Optical guidance control semi-physical simulation system and method

Abstract

An embodiment of the present invention discloses a semi-physical simulation system and method for optical guidance control, the system comprising: a device under test, a three-axis turntable, an infrared target simulator, a simulation host and an image computer, wherein the device under test comprises a seeker and is mounted on the three-axis turntable; the simulation host is used to send the calculated projectile posture data to the three-axis turntable, and the projectile-target distance and projectile-target relative line of sight angle data are sent to the image computer; the image computer provides a dynamic infrared target digital image for the infrared target simulator, and the simulation host calculates the refresh starting pixel value of the infrared target digital image and sends it to the infrared target simulator; the infrared target simulator is fixedly connected to the seeker, and upon receiving the exposure signal of the seeker, the infrared target digital image is intercepted and converted into a physical infrared thermal image, which is then projected to the entrance pupil of the device under test after being amplified, collimated and registered; the three-axis turntable is used to complete the simulation of the projectile posture movement according to the received projectile posture data.

Description

Technical Field

[0001] The present invention relates to the field of semi-physical simulation, and more specifically, to a semi-physical simulation system and method for optical guidance control. Background Art

[0002] Infrared imaging guided missiles require a large number of semi-physical simulation methods to verify the performance of the detection system and control system, the dynamic matching of hardware products, and the correctness and adaptability of the control method. The semi-physical simulation system builds the infrared target environment scene, missile attitude, and missile-target relative motion simulation environment required by infrared imaging guided weapons, connects the guidance control system hardware to the simulation system and forms a real-time simulation loop to verify the performance of the control loop and product characteristics, which can significantly reduce the risk of flight tests and save development costs, and is of great significance to the development of infrared imaging guided weapons.

[0003] The traditional optical guidance control semi-physical simulation system is a five-axis turntable. The target simulator is installed on the two outer axes (i.e., the target frame). The pitch and yaw motion of the target axis is used to simulate the relative line of sight angular motion of the optical target. The advantages of this method are high system integration and large field of view motion range, but the disadvantages are that the projection optical system of the target simulator needs to be customized according to different seekers, the degree of commonality between different seekers is low, and the pupil distance is generally long. The overall size and weight of the optical system are large, and the development cost is high. Summary of the invention

[0004] The purpose of the present invention is to provide an optical guidance control semi-physical simulation system and method, which greatly reduces the pupil distance and field of view of the optical projection system of the infrared target simulator, thereby greatly reducing the volume, weight and development cost of the optical system of the infrared target simulator, and at the same time enhancing the versatility of the infrared target simulator.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] The first aspect of the present invention provides an optical guidance control semi-physical simulation system, comprising: a device under test, a three-axis turntable, an infrared target simulator, a simulation host and an image computer, wherein:

[0007] The device under test includes a seeker and is mounted on the three-axis turntable;

[0008] The simulation host is used to solve the missile body dynamics, kinematics and missile-target relative motion mathematical models during the simulation test, and send the calculated missile body posture data to the three-axis turntable, and send the missile-target distance and missile-target relative line of sight angle data to the image computer;

[0009] The image computer completes the three-dimensional entity modeling, infrared radiation characteristic modeling and real-time dynamic simulation of the infrared mirror according to the missile-target distance and the missile-target relative sight angle data, and provides a dynamic infrared target digital image for the infrared target simulator according to the real-time simulation data during the simulation test. The simulation host calculates the infrared target digital image refresh start pixel value according to the missile-target relative sight angle and sends it to the infrared target simulator;

[0010] The infrared target simulator is fixedly connected to the seeker head, and upon receiving the exposure signal of the seeker head, the infrared target digital image is intercepted according to the refresh start pixel value of the infrared target digital image and the pixel value of the detection system, and then converted into a physical infrared thermal image, which is then amplified, collimated and registered, and then projected to the entrance pupil of the device under test;

[0011] The three-axis turntable is used to complete the simulation of the projectile posture movement according to the received projectile posture data.

[0012] In a specific example, the infrared target digital image is sent to an infrared target simulator image receiving module through an image transmission interface for storage.

[0013] In a specific example, the infrared target digital image refresh start pixel value is sent to the infrared target simulator via a serial interface.

[0014] In a specific example, the simulation host is also used to complete the interface communication with the test objects and simulation equipment, and can also complete the human-computer interaction, data monitoring and simulation test data acquisition during the simulation test.

[0015] In a specific example, the three-axis turntable is used to simulate the missile body motion with three degrees of freedom: pitch, roll and yaw.

