Non-windowed target search and windowed fast off-target quantity calculation method and device

Abstract

The present application relates to the technical field of optical remote sensing pointing imaging of a floating platform, and particularly relates to a non-windowed target searching and windowed fast miss distance calculation method and device, the method and device first calculate a threshold value of a CMOS original image through a threshold segmentation algorithm, then perform binary processing, then mark the centroid coordinates and area information of each connected region of the binary image to obtain the centroid coordinates of the largest area target and a window enabling signal, finally perform window processing operation with the target centroid as the center, and calculate the centroid in real time to obtain the miss distance. In the present application, the CMOS detector is driven by a field programmable gate array (FPGA), and the image processing algorithm is realized by a digital signal processor (DSP), so that the framework is clear and simple, and the present application has important significance for practical engineering project application.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical remote sensing pointing imaging of a floating platform, in particular to a non-windowed target search and windowed fast off-target amount calculation method and device. BACKGROUND

[0002] In deep space exploration, by performing spectral remote sensing observation on the atmospheric environment of a planet close to the earth, spectral information of the atmosphere is obtained, which is expected to make important achievements in revealing the diversity of planetary atmospheric environment evolution and the regulation of solar energy on the planetary atmospheric environment, and can provide a basis for comparison for the coupling of the earth's near space atmospheric plasma. Therefore, remote sensing observation of the planet has become one of the most important research contents in deep space exploration. Since humans mastered optical technology, they have begun to explore planets. At present, the way of deep space planetary exploration mainly includes two ways based on ground and satellite in space. Deep space exploration based on ground is a way of exploring deep space targets based on ground observation equipment. It is simple to maintain, but due to atmospheric scattering, refraction and absorption, light pollution and other human activities, as well as the influence of observation distance and optical telescope resolution, it is difficult to obtain clear images, and it has been unable to meet the requirements of deep space target exploration. Observation based on satellites and other spacecrafts has better imaging quality and clearer images, but the cost of research, launch and use is very high. Therefore, a floating platform can be selected as a means of deep space exploration.

[0003] The deep space exploration telescope is carried on the floating platform and needs to fly in the stratosphere at about 20km. Since the pointing direction of the telescope is unknown, a star sensor and a gyroscope are usually combined to determine the attitude, and a two-dimensional turntable is used to complete the coarse pointing. At the same time, in order to realize high-precision image stabilization, a fast mirror compound axis control method is usually used, so it is necessary to calculate the off-target amount as closed-loop information feedback. SUMMARY

[0004] The embodiment of the present application provides a non-windowed target search and windowed fast off-target amount calculation method and device, so as to at least solve the technical problem of low imaging precision of the existing remote sensing observation.

[0005] According to an embodiment of the present application, a non-windowed target search and windowed fast off-target amount calculation method is provided, which comprises the following steps:

[0006] Receiving CMOS original image data, calculating a threshold value for the CMOS original image through a threshold segmentation algorithm;

[0007] The CMOS original image after calculating the threshold value is subjected to binaryzation processing to obtain a binaryzation image;

[0008] The binarized image is marked with the center coordinates and area information of each connected region to obtain the center coordinates of the target with the largest area and a window enabling signal;

[0009] The CMOS original image is subjected to a windowing operation centered on the target center and real-time center calculation to obtain the off-target amount.

[0010] Further, the CMOS original image data is received, and a threshold value is calculated for the CMOS original image by a threshold segmentation algorithm, including:

[0011] a. The average gray value is selected as the initial threshold T0;

[0012] b. The initial threshold T0 is used to divide the original image into two parts, and the average gray values u1 and u2 of the two parts are calculated;

[0013] c. A new threshold T1 = (u1 + u2) / 2 is calculated;

[0014] d. The steps b and c are repeated until the difference between the two consecutive T1 values is less than a predetermined value.

[0015] Further, the CMOS original image is subjected to a windowing operation centered on the target center and real-time center calculation to obtain the off-target amount, including:

[0016]

[0017]

[0018] Wherein, x0, y0 represents the coordinates of the target center x and y, m and n represent the upper limits of the x and y coordinates of the star point occupying the four regions, and F(x, y) represents the gray value of the image at the point (x, y).

