A comprehensive reconnaissance system suitable for optoelectronic radar

Abstract

The present invention relates to an integrated reconnaissance system suitable for a photoelectric radar, belonging to the technical field of aerial reconnaissance. The system comprises an electronic cabin, a cantilever and a payload cabin. The payload cabin is mounted on a side wall of the electronic cabin via the cantilever and is electrically connected to the electronic cabin. A visible light camera, an infrared thermal imager, a laser light finder and a radar are arranged in the payload cabin. An image processing module, a data processing module, an image fusion module, an image compression module and a platform control and drive module are arranged in the electronic cabin. The system can realize reconnaissance in a radar multi-source reconnaissance mode, a collaborative search reconnaissance mode, a moving target detection mode and a heterogeneous video fusion reconnaissance mode. The system organically combines radar and optical sensor reconnaissance to achieve complementary advantages of different reconnaissance means and has reconnaissance support capabilities at all times and in all weather conditions and in complex environments.

Description

Technical Field

[0001] The invention belongs to the technical field of aerial reconnaissance and relates to an integrated reconnaissance system suitable for photoelectric radar. Background Art

[0002] Airborne reconnaissance equipment is a payload mounted on unmanned aerial vehicles (UAVs) or manned aircraft, capable of conducting effective reconnaissance of targets. Currently, reconnaissance platforms include separate, independent payloads for optoelectronic and radar reconnaissance platforms. Optoelectronic equipment suffers from short range and imagery susceptible to weather, while radar imaging can be difficult to interpret. Therefore, for short- and medium-range UAVs with weight restrictions, integrating optoelectronic and radar sensors into a single pod to create an optoelectronic radar integrated reconnaissance system can address the existing issue of the inability to carry both optoelectronic and radar reconnaissance equipment simultaneously. By leveraging the complementary strengths of different reconnaissance methods, this system achieves all-day, all-weather, and complex environment reconnaissance support capabilities, achieving higher reconnaissance capabilities within a limited footprint.

[0003] The characteristics of radar images are that they have a wide image area and a long imaging distance, which can reach more than 25km. They are less affected by atmospheric visibility. However, the disadvantage is that the images are black and white and have no color information. The images are quite different from the visual perception of the human eye, and interpretation is somewhat difficult. Summary of the Invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the existing technology and propose a comprehensive reconnaissance system suitable for photoelectric radar, which organically combines radar and optical sensor reconnaissance, realizes the complementary advantages of different reconnaissance means, and has the reconnaissance guarantee capability at all times, in all weather and in complex environments.

[0005] The solution of the present invention is:

[0006] A photoelectric radar integrated reconnaissance system, comprising an electronic cabin, a cantilever, and a payload cabin; the payload cabin is mounted on the side wall of the electronic cabin via the cantilever, and the payload cabin and the electronic cabin are electrically connected; a visible light camera, an infrared thermal imager, a laser light finder, and a radar are arranged in the payload cabin; an image processing module, a data processing module, an image fusion module, an image compression module, and a platform control and drive module are arranged in the electronic cabin;

[0007] When the reconnaissance system is in radar multi-source reconnaissance mode:

[0008] Visible light camera: performs image sampling, obtains visible light image signals, and sends the visible light image signals to the image processing module;

[0009] Infrared thermal imager: performs image sampling, obtains infrared image signals, and sends the infrared image signals to the image processing module;

[0010] Laser photometer: measures the distance between the payload cabin and the target, and sends the distance value to the image processing module;

[0011] Image processing module: receives the distance value from the laser light meter; receives the visible light image signal from the visible light camera; receives the infrared image signal from the infrared thermal imager; performs geometric correction on the visible light image signal and the infrared image signal based on the distance value and its own posture information, generates a corrected optical image, and sends the corrected optical image to the image fusion module;

[0012] Radar: samples echo data and sends the echo data to the data processing module;

