A method for capturing and tracking targets with infrared imaging seeker based on multiple templates

Abstract

The present invention provides a method for capturing and tracking targets by an infrared imaging seeker based on multiple templates, which is applied to the launch of air-to-ground missiles by a UAV platform, including: before the missile is launched, the optoelectronic pod will shoot multiple templates and bind them to the seeker in sequence, and at the same time, the fire control system will bind the parameters, combat scenes and combat objects corresponding to the templates to the seeker; after the missile is launched, the seeker will perform template matching on the target in sequence according to the field of view of each template, obtain the capture point and iteratively track the capture point; after the template matching is completed, the seeker will continue to intelligently identify and capture the target until the recognition is successful and enter the tracking state; the seeker will maintain the tracking state until the target is hit. This method realizes the combat mode of infrared missile launch and forget, improves the probability of infrared imaging seeker fully autonomously capturing the target and the stability of tracking the target, and this method of capturing the target is easy to implement, highly operable, convenient and low-cost.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and more specifically, relates to a method for capturing and tracking targets by an infrared imaging seeker based on multiple templates. Background Art

[0002] The infrared imaging seeker uses infrared radiation from the target scene to automatically capture and track fixed / moving targets on the ground. At the same time, it provides the target line of sight angular velocity signal and the seeker frame angle signal to the missile autopilot, so that the missile can be automatically guided until it hits the target. On the premise of meeting the combat technical indicators, it has the characteristics of low cost, night use, and fire-and-forget, and can achieve the function of precision strikes on targets such as ships, vehicles, tanks, buildings, and military positions.

[0003] Infrared imaging also has disadvantages. Since the infrared wavelength is longer than visible light, the resolution of the optical imaging system is lower than that of visible light at the same entrance pupil diameter. In addition, the pixels of the infrared detector are lower than those of the visible light detector at the same cost, resulting in the infrared image clarity being significantly lower than that of visible light imaging. Poor imaging clarity and low pixels result in a shorter detection distance of the infrared detector to the target. Currently, there are roughly three capture methods for infrared seekers: template matching, man-in-the-loop, and intelligent recognition. Each of the three methods has its own advantages, but the disadvantages are also obvious.

[0004] The man-in-the-loop capture mode is the most commonly used method for infrared seekers to capture and track targets. During the flight of the missile, the infrared image is transmitted back to the ground workstation in real time through the link. The operator controls the joystick to move the cursor, clicks on the target, and then clicks on the position information to transmit back to the seeker to complete the capture of the target. The hit accuracy of this method depends entirely on the operator. The differences in reaction ability and psychological quality of different people will affect the missile hit situation. In addition, this method requires the installation of a missile-borne data link to transmit the image back, and the drone launch mode also requires the installation of an airborne data link as a relay to cooperate with the image transmission. In addition, in order to adapt to this combat method, the airborne fire control system and the ground station software system need to be modified, resulting in a lot of modification workload for the existing mature combat system.

[0005] Usually, the template matching capture method takes a picture of the template binding, compares the real-time image with the template at the moment of capture, and completes the capture and tracking of the target after successful comparison. The success rate of this method is low; if the match is successful, the tracking point will drift during the missile's flight to the target, and the miss distance will be large.

[0006] The intelligent recognition and capture mode is to conduct deep learning and training of the seeker with multiple typical targets. The missile can directly capture the target during flight, without relying on the aircraft's onboard equipment, and can achieve fire and forget. However, for small targets such as vehicles and tanks, this method makes the seeker's effective distance within 1.5km. For long-range ballistics, the accuracy requirements for medium-range guidance are very high, so as to ensure that the target is within the seeker's field of view at the time of recognition.

[0007] In summary, there is currently no good solution to improve the capture probability and capture range of infrared imaging seekers in terms of usage and capture and tracking modes, resulting in the fact that infrared imaging missiles are not more widely used in actual battlefields. Summary of the invention

[0008] The purpose of the present invention is to provide a method for capturing and tracking targets by an infrared imaging seeker based on multiple templates in order to solve the problems existing in the prior art. The method adopts the method of binding multiple templates and the parameters, combat scenes and combat objects corresponding to each template to the seeker. During the flight, the seeker captures the target and corrects the tracking point through multiple templates. The target is captured and tracked through intelligent recognition at the end of the trajectory until the target is hit. The problem of excessive drift of the tracking point matching with a single template is solved, the combat mode of infrared missile launch and forget is realized, and the probability of infrared imaging seeker fully autonomously capturing the target and the stability of tracking the target are improved. This method of capturing and tracking the target is easy to implement, highly operable, convenient and low-cost.

