Television sensor for multi-optical-axis aircraft photoelectric system dynamic combined axis calibration and dynamic axis calibration method

Abstract

The invention provides a television sensor for dynamic combined axis calibration of a multi-optical-axis aircraft photoelectric system and a dynamic axis calibration method. The television sensor comprises a wide-spectrum lens, an optical filter rotating wheel assembly, a near-infrared enhanced CMOS detector and an axis calibration control device. Real-time dynamic automatic axis calibration of the multi-optical-axis photoelectric equipment is realized by using an axis calibration optical filter, synchronous control of laser emission and CMOS detector exposure, alignment of an electric cross of an electric control mobile television sensor and the mass center of a laser spot, and alignment of an electric cross of an electric control mobile infrared thermal image sensor and an electric cross of the television sensor. The optical axis parallelism correction function of multiple sensors of photoelectric equipment and the image acquisition function of a television sensor are integrated. The method can be applied to optoelectronic equipment such as an aircraft airborne platform, a ground vehicle-mounted platform, a water surface ship-borne platform and an unmanned platform, and the problem that the existing optoelectronic equipment depends on auxiliary equipment to calibrate the axis is solved.

Description

Technical Field

[0001] The invention belongs to the field of optoelectronic technology and relates to a television sensor for dynamic joint axis calibration of an optoelectronic system of a multi-optical axis aircraft and a dynamic axis calibration method. Background Art

[0002] With the development of optoelectronic detection and aiming technology, optoelectronic sensors with more spectrum bands are integrated into the optoelectronic systems of helicopters, UAVs, fixed-wing aircraft and other aircraft platforms. Optoelectronic sensors include TV sensors, infrared sensors, laser rangefinders / illuminators, etc., and the spectrum range covers from visible light to infrared. With the increase of the combat range of optoelectronic systems, in order to improve the capture, tracking and aiming accuracy of optoelectronic systems, multi-band and multi-optical axis optoelectronic sensors must be calibrated in real time before use.

[0003] Domestic related units have conducted research on the calibration method of the optical axis parallelism of multi-spectral optoelectronic equipment. For example, the "Multi-band Optical Axis Consistency Tester" (Chinese patent, application number: 200420086347.7) uses a crosshair with temperature control and uses the technical route of off-axis reflectors to provide aiming targets for visible and infrared systems at the same time, realizing optical axis consistency testing in visible and infrared bands. The tester has the ability to test visible and infrared optical axes, but the crosshairs have a greater impact on the test accuracy.

[0004] "Broadband multi-sensor optoelectronic instrument optical axis detection system" (Chinese patent, application number: 200610016556.5), this patent installs devices of different wavelength ranges on the guide rail, and moves the focal plane components on it to the focal plane of the collimator by adjusting the system, and uses the collimator to image the crosshairs or star point holes on the display of each optical subsystem of the measured system, so that the receiving system receives the laser emitted by the laser subsystem of the measured system, thereby realizing the detection and calibration of the consistency between the optical axis of each optical subsystem and the mechanical reference axis of the measured system;

[0005] "Multi-optical axis consistency test device based on multi-band target plate and rotating reflector" (Chinese patent, application number: 200810057900.4) This device provides visible and infrared images based on a multi-spectral target plate, and uses an off-axis reflection system to emit the target light in parallel to the device under test, thereby realizing multi-optical axis consistency testing of the optoelectronic system.

[0006] The patent "Calibration device for discrete optical axis multi-spectral alignment instrument" (Chinese patent, application number: 201110188758.9) proposes a calibration device with a self-calibration function and capable of calibrating a discrete optical axis multi-spectral alignment instrument. The semi-transparent and semi-reflective mirror, laser illuminator, and CCD camera are integrated in a collimator. During self-calibration, the outgoing light beam of the collimator is vertically irradiated to the plane reflector, and after reflection, a self-collimation image is formed on the display. When calibrating and measuring the alignment instrument, after the infrared or visible light channel of the alignment instrument to be measured is aligned with the collimator, the laser illuminator is used to align the laser channel of the alignment instrument to be measured to irradiate the laser, and the parallelism deviation between the laser and the infrared channel or the laser and the visible light channel is obtained through the latter's data processing system.