[0013] Data processing module: Receives echo data from the radar, converts the echo data into a radar image, performs geometric correction on the radar image, generates a corrected radar image, and sends the corrected radar image to the image fusion module; obtains the payload cabin adjustment angle based on the corrected radar image, and sends the payload cabin adjustment angle to the platform drive module;

[0014] Platform control drive module: receives the payload cabin adjustment angle from the data processing module, drives the cantilever to rotate the payload cabin according to the payload cabin adjustment angle and aligns it with the target;

[0015] Image fusion module: receives the corrected optical image from the image processing module; receives the corrected radar image from the data processing module; performs image registration and fusion processing on the corrected optical image and the corrected radar image in sequence to obtain the original image, and sends the original image to the image compression module;

[0016] Image compression module: Receives the original image from the image fusion module, compresses the original image, generates a compressed image, and transmits the compressed image to the external ground station.

[0017] In the above-mentioned integrated reconnaissance system applicable to photoelectric radar, the electronic cabin is further provided with a geographic tracking unit, a tracking module and a moving target detection module;

[0018] When the reconnaissance system is in cooperative search and reconnaissance mode:

[0019] Radar: samples echo data and sends the echo data to the data processing module;

[0020] Data processing module: receives the echo data from the radar, analyzes and processes the echo data, obtains the target's point track and track data, and sends the target's point track and track data to the geographic tracking unit;

[0021] Geographic tracking unit: Receives the target's point track and track data from the data processing module, parses the target's point track and track data and its own attitude information to calculate the payload cabin adjustment angle, and sends the payload cabin adjustment angle to the platform control drive module;

[0022] Platform control drive module: Receives the payload cabin adjustment angle from the geographic tracking unit, drives the cantilever to rotate the payload cabin according to the payload cabin adjustment angle, and aligns it with the target; receives the target miss angle from the tracking module, drives the cantilever to rotate the payload cabin according to the target miss angle, aligns it with the target area and tracks it, realizing collaborative search;

[0023] Moving target detection module: After receiving the moving target detection open command, it measures the target offset and sends the target offset to the tracking module;

[0024] Tracking module: Receives the target offset from the moving target detection module, analyzes the target offset to obtain the target miss angle, and sends the target miss angle to the platform control drive module.

[0025] In the above-mentioned case, when the reconnaissance system is in the moving target detection and heterogeneous video fusion reconnaissance mode, it is applicable to the photoelectric radar integrated reconnaissance system.

[0026] Visible light camera: performs image sampling, obtains visible light video signals, and sends the visible light video signals to the image processing module;

[0027] Infrared thermal imager: performs image sampling, obtains infrared video signals, and sends the infrared video signals to the image processing module;

[0028] Laser photometer: measures the distance between the payload cabin and the target, and sends the distance value to the image processing module;

[0029] Image processing module: Receives distance values ​​from the laser light meter; receives visible light video signals from the visible light camera; receives infrared video signals from the infrared thermal imager; locates the visible light video signal and infrared video signal based on the distance value and its own posture information, obtains optical video with positioning information, and sends the optical video with positioning information to the image fusion module;

[0030] Radar: samples echo data and sends the echo data to the data processing module;

[0031] Data processing module: receives echo data from the radar, processes the echo data, generates target point track and track data, and sends the point track and track data to the image fusion module;

[0032] Image fusion module: Receives optical video with positioning information from the image processing module; receives point track and track data from the data processing module; aligns and fuses the optical video with positioning information with the point track and track data to obtain a video with superimposed moving target information, completing moving target detection and heterogeneous video fusion reconnaissance.

[0033] In the above-mentioned integrated reconnaissance system applicable to optoelectronic radar, the multi-source imaging reconnaissance mode means that the servo action of the cantilever is controlled by the radar, the radar is in strip mode, the optical field of view is adjusted, and the image of the target area is obtained for fusion.

[0034] In the above-mentioned one type of integrated reconnaissance system applicable to optoelectronic radar, the collaborative search and reconnaissance mode means that the payload is first in the GMTI working mode, selects the target, guides the optoelectronics to point to the target, and detects and tracks the target.