[0009] In order to achieve the above object, the technical solution of the present invention is as follows:

[0010] A method for capturing and tracking a target with an infrared imaging seeker based on multiple templates is applied to launching an air-to-ground missile from an unmanned aerial vehicle platform. The method comprises:

[0011] Step S1, before the missile is launched, the optoelectronic pod will take pictures of multiple templates and bind the multiple templates to the seeker in sequence, and the fire control system will bind the parameters, combat scenes and combat targets corresponding to the templates to the seeker;

[0012] Step S2, after the missile is launched, the seeker performs template matching on the target according to the field of view of each template in turn, obtains a capture point and iteratively tracks the capture point;

[0013] Step S3, after the template matching is completed, the seeker continues to intelligently identify and capture the target until the identification is successful and enters the tracking state;

[0014] Step S4, the seeker keeps tracking until it hits the target.

[0015] Preferably, the step S1 specifically includes:

[0016] Step S11, determining the capture position of each template according to the missile-target distance, and determining the shooting field of view of the drone pod corresponding to each template according to the capture position and the shooting position of the drone pod, wherein the shooting field of view includes a yaw field of view angle and a pitch field of view angle;

[0017] Step S12, calculating the shooting focal length corresponding to the capture position according to the yaw field of view, the number of pixels and the pixel size of the optoelectronic pod at the capture position;

[0018] Step S13, the optoelectronic pod photographs the target according to the shooting focal length, and sequentially binds the template to the seeker, and repeats step S12 and step S13 in the order of the capture position from far to near the target until the template binding is completed;

[0019] In step S14, the fire control system binds the combat environment and combat targets to the seeker through the missile-borne flight control system.

[0020] Preferably, the shooting focal length corresponding to the capture position is calculated by the following formula:

[0021]

[0022] Among them, f is the shooting focal length, α is the yaw field of view angle, N is the number of pixels, and a is the pixel size.

[0023] Preferably, step S13 also includes: each time the optoelectronic pod transmits one of the templates, the fire control system is triggered to transfer the parameters corresponding to the transmitted template to the missile-borne flight control system, and the missile-borne flight control system binds the parameters to the seeker, wherein the parameters include the yaw field of view angle and the pitch field of view angle.

[0024] Preferably, the step S2 specifically includes:

[0025] Step S21, when the missile flies to the capture position, matching the real-time image at the capture position with the template;

[0026] If the match is successful, the seeker will track with the new capture point as the tracking point;

[0027] If the match fails, the missile maintains the original tracking state or inertial flight state;

[0028] Repeat step S21 until all the templates are matched.

[0029] Preferably, in the step S21, before matching the real-time image at the capture position with the template, it also includes: the missile-borne flight control system transmits the real-time position coordinates, missile attitude, missile body angular velocity, and flight speed of the missile to the seeker in real time, so as to complete the template matching after transforming the template.

[0030] Preferably, the step S3 specifically includes:

[0031] S31: The missile flies to the intelligent identification range and the seeker starts the intelligent identification mode;

[0032] S32, the seeker intercepts and identifies the tracking point with a preset number of pixels near the last tracking point according to the combat environment and the combat target;

[0033] If the recognition is successful, the intelligent recognition mode switches to the intelligent tracking mode to complete the tracking of the target at the end of the trajectory;

[0034] If the recognition is unsuccessful, the number of captured pixels is increased and step S32 is repeated until the recognition is successful.

[0035] Preferably, the optoelectronic pod ensures that the field of view of each template photographed by the optoelectronic pod is consistent with the field of view of the seeker when performing template matching.

[0036] Preferably, the number of shots of the preset templates according to the projectile-target distance is set to 4, and the capture position of each template determined according to the projectile-target distance is set to 3.5 km, 3 km, 2.5 km, and 2 km respectively.

[0037] Preferably, the intelligent identification range is set to 1.5 km.

