A multi-target real-time positioning method based on intelligent detection type seeker
By designing positioning time alignment, target numbering, and short message reporting methods in the intelligent reconnaissance seeker, the problems of multi-target positioning accuracy and economy were solved, and high-precision real-time positioning and information transmission of multiple targets were achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- LUOYANG INST OF ELECTRO OPTICAL EQUIP OF AVIC
- Filing Date
- 2023-10-31
- Publication Date
- 2026-06-23
Smart Images
Figure CN117588998B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of target reconnaissance, specifically relating to a multi-target real-time positioning method based on an intelligent reconnaissance seeker. Background Technology
[0002] Intelligent seekers typically operate in two phases: target reconnaissance and target processing. During reconnaissance, the seeker needs to rapidly reconnoiter a specific area, quickly identify and locate targets, and rapidly report target information to the onboard computer for pre-processing decision-making. Based on the requirements of target reconnaissance, higher demands are placed on the seeker's rapid reconnaissance and location of multiple targets over large areas. This means that, while ensuring the missile design and operational procedures remain unchanged, all identified targets must be located and their information reported. Currently, this type of seeker typically achieves time synchronization through communication frame counting or by using higher-precision timing chips for all components. The former reduces positioning accuracy, while the latter is less economical. Therefore, a corresponding calculation process and information reporting method need to be designed to ensure that all identified targets can complete location calculations and information reporting. Summary of the Invention
[0003] The technical problem to be solved:
[0004] To overcome the shortcomings of existing technologies, this invention provides a multi-target real-time positioning method based on an intelligent reconnaissance seeker. By designing a positioning time alignment method, positioning accuracy is improved; by designing a target encoding method to manage target information, multi-target positioning information calculation is completed with low computing power; and by designing a short message method to complete target information reporting, all target information is accurately reported without blocking the main communication.
[0005] The technical solution of this invention is: a multi-target real-time positioning method based on an intelligent reconnaissance seeker, characterized by the following specific steps:
[0006] Step 1: Perform time alignment processing on the positioning system;
[0007] Step 2: Number the multiple targets and perform time-sharing calculations;
[0008] Based on the order in which the seeker identifies targets within the field of view and the imaging positions of targets identified at the same time, the identified and located targets are uniformly numbered and managed. The target positions are calculated according to the numbering order and multi-target positioning algorithms. The target information is then managed and saved according to the numbering.
[0009] Step 3: Report the target information;
[0010] The target information is reported via short messages, and the short message method is designed to ensure that each piece of information is reported accurately.
[0011] A further technical solution of the present invention is: the positioning system of the intelligent reconnaissance seeker includes a control board chip and an imaging detector FPGA, an AI recognition chip, an attitude measurement and positioning component FPGA, a rangefinder FPGA, and a POS information processing chip connected to the control board chip.
[0012] A further technical solution of the present invention is: the method for time alignment of the positioning system is as follows: after the product is powered on, the control board chip IO generates a periodic time pulse signal, the control signal time counter is incremented by 1, and other chips in the system increment their counters by 1 whenever they receive a high level pulse signal, which serves as a time reference to ensure time information synchronization during positioning.
[0013] A further technical solution of the present invention is as follows: After the imaging detector FPGA completes imaging, it superimposes the time pulse signal onto the MARK information of the video frame and sends it to the AI recognition chip via the PCIE bus; after the AI recognition chip completes recognition, it sends the recognized target information and the time count of the image processing to the control board chip via RS422; before each time the laser rangefinder FPGA chip emits the ranging beam, it records the time counter value and sends the time counter and the ranging value to the control board chip; when the POS information processing chip sends the position information, it transmits the time counter value to the control board chip; after receiving the recognition result, the control board chip groups the information according to the time counter.
[0014] A further technical solution of the present invention is as follows: the method for numbering multiple targets is to image the image, determine the lower left corner as the origin of the coordinate system according to the design coordinate system, number the targets from far to near according to the azimuth coordinates, and from far to near according to the elevation coordinates when the azimuth coordinates are the same, and number them from small to large according to the number, and record the maximum value of the target number at this time as the initial value for the next time the identification information is received.
[0015] A further technical solution of the present invention is as follows: when the seeker receives the identification information for the first time, it marks the target identified in the field of view; when the target identification information is received again, it is numbered according to the same numbering principle, and the target position is calculated according to the numbering order. After calculating the position of a single target, the target position information is compared with the target geographic information received within 1 second. If the distance is lower than the threshold, it is considered to be the same target, and the number is not increased. If the distance exceeds the threshold, the number is incremented by 1 and the target information is saved.