[0007] "A targetless multi-optical axis parallelism detection system based on digital images" (Chinese patent, application number: 201210297839.7), the patented detection system consists of a back-to-back laser scene video collector, a projectile launch axis photoelectric imaging system, a fusion module and a parallelism detection module. The parallelism is calculated by fusion of scene images and registration images.

[0008] The optical axis parallelism calibration devices proposed in the above patents are laboratory and ground calibration equipment, which are based on complex auxiliary optical axis calibration equipment to achieve the detection and calibration of the optical axis of the photoelectric sensor in the system. The test and calibration equipment is large in size and weight, and is an auxiliary guarantee equipment for the photoelectric sensor to be calibrated, and does not involve the problem of real-time calibration.

[0009] "System and method for automatic calibration of optical axis parallelism of multi-spectral multi-axis optoelectronic equipment" (Chinese patent, application number: 201410100387.8). This patent proposes a method for calibrating the optical axis of multi-spectral optoelectronic equipment through a laser spot tracker in the short-wave infrared band, external feature targets, and video image processing technology. This method cannot be performed at night because the TV sight and laser spot tracker cannot image the scene and target at night; secondly, when the combat scene is at a long distance, the laser spot tracker cannot track the laser spot and cannot calibrate the parallelism of the optical axis. In this patent, a laser spot tracker is added to the optical fixture of the stabilized aiming turret to assist in axis calibration.

[0010] "Device and method for dynamic axis calibration in the air for airborne multi-spectral multi-axis optoelectronic systems" (Chinese patent, application number: 202110983812.2). This patent specifically relates to a device and method for dynamic axis calibration in the air for airborne multi-spectral multi-axis optoelectronic systems. The axis calibration device includes: a window, a primary mirror, a secondary mirror, a right-angle beam splitter, an imaging assembly, a light source, a pinhole scale, a gyroscope, a two-dimensional electric slide with a two-axis linear motor, a signal processing unit, and an optical housing; this technical solution can be applied to optoelectronic equipment on airborne platforms such as helicopters, drones, and fixed-wing aircraft to solve the problem that the existing multi-spectral multi-axis optoelectronic equipment in the air can only be calibrated on the ground, and cannot be calibrated in real time after being on board, resulting in the unfavorable factor that the optical axis parallelism of the multi-spectral multi-axis optoelectronic equipment is poor before aiming in the air; in addition, this technical solution realizes dynamic automatic axis calibration of multi-spectral optoelectronic equipment in the air through target surface relative motion compensation technology. Although this patent solves the problem of real-time dynamic automatic shaft alignment and can eliminate adverse factors such as interference from the airborne platform, it is also an auxiliary shaft alignment device, and the device is complex, bulky, heavy and costly. Summary of the invention

[0011] The purpose of the present invention is to solve the problem that the existing multi-axis calibration equipment cannot calibrate the axis in real time and dynamically in the air, which affects the accuracy of long-distance capture, tracking, and aiming, and is complicated to maintain and has high costs, and to provide a television sensor for dynamic joint calibration of the optoelectronic system of a multi-axis aircraft and a dynamic calibration method. The television sensor can realize the real-time online calibration of the television sensor, laser rangefinder / illuminator, and infrared thermal imaging sensor around the clock without additional equipment or devices. The television sensor can add the multi-axis real-time dynamic joint calibration function on the basis of the realization of the functional requirements of the optoelectronic system television sensor itself, so as to realize the dynamic real-time calibration of the aircraft.