[0038] The beneficial effects of the technical solution of the present invention are:

[0039] The method of the present invention adopts binding multiple templates and parameters, combat scenes and combat objects corresponding to each template to the seeker. During the flight, the seeker captures the target and corrects the tracking point multiple times through the binding of multiple templates. The target is captured and tracked by intelligent identification at the end of the trajectory until the target is hit. The problem of excessive drift of the tracking point in single template matching is solved, the combat mode of infrared missile launch and forget is realized, the probability of infrared imaging seeker fully autonomously capturing the target and the stability of tracking the target are improved, and the method of capturing and tracking the target is easy to implement, highly operable, convenient and low-cost.

[0040] Furthermore, the present invention performs multiple template matching on the target according to the target action distance, so as to correct the drift caused by the tracking process and ensure the accuracy of the tracked target. This provides protection for the missile flight, ensures that the missile completes the capture and tracking of the target at a longer distance, alleviates the shortcomings of the inertial guidance accuracy, and reduces the pressure for subsequent intelligent identification.

[0041] Furthermore, compared with the man-in-the-loop capture mode, the present invention eliminates the missile-borne image data link and the airborne image data link in the man-in-the-loop capture mode as well as the man-in-the-loop selection system of the ground workstation, making the overall combat system and combat process more simplified and efficient.

[0042] Furthermore, the present invention organically combines the two modes of multi-template matching and intelligent recognition, giving full play to their respective advantages, making up for the shortcomings of each other, and further improving the probability of the infrared imaging seeker to fully autonomously capture the target and the stability of tracking the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0044] Figure 1 A schematic flow chart of a method for capturing and tracking a target by an infrared imaging seeker based on multiple templates of the present invention is shown;

[0045] Figure 2 A schematic flow chart of step S1 of a method for capturing and tracking a target by an infrared imaging seeker based on multiple templates of the present invention is shown;

[0046] Figure 3 A schematic flow chart of step S2 of a method for capturing and tracking a target by an infrared imaging seeker based on multiple templates of the present invention is shown;

[0047] Figure 4 A schematic flow chart of step S3 of a method for capturing and tracking a target by an infrared imaging seeker based on multiple templates of the present invention is shown;

[0048] Figure 5 A detailed flow chart of an embodiment of a method for capturing and tracking a target by an infrared imaging seeker based on multiple templates of the present invention is shown;

[0049] Figure 6 A working relationship diagram between various systems in a method for capturing and tracking a target by an infrared imaging seeker based on multiple templates of the present invention is shown;

[0050] Figure 7A schematic diagram of template binding and parameter binding of a method for capturing and tracking a target by an infrared imaging seeker based on multiple templates of the present invention is shown. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0052] Reference Figure 1 As shown, the present invention provides a method for capturing and tracking targets with an infrared imaging seeker based on multiple templates, which is applied to launching air-to-ground missiles from an unmanned aerial vehicle platform. The method comprises:

[0053] Step S1, before the missile is launched, the optoelectronic pod will take pictures of multiple templates and bind the multiple templates to the seeker in sequence, and the fire control system will bind the parameters, combat scenes and combat targets corresponding to the templates to the seeker;

[0054] Step S2, after the missile is launched, the seeker performs template matching on the target according to the field of view of each template in turn, obtains the capture point and iteratively tracks the capture point;

[0055] Step S3, after the template matching is completed, the seeker continues to intelligently identify and capture the target until the identification is successful and enters the tracking state;

[0056] Step S4, the seeker keeps tracking until it hits the target.

[0057] Specifically, this method is based on an air-to-ground missile launched by a UAV platform. The working relationship between the UAV and the missile is as follows: Figure 6As shown, the UAV includes a fire control system and an optoelectronic pod, and the missile includes a flight control system and a seeker, and the seeker has an infrared imaging function. Before the missile is launched, the optoelectronic pod shoots multiple templates and transmits them to the seeker in sequence; the fire control system transmits the parameters corresponding to the multiple templates, the combat scenes and the combat objects to the infrared imaging seeker through the missile-borne flight control system. Therefore, before launching, it is necessary to plan the number of shooting templates and the capture positions of the corresponding template matching, so as to calculate the shooting focal length of each template. This method adopts a multi-template matching target capture method, binds multiple templates to the seeker, and the seeker matches the target template according to the field of view of each template in turn, obtains the capture point and iteratively tracks the capture point, and can correct the tracking point multiple times, solving the problem of excessive drift of the tracking point of a single template matching. When the missile flies to the intelligent recognition range, according to the preset combat scene and combat object type, the seeker continues to intelligently identify and capture the target until the recognition is successful and enters the tracking state. Finally, the seeker maintains the tracking state until the target is hit. The probability of the infrared imaging seeker to autonomously capture the target and the stability of tracking the target are improved. Compared with other capture modes, this method of capturing and tracking the target is easy to implement, highly operational, convenient and low-cost.