[0016] A further technical solution of the present invention is that the target geographical location information includes the target longitude, target latitude, and target altitude.
[0017] A further technical solution of the present invention is that the target information includes target ID, target type, target error angle, target longitude, target latitude, and target altitude.
[0018] A further technical solution of the present invention is: the time-division calculation calculates the target geographical location information according to the numbering information from small to large. Specifically, the process is as follows: first, the geographic elevation angle of the virtual target M0 imaged at the center position of the detector is calculated based on the missile attitude information and the seeker frame information; then, the height difference between the target area and the missile-borne area is calculated based on the geographic elevation angle of the target M0 and the ranging value; and finally, the height difference between the target area and the missile-borne area is calculated based on the height difference and the target M0. i Geographic pitch angle calculation target M i The distance to the projectile; finally, combined with the projectile's geographical location, the target M... i The geographical heading angle, pitch angle, and target M i Calculate the distance to the target M from the projectile. i Geographic location information.
[0019] A further technical solution of the present invention is: the short communication frame used for reporting the target information is as follows:
[0020]
[0021] In this sequence, serial numbers 1, 2, and 3 form the short message frame header, serial numbers 4 and 5 are the target number, and serial numbers 6 to 24 are the target information words.
[0022] Once the control system has saved a single target information number, it can report a target information number MUM every 4ms. The onboard computer checks whether the received target numbers are consecutive. If they are not consecutive, it feeds back the largest target number ID_max received before the continuation to the control board chip. If they are consecutive, it feeds back the largest number received to the control system. The control system starts sending with this number until the number value fed back by the onboard computer matches the maximum value of the saved number, at which point it stops sending.
[0023] Beneficial effects
[0024] The beneficial effects of this invention are as follows: This invention designs a multi-target real-time positioning method based on an intelligent identification seeker, which achieves higher accuracy compared to traditional time synchronization via a communication counter; by numbering targets and performing time-division calculations, the computational power requirement of the chip is reduced, eliminating the need to replace with a higher-performance chip, thus offering economic benefits; by designing a short message method and verification method, the complete and correct transmission of target information is ensured. The use of short message codes avoids excessive redundant bytes that could affect the implementation of other chip functions, and also ensures that target information can be reported completely. Specific advantages are as follows:
[0025] 1. The design of the positioning time alignment method can ensure that the time of obtaining the parameter source is controlled when the positioning information is acquired, thus ensuring more accurate target positioning;
[0026] 2. Due to the limited computing power of the STM32 chip on the control board, it undertakes the information interaction between various subsystems within the seeker head and the servo algorithm calculation. By numbering the targets in the field of view and eliminating false targets, it ensures that the chip can complete real-time calculations under limited computing power.
[0027] 3. The seeker needs to count and save the total number of targets and target information. The short message design can ensure that all target information is accurately reported without blocking the main communication.
[0028] This invention enables real-time multi-target positioning of products without altering the original chip and structural composition, thereby significantly improving the detection efficiency and cost-effectiveness of the products. Attached Figure Description
[0029] Figure 1 A schematic diagram of the design for time;
[0030] Figure 2 Flowchart for calculating the distance between the target missile and the target;
[0031] Figure 3 A schematic diagram of the localization calculation process for a single target;
[0032] Figure 4 Flowchart of multi-target localization solution and target information reporting. Detailed Implementation
[0033] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.
[0034] Existing technologies typically achieve time synchronization through communication frame counting or using higher-precision timing chips for all devices. The former reduces positioning accuracy, while the latter is less economical. This invention provides a multi-target real-time positioning method based on an intelligent reconnaissance seeker, mainly comprising the following steps: a control board chip emits a time pulse signal to align positioning-related devices; an intelligent identification chip identifies targets on the battlefield, reporting target features and deviations to the control board chip via a serial port; the control board chip numbers targets based on their information in the image and begins time-division calculation based on the target numbering order and other attitude-related information, ensuring multi-target position calculation can be completed even with limited computing power; an information reporting scheme is designed so that the control board chip accurately and completely transmits target information to the onboard computer. This invention enables real-time multi-target positioning of products without altering the original chip and structural composition, significantly improving the product's reconnaissance efficiency and economy.
[0035] The following detailed description of the specific embodiments of the invention, in conjunction with the accompanying drawings, does not limit or restrict the invention. Based on the invention content and the multi-target localization process, the implementation will be divided into the following three steps.
