A search and scanning control method for an optoelectronic turret to control a radar identification target area

Abstract

The present invention discloses a search and scanning control method for an optoelectronic turret to control a target area identified by a radar, and belongs to automatic control technology. The scanning search mode and the search range are automatically calculated according to the field of view size of the turret sensor and the possible target range given by the radar, so as to realize fully automatic search and scanning. During the regional search and scanning process, the optoelectronic turret will switch the search and scanning mode according to the target area range given by the radar and the current sensor field of view angle information range, select a suitable scanning mode from four scanning modes according to the size of the target area range and the field of view range, and calculate the scanning parameters, so as to ensure that the entire target area range can be scanned even when the target area is constantly changing. Actual experiments have proved that this search and scanning control method realizes fully automatic search and scanning without human intervention, and can find the target even when the range given by the radar is not accurate enough, which greatly improves efficiency and reduces the probability of missing the target.

Description

Technical Field

[0001] The invention belongs to the field of automatic control, and in particular relates to a search and scanning control method for a photoelectric turret to a radar identification target area. Background Art

[0002] At present, the use of optoelectronic turrets in conjunction with radars is an effective way to achieve day and night search, tracking, monitoring, and identification of aerial targets. The optoelectronic turret can be aimed at the target area detected by the radar, and detect the contour features and morphological information of targets that are difficult to detect by radar.

[0003] However, since the radar gives the range of the area where the target may appear, this range is often not accurate enough. At present, the telephoto field of view of the sensor of the optoelectronic turret is very small, and it is difficult to cover the entire target area. It is often the case that the target cannot be found after aiming at the center of the target area. Therefore, the existing search method is to use a manual search method to continue to manually search for the target in the surrounding area if the target is not found after the optoelectronic turret is aimed at the center of the target area. This not only has a low degree of automation and is time-consuming, but also because the target position is changing, it is often difficult to find the target.

[0004] A search and scanning control method for an optoelectronic turret to search and scan the target area identified by the radar is needed. The scanning search mode and search scanning parameters can be automatically calculated according to the field of view size of the turret sensor and the possible target range given by the radar, so as to realize full-automatic search and scanning without human intervention, and ensure that the entire possible target area given by the radar can be scanned. This improves efficiency and reduces the probability of missing the target. Summary of the invention

[0005] Technical issues to be solved:

[0006] In order to avoid the shortcomings of the prior art, the present invention proposes a search and scanning control method for an optoelectronic turret to identify a target area of ​​a radar, which can automatically calculate the scanning search mode and search range according to the field of view size of the turret sensor and the possible target range given by the radar, and realize fully automatic search and scanning without human intervention. The target can be found even when the target area range given by the radar is not accurate enough, and the entire target area range given by the radar can be scanned. Thereby, the efficiency is greatly improved and the probability of missing the target is reduced.

[0007] The technical solution of the present invention is: a search and scanning control method for a photoelectric turret to a radar identification target area, characterized in that the specific steps are as follows:

[0008] Step 1: When the radar detects the target, it transmits the target area range information to the optoelectronic turret;

[0009] Among them, the azimuth of the photoelectric turret corresponding to the center point of the area where the radar gives the possible appearance of the target is θ yaw , the pitch angle of the optoelectronic turret is θ pitch ; The range of the area where the target may appear given by the radar is the azimuth direction The pitch direction is The azimuth field of view angle η of the current optoelectronic turret sensor yaw and the elevation field angle η pitch ;

[0010] Step 2: Start the area search scanning process. It is necessary to switch the scanning mode according to the target area range given by the radar and the current sensor field of view; and calculate the scanning parameters to ensure that the entire target area can be scanned even when the target area is constantly changing.

[0011] A further technical solution of the present invention is: in the step 1, before the radar starts working, the angles of the optoelectronic turret and the radar need to be aligned and corrected, so that the angle given by the radar and the optical axis angle of the optoelectronic turret are matched.