[0058] A preferred example, referring to Figure 2 As shown, step S1 specifically includes:

[0059] Step S11, determining the capture position of each template according to the missile-target distance, and determining the shooting field of view of the drone pod corresponding to each template according to the capture position and the shooting position of the drone pod, wherein the shooting field of view includes a yaw field of view angle and a pitch field of view angle;

[0060] Step S12, calculating the shooting focal length at the corresponding capture position according to the yaw field of view, the number of pixels and the pixel size of the optoelectronic pod at the capture position;

[0061] Step S13, the optoelectronic pod shoots the target according to the shooting focal length, and binds the template to the seeker in sequence, and repeats steps S12 and S13 in the order from far to near of the capture position until the template binding is completed;

[0062] In step S14, the fire control system 2 binds the combat environment and the combat target to the seeker through the missile-borne flight control system.

[0063] In a preferred example, the shooting focal length at the corresponding capture position is calculated by the following formula (1):

[0064]

[0065] Among them, f is the shooting focal length, α is the yaw field of view, N is the number of pixels, and a is the pixel size.

[0066] Specifically, within 4 kilometers is usually the effective distance of the template matching mode. This method sets the shooting of 4 templates. The capture positions of the 4 template seekers are 3.5 km, 3 km, 2.5 km, and 2 km from the target respectively. If the target size is 6 meters * 6 meters, the UAV shoots the template when the missile-target distance is 8 km, the seeker field of view is 4° in the yaw direction, 4° in the pitch range, the infrared detector pixel size is 15um, and the pixel value is 640 (yaw) * 512 (pitch). Then the UAV is located at 8 km and shoots the template at 3.5 km. The field of view range is 1.75° * 1.75°. In formula (1), f is the shooting focal length of the optoelectronic pod, α is the yaw field angle of the optoelectronic pod, N is the number of pixels, and a is the pixel size. According to formula (1), it can be known that the shooting focal length f = 313 mm.

[0067] Similarly, the focal length for shooting at 3 km is 358mm, the focal length for shooting at 2.5 km is 440mm, and the focal length for shooting at 2 km is 552mm. The fire control system automatically calculates the focal length of the shooting template and transmits it to the optoelectronic pod, which shoots the target and transmits the template to the seeker in sequence. After the template and parameters are bound, the fire control system binds the combat environment and combat object to the seeker through the flight control system, which facilitates intelligent recognition, capture and tracking of targets in the terminal stage of the trajectory.

[0068] In a preferred example, step S13 also includes: each time the optoelectronic pod transmits a template, the fire control system is triggered to pass the parameters corresponding to the transmitted template to the missile-borne flight control system, and the missile-borne flight control system binds the parameters to the seeker, wherein the parameters include the yaw field of view angle and the pitch field of view angle.

[0069] Specifically, each time the optoelectronic pod transmits a template, it triggers the fire control system to send the parameters captured by the corresponding template, such as the yaw field of view angle and the pitch field of view angle and other line of sight angle information to the seeker head, ensuring that the template and its corresponding parameters are transmitted to the seeker head synchronously, ensuring the synchronization and integrity of the template data, facilitating the seeker head to rotate and transform the template at the moment of capture, and improving the efficiency of template matching.

[0070] A preferred example, referring to Figure 3 As shown, step S2 specifically includes:

[0071] Step S21, when the missile flies to the capture position, the real-time image at the capture position is matched with the template;

[0072] If the match is successful, the seeker will track with the new capture point as the tracking point;

[0073] If the match fails, the missile maintains the original tracking state or inertial flight state;

[0074] Repeat step S21 until all templates are matched.

[0075] Specifically, after the missile is launched, the seeker is in an electric lock state through inertial guidance in the early stage. Figure 5 As shown in the figure, when the missile flies to 3.5km, the seeker frame responds to the preset angle of the missile-borne flight control system and starts the first template matching. The internal algorithm of the seeker transforms the template according to the real-time information such as the missile's real-time position coordinates, missile attitude, missile body angular velocity, flight speed, etc. transmitted by the missile-borne flight control system, and compares the real-time image with the template. If the match is successful, the seeker tracks the captured position. If the match is unsuccessful, the missile maintains inertial flight and the seeker is in the preset state.