[0019] According to another embodiment of the application, a non-windowed target searching and windowed fast off-target amount calculation device is provided, including:

[0020] A digital signal processing DSP receives CMOS original image data, and calculates a threshold value for the CMOS original image by a threshold segmentation algorithm;

[0021] A field programmable gate array FPGA performs binarization processing on the CMOS original image after the threshold value is calculated to obtain a binarized image;

[0022] A digital signal processing DSP marks the center coordinates and area information of each connected region of the binarized image to obtain the center coordinates of the target with the largest area and a window enabling signal;

[0023] FPGA, FPGA performs a windowing operation centered on the target centroid on the real-time received CMOS raw image, and performs real-time centroid calculation to obtain the miss distance.

[0024] Further, the DSP receives the CMOS raw image data, and calculates the threshold value of the CMOS raw image by a threshold segmentation algorithm, including:

[0025] The FPGA provides driving timing for the CMOS detector of the pointing sensor through a CMOS driving module.

[0026] The FPGA receives the CMOS raw image data through a CMOS image data acquisition module and transmits the data to the DSP through a CMOS image data transmission module.

[0027] The DSP receives the CMOS raw image data through an EMIF unit, calculates the threshold value through a threshold segmentation unit, and feeds back to the FPGA through a communication unit.

[0028] Further, the DSP receives the CMOS raw image data through an EMIF unit, and calculates the threshold value through a threshold segmentation unit, including:

[0029] a. Select the average gray value as the initial threshold value T0;

[0030] b. Divide the original image into two parts using the initial threshold value T0, and calculate the average gray values u1 and u2 of the two parts;

[0031] c. Calculate the new threshold value T1 = (u1 + u2) / 2;

[0032] d. Repeat steps b and c until the difference between the two consecutive T1 values is less than a predetermined value.

[0033] Further, the FPGA performs binarization processing on the CMOS raw image after calculating the threshold value to obtain a binarized image, including:

[0034] The FPGA receives the feedback new threshold value T1 through a communication module, performs binarization processing on the real-time received CMOS raw image data through a binarization processing module to obtain a binarized image, and outputs the binarized image to the DSP through a CMOS image data transmission module.

[0035] Further, the DSP labels the centroid coordinates and area information of each connected region of the binarized image to obtain the centroid coordinates of the largest area target and a windowing enable signal, including:

[0036] The digital signal processing (DSP) receives the binary image through the EMIF unit and marks the binary image through the connected threshold marking unit to obtain the center of mass coordinates and area information of each connected region, and sends the center of mass coordinates of the target with the largest area and a window enabling signal to the field programmable gate array (FPGA) through the communication unit.

[0037] Further, the field programmable gate array (FPGA) performs a windowing operation centered on the target center of mass on the real-time received CMOS original image, and performs real-time center of mass calculation to obtain the miss distance, including:

[0038] The field programmable gate array (FPGA) receives the center of mass coordinates of the target with the largest area and a window enabling signal through the communication module, and performs a windowing operation centered on the target center of mass on the real-time received CMOS original image through the binary processing module and the windowing calculation module, and performs real-time center of mass calculation to obtain the miss distance.

[0039] Further, the field programmable gate array (FPGA) performs a windowing operation centered on the target center of mass on the real-time received CMOS original image, and performs real-time center of mass calculation to obtain the miss distance, including:

[0040]

[0041]

[0042] Wherein, x0, y0 target represents the coordinates of the center of mass x, y, m, n respectively represent the upper limit of the x and y coordinates of the star point occupying the four square region, F(x, y) represents the gray value of the image at (x, y) point.