[0012] To achieve the above purpose, the technical solution provided by the present invention is:

[0013] A TV sensor for dynamic joint axis calibration of the optoelectronic system of a multi-axis aircraft, including an optical housing, a wide-spectrum lens, a filter wheel assembly, a near-infrared enhanced CMOS detector and an axis calibration control device;

[0014] A wide-spectrum lens, a filter wheel assembly, and a near-infrared enhanced CMOS detector are sequentially arranged in parallel in the optical housing; the wide-spectrum lens is used to obtain images of external scenes from visible to near-infrared bands;

[0015] The filter wheel assembly includes a visible light filter, a near infrared filter and an axis correction filter arranged around the center thereof; when any one of the visible light filter, the near infrared filter and the axis correction filter is switched and located in the optical path of the television sensor, the filter coincides with the axis of the wide spectrum lens and the near infrared enhanced CMOS detector;

[0016] The visible light filter is used to transmit light in the visible light band and cut off light in the ultraviolet and long-wave bands, and can be used in daytime when weather conditions are good;

[0017] The near infrared filter is used to transmit light in the near infrared band and cut off light in the ultraviolet, visible and long wave bands, and can be used in the evening and under cloudy weather conditions;

[0018] The alignment filter is used to transmit part of the light in the visible to near-infrared band and more light in the near-infrared band when aligning the axis of the optoelectronic device;

[0019] The near-infrared enhanced CMOS detector is used to receive light from the visible to near-infrared bands to generate video images;

[0020] The axis calibration control device can enable the television sensor to emit a laser pulse signal synchronized with the detection frequency or exposure frequency of the CMOS detector in the axis calibration mode, thereby realizing the joint axis calibration of the parallelism of the optical axes of the laser, television and infrared multi-sensors.

[0021] Furthermore, the surface of each optical element in the wide spectrum lens is coated with a film layer that transmits visible light to near infrared band 0.4μm to 1.1μm.

[0022] Furthermore, a bandpass film layer with a visible light band of 0.5 μm to 0.7 μm is plated on the surface of the visible light filter.

[0023] Furthermore, a bandpass film layer with a near-infrared wavelength range of 0.7 μm to 0.9 μm is plated on the surface of the near-infrared filter.

[0024] Furthermore, the surface of the alignment filter is coated with a customized film layer with low transmittance in the visible to near-infrared band of 0.5μm to 0.8μm and high transmittance in the near-infrared band of 0.8μm to 1.1μm.

[0025] Furthermore, the glass material of the visible light filter is JB490, the glass material of the near infrared filter is HB700, and the glass material of the axis alignment filter is JB510.

[0026] The dynamic axis calibration method using the TV sensor for dynamic joint axis calibration of the optoelectronic system of the multi-axis aircraft is special in that it includes the following steps:

[0027] Step 1: Aim the calibrated photoelectric system at a building or reflector with a vertical surface;

[0028] Step 2: Start the TV sensor, laser irradiator and infrared thermal imaging sensor, switch the TV sensor to the calibration mode, and ensure that the calibration filter is in the TV sensor optical path;

[0029] Step 3: The laser irradiator emits laser light onto a building or reflector with a vertical surface. The near-infrared enhanced CMOS detector receives the reflected laser light and forms a laser spot image on the target surface.

[0030] Step 4: The near-infrared enhanced CMOS detector performs image processing on the laser spot, obtains the centroid position of the laser spot, and obtains the deviation (X1, Y1) between the centroid position and the electrical cross-reticle line of the target surface of the near-infrared enhanced CMOS detector; the electrical cross-reticle line of the target surface of the near-infrared enhanced CMOS detector is calibrated when the TV sensor is installed;

[0031] Step 5: Move the electric crosshairs of the TV sensor of the calibrated optoelectronic system according to the deviation (X1, Y1) to achieve calibration between the laser optical axis and the TV optical axis;

[0032] Step 6: Align the calibrated photoelectric system TV sensor and infrared thermal imager to the obvious feature point of the same scene target, pitch or horizontally rotate the photoelectric system to make the calibrated electric cross-line of the TV sensor coincide with the obvious feature point, obtain the coordinate position of the obvious feature point of the infrared thermal imager, and obtain the deviation between the electric cross-line of the infrared thermal imager and the feature point as (X2, Y2), which is the deviation between the infrared optical axis and the TV optical axis; the electric cross-line of the infrared thermal imager is calibrated when the infrared thermal imager is installed;

[0033] Step 7: Move the electric cross scale of the infrared thermal imaging sensor of the calibrated optoelectronic system according to the deviation (X2, Y2) to calibrate the infrared optical axis and the television optical axis.

