb target explodes after landing, which will result in the failure of the left and right stations based on the above-mentioned traditional method. The pixel position of the landing target is more accurately located in the image, and there will be a large error in estimating the three-dimensional space position of the target landing point.

Method used

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  • A linear target drop point positioning method based on aerial three-dimensional positioning
  • A linear target drop point positioning method based on aerial three-dimensional positioning
  • A linear target drop point positioning method based on aerial three-dimensional positioning

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specific Embodiment 1

[0066] The present invention provides a method for locating the landing point of a linear target based on three-dimensional positioning in the air, comprising the following steps:

[0067] Step 1: Based on the scene images collected by station S1 and station S2, the background modeling method of multi-frame cumulative average is used to dynamically estimate the background component of the scene image and establish a background image model;

[0068] Step 2: Perform morphological TopHat transformation on the scene images and dynamic background images collected by stations S1 and S2, enhance the weak and small linear air targets in the background images, and use the background difference method to suppress the background to improve the image signal-to-clutter ratio;

[0069] Step 3: Considering the linear geometric features of the target, the median filter and the bilateral filter method are used for combined filtering to filter out image noise;

[0070] Step 4: Use the threshold...

specific Embodiment 2

[0074] according to figure 1 As shown, the flow chart of the linear target landing point positioning method based on three-dimensional positioning in the air, the target landing point position prediction, based on the video stream observation data collected by the left and right stations S1 and S2, according to the processing flow described in the figure, the realization of the Predict the location of the target drop point and obtain the target drop point position.

[0075] Step 1: Based on the images collected by the station, the multi-frame cumulative average background modeling method is used to dynamically estimate the background component of the scene and establish a background image model. The specific steps are as follows:

[0076] (1-1) Initialize the background image, initialize the background image with the first frame image collected after the camera is turned on:

[0077] BImg=Img (1)

[0078] In the formula (1), Img represents the first frame image collected aft...

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Abstract

The invention relates to a linear target drop point positioning method based on aerial three-dimensional positioning. The method is suitable for a linear target drop point positioning system based ondouble-station imaging observation, and can avoid a measurement error caused by inaccurate positioning of a landing pixel point due to target landing explosion. The method comprises the following steps: firstly, carrying out image TopHat transformation, background suppression and filtering enhancement; carrying out Image threshold segmentation, and removing connected regions with weak linear characteristics; Detecting a suspected linear target in the image by adopting a Hough algorithm, carrying out track association, tracking a track conforming to the motion characteristics of the target, positioning a target landing frame, and outputting an azimuth angle and a pitch angle of a start-stop pixel point of the linear target in the image before landing; Finally, based on a double-station direction finding intersection model, carrying out aerial three-dimensional positioning on a target before landing, and establishing a three-dimensional space linear equation of the target; And finally, according to the target GPS information, predicting a target drop point position to realize three-dimensional positioning of a target drop point.

Description

technical field [0001] The invention relates to the technical field of photoelectric measurement, and relates to a method for locating the falling point of a linear target based on three-dimensional positioning in the air. Background technique [0002] Acquisition of the location information of the linear target in the air is of great significance in many application scenarios, especially for military training. Taking ground shooting as an example, the carrier platform is equipped with a bomb launcher, and the flight training is carried out according to the training plan. According to the military learning theory and combat strategy, the personnel in the air choose a suitable position, aim at the ground target and launch the bomb, and the bomb flies quickly in the air. , and finally fall to the ground of the shooting range under the action of the earth's gravity. At this time, using various technical means to obtain the location of the bomb drop and report the target has be...

Claims

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Application Information

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IPC IPC(8): G06T7/136G06T7/187G06T7/70G01B11/00G01C11/00
Inventor 郭鹏李范鸣岳娟刘士建卫红
Owner 天津国为信息技术有限公司
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