Target fusion calculation method and system of photoelectric vigilance equipment without distance

Abstract

The application discloses a fusion calculation method of photoelectric warning equipment without distance of a target, and comprises the following steps: S1, selecting a center point F of a plurality of sensors as an original point of a conversion coordinate system; S2, for a certain target, directly transferring target data measured by a certain sensor to the conversion coordinate system, and calculating a corresponding azimuth angle of the target at different distances in the conversion coordinate system; calculating an error correction value of the azimuth angle of the target in the conversion coordinate system; calculating a total error value of the azimuth angle at different distances, selecting a distance corresponding to the smallest total error value as the distance in the conversion coordinate system, and the azimuth angle of the selected distance in the conversion coordinate system is a corrected azimuth angle; S3, the corrected azimuth angle of the target is calculated by the same method through coordinate conversion and correction calculation of the measured data of other sensors; and S4, the corrected azimuth angles are fused and calculated two by two to obtain a final fused azimuth angle. The application effectively improves the precision of the detected target data at the fusion point F.

Description

Technical Field

[0001] This invention relates to the field of optoelectronic system information processing, and in particular to a method and system for fusion calculation of targets in optoelectronic early warning equipment under conditions of no distance. Background Technology

[0002] Optical and photoelectric surveillance equipment is widely used in military and civilian fields. Commonly used optical and photoelectric surveillance equipment is divided into single-sensor and multi-sensor surveillance equipment. Optical and photoelectric surveillance equipment cannot obtain distance values, while multi-sensor surveillance equipment has scanning heads distributed in different physical locations, resulting in different angular information when detecting the same target. Therefore, it is crucial to adopt appropriate target data conversion and fusion methods. Summary of the Invention

[0003] The main objective of this invention is to provide a method that can effectively reduce the systematic and random errors of target data without distance values, and effectively improve the accuracy of target data at the fusion point.

[0004] The technical solution adopted in this invention is:

[0005] A method for fusion calculation of targets in photoelectric early warning equipment under conditions of no distance is provided, including the following steps:

[0006] S1. Select the center point F of multiple sensors as the origin of the transformed coordinate system;

[0007] S2. For a specific target, the target data measured by a sensor is directly transferred to the transformed coordinate system, and the azimuth angle corresponding to different distances of the target in the transformed coordinate system is calculated; the error correction value of the azimuth angle of the target in the transformed coordinate system is calculated; the total error difference of the azimuth angle at different distances is calculated, and the distance corresponding to the smallest total error difference is selected as the distance in the transformed coordinate system. At this time, the azimuth angle in the transformed coordinate system is the corrected azimuth angle.

[0008] S3. Similarly, calculate the corrected azimuth angle of the target after coordinate transformation and correction calculations based on the data measured by other sensors;

[0009] S4. Perform pairwise fusion calculations on the corrected azimuth angles to obtain the final fused azimuth angle.

[0010] Following the above technical solution, when the elevation angle, azimuth angle, and slant range of a sensor relative to the target are α... i θ i R i At that time, the target's coordinates in the transformed coordinate system (x) Fi y Fi , z Fi )for:

[0011]

[0012] Among them, X F Y Fi Z Fi These represent the coordinate positional relationship between the sensor and the center point F in the x, y, and z directions, respectively.

[0013] Following the above technical solution, when a sensor detects an azimuth angle of θ i When calculating the distance Dis corresponding to the minimum total error difference, the different azimuth angles in the transformed coordinate system are the corrected azimuth angles.

[0014] Following the above technical solution, the calculation process of the error correction value in step S2 is as follows:

[0015] When the azimuth angle of a target detected by a sensor at a certain distance d is θ1, the azimuth angle in the transformed coordinate system is θ. F1 When the distance d is d, the error of the azimuth angle is θ. d-azi :

[0016] θ d-azi =θ F1 -θ1;

[0017] The average error of the azimuth angle at different distances di under the same azimuth angle is calculated as follows:

[0018]

[0019] Where, θ di-azi =θ Fi -θ azi ;

[0020] Calculate the azimuth angle θ at different distances d. i With the corresponding average error The total error difference is θ dis :

[0021]

[0022] Calculate the total error difference at different distances, and select the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system. The azimuth angle θ in the transformed coordinate system is then determined. DisAziFi This is the corrected azimuth angle.

[0023] Following the above technical solution, different azimuth angles θ1 = 10°, θ2 = 20°, ..., θ 17 =170°.