[0012] A further technical solution of the present invention is: in step 2, the scanning mode includes the following four types:

[0013] Scanning mode 1: The target area given by the radar is smaller than the current sensor field of view of the optoelectronic turret. and At this time, the azimuth and elevation angles of the optoelectronic turret are the azimuth and elevation angles corresponding to the center point of the area given by the driven radar. and That's it;

[0014] In scanning mode 2, the azimuth range of the target area given by the radar is smaller than the azimuth field of view of the current sensor of the optoelectronic turret, but the elevation range of the target area is larger than the elevation field of view of the current sensor of the optoelectronic turret, that is, The azimuth angle of the optoelectronic turret needs to be the azimuth angle corresponding to the center point of the area given by the driven radar, and the pitch direction of the optoelectronic turret needs to be scanned;

[0015] In scanning mode three, the elevation range of the target area given by the radar is smaller than the elevation field of view of the current sensor of the optoelectronic turret, but the azimuth range of the target area is larger than the azimuth field of view of the current sensor of the optoelectronic turret, that is, The elevation angle of the optoelectronic turret needs to be the elevation angle corresponding to the center point of the area given by the driven radar, and the azimuth direction of the optoelectronic turret needs to be scanned;

[0016] Scanning mode 4: The azimuth and elevation ranges of the target area given by the radar are both larger than the field of view of the current sensor of the optoelectronic turret. When scanning the target area, a regional progressive scanning method is required.

[0017] A further technical solution of the present invention is: in the second scanning mode, the scanning range is to Since this range will be updated in real time as the target position changes, the boundary value of the scan needs to be calculated in real time during scanning, and the optoelectronic turret can return when the pitch angle touches the boundary value.

[0018] A further technical solution of the present invention is: in the scanning mode 3, the scanning range is to This range will be updated in real time as the target position changes. When scanning, the boundary value of the scan needs to be calculated in real time. When the pitch angle of the optoelectronic turret touches the boundary value, it can return.

[0019] A further technical solution of the present invention is: in the scanning mode 2 and the scanning mode 3, the initial direction of the scan is determined according to the target movement direction given by the radar, thereby improving the target detection speed.

[0020] A further technical solution of the present invention is: in step 2, the area search scanning process is specifically as follows:

[0021] Step 1: Control the photoelectric turret azimuth angle to θ yaw , pitch angle alignment

[0022] Step 2: Start scanning in the pitch direction and scan upward to the pitch angle Then change the azimuth alignment angle to θ according to the target movement direction given by the radar yaw +0.8η yaw or θ yaw -0.8η yaw ; It can ensure that the fields of view of the two line scans have a certain overlapping range, so as to ensure that the target is scanned, and it can ensure that the area where the target is more likely to appear is scanned first;

[0023] Step 3: Continue to raise the turret arrive When the pitch scan reaches the boundary of the pitch range, the azimuth alignment angle needs to be changed. The azimuth alignment angle during the scanning process is:

[0024] ξ yaw =θ yaw +0.8Nη yaw

[0025] Where N is an integer and changes when it touches or exceeds the pitch scan boundary.

[0026] A further technical solution of the present invention is: during the scanning process of step 3, it is necessary to continuously determine whether the angle of the range azimuth alignment exceeds the boundary value of the target area azimuth given by the radar. When N is changed from increasing to decreasing, It is necessary to change N from decreasing to increasing, so as to ensure that the scanning area is slightly larger than the entire target area.

[0027] Beneficial Effects

[0028] The beneficial effect of the present invention is that the present invention can, with the cooperation of the radar, control the optoelectronic turret to automatically complete the discovery, automatic tracking, monitoring and identification of low, small and slow targets, realize fully automatic operation, and achieve all-day, all-weather, automated low, small and slow monitoring capabilities without manual operation.

[0029] The present invention can automatically calculate the scanning search mode and search range according to the field of view size of the turret sensor and the possible target range given by the radar. During the scanning process, the scanning range and the azimuth alignment angle are set to realize full-automatic search and scanning. The entire process does not require human intervention, and it can be ensured that the entire target possible area given by the radar can be scanned. This greatly improves efficiency and reduces the probability of missing the target. Actual experiments have also proved that the target search speed is accelerated, and the target can be found when the target range given by the radar is not accurate enough, and the probability of missing the target is reduced. This method solves the problems of low automation, time-consuming, and frequent target misses in existing manual search methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a flow chart of switching control modes of photoelectric turret area search and scanning of the present invention;

[0031] Figure 2 It is a schematic diagram of line-by-line scanning of the target area of ​​the photoelectric turret of the present invention. DETAILED DESCRIPTION

[0032] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0033] Reference Figure 1 , 2 As shown, a search and scanning control method of an optoelectronic turret for a radar identification target area of ​​the present invention is as follows:

[0034] With the cooperation of the radar, the optoelectronic turret searches and scans the target area identified by the radar. First, the angles of the optoelectronic turret and the radar need to be aligned and corrected to match the angle given by the radar with the optical axis angle of the optoelectronic turret. Then, the optoelectronic turret receives the target area range information given by the radar after the radar finds the target.