[0043] The non-windowed target search and windowed fast miss distance calculation method and device in the embodiment of the application first calculate the threshold value of the CMOS original image through a threshold segmentation algorithm, then perform binary processing, then mark the center of mass coordinates and area information of each connected region of the binary image to obtain the center of mass coordinates of the target with the largest area and a window enabling signal, and finally perform a windowing operation centered on the target center of mass and real-time center of mass calculation to obtain the miss distance. In the application, the CMOS detector is driven by the field programmable gate array (FPGA), the image processing algorithm is realized by the digital signal processing (DSP), the architecture is clear and simple, and it has important significance for practical engineering project application. BRIEF DESCRIPTION OF DRAWINGS

[0044] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The schematic embodiments of the application and their descriptions are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0045] Figure 1Flow chart of non-windowed target searching and windowed fast miss distance calculation method of the present application;

[0046] Figure 2 Module diagram of non-windowed target searching and windowed fast miss distance calculation device of the present application. DETAILED DESCRIPTION

[0047] In order to enable the personnel in the technical field to better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the personnel in the field without making creative efforts should belong to the protection scope of the present application.

[0048] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0049] Embodiment 1

[0050] According to an embodiment of the present application, a non-windowed target searching and windowed fast miss distance calculation method is provided, referring to Figure 1 , comprising the following steps:

[0051] S101: receiving CMOS original image data, calculating a threshold value for the CMOS original image through a threshold segmentation algorithm;

[0052] S102: performing binaryzation processing on the CMOS original image after calculating the threshold value to obtain a binaryzation image;

[0053] S103: marking the centroid coordinates and area information of each connected region of the binaryzation image to obtain the centroid coordinates of the area maximum target and a window enabling signal;

[0054] S104: performing window processing operation on the real-time received CMOS original image with the target centroid as the center, and performing real-time centroid calculation to obtain the miss distance.

[0055] The non-windowed target searching and windowed fast off-target quantity calculation method in the embodiment of the application first calculates a threshold value of a CMOS original image through a threshold segmentation algorithm, then performs binaryzation processing, then marks the centroid coordinates and area information of each connected region of the binaryzation image, obtains the centroid coordinates of the area maximum target and a window enabling signal, finally performs window processing operation with the target centroid as the center, and performs real-time centroid calculation to obtain the off-target quantity.

[0056] The method comprises the following steps:

[0057] a. selecting an average gray value as an initial threshold value T0;

[0058] b. dividing the original image into two part images by using the initial threshold value T0, and calculating the gray average values u1 and u2 of the two part images;

[0059] c. calculating a new threshold value T1=(u1+u2) / 2;

[0060] d. repeating the steps b and c until the difference of T1 in two consecutive times is less than a predetermined value.

[0061] The method comprises the following steps:

[0062]

[0063]

[0064] Wherein, x0, y0 target represents the coordinates of the centroid x, y, m, n respectively represent the upper limits of the x and y coordinates of the four regions occupied by the star point, and F(x, y) represents the gray value of the image at the point (x, y).

[0065] The non-windowed target searching and windowed fast off-target quantity calculation method of the application will be described in detail in the following specific embodiments:

[0066] Step one: automatic target searching

[0067] 1. The field programmable gate array (FPGA) provides driving timing for the CMOS detector through a CMOS driving module.

[0068] 2. The field programmable gate array (FPGA) receives the CMOS raw image data through the CMOS image data acquisition module and transmits it to the digital signal processing (DSP) through the CMOS image data transmission module;

[0069] 3. The digital signal processing DSP receives the CMOS raw image data through the EMIF unit. The threshold is first calculated by the threshold segmentation unit and fed back to the field programmable gate array FPGA through the communication unit. The algorithm is as follows;

[0070] a. Select the average gray value as the initial threshold T0;

[0071] b. Use the initial threshold T0 to divide the original image into two parts, and calculate the grayscale average values ​​u1 and u2 of the two parts;

[0072] c. Calculate the new threshold value T1 = (u1 + u2) / 2;

[0073] d. Repeat steps b and c until the difference between two consecutive T1 values ​​is less than a predetermined value.

[0074] 4. The field programmable gate array FPGA receives the new threshold value T1 fed back through the communication module, and performs binarization processing on the real-time received CMOS raw image data through the binarization processing module to obtain a binary image, and outputs the binarized image to the digital signal processing DSP through the CMOS image data sending module.

