A three-dimensional velocity measurement device and method based on radar and video fusion

Abstract

This invention provides a three-dimensional velocity measurement device and method integrating radar and video fusion, comprising: a radar, an optoelectronic device, a servo turntable, and a three-dimensional velocity information fusion processing board. The radar searches for a target and measures its radial velocity. The optoelectronic device measures the target's angular velocity based on the horizontal and pitch rotation speeds of the servo turntable and target information from the video image. The three-dimensional velocity information fusion processing board performs pixel analysis on the centroid or marker points of the target's two-dimensional image, calculates the two-dimensional angular velocity of the corresponding point projected onto a sphere at a preset distance, and determines the target's three-dimensional velocity in spherical coordinates using the distance provided by the radar and the azimuth and pitch angles provided by the optoelectronic device. The target's three-dimensional velocity in Cartesian coordinates is obtained through spherical coordinate to Cartesian coordinate conversion. This allows for the measurement of the target's three-dimensional velocity vector, offers good scalability, and allows for the networking of multiple devices to meet the measurement needs of multiple targets.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and more specifically, to a three-dimensional velocity measurement device and method that integrates radar and video. Background Technology

[0002] There is a wide demand for the measurement of three-dimensional velocity of targets in many fields. The most common is the measurement of three-dimensional velocity of physical fields, such as "Simulation Analysis of Synchronous Measurement Technology of Three-Dimensional Velocity and Temperature of Light Field, Experimental Fluid Mechanics, 2021, 35(02), Wu Taofeng, Luan Yinsen et al.", "A Fluid Three-Dimensional Velocity Measurement System, CN201510825956.X, Xiong Bobo", "Three-Dimensional Velocity Measurement of Moving Particles Based on Single Lens Dual Camera, Journal of Engineering Thermophysics, 2017, 38(08), Jia Minhua, Zhou Wu et al.", "A Three-Dimensional Motion Velocity Measurement Method of Ocean Current and Current Meter Based on Time-Frequency Synchronization Principle, CN202210748488.0, Song Dalei, Liu Xiaoyuan et al.", and "A High-Precision Three-Dimensional Motion Velocity Measurement Method of Bodily Target, CN202111198580.6, Zheng Cuie, Sun Dajun et al.".

[0003] The literature “Analysis of problems in three-dimensional measurement by optical sectioning in reverse engineering, Journal of Xi’an Jiaotong University, 2001, 35(09), Wu Jianbo, Sang Bo et al” and “Research on three-dimensional imaging algorithm of interferometric inverse synthetic aperture radar, 2021, Doctoral dissertation, Harbin Institute of Technology, Rong Jiajia” proposed three-dimensional measurement of targets and objects, but not three-dimensional velocity measurement of flying targets or moving targets on the ground.

[0004] Three-dimensional velocity measurement of aerial or ground-moving targets is an important requirement for low-altitude surveillance or surface surveillance.

[0005] "A New Method for 3D Attitude Measurement of Flight Targets, Laser Technology, 2003, 27(03), Li Yongbin and Zhang Changbing" proposed a method to obtain more target attitude parameters by using digital image processing to establish feature points on the target image and combining them with a specific algorithm to obtain the target's pitch angle, yaw angle, roll angle, drift amount, and other 3D parameters. "Three-Dimensional Velocity Measurement Using a Dual Axis Millimeter-Wave Interferometric Radar, IEEE Transactions on Microwave Theory and Techniques, 2022, 70(30), 1674-1685, Jason Merlo, Eric Klinefelter, Jeffrey A. Nanzer" proposed to use interferometric radar to measure the three-dimensional velocity of the target. This method requires three receiving antennas and a single transmitter to form a three-dimensional velocity measurement device, which is relatively complex. The paper, “3-Beamlaser Doppler Velocity Meter for 3-D Velocity Measurement, 2016 IEEE 6th Int. Conf. on Photonics (ICP), 2016, pp. 1–3, Mikami O, and Fujikawa C,” utilizes three laser beams to measure the velocity of a target from three directions to obtain the target's three-dimensional velocity.