[0076] When the missile flies to 3km, it keeps the previous flight state unchanged and performs template matching at the same time. If the matching is successful, the new capture point is used as the tracking point. If the matching is unsuccessful, the original tracking or flight state is maintained. When the missile flies to 2.5km and 2km, it keeps the previous flight state unchanged and performs template matching at the same time. If the matching is successful, the new capture point is used to correct the original tracking point for iterative tracking. If the matching is unsuccessful, the original tracking or flight state is maintained and the capture point is tracked continuously. Compared with the single template matching mode, the problem of missing the target due to excessive drift of the tracking point is solved, and the hit accuracy is improved. Compared with the man-in-the-loop capture mode, the missile-borne image data link and the airborne image data link in the man-in-the-loop mode and the man-in-the-loop point selection system of the ground workstation are omitted, making the overall combat system and combat process more simplified and efficient.

[0077] A preferred example, in step S21, before matching the real-time image at the capture position with the template, it also includes: the missile-borne flight control system transmits the real-time position coordinates, missile attitude, missile body angular velocity, and flight speed of the missile to the seeker in real time, so as to complete the template matching after transforming the template.

[0078] Specifically, before each template matching, the seeker uses the missile's real-time position coordinates, missile attitude, missile body angular velocity, flight speed and other real-time information transmitted to the seeker by the missile-borne flight control system to transform the template and complete the template matching with the target. Through multiple template matching, the probability of autonomously capturing the target is improved.

[0079] A preferred example, referring to Figure 4 As shown, step S3 specifically includes:

[0080] S31: After the missile reaches the terminal altitude of the missile-target distance, the seeker turns on the intelligent recognition mode;

[0081] S32, the seeker intercepts and identifies the tracking point with a preset number of pixels near the last tracking point according to the combat environment and the combat target;

[0082] If the recognition is successful, the intelligent recognition mode switches to the intelligent tracking mode to complete the tracking of the target at the end of the trajectory;

[0083] If the recognition is unsuccessful, the number of captured pixels is enlarged and step S32 is repeated until the recognition is successful.

[0084] In a preferred example, the intelligent recognition range is set to 1.5 km.

[0085] Specifically, the missile completes the conversion of tracking mode when it flies within 1.5km, turns on the intelligent recognition mode, and identifies the target through the combat objects and combat fields pre-installed before launch. First, the seeker identifies near the tracking point, usually intercepting 128*128 pixels around the capture point. If the target is not identified, the number of calculated pixels is gradually expanded. If the recognition is successful, the intelligent recognition mode is switched to the intelligent tracking mode to complete the tracking of the target at the end of the trajectory. If the recognition fails, the original tracking or flight mode is maintained, and the target is continuously intelligently identified until the recognition is successful. In addition, it does not rely on the onboard equipment of the drone, and can realize the fire-and-forget combat mode. The two modes of template matching and intelligent recognition are organically combined, giving full play to their respective advantages, making up for each other's shortcomings, and further improving the probability of the infrared imaging seeker to fully autonomously capture the target and the stability of tracking the target.

[0086] In a preferred example, the optoelectronic pod ensures that the field of view of each template photographed by the optoelectronic pod is consistent with the field of view of the seeker when performing template matching.

[0087] In a preferred example, the number of shots of the preset templates according to the projectile-target distance is set to 4, and the capture position of each template determined according to the projectile-target distance is set to 3.5 km, 3 km, 2.5 km, and 2 km respectively.

[0088] Specifically, within 4 km is usually the target action distance of the template matching mode. This method selects target distances of 3.5km, 3km, 2.5km, and 2km as the position points for template matching of the seeker, ensuring that the field of view of each template photographed by the optoelectronic pod is consistent with the field of view of the seeker at the time of template matching, thereby ensuring that the target is always within the field of view of the seeker at the time of template matching.