[0016] In a specific example, the infrared target simulator receives the infrared target digital image through a video data interface, decodes it through a decoding chip, and stores it in three caches in a ping-pong storage manner. Image trigger control is performed based on an external trigger signal. Under the control of a delay control module, the latest infrared target digital image data is taken from the three caches. According to cropping requirements, the infrared target digital image data is cropped and stored in a cropping cache. The driving module extracts the infrared target digital image data from the cropping cache and drives the DMD to complete image conversion and display.

[0017] In a specific example, the clipping requirement is to clip (x0, y0) to (x0+x 探 ,y0+y 探 ), where

[0018] (x0, y0) is the refresh starting pixel value of the infrared target digital image, (x0+x探 ,y0+y 探 ) is the sum of the refresh starting pixel value of the infrared target digital image and the pixel value of the detection system.

[0019] In a specific example, the clipping time is required to be within 1 ms.

[0020] A second aspect of the present invention provides a method for performing semi-physical simulation using the system of the first aspect of the present invention, comprising the following steps:

[0021] In each simulation cycle, the simulation host sends the missile-target distance and the relative sight angle data to the image computer, which completes the three-dimensional entity modeling of the missile's visual target, the infrared radiation characteristic modeling and the real-time dynamic simulation of the infrared mirror, and generates the infrared target digital image in real time at twice the display resolution of the infrared target simulator. The generated infrared target digital image is output to the target simulator image receiving module through the image transmission interface for storage. At the same time, the simulation host calculates the infrared target digital image refresh start pixel value (x0, y0) according to the relative sight angle position of the missile and target, and sends it to the infrared target simulator through the serial interface. When the infrared target simulator receives the exposure signal of the seeker, it intercepts the received infrared target digital image from (x0, y0) to (x0+x 探 ,y0+y 探 ) to refresh the image data.

[0022] The beneficial effects of the present invention are as follows:

[0023] This scheme can greatly reduce the pupil distance and field of view of the optical projection system of the infrared target simulator, thereby greatly reducing the volume, weight and development cost of the infrared target simulation optical system, while enhancing the versatility of the infrared target simulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A schematic diagram of a traditional optical guidance control semi-physical simulation system is shown.

[0026] Figure 2 A schematic diagram of a semi-physical simulation system for optical guidance control according to an embodiment of the present invention is shown.

[0027] Figure 3 A schematic diagram of an existing commercial DMD solution is shown.

[0028] Figure 4 A schematic diagram of an existing synchronous three-buffer DMD solution is shown.

[0029] Figure 5 A schematic diagram showing the principle of an existing synchronous three-buffer DMD solution is shown.

[0030] Figure 6 A schematic diagram showing the conversion of a digital image of an infrared target simulator into an optical image according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0032] The traditional optical guidance control semi-physical simulation system 1 is a five-axis turntable method, such as Figure 1 As shown, the five-axis turntable consists of two parts: the inner three-axis 12 and the outer two-axis 13. The device under test 11 (including the seeker, the missile machine, the inertial measurement device, etc.) is installed on the inner three-axis. The three axes simulate the missile body motion of the three degrees of freedom of pitch, roll, and yaw respectively. The target simulator 14 is installed on the outer two axes (i.e., the target axis). Through the pitch and yaw motion of the target axis, the simulation of the relative line of sight angle motion of the optical target is realized. In each simulation cycle, the simulation host 15 sends the missile attitude to the three-axis platform 12, sends the missile-target distance information to the image computer 16, and sends the missile-target relative line of sight angle to the two-axis platform; the missile attitude is simulated by the three-axis platform, the missile-target relative motion is simulated by the two-axis platform, and the image computer generates an image in real time according to the missile-target distance and the target simulator resolution, thereby realizing the closed-loop simulation of missile guidance control. The disadvantage of this method is that the projection optical system of the target simulator needs to be customized according to different seekers, the degree of commonality between different seekers is low, and the pupil distance is generally long, the overall size and weight of the optical system are large, and the development cost is high.

[0033] The first embodiment of the present invention provides an optical guidance control semi-physical simulation system 2, such as Figure 2 As shown, the functions of the two-axis turntable and the target simulator in the traditional method are combined into one, and the target simulator is physically connected to the seeker head of the device under test. The field of view of the target simulator only needs to be slightly larger than the seeker head. Virtual reality technology is used to simultaneously realize the target scene information and relative line of sight angle motion simulation through image scene transformation, providing a new technical approach for semi-physical simulation of optical guidance control.