[0035] The radar gives the azimuth angle of the optoelectronic turret corresponding to the center point of the area where the target may appear is θ yaw , the pitch angle of the optoelectronic turret is θ pitch ; The range of the area where the target may appear given by the radar is the azimuth direction The pitch direction is It is also necessary to know the azimuth field of view angle η of the current optoelectronic turret sensor yaw and the elevation field angle η pitch .

[0036] Next, the area search scanning process begins. The scanning mode needs to be switched according to the target area range given by the radar and the current sensor field of view range.

[0037] If the target area given by the radar is smaller than the current sensor field of view of the optoelectronic turret, and At this time, the azimuth and elevation angles of the optoelectronic turret are the azimuth and elevation angles corresponding to the center point of the area given by the radar. and That's it.

[0038] If the azimuth range of the target area given by the radar is smaller than the azimuth field of view of the current sensor of the optoelectronic turret, but the elevation range of the target area is larger than the elevation field of view of the current sensor of the optoelectronic turret. The azimuth of the optoelectronic turret needs to be the azimuth corresponding to the center point of the area given by the slave radar. The pitch direction of the optoelectronic turret needs to be scanned, and the scanning range is to Since this range will be updated in real time as the target position changes, the boundary value of the scan needs to be calculated in real time during scanning. When the pitch angle of the optoelectronic turret touches the boundary value, it can return. The initial direction of the scan can be determined according to the target movement direction given by the radar, thereby increasing the speed of detecting targets.

[0039] If the elevation range of the target area given by the radar is smaller than the elevation field of view of the current sensor of the optoelectronic turret, but the azimuth range of the target area is larger than the azimuth field of view of the current sensor of the optoelectronic turret. The elevation angle of the optoelectronic turret needs to be the elevation angle corresponding to the center point of the area given by the driven radar. The azimuth direction of the optoelectronic turret needs to be scanned, and the scanning range is to This range will be updated in real time as the target position changes. When scanning, the boundary value of the scan needs to be calculated in real time. The optoelectronic turret can return when the pitch angle touches the boundary value. The initial direction of the scan can be determined according to the target movement direction given by the radar, thereby increasing the speed of detecting targets.

[0040] If the azimuth and elevation ranges of the target area given by the radar are both larger than the current sensor field of view of the optoelectronic turret, When scanning the target area, a regional progressive scanning method is required.

[0041] First, control the photoelectric turret azimuth angle to θ yaw , pitch angle alignment Then start scanning in the pitch direction, scanning upward to the pitch angle Then the azimuth alignment angle needs to be changed to θ according to the target movement direction given by the radar. yaw +0.8η yaw or θ yaw -0.8η yaw This ensures that the fields of view of the two line scans have a certain overlap range, thereby ensuring that the target can be scanned, and that the area where the target is more likely to appear can be scanned first. arrive When the pitch scan reaches the boundary of the pitch range, the azimuth alignment angle needs to be changed. The azimuth alignment angle during the scanning process is:

[0042] ξ yaw =θ yaw +0.8Nη yaw

[0043] Where N is an integer and changes when it touches or exceeds the elevation scan boundary. During the scanning process, it is necessary to continuously determine whether the range azimuth alignment angle exceeds the target area azimuth boundary value given by the radar. When N is changed from increasing to decreasing, It is necessary to change N from decreasing to increasing, so as to achieve line-by-line scanning at appropriate intervals. This interval needs to be slightly smaller than the current sensor field of view azimuth (such as 0.8 times the current sensor field of view azimuth), so as to ensure that the fields of view of the two line scans have a certain crossover range, so as to ensure that the target can be scanned. When the pitch alignment value touches or exceeds the pitch scanning boundary, the direction of the azimuth alignment angle increase or decrease needs to be changed, so as to ensure that the scanning area is slightly larger than the area where the entire target may appear.