[0036] Step 1: Perform time alignment processing on the positioning system
[0037] Reference Figure 1 As shown, the STM32 control board chip generates a time counting pulse signal every 1ms through I / O, which is transmitted to the I / O pins of the imaging detector FPGA, POS information processing chip, rangefinder FPGA, etc. After the control board chip sends out the time pulse signal, the control signal time counter increments by 1, and the internal time counter of each subsystem chip increments by 1 when it receives the pulse signal; thus ensuring the synchronization of time information during positioning.
[0038] After imaging is complete, the imaging detector superimposes the time pulse signal onto the MARK information of the video frame and sends it to the recognition board chip via the PCIe bus. After recognition is complete, the recognition board sends the recognized target information and the time count of the processed image to the control board chip via RS422. The laser rangefinder FPGA chip records the time counter value before each range-finding beam is emitted and sends the time counter and range value to the control board chip. When sending position information, the POS transmits the time counter value to the control board chip. Upon receiving the recognition results, the control board chip groups the information according to the time counter.
[0039] Step 2: Number the targets and perform time-sharing calculations.
[0040] Reference Figure 2 As shown, when the seeker receives the identification information for the first time, it labels the targets identified within the field of view. For image imaging, based on the designed coordinate system with the lower left corner as the origin, targets are numbered from far to near according to their azimuth coordinates, and from far to near according to their elevation coordinates when the azimuth coordinates are the same. The target numbers are then recorded in ascending order, and the maximum value of the target number is recorded as the initial value for the next received identification information. The target's geographical location information (longitude, latitude, and altitude) is then calculated in ascending order of the number information.
[0041] The target solution process is as follows Figure 2 As shown, firstly, based on the missile's attitude information (heading angle, pitch angle, roll angle), the seeker frame information (azimuth frame angle, pitch frame angle), and the geographic pitch angle of the virtual target M0 imaged at the center position of the detector, the height difference between the target area and the missile's onboard area can be calculated using the geographic pitch angle and the range measurement value. Figure 3 This illustrates the relationship between altitude difference and target M. i The geographic elevation angle and the target M that can be calculated iThe distance to the missile. This is combined with the missile's geographical location (longitude, latitude, altitude), the target's geographical heading angle, pitch angle, and the target's M-axis. i Calculate the distance to the target M from the projectile. i Geographic information (longitude, latitude, altitude).
[0042] Save the target's geographic information (longitude, latitude, altitude) and identification information (target number, target type, confidence level, target azimuth error angle, target elevation error angle) according to their numbers.
[0043] Table 1 Solution Input Information
[0044]
[0045] Table 2 Partial Experimental Recording Information
[0046]
[0047] When a target is received again, it is numbered according to the same numbering principle (the minimum number is the initial value of the last saved number). The target location is calculated according to the numbering order. After calculating the location of a single target, the distance between the target location information and the target geographic information received within 1 second is calculated. If the distance is lower than the threshold, it is considered to be the same target, and the saved number is not increased.
[0048] Step 3: Report the target information
[0049] The onboard computer and control computer communicate via RS422. Command information is transmitted in 20ms cycles, usually in fixed-length bytes. A single target information contains 22 valid bytes. If 20 targets need to be reported simultaneously in the field of view, if the traditional fixed word length is used, 440 bytes need to be added. If the single packet communication exceeds 1ms, the control board chip will need a 1ms cycle and other calculation functions cannot be implemented.
[0050] Design the short communication frames as shown in the table below:
[0051] Table 3 shows a single target information frame uploaded by the control system to the onboard computer.
[0052]
[0053] The short message frame header consists of serial numbers 1, 2, and 3. Serial number 4 is the target number. When there are many targets on the battlefield, the number of serial number bytes can be increased appropriately. Serial numbers 5 to 30 are the target information words, which mainly include information such as target type, target deviation, and target recognition confidence.
[0054] Table 2. Control Information Feedback from Onboard Computer
[0055]
[0056] Once the control system has saved a single target information number, it can report a target information number MUM every 4ms. The onboard computer checks whether the received target numbers are consecutive. If they are not consecutive, it feeds back the largest target number ID_max received before the break to the control board chip; if they are consecutive, it feeds back the largest received number to the control system. The control system starts sending with this number until the number value fed back by the onboard computer matches the maximum value of the saved number, at which point it stops sending.