[0089] Example

[0090] Reference Figure 1-Figure 7 As shown, the present invention provides a method for capturing and tracking targets with an infrared imaging seeker based on multiple templates, which is applied to launching air-to-ground missiles from an unmanned aerial vehicle platform. The method comprises:

[0091] Step S1, before the missile is launched, the optoelectronic pod will take pictures of multiple templates and bind them to the seeker in sequence, and the fire control system will bind the parameters, combat scenarios and combat targets corresponding to the templates to the seeker;

[0092] Step S2, after the missile is launched, the seeker performs template matching on the target according to the field of view of each template in turn, obtains the capture point and iteratively tracks the capture point;

[0093] Step S3, after the template matching is completed, the seeker continues to intelligently identify and capture the target until the identification is successful and enters the tracking state;

[0094] Step S4, the seeker keeps tracking until it hits the target.

[0095] In this embodiment, step S1 specifically includes:

[0096] Step S11, determining the capture position of each template according to the missile-target distance, and determining the shooting field of view of the drone pod corresponding to each template according to the capture position and the shooting position of the drone pod, wherein the shooting field of view includes a yaw field of view angle and a pitch field of view angle;

[0097] Step S12, calculating the shooting focal length at the corresponding capture position according to the yaw field of view, the number of pixels and the pixel size of the optoelectronic pod at the capture position;

[0098] Step S13, the optoelectronic pod shoots the target according to the shooting focal length, and binds the template to the seeker in sequence, and repeats steps S12 and S13 in the order from far to near of the capture position until the template binding is completed;

[0099] In step S14, the fire control system 2 binds the combat environment and the combat target to the seeker through the missile-borne flight control system.

[0100] In this embodiment, the shooting focal length at the corresponding capture position is calculated by the following formula (1):

[0101]

[0102] Among them, f is the shooting focal length, α is the yaw field of view, N is the number of pixels, and a is the pixel size.

[0103] In this embodiment, step S13 also includes: each time the optoelectronic pod transmits a template, the fire control system is triggered to pass the parameters corresponding to the transmitted template to the missile-borne flight control system, and the missile-borne flight control system binds the parameters to the seeker, wherein the parameters include the yaw field of view angle and the pitch field of view angle.

[0104] In this embodiment, step S2 specifically includes:

[0105] Step S21, when the missile flies to the capture position, the real-time image at the capture position is matched with the template;

[0106] If the match is successful, the seeker will track with the new capture point as the tracking point;

[0107] If the match fails, the missile maintains the original tracking state or inertial flight state;

[0108] Repeat step S21 until all templates are matched.

[0109] In this embodiment, in step S21, before matching the real-time image at the capture position with the template, it also includes: the missile-borne flight control system transmits the real-time position coordinates, missile attitude, missile body angular velocity, and flight speed of the missile to the seeker in real time, so as to complete the template matching after transforming the template.

[0110] In this embodiment, step S3 specifically includes:

[0111] S31, the missile flies to the intelligent recognition range and the seeker starts the intelligent recognition mode, wherein the preset altitude is lower than the capture position altitude of the last template matching;

[0112] S32, the seeker intercepts and identifies the tracking point with a preset number of pixels near the last tracking point according to the combat environment and the combat target;

[0113] If the recognition is successful, the intelligent recognition mode switches to the intelligent tracking mode to complete the tracking of the target at the end of the trajectory;

[0114] If the recognition is unsuccessful, the number of captured pixels is enlarged and step S32 is repeated until the recognition is successful.

[0115] In this embodiment, the optoelectronic pod ensures that the field of view of each template photographed by the optoelectronic pod is consistent with the field of view of the seeker when performing template matching.

[0116] In this embodiment, the number of shots of the preset templates according to the projectile-target distance is set to 4, and the capture position of each template determined according to the projectile-target distance is set to 3.5 km, 3 km, 2.5 km, and 2 km respectively.

[0117] In this embodiment, the intelligent recognition range is set to 1.5 km.

[0118] In this embodiment, four templates are set to be photographed. The capture positions of the four template seekers are 3.5km, 3km, 2.5km, and 2km from the target, respectively. Figure 5 The following is a detailed flowchart of the method for capturing and tracking a target according to the embodiment of the present invention. Figure 7A schematic diagram of template binding and parameter binding corresponding to the embodiment provided for the method for capturing and tracking a target.