[0035] In the above-mentioned one type of integrated reconnaissance system applicable to optoelectronic radar, the moving target detection and heterogeneous video fusion reconnaissance mode is to mark the point track of the radar GMTI on the optical video to improve the readability of the moving target.

[0036] In the above-mentioned integrated reconnaissance system applicable to photoelectric radar, the parallelism of the optical axes of the visible light camera, infrared thermal imager, and laser light finder is calibrated and maintained within 0.2 mrad.

[0037] In the above-mentioned integrated reconnaissance system suitable for optoelectronic radar, the parallelism between the beam direction of the radar and the visual axis of the optical sensor is less than 0.5°, so as to obtain information of the same target area, conduct multi-source imaging reconnaissance, collaborative search reconnaissance, moving target detection and heterogeneous video fusion reconnaissance.

[0038] In the above-mentioned one type applicable to the photoelectric radar integrated reconnaissance system, it is characterized in that the compressed image is in JPEG format.

[0039] The beneficial effects of the present invention compared with the prior art are:

[0040] (1) The present invention adopts a multi-source imaging reconnaissance mode to achieve radar and optical image fusion, effectively improving the effective information of a single image, providing a basis for target detection, identification, and interpretation, and improving reconnaissance efficiency;

[0041] (2) The present invention adopts a collaborative search and reconnaissance mode, organically combining radar GMTI and optical moving target reconnaissance, thereby improving the target detection rate and effectively improving the reconnaissance efficiency.

[0042] (3) The present invention adopts moving target detection and heterogeneous video fusion reconnaissance mode to mark the radar GMTI point track on the optical video to improve the readability of moving targets;

[0043] (4) The present invention adopts multi-source imaging reconnaissance mode, collaborative search reconnaissance mode, moving target detection and heterogeneous video fusion reconnaissance mode to achieve complementary advantages of different reconnaissance means, and has the ability to provide reconnaissance support at all times, in all weather conditions and in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is an overall schematic diagram of the reconnaissance system of the present invention;

[0045] Figure 2 This is a system diagram of the radar multi-source reconnaissance mode of the present invention;

[0046] Figure 3 This is a system diagram of the collaborative search and reconnaissance mode of the present invention;

[0047] Figure 4 This is a system diagram of the moving target detection and heterogeneous video fusion reconnaissance mode of the present invention. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the embodiments.

[0049] The present invention provides an integrated reconnaissance system suitable for photoelectric radar, belonging to the field of aviation reconnaissance technology. The system can realize reconnaissance in multiple modes, including radar multi-source reconnaissance mode, collaborative search reconnaissance mode, moving target detection and heterogeneous video fusion reconnaissance mode. The present invention organically combines radar and optical sensor reconnaissance to achieve complementary advantages of different reconnaissance means, and has reconnaissance support capabilities at all times, in all weather conditions and in complex environments.

[0050] Applicable to photoelectric radar integrated reconnaissance system, such as Figure 1 As shown, it specifically includes an electronic cabin, a cantilever and a payload cabin; the payload cabin is installed on the side wall of the electronic cabin through the cantilever, and the payload cabin is electrically connected to the electronic cabin; a visible light camera, an infrared thermal imager, a laser light finder and a radar are installed in the payload cabin; an image processing module, a data processing module, an image fusion module, an image compression module and a platform control and drive module are installed in the electronic cabin.

[0051] The optical axis parallelism of the visible light camera, infrared thermal imager, and laser light finder is calibrated and maintained within 0.2 mrad. The radar beam direction is parallel to the optical sensor's visual axis to within 0.5°, enabling acquisition of information from the same target area and conducting multi-source imaging reconnaissance, collaborative search and reconnaissance, moving target detection, and heterogeneous video fusion reconnaissance.

[0052] like Figure 2 As shown in the figure, when the reconnaissance system is in radar multi-source reconnaissance mode:

[0053] Visible light camera: performs image sampling, obtains visible light image signals, and sends the visible light image signals to the image processing module.