[0034] Specifically, Figure 2 As shown, the system 2 includes: a device under test 21, a three-axis turntable 22, an infrared target simulator 23, a simulation host 24 and an image computer 25, wherein:

[0035] The device under test includes a seeker and is mounted on the three-axis turntable;

[0036] The simulation host is used to solve the missile body dynamics, kinematics and missile-target relative motion mathematical models during the simulation test, and send the calculated missile body posture data to the three-axis turntable, and send the missile-target distance and missile-target relative line of sight angle data to the image computer;

[0037] The image computer completes the three-dimensional solid modeling, infrared radiation characteristic modeling and real-time dynamic simulation of the target according to the missile-target distance and the relative sight angle data of the missile-target. During the simulation test, a dynamic infrared target digital image is provided to the infrared target simulator according to the real-time simulation data. The simulation host calculates the refresh starting pixel value of the infrared target digital image according to the relative sight angle of the missile-target and sends it to the infrared target simulator to meet the needs of the simulation test of the infrared imaging seeker.

[0038] The infrared target simulator is fixedly connected to the seeker head. When receiving the exposure signal of the seeker head, the infrared target digital image is intercepted according to the refresh start pixel value of the infrared target digital image and the pixel value of the detection system, and then converted into a physical infrared thermal image, which is projected to the entrance pupil of the device under test after amplification, collimation and registration, so that the device under test can see the clean infrared thermal image at a considerable distance, providing an infrared environment for the research and system testing of infrared imaging detection, tracking, guidance and infrared jamming technologies;

[0039] The three-axis turntable is used to complete the simulation of the projectile posture movement according to the received projectile posture data.

[0040] In a specific embodiment, the infrared target digital image is sent to the infrared target simulator image receiving module through an image transmission interface for storage.

[0041] In a specific embodiment, the infrared target digital image refresh start pixel value is sent to the infrared target simulator via a serial interface.

[0042] In a specific embodiment, the simulation host is also used to complete the interface communication with the test object and the simulation equipment, and can also complete the human-computer interaction, data monitoring and simulation test data acquisition during the simulation test.

[0043] In a specific embodiment, the three-axis turntable is used to simulate the missile body motion with three degrees of freedom: pitch, roll and yaw.

[0044] In a specific embodiment, existing commercial DMD solutions such as Figure 3As shown, the video data is received through a video interface such as HDMI, and is decoded by a decoding chip and stored in a double buffer in a ping-pong storage manner. Then the driver module extracts data from the buffer and drives the DMD to complete the conversion of digital images to optical images. This solution has a time mismatch for optical detection systems with high frame rates and short exposures, resulting in grayscale distortion.

[0045] Existing synchronous three-buffer DMD solutions are as follows Figure 4 and Figure 5 As shown in the figure, for the 1ms level, when the device needs to be detected for exposure, the DMD starts the optical image conversion synchronously, and the conversion duration matches the exposure time. Compared with the commercial solution, the synchronous three-buffer solution no longer determines the frame switching of the optical image conversion driven by the driver module based on the field synchronization of the video data interface, but uses the external trigger signal (synchronization signal) as the reference for image trigger control. At the same time, since the external trigger is not synchronized with the video data, in order to ensure the integrity of the image frame, three buffers need to be used to buffer the data. The driver module will always extract the latest updated data from the three buffers to drive the DMD.

[0046] like Figure 6 As shown, the embodiment of the present invention adds a cropping module and a cropping buffer on the basis of the synchronous three-buffer solution, and changes the resolution in the EDID information to a larger resolution, wherein the EDID resolution information is changed to obtain video data with a larger resolution from the video signal transmitter, which is stored in the three-buffer structure after decoding. The infrared target simulator receives the infrared target digital image through the video data interface, and stores it in the three-buffer in a ping-pong storage manner after decoding by the decoding chip, and performs image trigger control based on the external trigger signal. Under the control of the delay control module, the latest infrared target digital image data is taken from the three-buffer, and according to the cropping requirements, the infrared target digital image data is cropped and stored in the cropping buffer. The driving module extracts the infrared target digital image data from the cropping buffer to drive the DMD to complete the image conversion and display.

[0047] In a specific embodiment, the clipping requirement is to clip (x0, y0) to (x0+x 探 ,y0+y 探 ), where

[0048] (x0, y0) is the refresh starting pixel value of the infrared target digital image, (x0+x 探 ,y0+y 探 ) is the sum of the refresh starting pixel value of the infrared target digital image and the pixel value of the detection system.

[0049] In a specific embodiment, the clipping time is required to be within 1 ms.