[0024] Following the above technical solution, the distance ranges from 4 to 15 km.

[0025] Following the above technical solution, the final fused azimuth angle θ in step S4 f =a1θ DisAziF1 +a2θ DisAziF2 , where a1 and a2 are the weight values ​​of different sensor locations, and a1+a2=1.

[0026] Following the above technical solution,

[0027] This invention also provides a fusion calculation system for the target azimuth angle of an optoelectronic early warning device in the absence of distance, comprising:

[0028] The coordinate system transformation module is used to select the center point F of multiple sensors as the origin of the transformed coordinate system;

[0029] The azimuth angle calculation module, for a specific target, directly transfers the target data measured by a sensor to a transformed coordinate system and calculates the azimuth angle of the target at different distances in the transformed coordinate system; it calculates the error correction value of the azimuth angle of the target in the transformed coordinate system; it calculates the total error difference of the azimuth angle at different distances, selects the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system, and at this time, the azimuth angle in the transformed coordinate system is the corrected azimuth angle;

[0030] The fusion calculation module is used to perform pairwise fusion calculations on all corrected azimuth angles to obtain the final fused azimuth angle.

[0031] Following the above technical solution, when the elevation angle, azimuth angle, and slant range of a sensor relative to the target are α... i θ i R i At that time, the target's coordinates in the transformed coordinate system are (x) Fi y Fi )for:

[0032]

[0033] Among them, X F Y Fi Z Fi These represent the coordinate positional relationship between the sensor and the center point F in the x, y, and z directions, respectively.

[0034] The present invention also provides a computer storage medium storing a computer program executable by a processor, the computer program executing the target fusion calculation method of the photoelectric early warning device under no-distance conditions described in the above technical solution.

[0035] The beneficial effects of this invention are: This invention proposes a coordinate transformation and fusion method that can effectively reduce the systematic and random errors of target data in the absence of distance values, and effectively improve the accuracy of the detected target data at the fusion point F. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart of the target fusion calculation method of the photoelectric early warning device in the case of no distance according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram showing the positions of the infrared sensor and the ship launcher in an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the relationship between the infrared sensor and the target in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0041] like Figure 1 As shown, the target fusion calculation method of the photoelectric early warning device in the absence of distance according to an embodiment of the present invention includes the following steps:

[0042] S1. Select the center point F of multiple sensors as the origin of the transformed coordinate system;

[0043] S2. For a specific target, the target data measured by a sensor is directly transferred to the transformed coordinate system, and the azimuth angle of the target at different distances in the transformed coordinate system is calculated; the error correction value of the azimuth angle of the target in the transformed coordinate system is calculated; the total error difference of the azimuth angle at different distances is calculated, and the distance corresponding to the smallest total error difference is selected as the distance in the transformed coordinate system. At this time, the azimuth angle in the transformed coordinate system is the corrected azimuth angle.

[0044] S3. Similarly, calculate the corrected azimuth angle of the target after coordinate transformation and correction calculations based on the data measured by other sensors;

[0045] S4. Perform pairwise fusion calculations on all corrected azimuth angles to obtain the final fused azimuth angle.

[0046] Furthermore, when the elevation angle, azimuth angle, and slant range of a sensor relative to the target are α... i θ i R i At that time, the target's coordinates in the transformed coordinate system (x) Fi y Fi , z Fi )for:

[0047]

[0048] Among them, X F Y Fi Z Fi These represent the coordinate positional relationship between the sensor and the center point F in the x, y, and z directions, respectively.

[0049] When a sensor detects an azimuth angle of θ i Calculate the angle θ of point F at different azimuth angles when the distance is Dis. DisAziFi This is the corrected transfer value. The calculation process for the error correction value in step S2 is as follows:

[0050] When the azimuth angle of a target detected by a sensor at a certain distance d is θ1, the azimuth angle in the transformed coordinate system is θ. F1 When the distance d is d, the error of the azimuth angle is θ. d-azi :

[0051] θ d-azi =θ F1 -θ1;

[0052] The average error of the azimuth angle at different distances di under the same azimuth angle is calculated as follows:

[0053]

[0054] Where, θ di-azi =θ Fi -θ azi ;

[0055] Calculate the azimuth angle θ at different distances d. i With the corresponding average error The total error difference is θ dis :

[0056]

[0057] Calculate the total error difference at different distances (e.g., 4-15km), and select the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system. The azimuth angle θ in the transformed coordinate system is then determined. F1This is the corrected azimuth angle.