[0054] Infrared thermal imager: performs image sampling, obtains infrared image signals, and sends the infrared image signals to the image processing module.

[0055] Laser photometer: measures the distance between the payload cabin and the target, and sends the distance value to the image processing module.

[0056] Image processing module: receives the distance value from the laser light meter; receives the visible light image signal from the visible light camera; receives the infrared image signal from the infrared thermal imager; performs geometric correction on the visible light image signal and the infrared image signal based on the distance value and its own posture information, generates a corrected optical image, and sends the corrected optical image to the image fusion module.

[0057] Radar: Samples echo data and sends the echo data to the data processing module.

[0058] Data processing module: Receives echo data from the radar, converts the echo data into a radar image, performs geometric correction on the radar image, generates a corrected radar image, and sends the corrected radar image to the image fusion module; obtains the payload cabin adjustment angle based on the corrected radar image, and sends the payload cabin adjustment angle to the platform drive module.

[0059] Platform control drive module: Receives the payload cabin adjustment angle from the data processing module, drives the cantilever to rotate the payload cabin according to the payload cabin adjustment angle, and aligns it with the target.

[0060] Image fusion module: receives the corrected optical image from the image processing module; receives the corrected radar image from the data processing module; performs image registration and fusion processing on the corrected optical image and the corrected radar image in sequence to obtain the original image, and sends the original image to the image compression module.

[0061] Image compression module: Receives the original image from the image fusion module, compresses the original image, generates a compressed image, and transmits the compressed image to the external ground station.

[0062] The electronic cabin is also equipped with a geographic tracking unit, a tracking module and a moving target detection module. Figure 3 As shown in the figure, when the reconnaissance system is in the collaborative search and reconnaissance mode:

[0063] Radar: Samples echo data and sends the echo data to the data processing module.

[0064] Data processing module: Receives echo data from the radar, analyzes and processes the echo data, obtains the target's point track and track data, and sends the target's point track and track data to the geographic tracking unit.

[0065] Geographic tracking unit: Receives the target's point track and track data from the data processing module, parses the target's point track and track data and its own attitude information to calculate the payload cabin adjustment angle, and sends the payload cabin adjustment angle to the platform control drive module.

[0066] Platform control drive module: receives the payload cabin adjustment angle from the geographic tracking unit, drives the cantilever to rotate the payload cabin according to the payload cabin adjustment angle, and aligns it with the target; receives the target miss angle from the tracking module, drives the cantilever to rotate the payload cabin according to the target miss angle, aligns it with the target area and tracks it to achieve collaborative search.

[0067] Moving target detection module: After receiving the moving target detection open command, it measures the target offset and sends the target offset to the tracking module.

[0068] Tracking module: Receives the target offset from the moving target detection module, analyzes the target offset to obtain the target miss angle, and sends the target miss angle to the platform control drive module.

[0069] like Figure 4 As shown in the figure, when the reconnaissance system is in the moving target detection and heterogeneous video fusion reconnaissance mode:

[0070] Visible light camera: performs image sampling, obtains visible light video signals, and sends the visible light video signals to the image processing module.

[0071] Infrared thermal imager: performs image sampling, obtains infrared video signals, and sends the infrared video signals to the image processing module.

[0072] Laser photometer: measures the distance between the payload cabin and the target, and sends the distance value to the image processing module.

[0073] Image processing module: receives the distance value from the laser light meter; receives the visible light video signal from the visible light camera; receives the infrared video signal from the infrared thermal imager; locates the visible light video signal and the infrared video signal according to the distance value and its own posture information, obtains the optical video with positioning information, and sends the optical video with positioning information to the image fusion module.

[0074] Radar: Samples echo data and sends the echo data to the data processing module.

[0075] Data processing module: Receives echo data from the radar, processes the echo data, generates target point track and track data, and sends the point track and track data to the image fusion module.

[0076] Image fusion module: Receives optical video with positioning information from the image processing module; receives point track and track data from the data processing module; aligns and fuses the optical video with positioning information with the point track and track data to obtain a video with superimposed moving target information, completing moving target detection and heterogeneous video fusion reconnaissance.