[0006] The paper "Three-Dimensional Velocity Measurement System and Method, CN202110829175.3, Zhong Yiming, Zhang Yi et al." calculates the velocity in different motion directions by setting different weighting coefficients for each antenna element on the array antenna module and separating the Doppler frequency shift of the target in different motion directions. The paper "A Method for Calculating Vehicle Speed ​​Using Three-Dimensional Measurement Technology, CN202110514471.4, Wang Jiakui, Li Gan" utilizes three-dimensional measurement technology to calculate vehicle speed, primarily targeting the field of intelligent transportation technology. The paper "A Synchronous Measurement Method and Device for Three-Dimensional Range and Velocity of LiDAR, CN202210391405.7, Xi Qingxin" proposes using LiDAR to measure the three-dimensional range and velocity of a target, but does not propose a method for measuring the three-dimensional velocity.

[0007] As can be seen from the methods described above, no three-dimensional velocity measurement system or method integrating radar and video has yet been proposed for surface surveillance and low-altitude surveillance applications. When using radar and video equipment to monitor and detect targets, especially low-altitude flying targets, it is necessary to measure the target's three-dimensional velocity and predict its future position based on this velocity. Radar can measure the radial velocity of a target relative to the radar using the Doppler method, but it cannot measure the target's lateral velocity. Electro-optical cameras can only provide information on the target's lateral movement angle, not its radial velocity. Summary of the Invention

[0008] In view of the deficiencies in the prior art, the purpose of this invention is to provide a three-dimensional velocity measurement device and method that integrates radar and video.

[0009] In a first aspect, embodiments of this application provide a three-dimensional velocity measurement device that fuses radar and video, comprising: a radar, an optoelectronic device, a servo turntable, and a three-dimensional velocity information fusion processing board, wherein: The radar is used to search for targets and measure the radial velocity of a target at a certain moment. The optoelectronic device is used to measure the angular velocity of the target at a certain moment based on the horizontal and pitch rotation speeds of the servo turntable and the target information in the video image. The three-dimensional velocity information fusion processing board is used to perform pixel analysis on the centroid or marker point of the target's two-dimensional image, calculate the two-dimensional angular velocity of the corresponding point on the sphere at a preset distance, and determine the target's three-dimensional velocity in spherical coordinates by using the distance provided by the radar and the azimuth and pitch angles provided by the optoelectronic device; and obtain the target's three-dimensional velocity in Cartesian coordinates by converting between spherical coordinates and Cartesian coordinates.

[0010] Optionally, the radar adopts a linear frequency modulated continuous wave system and uses separate transmitting and receiving antennas; wherein, the signal generation module generates radar signals, which are transmitted through the transmitting module and transmitting antenna, and the receiving antenna receives the signals and transmits them to the signal processing module for processing; The radar searches for and detects targets, uses the Doppler frequency shift principle to measure the radial velocity of the target at a certain moment, and forwards the target information found by the radar to the optoelectronic device.

[0011] Optionally, the optoelectronic device includes: a visible light camera, a laser rangefinder, and a laser fill light module, wherein: The visible light camera is used to image the target with a variable focal length, and the photosensitive camera records high frame rate image information. The laser rangefinder is used to perform high-precision distance measurement of the target; The laser supplementary lighting module is used to provide supplementary lighting to the target at night or when there is insufficient light, so that the visible light camera can work normally in low light conditions.

[0012] Optionally, the rotational speed of the target relative to the optoelectronic device consists of two parts: one part is the rotational speed of the servo turntable, and the other part is the converted rotational speed formed by the change in the position of the target imaging point or the center of gravity of the imaging point relative to the center point of the camera.

[0013] Optionally, the formula for converting spherical coordinates to Cartesian coordinates and obtaining the target's three-dimensional velocity in Cartesian coordinates is as follows:

[0014]

[0015] in: Let be the x-coordinate of the target in the Cartesian coordinate system. Let be the y-coordinate of the target in the Cartesian coordinate system. Let be the coordinates of the target in the z-direction of the Cartesian coordinate system. For the target distance, Let the target be the pitch angle in spherical coordinates. Let be the azimuth angle of the target in spherical coordinates. and All of these represent the velocity components of the target velocity in the x-direction within the Cartesian coordinate system. and All of these are the velocity components of the target velocity in the y-direction in the Cartesian coordinate system. and All of these are the velocity components of the target velocity in the z-direction in the Cartesian coordinate system. The radial velocity of the target, Let ω be the angular velocity of the target in the pitch direction in spherical coordinates. Let ω be the angular velocity of the target in the lower direction in the spherical coordinate system.

[0016] Optionally, it also includes a display and control unit for predicting the target's position at the next moment based on the target's three-dimensional velocity.

[0017] Optionally, the center of the radar antenna is aligned with the center of the video detection camera so that the normal direction of the detected target remains consistent.