[0034] The advantages of the present invention are:

[0035] 1. The filter wheel assembly of the present invention includes a visible light filter, a near-infrared filter and an axis calibration filter arranged around the center thereof. Without adding additional equipment, it has the capability of all-weather dynamic joint calibration of laser, television and infrared multi-spectral multi-optical axis, and realizes real-time axis calibration day and night without being affected by working time and environment. It is suitable for helicopters, UAVs, fixed-wing aircraft and other aircraft platforms, as well as other optoelectronic equipment such as other ground vehicle platforms, surface ship-borne platforms and unmanned platforms.

[0036] 2. The television sensor of the present invention can be used to perform real-time axis calibration when the optoelectronic system is in operation, thereby improving the tracking and aiming accuracy of the multi-axis optoelectronic system.

[0037] 3. The method of the present invention uses the photoelectric system's own sensors to calibrate the axis, and the calibration result is more intuitive, objective and reliable.

[0038] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0040] Figure 1 is an overall schematic diagram of the television sensor of the present invention;

[0041] Figure 2 is a schematic structural diagram of the filter wheel assembly of the present invention;

[0042] Figure 3 It is a schematic diagram of the principle of using the television sensor of the present invention to perform real-time dynamic joint axis calibration of the photoelectric system;

[0043] Figure 4 This is a schematic diagram of the laser spot position on the target surface of the near-infrared enhanced CMOS detector in the calibration mode;

[0044] Figure 5 It is a schematic diagram of the location of obvious feature points on the target surface of the infrared thermal imaging detector in the axis calibration mode.

[0045] In the figure: 1-wide spectrum lens, 2-filter wheel assembly, 3-near infrared enhanced CMOS detector, 4-axis calibration control device, 5-optical housing, 6-visible light filter, 7-near infrared filter, 8-axis calibration filter. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below. The embodiments are exemplary and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0047] Reference Figure 1, in order to solve the problem that the aircraft optoelectronic system cannot be calibrated dynamically in real time in the air, which affects the accuracy of long-distance capture, tracking, and aiming, and the maintenance is complicated and costly. The present invention provides a television sensor for dynamic joint calibration of the optoelectronic system of a multi-axis aircraft, including a wide-spectrum lens 1, a filter wheel assembly 2, a near-infrared enhanced CMOS detector 3, an axis calibration control device 4, and an optical housing 5. The wide-spectrum lens 1, the filter wheel assembly 2, the near-infrared enhanced CMOS detector 3, and the axis calibration control device 4 are all placed in the optical housing 5, and the wide-spectrum lens 1, the filter wheel assembly 2, and the near-infrared enhanced CMOS detector 3 are arranged in parallel in sequence. The wide-spectrum lens 1 can obtain images of external scenes from the visible to near-infrared bands. The near-infrared enhanced CMOS detector 3 is used to receive light from the visible to near-infrared bands to generate video images. Its quantum response efficiency in the near-infrared band is higher than that of a general CMOS detector, which is more conducive to near-infrared band imaging.

[0048] The axis calibration control device 4 can synchronize the laser frequency emitted by the TV sensor with the detection frequency or exposure frequency of the CMOS detector in the axis calibration mode, and is used for dynamic joint axis calibration of the parallelism of the optical axes of laser, TV and infrared multi-sensors.

[0049] Reference Figure 2 , the filter wheel assembly 2 includes filters of different wavelengths and functions, including a visible light filter 6, a near infrared filter 7 and an axis correction filter 8 arranged around the center of the filter wheel assembly. Among them, the visible light filter 6 is used to transmit light in the visible light band, cut off light in the ultraviolet and long wave bands, and can be used under good weather conditions during the day. The near infrared filter 7 is used to transmit light in the near infrared band, cut off light in the ultraviolet, visible and long wave bands, and is used in the evening and under cloudy weather conditions. The axis correction filter 8 is used to transmit part of the light in the visible band and more light in the near infrared band, and is used when calibrating the axis of optoelectronic equipment. The filter wheel assembly 2 can switch the required filter to the optical path as needed, and the filter used after switching coincides with the central axis of the wide spectrum lens 1 and the near infrared enhanced CMOS detector 3.