[0119] In summary, this method uses a multi-template matching method to capture the target, binds multiple templates to the seeker, and the seeker matches the target template according to the field of view of each template in turn, obtains the capture point and iteratively tracks the capture point, and can correct the tracking point multiple times, solving the problem of excessive drift of the tracking point of a single template matching; and in the final stage of the missile flight, the seeker continues to intelligently identify and capture the target according to the preset combat scene and combat object until it enters the tracking state after successful identification, and finally the seeker maintains the tracking state until it hits the target. The probability of the infrared imaging seeker fully autonomously capturing the target and the stability of tracking the target are improved. Compared with other capture modes, this method of capturing and tracking the target is easy to implement, highly operational, convenient and low-cost.

[0120] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A method for capturing and tracking targets based on a multi-template infrared imaging seeker, which is applied to launching air-to-ground missiles from an unmanned aerial vehicle platform, and is characterized in that: The method comprises: Step S1, before the missile is launched, the optoelectronic pod will take pictures of multiple templates and bind the multiple templates to the seeker in sequence, and the fire control system will bind the parameters, combat scenes and combat targets corresponding to the templates to the seeker; Step S2, after the missile is launched, the seeker performs template matching on the target according to the field of view of each template in turn, obtains a capture point and iteratively tracks the capture point; Step S3, after the template matching is completed, the seeker continues to intelligently identify and capture the target until the identification is successful and enters the tracking state; Step S4, the seeker keeps tracking until it hits the target; The step S1 specifically includes: Step S11, determining the capture position of each template according to the missile-target distance, and determining the shooting field of view of the drone pod corresponding to each template according to the capture position and the shooting position of the drone pod, wherein the shooting field of view includes a yaw field of view angle and a pitch field of view angle; Step S12, calculating the shooting focal length corresponding to the capture position according to the yaw field of view, the number of pixels and the pixel size of the optoelectronic pod at the capture position; Step S13, the optoelectronic pod photographs the target according to the shooting focal length, and sequentially binds the template to the seeker, and repeats step S12 and step S13 in the order of the capture position from far to near the target until the template binding is completed; Step S14, the fire control system binds the combat environment and combat targets to the seeker through the missile-borne flight control system; The step S13 further includes: each time the electro-optical pod transmits a template, the fire control system is triggered to transmit the parameters corresponding to the transmitted template to the missile-borne flight control system, and the missile-borne flight control system binds the parameters to the seeker, wherein the parameters include the yaw field of view angle and the pitch field of view angle; The step S2 specifically includes: Step S21, when the missile flies to the capture position, matching the real-time image at the capture position with the template; If the match is successful, the seeker will track with the new capture point as the tracking point; If the match fails, the missile maintains the original tracking state or inertial flight state; Repeat step S21 until all the templates are matched; In the step S21, before matching the real-time image at the capture position with the template, it also includes: the missile-borne flight control system transmits the real-time position coordinates, missile attitude, missile body angular velocity, and flight speed of the missile to the seeker in real time, so as to complete the template matching after transforming the template.

2. The method for capturing and tracking a target by an infrared imaging seeker according to claim 1, characterized in that: The shooting focal length corresponding to the capture position is calculated by the following formula: Among them, f is the shooting focal length, α is the yaw field of view angle, N is the number of pixels, and a is the pixel size.

3. The method for capturing and tracking a target by an infrared imaging seeker according to claim 1, characterized in that: The step S3 specifically includes: S31: The missile flies to the intelligent identification range and the seeker starts the intelligent identification mode; S32, the seeker intercepts and identifies the tracking point with a preset number of pixels near the last tracking point according to the combat environment and the combat target; If the recognition is successful, the intelligent recognition mode switches to the intelligent tracking mode to complete the tracking of the target at the end of the trajectory; If the recognition is unsuccessful, the number of captured pixels is increased and step S32 is repeated until the recognition is successful.

4. The method for capturing and tracking a target by an infrared imaging seeker according to claim 1, characterized in that: The optoelectronic pod ensures that the field of view of each template photographed by the optoelectronic pod is consistent with the field of view of the seeker when performing template matching.

5. The method for capturing and tracking a target by an infrared imaging seeker according to claim 1, characterized in that: The shooting quantity of the preset template according to the projectile-target distance is set to 4, and the capture position of each template determined according to the projectile-target distance is set to 3.5km, 3km, 2.5km, and 2km respectively.

6. The method for capturing and tracking a target by an infrared imaging seeker according to claim 3, characterized in that: The intelligent recognition working distance is set to 1.5km.

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