[0018] Optionally, the focal length of the video detection camera can be automatically adjusted based on the distance information provided by the radar.

[0019] In a second aspect, embodiments of this application provide a three-dimensional velocity measurement method based on radar and video fusion. In the three-dimensional velocity measurement device based on radar and video fusion as described in any one of the first aspects, the method includes: Step 1: Search for and track the target using radar, and measure the target's radial velocity; Step 2: Activate the photoelectric tracking imaging function to confirm the target; Step 3: Measure the distance to the target using a laser rangefinder; Step 4: Using photoelectric tracking images, the relative position of the target with respect to the center of the lens image is converted into the angular relationship of the target with respect to the center of the lens image. Combined with the angular information of the servo turntable relative to the calibrated 0 position, the angle of the target is determined. Step 5: The photoelectric camera images the target. After image processing, the change in the relative position of the target with respect to the center of the lens image is converted into the angular velocity of the target with respect to the center of the lens image. This angular velocity is then superimposed on the rotational speed of the servo turntable to determine the target's angular velocity. Step 6: Determine the target's three-dimensional velocity in spherical coordinates based on the three-dimensional velocity signal processing board; Step 7: Determine the target's three-dimensional velocity in Cartesian coordinates using a three-dimensional velocity signal processing board.

[0020] Thirdly, embodiments of this application provide a three-dimensional velocity measurement device that fuses radar and video, comprising: A processor and a memory, wherein the memory stores executable program instructions, and when the processor invokes the program instructions in the memory, the processor is used to: The steps of performing the three-dimensional velocity measurement method based on radar and video fusion as described in the second aspect.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium for storing a program, which, when executed, implements the steps of the three-dimensional velocity measurement method of radar and video fusion as described in any one of the first aspects.

[0022] Compared with the prior art, the present invention has the following beneficial effects: This application uses radar to search for targets and measures the radial velocity of the target at a certain moment using the Doppler frequency shift principle. Optoelectronic equipment measures the angular velocity of the target at a certain moment based on the horizontal and pitch rotation speeds of the optoelectronic servo turntable and the target information from the video image. A three-dimensional velocity information fusion processing board performs pixel analysis on the centroid or marker points of the target's two-dimensional image, calculating the two-dimensional angular velocity of that point projected onto a spherical surface at a certain distance. Then, using the distance information provided by the radar and the precise azimuth and pitch angle information provided by the optoelectronic equipment, the three-dimensional velocity information fusion processing board fuses the radar and optoelectronic measurement information to determine the target's three-dimensional velocity information in spherical coordinates. By converting between spherical and Cartesian coordinates, the target's three-dimensional velocity information in Cartesian coordinates can be obtained. This application utilizes an integrated radar and video device to measure the three-dimensional velocity vector of a target, exhibiting excellent scalability. Multiple sets of devices can be networked as needed to meet the measurement needs of multiple targets. Attached Figure Description

[0023] 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 merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of the structure of a three-dimensional velocity measurement device that fuses radar and video, provided for an embodiment of this application; Figure 2 This is a schematic diagram of the integrated structure of radar and optoelectronic equipment in an embodiment of this application.

[0024] In the diagram: 1-transmitting antenna, 2-transmitting module, 3-laser ranging and laser illumination lens, 4-radar signal generation module, 5-receiving antenna, 6-receiving module, 7-visible light camera. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0028] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] The technical solutions of the present invention and how they solve the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0030] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] This invention provides a three-dimensional velocity measurement device that fuses radar and video images, comprising a radar, an optoelectronic device, a servo turntable, and an integrated control unit. The radar searches for a target and measures its radial velocity at a given moment using the Doppler frequency shift principle. The optoelectronic device measures the target's angular velocity at a given moment based on the horizontal and pitch rotation speeds of the optoelectronic servo turntable and the target information from the video image. The three-dimensional velocity information fusion processing board performs pixel analysis on the centroid or marker points of the target's two-dimensional image, calculating the two-dimensional angular velocity of that point projected onto a sphere at a certain distance. Then, using the range information R provided by the radar and the precise azimuth and elevation angle information provided by the optoelectronic equipment, the three-dimensional velocity information fusion processing board fuses the radar and optoelectronic measurement information to determine the target's spherical coordinate three-dimensional velocity. By converting between spherical and Cartesian coordinates, the three-dimensional velocity of the target in Cartesian coordinates can be obtained. .