[0075] 5. The digital signal processing DSP receives the binary image through the EMIF unit and marks the centroid coordinates and area information of each connected area in the binary image through the connectivity threshold marking unit, and sends the centroid coordinates of the target with the largest area and the window enable signal to the field programmable gate array FPGA through the communication unit.

[0076] Step 2: Rapid off-target calculation

[0077] 1. The field programmable gate array (FPGA) receives the centroid coordinates of the target with the largest area and the windowing enable signal through the communication module, and performs a windowing operation centered on the target centroid on the real-time received CMOS original image through the binarization processing module and the windowing calculation module, and performs the centroid calculation in real time.

[0078]

[0079]

[0080] In the above two equations, x0 and y0 represent the x and y coordinates of the center of mass, m and n represent the upper limits of the x and y coordinates of the quadrilateral area occupied by the star point, and F(x,y) represents the grayscale value of the image at point (x,y).

[0081] For the imaging payload of the floating platform, the imaging detector pointing accuracy determines the imaging quality, and a floating platform telescope real-time target recognition off-target amount calculation method is needed. For a large area array 6k*6k domestic CMOS detector, the application provides a non-windowed target search and windowed fast off-target amount calculation method and device, in which the CMOS detector is driven by a field programmable gate array (FPGA) to realize image processing algorithm in a digital signal processing (DSP), and the structure is clear and simple, which has important significance for practical engineering project application.

[0082] The application has the following innovations: the CMOS detector is a domestic GSENSE6060, the field programmable gate array (FPGA) is XQ4VSX55, the CMOS driving module is realized by VHDL of the field programmable gate array (FPGA), the CMOS image data acquisition module is realized by VHDL of the field programmable gate array (FPGA), the window calculation module is realized by VHDL of the field programmable gate array (FPGA), the binary processing module is realized by VHDL of the field programmable gate array (FPGA), the communication module is realized by VHDL of the field programmable gate array (FPGA), the CMOS image data sending module is realized by VHDL of the field programmable gate array (FPGA), the digital signal processing (DSP) is TMS320C6416, the communication unit is realized by an EMIF interface, the EMIF unit is realized by an EMIF interface, the connected threshold marking unit is realized by C language, and the threshold segmentation algorithm of the threshold segmentation unit is realized by C language.

[0083] Embodiment 2

[0084] According to another embodiment of the application, a non-windowed target search and windowed fast off-target amount calculation device is provided, referring to Figure 2 , comprising:

[0085] A digital signal processing (DSP) receives CMOS original image data, and calculates a threshold value for the CMOS original image through a threshold segmentation algorithm;

[0086] A field programmable gate array (FPGA) performs binary processing on the CMOS original image after the threshold value is calculated to obtain a binary image;

[0087] The digital signal processing (DSP) marks the centroid coordinates and area information of each connected region of the binary image to obtain the centroid coordinates of the largest area target and a window enabling signal;

[0088] Field programmable gate array (FPGA), the FPGA performs a windowing operation centered on the target centroid on the real-time received CMOS raw image, and performs real-time centroid calculation to obtain the miss distance.

[0089] The non-windowed target searching and windowed fast miss distance calculation device in the embodiment of the application first calculates a threshold value of a CMOS raw image through a threshold segmentation algorithm, then performs binaryzation processing, then marks the centroid coordinates and area information of each connected region of the binaryzation image to obtain the centroid coordinates of the target with the largest area and a windowing enable signal, finally performs a windowing operation centered on the target centroid, and performs real-time centroid calculation to obtain the miss distance. In the application, the CMOS detector is driven by the FPGA to realize, and the image processing algorithm is realized by the DSP to realize, which has a clear and simple structure and is of great significance for practical engineering project application.