[0058] Different azimuth angles θ1 = 10°, θ2 = 20°, ..., θ 17 =170°.

[0059] Step S4: Final fusion azimuth angle θ f =a1θ DisAziF1 +a2θ DisAziF2 Where a i The weight values ​​for the different sensor locations are a1 + a2 = 1.

[0060]

[0061] In one embodiment of the present invention, a schematic diagram of the arrangement of the multi-sensor optoelectronic early warning device and the ship-launching device is shown below. Figure 2 As shown. 1, 2, 3, and 4 represent the locations of the infrared scanning heads (i.e., the scanning heads of multiple infrared sensors in the photoelectric warning equipment). A, B, C, and D represent the locations of the ship's launching devices. The distance between infrared scanning heads 1 and 2 is equal to the distance between infrared scanning heads 3 and 4, expressed as: S 1－2 =S 3－4 = 46.9m; the distance between infrared scanning heads 1 and 4 is: S 1－4 =16m, the distance between infrared scanning heads 2 and 3 is: S 2－3 =17.6m. The height difference between transmitter B and transmitter C and scanning heads 2 and 3 is 12.3m, that is, the height difference between transmitter B and C is 12.3m. Other coordinate relationships:

[0062] The coordinates of transmitting devices A, B, C, and D are respectively: (x A y A ), (x B y B ), (x C y C ), (x D y D The coordinates of infrared scanning heads 1, 2, 3, and 4 are (x1, y1), (x2, y2), and (x3, y3), respectively.

[0063] (x4, y4).

[0064] in:

[0065] x A -x1 = -82.07m, y A -y1 = 40.46m;

[0066] x B -x² = 88.99m, y B-y2 = 35.37m;

[0067] x C -x3 = 88.98m, y C -y3 = -12.97m;

[0068] x D -x4 = -82.04m, y D -y4=-7.13m.

[0069] In practical systems, target data acquired by sensors needs to be converted to the location of the ship's launcher to enable the control system to accurately engage incoming targets. Since infrared sensors can only obtain the target's azimuth and elevation angles but not its distance, coordinate transformation becomes difficult. When the target is far away, the influence of the sensor's position on the ship's launcher is relatively small due to the proximity of the two locations. However, when the target is close, the positional influence between the ship's launcher and the sensor is significant, and directly transferring the target data to the ship's launcher location will result in substantial errors. In multi-sensor scenarios, target data from multiple sensors can be fused to improve data effectiveness. Specifically, this can be achieved by first estimating the distance and then performing the coordinate transformation.

[0070] For ease of discussion, we will first select sensors 1 and 2 for typical analysis, and transfer the infrared sensor angles to a fixed point (i.e., the fusion center F). In this embodiment, the fusion center F is selected as the center point of the four sensors. Since the error caused by the elevation angle is small, it will not be simulated or analyzed.

[0071] The data fusion process is as follows:

[0072] (1) Calculate the error caused by directly transferring the target data of infrared sensors 1 and 2 at different distances (4km-15km) to the fusion center F;

[0073] (2) Calculate the total difference of the average azimuth error between different azimuths at a certain distance, and select the distance value corresponding to the minimum total difference as the transfer distance Dis; calculate the azimuth angle of the target under the transformation coordinate system at the transfer distance Dis, which is the corrected azimuth angle.

[0074] (3) Correct the targets at different distances and in different directions.

[0075] (4) The target data transferred from sensors 1 and 2 to point F are weighted to obtain the fusion result.

[0076] In the second embodiment of the present invention, as Figure 3 As shown, assuming the distance between sensors 1 and 2 is l, the elevation angle, azimuth angle and slant distance of the target T are α1, θ1, R1 and α2, θ2, R2, respectively.

[0077] Coordinate transformation: The target indication data is transferred from sensors 1 and 2 to a coordinate system with F as the origin by using slant distances R1 and R2.

[0078]

[0079]

[0080] Among them, X F1 Y F1 Z F1 These represent the coordinate position relationship between sensor 1 and F, respectively. F2 Y F2 Z F2 These represent the coordinate positions of sensor 1 and sensor 2, respectively; thus, the azimuth angle θ of sensors 1 and 2 relative to the target T at F can be calculated. F1 and θ F2 .