[0044] This area search scanning control method can automatically calculate the scanning search mode and search range parameters according to the field of view size of the turret sensor and the possible target range given by the radar, and realize fully automatic search scanning without human intervention, which can ensure that the entire possible target area given by the radar can be scanned. This greatly improves the target search speed and efficiency and reduces the probability of missing the target.

[0045] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A method for controlling the search and scanning of a target area identified by a radar by an optoelectronic turret, characterized in that The specific steps are as follows: Step 1: When the radar detects the target, it transmits the target area range information to the optoelectronic turret; Among them, the azimuth of the photoelectric turret corresponding to the center point of the area where the radar gives the possible appearance of the target is θ yaw , the pitch angle of the optoelectronic turret is θ pitch ; The range of the area where the target may appear given by the radar is the azimuth direction The pitch direction is The azimuth field of view angle η of the current optoelectronic turret sensor yaw and the elevation angle η pitch ; Step 2: Start the area search scanning process. The scanning mode needs to be switched according to the target area range given by the radar and the current sensor field of view; and the scanning parameters are calculated to ensure that the entire target area can be scanned even when the target area is constantly changing; In step 2, the scanning modes include the following four: Scanning mode 1: The target area given by the radar is smaller than the current sensor field of view of the optoelectronic turret. and At this time, the azimuth and elevation angles of the optoelectronic turret are the azimuth and elevation angles corresponding to the center point of the area given by the driven radar. and That's it; In scanning mode 2, the azimuth range of the target area given by the radar is smaller than the azimuth field of view of the current sensor of the optoelectronic turret, but the elevation range of the target area is larger than the elevation field of view of the current sensor of the optoelectronic turret, that is, The azimuth angle of the optoelectronic turret needs to be the azimuth angle corresponding to the center point of the area given by the driven radar, and the pitch direction of the optoelectronic turret needs to be scanned; in the scanning mode 2, the scanning range is to Since this range will be updated in real time as the target position changes, the boundary value of the scan needs to be calculated in real time during scanning. When the pitch angle of the optoelectronic turret touches the boundary value, it can return. In scanning mode three, the elevation range of the target area given by the radar is smaller than the elevation field of view of the current sensor of the optoelectronic turret, but the azimuth range of the target area is larger than the azimuth field of view of the current sensor of the optoelectronic turret, that is, The pitch angle of the optoelectronic turret needs to be the pitch angle corresponding to the center point of the area given by the driven radar, and the azimuth direction of the optoelectronic turret needs to be scanned; in the scanning mode three, the scanning range is to This range will be updated in real time as the target position changes. When scanning, the boundary value of the scan needs to be calculated in real time. When the pitch angle of the optoelectronic turret touches the boundary value, it can return. In the scanning mode 2 and scanning mode 3, the initial scanning direction is determined according to the target movement direction given by the radar, thereby increasing the target detection speed; Scanning mode 4: The azimuth and elevation ranges of the target area given by the radar are both larger than the field of view of the current sensor of the optoelectronic turret. When scanning the target area, it is necessary to use a regional line-by-line scanning method; The specific process of area search scanning is as follows: Step 1: Control the photoelectric turret azimuth angle to θ yaw , pitch angle alignment Step 2: Start scanning in the pitch direction and scan upward to the pitch angle Then change the azimuth alignment angle to θ according to the target movement direction given by the radar yaw +0.8η yaw or θ yaw -0.8η yaw ; It can ensure that the fields of view of the two line scans have a certain overlapping range, so as to ensure that the target is scanned, and it can ensure that the area where the target is more likely to appear is scanned first; Step 3: Continue to raise the turret arrive When the pitch scan reaches the boundary of the pitch range, the azimuth alignment angle needs to be changed. The azimuth alignment angle during the scanning process is: x yaw =θ yaw +0.8Nη yaw Where N is an integer, which will change when touching or exceeding the pitch scan boundary; During the scanning process of step 3, it is necessary to continuously determine whether the angle of the range azimuth alignment exceeds the boundary value of the target area azimuth given by the radar. When N is changed from increasing to decreasing, It is necessary to change N from decreasing to increasing, so as to ensure that the scanning area is slightly larger than the entire target area.

2. The search and scanning control method of the optoelectronic turret for the radar identification target area according to claim 1 is characterized in that: In the step 1, before the radar starts working, the angles of the optoelectronic turret and the radar need to be aligned and corrected, so that the angle given by the radar and the optical axis angle of the optoelectronic turret are matched.

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