[0032] The radar employs a linear frequency modulated continuous wave (LFM) system, using separate transmit and receive antennas, signal generation and processing modules. It generates radar signals, which are transmitted via the transmitting module and transmitting antenna. The receiving antenna receives the signals, which are then processed by the signal processing module. The radar searches for and detects targets, using the Doppler frequency shift principle to measure the target's radial velocity at a given moment. After the radar detects a target, it hands over control to the optoelectronic equipment. This equipment includes a visible light camera, a laser rangefinder, and a laser illumination module. The visible light camera performs variable-focus imaging of the target, while the photosensitive camera records high-frame-rate image information. The laser rangefinder performs high-precision distance measurement of the target, and the laser illumination module provides supplemental lighting to the target at night or in low-light conditions, enabling the visible light camera to operate normally in low-light environments.

[0033] This method measures the angular velocity of the target over a short time interval by combining the horizontal and pitch rotation speeds of an optoelectronic servo turntable with target information from video images. A three-dimensional velocity information fusion processing board performs pixel analysis on the centroid or marker points of the target's two-dimensional image, considering the time of frame rate changes, decomposing it into horizontal and vertical pixel changes, thereby calculating the two-dimensional angular velocity of that point projected onto a sphere at a certain distance. .

[0034] The rotational speed of the target relative to the optoelectronic equipment consists of two parts: one is the rotational speed of the servo turntable, and the other is the converted rotational speed resulting from the change in the position of the target's imaging point or the center of gravity of the imaging point relative to the camera's center point. These two parts combine to form the target's rotational speed relative to the optoelectronic equipment. Then, using the distance information R provided by the laser rangefinder and the precise azimuth and elevation angle information provided by the optoelectronic equipment, a three-dimensional velocity information fusion processing board fuses the radar and optoelectronic measurement information to determine the target's spherical coordinate three-dimensional velocity. .

[0035] The conversion formula is as follows:

[0036] and formula

[0037] The three-dimensional velocity information in spherical coordinates can be converted into the three-dimensional velocity of the target in Cartesian coordinates at a certain moment. .

[0038] Measuring angular velocity perpendicular to the radial direction requires image processing across different frames, resulting in a certain delay. With a high frame rate, short measurement intervals, and high refresh rate, this delay can be controlled within a very small range, and the resulting three-dimensional velocity can be considered instantaneous.

[0039] The three-dimensional velocity measurement method proposed in this invention, which integrates radar and video data, comprises the following steps: Step 1: Use microwave radar to search for and track the target, and measure the target's radial velocity. ; Step 2: Activate the photoelectric tracking imaging function to confirm the target; Step 3: Use a laser rangefinder to measure the target distance R with high precision; Step 4: Using photoelectric tracking images, convert the relative position of the target with respect to the center of the lens image into an angular relationship between the target and the center of the lens image. Combine this with the angular information of the servo turntable relative to the calibrated 0-degree position to determine the target's angle. ; Step 5: The photoelectric camera images the target. After image processing, the change in the target's relative position to the center of the lens image is converted into the target's angular velocity relative to the center of the lens image. This angular velocity is then superimposed with the rotational speed of the servo turntable to determine the target's angular velocity. ; Step 6: Based on steps 1-5, use the 3D velocity signal processing board to obtain the target's 3D velocity in spherical coordinates. ; Step 7: Based on steps 1-5, use the geometric relationships provided by the 3D velocity signal processing board to calculate the target's 3D velocity in Cartesian coordinates. .

[0040] Figure 1 A schematic diagram of a three-dimensional velocity measurement device integrating radar and video fusion is provided for embodiments of this application; as shown. Figure 1 As shown, the radar and optical television equipment are integrated into a single design. The radar transmitting and receiving antennas are integrated onto a servo turntable through structural design. The radar signal generation module, microwave power amplifier module, and receiving module are also integrated onto the servo turntable according to functional requirements and structural characteristics. Generally, the transmitting module, mainly including power amplifier and power divider modules, is installed near the transmitting antenna. The receiving module, mainly including low-noise amplifier, mixer, intermediate frequency amplifier, and filtering modules, is installed near the receiving antenna. The radar received signal is fed into the radar data acquisition and signal processing board, and then enters the three-dimensional velocity fusion processing unit.

[0041] The system also includes two optical lenses: a visible light camera and a laser rangefinder and laser fill light lens, which are connected to the three-dimensional velocity fusion processing board via an optoelectronic information module.