[0081] Selection of appropriate transfer distance:

[0082] When the azimuth angle detected by sensor 1 is θ1, the azimuth angle transferred at point F is θ. F1 At that time, the azimuth error of the lower azimuth angle below di is θ. di-azi :

[0083] θ di-azi =θ F1 -θ1;

[0084] The average error of the azimuth angle at different distances of 4-15km under the same azimuth angle is calculated as follows: When the azimuth is azi, the calculation is... for:

[0085]

[0086] The total difference in the average azimuth error between different azimuth angles at the same distance is θ. dis :

[0087]

[0088] When the distance is Dis, θ dis If the minimum value is selected, the transfer distance is Dis. At this distance, the azimuth error of the azimuth angle below Dis is θ. Dis-azi Transform the azimuth angle in the coordinate system to obtain the corrected azimuth angle.

[0089] Data correction:

[0090] When sensor 1 detects an azimuth angle of θ1 and calculates a distance of Dis, the azimuth angle θ DisAziF1This is the corrected transfer value; similarly, the azimuth angle θ when the distance to sensor 2 is Dis can be calculated. DisAziF2 ;

[0091] When the detection period is T, the corrected azimuth angles for two adjacent periods are θ respectively. DisAzi1F1 θ DisAzi2F1

[0092] The corrected azimuth angular velocity is

[0093] The vertical distance between sensor 1 and the correction value is Z. F1 ;

[0094] When sensor 1 detects an azimuth angle of θ Ele1 Ignoring positional errors caused by different locations, correct the pitch angle θ to point F. DisEle1 ;

[0095]

[0096] Orientation angle fusion:

[0097] By observing the error characteristics of sensors 1 and 2 after they reach point F, the target data can be fused using the following formula:

[0098] θ f =a1θ DisAziF1 +a2θ DisAziF2 (1)

[0099] Where θ f θ represents the target azimuth angle after fusion. DisAziF1 θ DisAziF2 Let a1+2 be the azimuth angle after sensors 1 and 2 switch to point F, where a1+2=1 (a1, a2≥0). 1、2 The possible values ​​are as follows:

[0100]

[0101] Pitch angle, azimuth rate, and pitch rate fusion:

[0102] The pitch angle, azimuth angular velocity, and pitch angular velocity of sensors 1 and 2 after correction to point F are fused using average values. Similarly, the fusion of sensors 3 and 4 is performed. The final fused azimuth angle, pitch angle, azimuth angular velocity, and pitch angular velocity are then obtained, which will not be elaborated further here.

[0103] This invention also provides a fusion calculation system for the target azimuth angle of an optoelectronic early warning device in the absence of distance, comprising:

[0104] The coordinate system transformation module is used to select the center point F of multiple sensors as the origin of the transformed coordinate system;

[0105] The azimuth angle correction calculation module is used to directly transfer the target data measured by a sensor to a transformed coordinate system for a specific target, and calculate the azimuth angle of the target at different distances in the transformed coordinate system; calculate the error correction value of the azimuth angle of the target in the transformed coordinate system; calculate the total error difference of the azimuth angle at different distances, and select the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system. At this time, the azimuth angle in the transformed coordinate system is the corrected azimuth angle.

[0106] The fusion calculation module is used to perform pairwise fusion calculations on all corrected azimuth angles to obtain the final fused azimuth angle.

[0107] In the preferred embodiment of the system, each module is specifically used to implement the above preferred method embodiment, which will not be elaborated here.

[0108] This application also provides a non-transitory computer-readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, App application store, etc., which stores a computer program. When the program is executed by a processor, it implements the corresponding function. The computer-readable storage medium of this embodiment is used to implement a method for calculating the target azimuth angle of an optoelectronic warning device in the absence of distance when executed by a processor.

[0109] In summary, the coordinate transformation and fusion method of the present invention can effectively reduce the systematic and random errors of target data and effectively improve the accuracy of the detected target data at the fusion point F when no distance value is available.