[0090] The threshold value calculation by the DSP on the CMOS raw image includes:

[0091] The FPGA provides driving timing for the CMOS detector of the pointing sensor through the CMOS driving module;

[0092] The FPGA receives the CMOS raw image data through the CMOS image data acquisition module and transmits the data to the DSP through the CMOS image data transmission module;

[0093] The DSP receives the CMOS raw image data through the EMIF unit, calculates the threshold value through the threshold segmentation unit, and feeds back the threshold value to the FPGA through the communication unit.

[0094] The threshold value calculation by the DSP through the EMIF unit includes:

[0095] a. Select the average gray value as the initial threshold value T0;

[0096] b. Divide the raw image into two parts of images using the initial threshold value T0, and calculate the average gray values u1 and u2 of the two parts of images;

[0097] c. Calculate a new threshold value T1=(u1+u2) / 2;

[0098] d. Repeat steps b and c until the difference between the two consecutive T1 values is less than a predetermined value.

[0099] The binaryzation processing of the FPGA on the CMOS raw image after the threshold value calculation includes:

[0100] The FPGA receives the new threshold T1 through the communication module, and the binary image is obtained by performing binary processing on the real-time received CMOS original image data through the binary processing module, and the binary image is output to the DSP through the CMOS image data sending module.

[0101] The DSP marks the centroid coordinates and area information of each connected region of the binary image, and obtains the centroid coordinates of the largest area target and the windowing enable signal, and the windowing enable signal includes:

[0102] The DSP receives the binary image through the EMIF unit, marks the centroid coordinates and area information of each connected region of the binary image through the connected threshold marking unit, and sends the centroid coordinates of the largest area target and the windowing enable signal to the FPGA through the communication unit.

[0103] The FPGA performs windowing processing operation on the real-time received CMOS original image with the target centroid as the center, and performs real-time centroid calculation to obtain the miss distance, and the windowing processing operation includes:

[0104] The FPGA receives the centroid coordinates of the largest area target and the windowing enable signal through the communication module, and performs windowing processing operation on the real-time received CMOS original image with the target centroid as the center through the binary processing module and the windowing calculation module, and performs real-time centroid calculation to obtain the miss distance.

[0105] The FPGA performs windowing processing operation on the real-time received CMOS original image with the target centroid as the center, and performs real-time centroid calculation to obtain the miss distance, and the windowing processing operation includes:

[0106]

[0107]

[0108] Wherein, x0, y0 target represents the coordinates of the centroid x, y, m, n respectively represent the upper limit of the x and y coordinates of the four regions occupied by the star point, and F(x, y) represents the gray value of the image at (x, y).

[0109] The non-windowed target search and windowed fast miss distance calculation device of the application will be described in detail below with specific embodiments:

[0110] Step 1: automatic target search

[0111] 1. The FPGA provides driving timing for the pointing sensor CMOS detector through the CMOS driving module;

[0112] 2. The field programmable gate array (FPGA) receives the CMOS raw image data through the CMOS image data acquisition module and transmits it to the digital signal processing (DSP) through the CMOS image data transmission module;

[0113] 3. The digital signal processing DSP receives the CMOS raw image data through the EMIF unit. The threshold is first calculated by the threshold segmentation unit and fed back to the field programmable gate array FPGA through the communication unit. The algorithm is as follows;

[0114] a. Select the average gray value as the initial threshold T0;

[0115] b. Use the initial threshold T0 to divide the original image into two parts, and calculate the grayscale average values ​​u1 and u2 of the two parts;

[0116] c. Calculate the new threshold value T1 = (u1 + u2) / 2;

[0117] d. Repeat steps b and c until the difference between two consecutive T1 values ​​is less than a predetermined value.

[0118] 4. The field programmable gate array FPGA receives the new threshold value T1 fed back through the communication module, and performs binarization processing on the real-time received CMOS raw image data through the binarization processing module to obtain a binary image, and outputs the binarized image to the digital signal processing DSP through the CMOS image data sending module.

[0119] 5. The digital signal processing DSP receives the binary image through the EMIF unit and marks the centroid coordinates and area information of each connected area in the binary image through the connectivity threshold marking unit, and sends the centroid coordinates of the target with the largest area and the window enable signal to the field programmable gate array FPGA through the communication unit.