[0077] The multi-source imaging reconnaissance mode means that the servo action of the cantilever is controlled by the radar. The radar is in strip mode, adjusting the optical field of view, and obtaining images of the target area for fusion.

[0078] The collaborative search and reconnaissance mode means that the payload is first in the GMTI working mode, selects the target, guides the optoelectronics to point to the target, and detects and tracks the target.

[0079] The moving target detection and heterogeneous video fusion reconnaissance mode marks the radar GMTI point track on the optical video to improve the readability of the moving target.

[0080] Compress images to JPEG format.

[0081] Example

[0082] The parallelism of the optical axes of visible light cameras, infrared thermal imagers, and laser light finders can be calibrated and maintained within 0.2 mrad. The structural design ensures that the direction of the radar beam is parallel to the visual axis of the optoelectronic reconnaissance equipment, which can ensure that the parallelism of the radar antenna and optical sensor is less than 0.5°.

[0083] (1) Multi-source imaging reconnaissance mode

[0084] To obtain equal-resolution heterogeneous images of the largest scene, these images must be acquired simultaneously. Taking advantage of the lag in radar image acquisition and the block-based nature of real-time image fusion, the acquisition time of the original data from the radar image's azimuth center is used as the time when the other image sensors acquire the images. This ensures that the three heterogeneous images share the same region and visual axis, enabling simultaneous image acquisition. The field of view of the photoelectric sensor is designed based on the radar's range, and equal-resolution fusion is achieved through interpolation.

[0085] There are two ways to implement the image fusion mode within the payload: one is to combine the radar strip mode with electro-optical shooting, and the other is to combine the radar beam mode with electro-optical shooting.

[0086] When the radar strip mode is combined with optoelectronic shooting, the radar is in strip mode, the servo is controlled by the radar, the optical field of view is adjusted, and the image of the target area is obtained for fusion.

[0087] In the combination of radar spotlight mode and electro-optical imaging, the radar is in spotlight mode, with the servo controlled by the radar. Due to the limitation of the radar beam width, it is difficult to meet the azimuth width, so the radar is in strip mode at different oblique angles. The azimuth beam inertial space is stabilized by azimuth phase scan compensation.

[0088] (2) Collaborative search and reconnaissance mode

[0089] In the collaborative search and reconnaissance mode, the optoelectronic radar integrated reconnaissance equipment is first in the radar GMTI working mode, selects suspicious targets, guides the optoelectronics to point to the target, and detects and tracks the target.

[0090] In cooperative search and reconnaissance mode, the optoelectronic radar integrated reconnaissance equipment first operates in GMTI mode, outputting target point track information. This point track information includes the target number, location, and velocity. This point track information is sent to the image processor. Based on a specific moving target point specified in the mission, the image processor estimates the target's current location based on the target's velocity. The image processor then adjusts the servo platform to point the optoelectronic radar integrated reconnaissance equipment at the target's location, performs geo-tracking, and activates moving target detection, automatically detecting and selectively tracking moving targets within the optical field of view. Because the optoelectronic pointing device in cooperative search and reconnaissance mode is coaxial with the radar beam normal, the optoelectronic sensor has a maximum detection range of 8 km, with a radar elevation beamwidth of approximately 3.8°. Within an 8 km range, the coverage is approximately 1.2 km (typical aircraft altitude: 3 km). With an inertial navigation system error of approximately 0.12°, the azimuth error at 8 km is within approximately 28 meters. After track establishment, the azimuth error at 8 km is within approximately 38 meters. The range measurement accuracy can reach 2 meters, so the radar's moving target detection accuracy is within the optical sensor's field of view. In collaborative search and reconnaissance mode, after the servo platform is oriented to the designated target based on the moving target information provided by the radar, it adjusts the optical sensor's field of view to ensure that the target is within the photoelectric sensor's field of view for optical moving target detection.