[0050] The second embodiment of the present invention provides a method for semi-physical simulation using the system described in the first embodiment of the present invention, including the following steps:

[0051] In each simulation cycle, the simulation host sends the missile-target distance and the missile-target relative line-of-sight angle data to the image computer. The image computer completes the three-dimensional entity modeling of the missile-view target, the infrared radiation characteristic modeling, and the real-time dynamic simulation of the infrared sight, and generates an infrared target digital image in real time at twice the display resolution of the infrared target simulator. The generated infrared target digital image is output through the image transmission interface to the image receiving module of the target simulator for storage. At the same time, the simulation host calculates the starting pixel values (x0, y0) of the infrared target digital image refresh according to the missile-target relative line-of-sight angle position, and sends them to the infrared target simulator through the serial interface. When the infrared target simulator receives the seeker exposure signal, it intercepts the image data from (x0, y0) to (x0 + x_exploration, y0 + y_exploration) in the received infrared target digital image for refresh display, thus achieving the same simulation result as the traditional method. However, the present invention greatly reduces the exit pupil distance and the field of view angle of the optical projection system of the infrared target simulator, thereby greatly reducing the volume, weight, and development cost of the optical system of the infrared target simulator, and at the same time enhancing the versatility of the infrared target simulator.

[0052] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is impossible to enumerate all the implementation manners here. Any obvious changes or variations derived from the technical solutions of the present invention still fall within the protection scope of the present invention.

Claims

1. An optical guidance control semi-physical simulation system, characterized in that: include: The device under test, a three-axis turntable, an infrared target simulator, a simulation host and an image computer, wherein: The device under test includes a seeker and is mounted on the three-axis turntable; The simulation host is used to solve the missile body dynamics, kinematics and missile-target relative motion mathematical models during the simulation test, and send the calculated missile body posture data to the three-axis turntable, and send the missile-target distance and missile-target relative line of sight angle data to the image computer; The image computer completes the three-dimensional entity modeling, infrared radiation characteristic modeling and real-time dynamic simulation of the infrared mirror according to the missile-target distance and the missile-target relative sight angle data, and provides a dynamic infrared target digital image for the infrared target simulator according to the real-time simulation data during the simulation test. The simulation host calculates the infrared target digital image refresh start pixel value according to the missile-target relative sight angle and sends it to the infrared target simulator; The infrared target simulator is fixedly connected to the seeker head, and upon receiving the exposure signal of the seeker head, the infrared target digital image is intercepted according to the refresh start pixel value of the infrared target digital image and the pixel value of the detection system, and then converted into a physical infrared thermal image, which is then amplified, collimated and registered, and then projected to the entrance pupil of the device under test; The three-axis turntable is used to complete the simulation of the projectile posture movement according to the received projectile posture data.

2. The system according to claim 1, characterized in that The infrared target digital image is sent to the infrared target simulator image receiving module through the image transmission interface for storage.

3. The system according to claim 1, characterized in that The infrared target digital image refresh start pixel value is sent to the infrared target simulator via a serial interface.

4. The system according to claim 1, characterized in that The simulation host is also used to complete the interface communication with the test objects and simulation equipment, and can also complete the human-computer interaction, data monitoring and simulation test data acquisition during the simulation test.

5. The system according to claim 1, characterized in that The three-axis turntable is used to simulate the missile body motion with three degrees of freedom: pitch, roll and yaw.

6. The system according to claim 1, characterized in that The infrared target simulator receives the infrared target digital image through a video data interface, and stores it in three buffers in a ping-pong storage manner after being decoded by a decoding chip. Image trigger control is performed based on an external trigger signal. Under the control of a delay control module, the latest infrared target digital image data is taken from the three buffers. According to cropping requirements, the infrared target digital image data is cropped and stored in a cropping buffer. A driving module extracts the infrared target digital image data from the cropping buffer and drives the DMD to complete image conversion and display.

7. The system according to claim 6, characterized in that The clipping requirement is to clip (x0, y0) to (x0+x 探 ,y0+y 探 ), where (x0, y0) is the refresh starting pixel value of the infrared target digital image, (x0+x 探 ,y0+y 探 ) is the sum of the refresh starting pixel value of the infrared target digital image and the pixel value of the detection system.

8. The system according to claim 6, characterized in that The cutting time is required to be within 1ms.

9. A method for performing semi-physical simulation using the system according to any one of claims 1 to 8, characterized in that: The following steps are involved: In each simulation cycle, the simulation host sends the missile-target distance and the relative sight angle data to the image computer, which completes the three-dimensional solid modeling of the missile's visual target, the infrared radiation characteristic modeling and the real-time dynamic simulation of the infrared mirror, and generates the infrared target digital image in real time at twice the display resolution of the infrared target simulator. The generated infrared target digital image is output to the target simulator image receiving module through the image transmission interface for storage. At the same time, the simulation host calculates the infrared target digital image refresh start pixel value (x0, y0) according to the relative sight angle position of the missile and target, and sends it to the infrared target simulator through the serial interface. When the infrared target simulator receives the exposure signal of the seeker, the received infrared target digital image is intercepted from (x0, y0) to (x0+x 探 ,y0+y 探 ) to refresh the image data.

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