[0120] Step 2: Rapid off-target calculation

[0121] 1. The field programmable gate array (FPGA) receives the centroid coordinates of the target with the largest area and the windowing enable signal through the communication module, and performs a windowing operation centered on the target centroid on the real-time received CMOS original image through the binarization processing module and the windowing calculation module, and performs the centroid calculation in real time.

[0122]

[0123]

[0124] In the above two equations, x0 and y0 represent the x and y coordinates of the center of mass, m and n represent the upper limits of the x and y coordinates of the quadrilateral area occupied by the star point, and F(x,y) represents the grayscale value of the image at point (x,y).

[0125] For the imaging payload of the aerostat platform, the imaging detector pointing accuracy determines the imaging quality, and a real-time target identification off-target amount calculation method of the aerostat platform telescope is needed.Aiming at a domestic CMOS detector with a large array of 6k*6k, the application provides a non-windowed target search and windowed fast off-target amount calculation method and device, in which the CMOS detector is driven by a field programmable gate array (FPGA) to realize image processing algorithm in a digital signal processing (DSP), and the structure is clear and simple, which has important significance for practical engineering project application.

[0126] The application has the following innovations: the CMOS detector is a domestic GSENSE6060, the field programmable gate array (FPGA) is XQ4VSX55, the CMOS driving module is realized by VHDL of the field programmable gate array (FPGA), the CMOS image data acquisition module is realized by VHDL of the field programmable gate array (FPGA), the window calculation module is realized by VHDL of the field programmable gate array (FPGA), the binary processing module is realized by VHDL of the field programmable gate array (FPGA), the communication module is realized by VHDL of the field programmable gate array (FPGA), the CMOS image data sending module is realized by VHDL of the field programmable gate array (FPGA), the digital signal processing (DSP) is TMS320C6416, the communication unit is realized by an EMIF interface, the EMIF unit is realized by an EMIF interface, the connection threshold marking unit is realized by C language, and the threshold segmentation algorithm of the threshold segmentation unit is realized by C language.

[0127] Embodiment 3

[0128] A storage medium, the storage medium stores a program file capable of realizing the non-windowed target search and windowed fast off-target amount calculation method.

[0129] Embodiment 4

[0130] A processor, the processor is used for running a program, and when the program is running, the non-windowed target search and windowed fast off-target amount calculation method is executed.

[0131] The above-mentioned embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0132] In the above-mentioned embodiments of the application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0133] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented by other ways. Among them, the system embodiments described above are only illustrative, for example, the division of units can be a logical function division, and actual implementation can have another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection between the units or modules through some interfaces, and can be electrical or other forms.

[0134] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0135] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0136] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0137] The above is only the preferred embodiment of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A non-windowed target search and windowed rapid miss distance calculation method, characterized in that: The following steps are involved: Receive CMOS original image data and calculate the threshold value of the CMOS original image through the threshold segmentation algorithm; The original CMOS image after threshold calculation is binarized to obtain a binarized image; Mark the centroid coordinates and area information of each connected area in the binary image, and obtain the centroid coordinates and windowing enable signal of the target with the largest area; The real-time received CMOS original image is subjected to a windowing operation centered on the target centroid, and the centroid calculation is performed in real time to obtain the miss distance; The receiving of CMOS original image data and calculating a threshold value of the CMOS original image by using a threshold segmentation algorithm comprises: a. Select the average gray value as the initial threshold T0; b. Use the initial threshold T0 to divide the original image into two parts, and calculate the grayscale average values ​​u1 and u2 of the two parts; c. Calculate the new threshold value T1 = (u1 + u2) / 2; d. Repeat steps b and c until the difference between two consecutive T1 values ​​is less than a predetermined value.