[0091] (3) Moving target detection / heterogeneous video fusion reconnaissance mode

[0092] The optoelectronic radar integrated reconnaissance equipment is in auxiliary GMTI mode. In this mode, the platform is in geographic tracking mode with radar GMTI enabled. The detection range of the radar ground moving target detection mode is the same as that of the optoelectronic sensor. The radar scan outputs the target point track and track. The laser rangefinder activates laser ranging to obtain the precise geographic location of the four corners of the video. The geographic location of any pixel in the video can be determined based on the position of the video center point and the four corners. Based on the geographic location of the radar point track and track, the radar point track and track can be mapped to the video image, and the target's motion parameters (distance, speed) can be displayed. The moving target information in the optoelectronic image is annotated, realizing the moving target detection / heterogeneous video fusion reconnaissance mode.

[0093] The photoelectric radar integrated reconnaissance equipment of the present invention is an aviation reconnaissance equipment that integrates photoelectric sensors and radar sensors. The radar is highly integrated with the optical imaging payload and the laser light finder. It has the ability to obtain radar and optical reconnaissance information and laser irradiation in a single flight. It takes advantage of the characteristics of radar reconnaissance over a long distance and not being affected by weather conditions, which complements the shortcomings of optical images that are greatly affected by visibility and have a short reconnaissance distance. At the same time, the characteristics of optical images that provide richer details and easier interpretation of close-range reconnaissance information effectively make up for the shortcomings of radar images that do not conform to the visual habits of the human eye, are difficult to interpret, and have limited imaging modes, thereby providing drones with powerful and efficient reconnaissance capabilities.

[0094] This invention utilizes a multi-source imaging reconnaissance mode to achieve radar and optical image fusion, effectively increasing the effective information in a single image, providing a basis for target detection, identification, and interpretation, and improving reconnaissance efficiency. A collaborative search reconnaissance mode organically combines radar GMTI and optical moving target reconnaissance, increasing target detection rates and effectively improving reconnaissance efficiency. A moving target detection / heterogeneous video fusion reconnaissance mode annotates radar GMTI point tracks on optical video, improving the readability of moving targets.

[0095] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A photoelectric radar integrated reconnaissance system, characterized by: It includes an electronic cabin, a cantilever and a payload cabin; the payload cabin is mounted on the side wall of the electronic cabin through the cantilever, and the payload cabin and the electronic cabin are electrically connected; the payload cabin is equipped with a visible light camera, an infrared thermal imager, a laser light finder and a radar; the electronic cabin is equipped with an image processing module, a data processing module, an image fusion module, an image compression module and a platform control and drive module; When the reconnaissance system is in radar multi-source reconnaissance mode: Visible light camera: performs image sampling, obtains visible light image signals, and sends the visible light image signals to the image processing module; Infrared thermal imager: performs image sampling, obtains infrared image signals, and sends the infrared image signals to the image processing module; Laser photometer: measures the distance between the payload cabin and the target, and sends the distance value to the image processing module; Image processing module: receives the distance value from the laser light meter; receives the visible light image signal from the visible light camera; receives the infrared image signal from the infrared thermal imager; performs geometric correction on the visible light image signal and the infrared image signal based on the distance value and its own posture information, generates a corrected optical image, and sends the corrected optical image to the image fusion module; Radar: samples echo data and sends the echo data to the data processing module; Data processing module: Receives echo data from the radar, converts the echo data into a radar image, performs geometric correction on the radar image, generates a corrected radar image, and sends the corrected radar image to the image fusion module; obtains the payload cabin adjustment angle based on the corrected radar image, and sends the payload cabin adjustment angle to the platform drive module; Platform control drive module: receives the payload cabin adjustment angle from the data processing module, drives the cantilever to rotate the payload cabin according to the payload cabin adjustment angle and aligns it with the target; Image fusion module: receives the corrected optical image from the image processing module; receives the corrected radar image from the data processing module; performs image registration and fusion processing on the corrected optical image and the corrected radar image in sequence to obtain the original image, and sends the original image to the image compression module; Image compression module: receives the original image from the image fusion module, compresses the original image, generates a compressed image, and transmits the compressed image to the external ground station; When the reconnaissance system is in moving target detection and heterogeneous video fusion reconnaissance mode: Visible light camera: performs image sampling, obtains visible light video signals, and sends the visible light video signals to the image processing module; Infrared thermal imager: performs image sampling, obtains infrared video signals, and sends the infrared video signals to the image processing module; Laser photometer: measures the distance between the payload cabin and the target, and sends the distance value to the image processing module; Image processing module: Receives distance values ​​from the laser light meter; receives visible light video signals from the visible light camera; receives infrared video signals from the infrared thermal imager; locates the visible light video signal and infrared video signal based on the distance value and its own posture information, obtains optical video with positioning information, and sends the optical video with positioning information to the image fusion module; Radar: samples echo data and sends the echo data to the data processing module; Data processing module: receives echo data from the radar, processes the echo data, generates target point track and track data, and sends the point track and track data to the image fusion module; Image fusion module: receives the optical video with positioning information from the image processing module; receives the point track and track data from the data processing module; The optical video with positioning information is registered and fused with the point track and track data to obtain a video with superimposed moving target information, completing moving target detection and heterogeneous video fusion reconnaissance.