[0050] The surface of each optical element in the wide spectrum lens 1 is coated with a film layer that transmits visible light to near infrared wavelengths in the range of 0.4 μm to 1.1 μm.

[0051] The visible light filter 6 is plated with a bandpass film layer of 0.5μm to 0.7μm in the visible light band; the near infrared filter 7 is plated with a bandpass film layer of 0.7μm to 0.9μm in the near infrared band; the axis correction filter 8 is plated with a customized film layer of 0.5μm to 0.8μm in the visible and near infrared bands with lower transmittance and 0.8μm to 1.1μm in the near infrared band with higher transmittance. The glass material of the visible light filter 6 is JB490, the glass material of the near infrared filter 7 is HB700, and the glass material of the axis correction filter 8 is JB510.

[0052] Among them, the axis calibration control device 4 can set the unique axis calibration mode of the television sensor through software. In this axis calibration mode, the emitted laser pulse signal is synchronized with the exposure pulse signal of the near-infrared enhanced CMOS detector 3, which can ensure that the near-infrared enhanced CMOS detector 3 can image the pulsed laser spot video, and is used for the joint axis calibration of the parallelism of the optical axes of laser, television, and infrared multi-sensors.

[0053] In addition, the present invention also provides a dynamic axis calibration method using the TV sensor for dynamic joint axis calibration of the optoelectronic system of the multi-axis aircraft, wherein the axis calibration method is implemented based on the TV sensor, such as Figure 3 As shown, the axis calibration method includes:

[0054] Step 1: Before calibrating the optical axis, aim the photoelectric system to be calibrated at a building or reflector with a large vertical surface.

[0055] Step 2: The TV sensor, laser illuminator and infrared thermal imaging sensor are all in working state. Switch the TV sensor to calibration mode and ensure that the calibration filter 8 is in the optical path of the TV sensor.

[0056] Step 3: The laser irradiator emits laser light and irradiates it onto a building or reflector with a large vertical surface. The near-infrared enhanced CMOS detector 3 receives the laser light emitted by the laser irradiator in the calibrated optoelectronic system and reflected back to the TV sensor, forming a laser spot image on the target surface of the near-infrared enhanced CMOS detector 3.

[0057] Step 4: The image processing board in the near-infrared enhanced CMOS detector 3 performs image processing on the laser spot to obtain the centroid position of the laser spot, and obtains the deviation between the centroid position and the electrical cross-reticule line on the target surface of the near-infrared enhanced CMOS detector 3 as (X1, Y1). Figure 4 As shown; the electrical cross-hair lines of the target surface of the near-infrared enhanced CMOS detector 3 are calibrated when the television sensor is installed.

[0058] Step 5: Move the electrical cross scale of the calibrated optoelectronic system TV sensor according to the deviation (X1, Y1) to achieve calibration of the laser optical axis and the TV optical axis.

[0059] Step 6: The calibrated photoelectric system TV sensor and infrared thermal imaging sensor are aligned with the obvious feature point of the same scene target, and the photoelectric system is pitched or horizontally rotated to make the calibrated TV sensor cross center coincide with the obvious feature point, and the coordinate position of the obvious feature point of the infrared thermal imaging sensor is obtained. The deviation between the electric cross division line of the infrared thermal imaging sensor detector target surface and the feature point is (X2, Y2). Figure 5 As shown, it is the deviation between the infrared optical axis and the television optical axis; the electric cross-reticle of the infrared thermal image sensor is calibrated when the infrared thermal image sensor is installed.

[0060] Step 7: Move the electric cross scale of the infrared thermal imaging sensor of the calibrated optoelectronic system according to the deviation (X2, Y2), so as to calibrate the infrared optical axis and the television optical axis.

[0061] The following is a specific embodiment in which the focal length of the wide spectrum lens is 480 mm, the effective aperture is 80 mm, and the resolution of the CMOS detector is 1280×1024, and the pixel size is 4.25 μm.