2. The non-windowed target search and windowed rapid miss distance calculation method according to claim 1, wherein: The process of performing a windowing operation centered on the target centroid on the real-time received CMOS original image and performing real-time centroid calculation to obtain the miss distance comprises: Among them, the x0 and y0 targets represent the coordinates of the center of mass x and y, m and n represent the upper limits of the x and y coordinates of the square area occupied by the star point, and F(x,y) represents the grayscale value of the image at point (x,y).

3. A non-windowed target search and windowed rapid miss distance calculation device, characterized in that: include: A digital signal processing DSP receives CMOS original image data and calculates a threshold value for the CMOS original image using a threshold segmentation algorithm; A field programmable gate array (FPGA), wherein the field programmable gate array (FPGA) performs a binarization process on the CMOS original image after the threshold value is calculated to obtain a binarized image; A digital signal processing DSP is used to mark the centroid coordinates and area information of each connected area in the binary image, and obtain the centroid coordinates of the target with the largest area and a windowing enable signal; A field programmable gate array (FPGA) performs a windowing operation centered on the target centroid on the real-time received CMOS original image, and performs centroid calculation in real time to obtain the miss distance; The digital signal processing DSP receives CMOS original image data, and calculates a threshold value of the CMOS original image using a threshold segmentation algorithm, including: The field programmable gate array FPGA provides driving timing for the pointing sensor CMOS detector through the CMOS driving module; The field programmable gate array FPGA receives CMOS raw image data through the CMOS image data acquisition module and transmits it to the digital signal processing DSP through the CMOS image data sending module; The digital signal processing DSP receives the CMOS original image data through the EMIF unit, calculates the threshold value through the threshold segmentation unit, and feeds it back to the field programmable gate array FPGA through the communication unit; The digital signal processing DSP receives the CMOS original image data through the EMIF unit, and calculates the threshold value through the threshold segmentation unit, including: a. Select the average gray value as the initial threshold T0; b. Use the initial threshold T0 to divide the original image into two parts, and calculate the grayscale average values ​​u1 and u2 of the two parts; c. Calculate the new threshold value T1 = (u1 + u2) / 2; d. Repeat steps b and c until the difference between two consecutive T1 values ​​is less than a predetermined value.

4. The non-windowed target search and windowed rapid miss distance calculation device according to claim 3, wherein: The field programmable gate array FPGA performs binarization processing on the CMOS original image after the threshold is calculated to obtain a binarized image, which includes: The field programmable gate array FPGA receives the new threshold value T1 fed back via the communication module, performs binarization processing on the real-time received CMOS original image data via the binarization processing module to obtain a binarized image, and outputs the binarized image to the digital signal processing DSP via the CMOS image data sending module.

5. The non-windowed target search and windowed rapid miss distance calculation device according to claim 3, wherein: The digital signal processing DSP marks the centroid coordinates and area information of each connected area in the binary image, and obtains the centroid coordinates and windowing enable signal of the target with the largest area, including: The digital signal processing DSP receives the binary image through the EMIF unit and marks the centroid coordinates and area information of each connected area in the binary image through the connectivity threshold marking unit, and sends the centroid coordinates of the target with the largest area and the windowing enable signal to the field programmable gate array FPGA through the communication unit.

6. The non-windowed target search and windowed rapid miss distance calculation device according to claim 3, wherein: The field programmable gate array FPGA performs a windowing operation centered on the target centroid on the real-time received CMOS original image, and performs real-time centroid calculation to obtain the miss amount, including: The field programmable gate array (FPGA) receives the centroid coordinates of the target with the largest area and a windowing enable signal through a communication module, performs a windowing operation centered on the target centroid on the real-time received CMOS original image through a binarization processing module and a windowing calculation module, and performs centroid calculation in real time to obtain the miss distance.

7. The non-windowed target search and windowed rapid miss distance calculation device according to claim 6, wherein: The process of performing a windowing operation centered on the target centroid on the real-time received CMOS original image and performing real-time centroid calculation to obtain the miss distance comprises: Among them, the x0 and y0 targets represent the coordinates of the center of mass x and y, m and n represent the upper limits of the x and y coordinates of the square area occupied by the star point, and F(x,y) represents the grayscale value of the image at point (x,y).

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