[0057] The advantages of this invention are: it proposes a multi-target real-time positioning method based on an intelligent identification seeker, which offers higher accuracy compared to traditional time synchronization via a communication counter, without requiring changes to the overall component design, thus ensuring higher positioning precision; by numbering targets and performing time-division calculations, it reduces the chip's computing power requirements, eliminating the need to replace with a higher-performance chip, making it economical; and by designing short message and verification methods, it ensures the complete and correct transmission of target information, avoiding excessive redundant bytes and guaranteeing the complete reporting of target information. This provides an economical and more accurate multi-target real-time positioning solution for intelligent identification and reconnaissance seekers.
[0058] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.
Claims
1. A multi-target real-time positioning method based on an intelligent reconnaissance seeker, characterized in that... The specific steps are as follows: Step 1: Perform time alignment processing on the positioning system; Step 2: Number the multiple targets and perform time-sharing calculations; Based on the order in which the seeker identifies targets within the field of view and the imaging positions of targets identified at the same time, the identified and located targets are uniformly numbered and managed, and the geographical location information of the targets is calculated according to the numbering order and multi-target positioning algorithm. The target information is then managed and saved according to the number. The method for numbering multiple targets is as follows: the image is imaged, and according to the designed coordinate system, the lower left corner is determined as the origin of the coordinate system. The targets are numbered from far to near according to the azimuth coordinates, and when the azimuth coordinates are the same, they are numbered from far to near according to the elevation coordinates. The target number is recorded as the maximum value of the target number at this time as the initial value for the next time the identification information is received. The time-division calculation calculates the target's geographical location information according to the numbering information from smallest to largest. Specifically, the process involves first calculating the geographic elevation angle of the virtual target M0 imaged at the center position of the detector based on the missile's attitude information and the seeker frame information; then calculating the height difference between the target area and the missile-borne area based on the geographic elevation angle of target M0 and the range measurement value; and finally calculating the height difference based on the height difference and the target M0. i Geographic pitch angle calculation target M i The distance to the projectile; finally, combined with the projectile's geographical location, the target M... i The geographical heading angle, pitch angle, and target M i Calculate the distance to the target M from the projectile. i Geographic location information; When the seeker receives the identification information for the first time, it marks the target identified within the field of view. When it receives the target identification information again, it numbers the target according to the same numbering principle and calculates the target's geographical location information according to the numbering order. After calculating the distance of a single target, it calculates the distance between the target's geographical location information and the target's geographical location information received within 1 second. If the distance is less than the threshold, it is considered to be the same target, and the number is saved without incrementing. If the distance exceeds the threshold, the number is incremented by 1 and the target information is saved. Step 3: Report the target information; The target information is reported via short messages, and the short message method is designed to ensure that each piece of information is reported accurately.
2. The multi-target real-time positioning method based on an intelligent reconnaissance seeker as described in claim 1, characterized in that: The positioning system of the intelligent reconnaissance seeker includes a control board chip and an imaging detector FPGA, an AI recognition chip, an attitude measurement and positioning component FPGA, a rangefinder FPGA, and a POS information processing chip connected to the control board chip.
3. The multi-target real-time positioning method based on an intelligent reconnaissance seeker as described in claim 2, characterized in that: The positioning system performs time alignment as follows: after the product is powered on, the control board chip IO generates a periodic time pulse signal, and the control signal time counter increments by 1. Whenever other chips in the system receive a high-level pulse signal, their counters increment by 1, which serves as a time reference to ensure time information synchronization during positioning.
4. The multi-target real-time positioning method based on an intelligent reconnaissance seeker as described in claim 3, characterized in that: After imaging is completed, the imaging detector FPGA superimposes the time pulse signal onto the MARK information of the video frame and sends it to the AI recognition chip via the PCIe bus. After recognition is completed, the AI recognition chip sends the recognized target information and the time count of the processed image to the control board chip via RS422. The laser rangefinder FPGA chip records the time counter value before each range-measuring beam is emitted and sends the time counter and the range value to the control board chip. When sending position information, the POS information processing chip transmits the time counter value to the control board chip. After receiving the recognition result, the control board chip groups the information according to the time counter.
5. The multi-target real-time positioning method based on an intelligent reconnaissance seeker according to claim 1, characterized in that: The target's geographical location information includes its longitude, latitude, and altitude.
6. The multi-target real-time positioning method based on an intelligent reconnaissance seeker according to claim 1, characterized in that: The target information includes target ID, target type, target error angle, target longitude, target latitude, and target altitude.