[0110] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for fusion calculation of targets in photoelectric early warning equipment under conditions of no distance, characterized in that, Includes the following steps: S1. Select the center point F of multiple sensors as the origin of the transformed coordinate system; S2. For a certain target, the target data measured by a certain sensor is directly transferred to the transformed coordinate system, and the azimuth angle corresponding to different distances of the target in the transformed coordinate system is calculated. Calculate the error correction value of the target's azimuth angle in the transformed coordinate system; calculate the total error difference of the azimuth angle at different distances, and select the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system. At this time, the azimuth angle in the transformed coordinate system is the corrected azimuth angle. S3. Similarly, calculate the corrected azimuth angle of the target after coordinate transformation and correction calculations based on the data measured by other sensors; S4. Perform pairwise fusion calculations on the corrected azimuth angles to obtain the final fused azimuth angle; The calculation process for the error correction value in step S2 is as follows: At a distance d1, the azimuth angle of a target detected by a certain sensor is θ. az1 The azimuth angle in the transformed coordinate system is θ F1 When, the azimuth angle θ at distance d1 is... az1 The error is θ d1-az1 : i d1-az1 =θ F1 -θ az1 ; Calculate the same azimuth angle θ azi The average error of the lower azimuth angle at different distances from dj is Among them, i dj-azi =θ Fj -θ azi ; Calculate the azimuth angle θ at different distances d. i error With the corresponding average error The total error difference is θ dis : Calculate the total error difference at different distances, and select the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system. The azimuth angle θ in the transformed coordinate system is then determined. DisAziFi This is the corrected azimuth angle.

2. The method for fusion calculation of targets in the absence of distance using photoelectric early warning equipment according to claim 1, characterized in that, When the elevation angle, azimuth angle, and slant range of a sensor relative to a target are α, ... i θ i R i At that time, the target's coordinates in the transformed coordinate system (x) Fi y Fi , z Fi )for: Among them, X Fi Y Fi Z Fi These represent the coordinate positional relationship between the sensor and the center point F in the x, y, and z directions, respectively.

3. The method for fusion calculation of targets in the absence of distance using photoelectric early warning equipment according to claim 1, characterized in that, When a sensor detects an azimuth angle of θ i When calculating the distance Dis corresponding to the minimum total error difference, the different azimuth angles in the transformed coordinate system are the corrected azimuth angles.

4. The method for fusion calculation of targets in the absence of distance using photoelectric early warning equipment according to claim 1, characterized in that, Different azimuth angles θ1 = 10°, θ2 = 20°, ..., θ 17 =170°.

5. The method for fusion calculation of targets in the absence of distance using photoelectric early warning equipment according to claim 1, characterized in that, The distances range from 4 to 15 km.

6. The method for fusion calculation of targets in the absence of distance using photoelectric early warning equipment according to claim 1, characterized in that, Step S4: Final fusion azimuth angle θ f =a1θ DisAziF1 +a2θ DisAziF2 , where a1 and a2 are the weight values ​​of different sensor locations, a1+a2=1.

7. The method for fusion calculation of targets in the absence of distance using photoelectric early warning equipment according to claim 6, characterized in that, Where n = 1, 2.

8. A fusion calculation system for the azimuth angle of a target in the absence of distance in an optoelectronic early warning device, characterized in that, include: The coordinate system transformation module is used to select the center point F of multiple sensors as the origin of the transformed coordinate system; The azimuth calculation module is used to directly transfer the target data measured by a sensor to a transformed coordinate system for a specific target and calculate the azimuth of the target in the transformed coordinate system. Calculate the error correction value of the target's azimuth angle in the transformed coordinate system; calculate the total error difference of the azimuth angle at different distances, and select the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system. At this time, the azimuth angle in the transformed coordinate system is the corrected azimuth angle. The fusion calculation module is used to perform pairwise fusion calculations on all corrected azimuth angles to obtain the final fused azimuth angle; The calculation process for the error correction value is as follows: At a distance d1, the azimuth angle of a target detected by a certain sensor is θ. az1 The azimuth angle in the transformed coordinate system is θ F1 When, the azimuth angle θ at distance d1 is... az1 The error is θ d1-azi : i d1-azi =θ F1 -θ az1 ; Calculate the same azimuth angle θ azi The average error of the lower azimuth angle at different distances from dj is Among them, i dj-azi =θ Fj -θ azi ; Calculate the azimuth angle θ at different distances d. i error With the corresponding average error The total error difference is θ dis : Calculate the total error difference at different distances, and select the distance corresponding to the smallest total error difference as the distance in the transformed coordinate system. The azimuth angle θ in the transformed coordinate system is then determined. DisAziFi This is the corrected azimuth angle.

9. A computer storage medium, characterized in that, It contains a computer program that can be executed by a processor, which performs the target fusion calculation method of the photoelectric warning device in the absence of distance as described in claim 1.

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