[0042] Radar signal control, radar signal processing, visible light camera imaging and processing, laser rangefinder signal processing, and servo turntable control are all handled by a separate computer. The target 3D velocity measurement and processing board is the hardware processing board for the radar and photoelectric camera target data fusion software.

[0043] Figure 2 This is a schematic diagram of the integrated structure of radar and optoelectronic equipment in an embodiment of this application, as shown below. Figure 2 As shown, the radar and optoelectronic video equipment are integrated into a single design. The radar transmitting and receiving antennas are supported on a "I"-shaped structure via a servo turntable. The transmitting module, mainly consisting of a power amplifier and power divider, is installed near the transmitting antenna. The receiving module, mainly consisting of a low-noise amplifier, mixer, intermediate frequency amplifier, and filter, is installed near the receiving antenna. The radar signal generation and processing module is installed in the middle of the top-mounted structure. Two optical lenses are positioned on either side of the servo turntable: one is a visible light camera, and the other is a laser ranging and laser illumination module.

[0044] This application uses radar to search for targets and measures the radial velocity of the target at a certain moment using the Doppler frequency shift principle. Optoelectronic equipment measures the angular velocity of the target at a certain moment based on the horizontal and pitch rotation speeds of the optoelectronic servo turntable and the target information from the video image. A three-dimensional velocity information fusion processing board performs pixel analysis on the centroid or marker points of the target's two-dimensional image, calculating the two-dimensional angular velocity of that point projected onto a spherical surface at a certain distance. Then, using the distance information provided by the radar and the precise azimuth and pitch angle information provided by the optoelectronic equipment, the three-dimensional velocity information fusion processing board fuses the radar and optoelectronic measurement information to determine the target's three-dimensional velocity information in spherical coordinates. By converting between spherical and Cartesian coordinates, the target's three-dimensional velocity information in Cartesian coordinates can be obtained. This application utilizes an integrated radar and video device to measure the three-dimensional velocity vector of a target, exhibiting excellent scalability. Multiple sets of devices can be networked as needed to meet the measurement needs of multiple targets.

[0045] It should be noted that those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "platform."

[0046] Furthermore, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions. When at least one processor of a user device executes these computer-executable instructions, the user device performs the various possible methods described above. The computer-readable medium includes a computer storage medium and a communication medium, wherein the communication medium includes any medium that facilitates the transfer of a computer program from one location to another. The storage medium can be any available medium accessible to a general-purpose or special-purpose computer. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Additionally, the ASIC can reside in the user device. Alternatively, the processor and storage medium can exist as discrete components in a communication device.

[0047] This application also provides a program product including a computer program stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the server to implement any of the methods described in the embodiments of the present invention.

[0048] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0049] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of the present invention.

Claims

1. A radar and video fusion three-dimensional velocity measurement device, characterized by, include: Radar, optoelectronic equipment, servo turntable, and 3D velocity information fusion processing board, among which: The radar is used to search for targets and measure the radial velocity of a target at a certain moment. The optoelectronic device includes: a visible light camera, a laser rangefinder, and a laser illumination module, wherein: the visible light camera is used to image the target with a variable focal length, and the photosensitive camera records high frame rate image information; the laser rangefinder is used to perform high-precision distance measurement of the target; the laser illumination module is used to provide supplemental lighting to the target at night or in low light conditions, so that the visible light camera can work normally in low light conditions; The three-dimensional velocity information fusion processing board is used to perform pixel analysis on the centroid or marker point of the target's two-dimensional image, calculate the two-dimensional angular velocity of the corresponding point on the sphere at a preset distance, and determine the target's three-dimensional velocity in spherical coordinates by using the distance provided by the radar and the image information provided by the optoelectronic device; and obtain the target's three-dimensional velocity in Cartesian coordinates by converting between spherical coordinates and Cartesian coordinates. The radar and video fusion-based three-dimensional velocity measurement device is used to perform the following steps: Step 1: Search for and track the target using radar, and measure the target's radial velocity; Step 2: Activate the photoelectric tracking imaging function to confirm the target; Step 3: Measure the distance to the target using a laser rangefinder; Step 4: Using photoelectric tracking images, the relative position of the target with respect to the center of the lens image is converted into the angular relationship of the target with respect to the center of the lens image. Combined with the angular information of the servo turntable relative to the calibrated 0 position, the angle of the target is determined. Step 5: The photoelectric camera images the target. After image processing, the three-dimensional velocity signal processing board converts the change in the relative position of the target with respect to the center of the lens image into the angular velocity of the target with respect to the center of the lens image. This angular velocity is then superimposed with the rotational speed of the servo turntable to determine the angular velocity of the target. Step 6: Determine the target's three-dimensional velocity in spherical coordinates based on the three-dimensional velocity signal processing board; Step 7: Using a 3D velocity signal processing board, determine the target's 3D velocity in Cartesian coordinates through coordinate transformation.