2. The photoelectric radar integrated reconnaissance system according to claim 1, characterized in that: The electronic cabin is also provided with a geographical tracking unit, a tracking module and a moving target detection module; When the reconnaissance system is in cooperative search and reconnaissance mode: Radar: samples echo data and sends the echo data to the data processing module; Data processing module: receives the echo data from the radar, analyzes and processes the echo data, obtains the target's point track and track data, and sends the target's point track and track data to the geographic tracking unit; Geographic tracking unit: Receives the target's point track and track data from the data processing module, parses the target's point track and track data and its own attitude information to calculate the payload cabin adjustment angle, and sends the payload cabin adjustment angle to the platform control drive module; Platform control drive module: Receives the payload cabin adjustment angle from the geographic tracking unit, drives the cantilever to rotate the payload cabin according to the payload cabin adjustment angle, and aligns it with the target; receives the target miss angle from the tracking module, drives the cantilever to rotate the payload cabin according to the target miss angle, aligns it with the target area and tracks it, realizing collaborative search; Moving target detection module: After receiving the moving target detection open command, it measures the target offset and sends the target offset to the tracking module; Tracking module: Receives the target offset from the moving target detection module, analyzes the target offset to obtain the target miss angle, and sends the target miss angle to the platform control drive module.

3. The photoelectric radar integrated reconnaissance system according to claim 1, characterized in that: The multi-source imaging reconnaissance mode means that the servo action of the cantilever is controlled by the radar, the radar is in strip mode, adjusts the optical field of view, obtains images of the target area and fuses them.

4. The photoelectric radar integrated reconnaissance system according to claim 2, characterized in that: The collaborative search and reconnaissance mode means that the payload is first in the GMTI working mode, selects the target, guides the optoelectronics to point to the target, and detects and tracks the target.

5. The photoelectric radar integrated reconnaissance system according to claim 1, characterized in that: The moving target detection and heterogeneous video fusion reconnaissance mode is to mark the point track of the radar GMTI on the optical video to improve the readability of the moving target.

6. The photoelectric radar integrated reconnaissance system according to claim 1, characterized in that: The optical axis parallelism of the visible light camera, infrared thermal imager, and laser light detector is calibrated and maintained within 0.2 mrad.

7. The photoelectric radar integrated reconnaissance system according to claim 6, characterized in that: The beam direction of the radar is parallel to the visual axis of the optical sensor by less than 0.5°, so as to obtain information of the same target area and conduct multi-source imaging reconnaissance, collaborative search reconnaissance, moving target detection and heterogeneous video fusion reconnaissance.

8. The photoelectric radar integrated reconnaissance system according to claim 1, characterized in that: The compressed image is in JPEG format.

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