2. The radar and video fusion three-dimensional velocity measurement device of claim 1, wherein, The radar adopts a linear frequency modulated continuous wave system and uses separate transmitting and receiving antennas. The signal generation module generates radar signals, which are transmitted through the transmitting module and transmitting antenna. The receiving antenna receives the signals and transmits them to the signal processing module for processing. The radar searches for and detects targets, uses the Doppler frequency shift principle to measure the radial velocity of the target at a certain moment, and forwards the target information found by the radar to the optoelectronic device.

3. The three-dimensional velocity measurement device based on radar and video fusion according to claim 1, characterized in that, The rotational speed of the target relative to the optoelectronic device consists of two parts: one is the rotational speed of the servo turntable, and the other is the converted rotational speed formed by the change in the position of the target imaging point or the center of gravity of the imaging point relative to the center point of the camera.

4. The three-dimensional velocity measurement device based on radar and video fusion according to claim 1, characterized in that, The formula for converting between spherical coordinates and Cartesian coordinates is as follows: The three-dimensional velocity of the target in spherical coordinates is obtained using a three-dimensional velocity signal processing board. The three-dimensional velocity of the target in Cartesian coordinates is determined using a three-dimensional velocity signal processing board. The calculation formula is as follows: in: Let be the x-coordinate of the target in the Cartesian coordinate system. Let be the y-coordinate of the target in the Cartesian coordinate system. Let be the coordinates of the target in the z-direction of the Cartesian coordinate system. For the target distance, Let the target be the pitch angle in spherical coordinates. Let be the azimuth angle of the target in spherical coordinates. and All of these represent the velocity components of the target velocity in the x-direction within the Cartesian coordinate system. and All of these are the velocity components of the target velocity in the y-direction in the Cartesian coordinate system. and All of these are the velocity components of the target velocity in the z-direction in the Cartesian coordinate system. The radial velocity of the target, Let ω be the angular velocity of the target in the pitch direction in spherical coordinates. Let ω be the angular velocity of the target in the lower direction in the spherical coordinate system.

5. The three-dimensional velocity measurement device based on radar and video fusion according to any one of claims 1-4, characterized in that, Also includes: The display and control unit is used to predict the target's position at the next moment based on the target's three-dimensional velocity.

6. The three-dimensional velocity measurement device based on radar and video fusion according to any one of claims 1-4, characterized in that, The center of the radar antenna is aligned with the center of the video detection camera to ensure that the normal direction of the detected target is consistent.

7. The three-dimensional velocity measurement device based on radar and video fusion according to any one of claims 1-4, characterized in that, The video detection camera automatically adjusts its focus based on the distance information provided by the radar.

8. A three-dimensional velocity measurement device that integrates radar and video, characterized in that, include: A processor and a memory, wherein the memory stores executable program instructions, and when the processor invokes the program instructions in the memory, the processor performs the following steps performed by the radar and video fusion three-dimensional velocity measurement device according to any one of claims 1-7: Step 1: Search for and track the target using radar, and measure the target's radial velocity; Step 2: Activate the photoelectric tracking imaging function to confirm the target; Step 3: Measure the distance to the target using a laser rangefinder; Step 4: Using photoelectric tracking images, the relative position of the target with respect to the center of the lens image is converted into the angular relationship of the target with respect to the center of the lens image. Combined with the angular information of the servo turntable relative to the calibrated 0 position, the angle of the target is determined. Step 5: The photoelectric camera images the target. After image processing, the three-dimensional velocity signal processing board converts the change in the relative position of the target with respect to the center of the lens image into the angular velocity of the target with respect to the center of the lens image. This angular velocity is then superimposed with the rotational speed of the servo turntable to determine the angular velocity of the target. Step 6: Determine the target's three-dimensional velocity in spherical coordinates based on the three-dimensional velocity signal processing board; Step 7: Using a 3D velocity signal processing board, determine the target's 3D velocity in Cartesian coordinates through coordinate transformation.

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