[0062] Table 1 lists the parameters of each optical element of the wide spectrum lens, where all lens surfaces are spherical and all lens materials are environmentally friendly optical materials.

[0063] Table 1 Optical system parameters (unit: mm)

[0064]

[0065]

[0066] The surface of each optical element in the wide spectrum lens is coated with a film that transmits visible light to the near-infrared band (0.4μm~1.1μm). The specific film technology requirements are λ1~λ2=400nm~900nm, λ3=1064nm, The remaining indicators meet the requirements of national technical standards.

[0067] The visible light filter 6 is plated with a bandpass film layer in the visible light band (0.5 μm to 0.7 μm). The specific film layer technical requirements are to plate a long-wave cut-off filter film with a cut-off wavelength λ c =0.68μm, cut-off region λ c1 ~λ c2 =0.7μm~1.1μm, Transmission area λ τ1 ~λ τ2 =0.51μm~0.66μm, The remaining indicators meet the requirements of national technical standards.

[0068] The near infrared filter 7 is plated with a near infrared band (0.7 μm to 0.9 μm) bandpass film. The specific film layer technical requirements are to plate a long-wave cut-off filter film with a cut-off wavelength λ c =0.90μm, cut-off region λ c1 ~λ c2 =0.92μm~1.1μm, Transmission area λ τ1 ~λ τ2 =0.72μm~0.88μm, The remaining indicators meet the requirements of national technical standards.

[0069] The alignment filter 8 is coated with a customized film layer with lower transmittance in the visible and near-infrared bands (0.5μm to 0.8μm) and higher transmittance in the near-infrared band (0.8μm to 1.1μm). The specific film layer technical requirements are to coat the short-wave cut-off filter film with a transmission area λ τ1 =0.5μm~0.75μm, λ τ2 =0.79μm~1.1μm, The remaining indicators meet the requirements of national technical standards.

[0070] The pixel size of the CMOS detector is 4.25μm, and the focal length of the wide spectrum lens is 480mm. Therefore, the optical axis changes by 0.0088mrad for each movement of the electrical crosshairs on the target surface of the CMOS detector.

[0071] The specific process of dynamic axis calibration based on the above-mentioned TV sensor is as follows:

[0072] Step 1: Before calibrating the optical axis, aim the photoelectric system to be calibrated at a building or reflector with a large vertical surface.

[0073] Step 2: The TV sensor, laser irradiator and infrared thermal imaging sensor are all in working state. The TV sensor is switched to calibration mode, and the calibration filter 8 is switched into the optical path of the TV sensor.

[0074] Step 3: The laser irradiator emits laser light and irradiates it onto a building or reflector with a large vertical surface. The near-infrared enhanced CMOS detector 3 receives the laser light emitted by the laser irradiator in the calibrated optoelectronic system and reflected back to the TV sensor, forming a laser spot image on the target surface of the near-infrared enhanced CMOS detector 3.

[0075] Step 4: The image processing board in the near-infrared enhanced CMOS detector 3 performs image processing on the laser spot to obtain the centroid position of the laser spot, and obtains that the deviation between the centroid position and the electrical cross-reticule line on the target surface of the near-infrared enhanced CMOS detector 3 is (-5, 7); the absolute value of the optical axis deviation is 0.076 mrad.

[0076] Step 5: Move the electrical cross scale of the calibrated optoelectronic system TV sensor according to the deviation (-5, 7) to achieve calibration of the laser optical axis and the TV optical axis.

[0077] Step 6: The calibrated optoelectronic system TV sensor and infrared thermal imager are aligned with the obvious feature points of the same scene target. The optoelectronic system is pitched or rotated horizontally to make the calibrated TV sensor cross center coincide with the obvious feature point, and the coordinate position of the obvious feature point of the infrared thermal imager is obtained. The deviation between the electric cross-line of the infrared thermal imager detector target surface and the feature point is (4, -8), that is, the absolute value of the deviation between the infrared optical axis and the TV optical axis is 0.079 mrad.

[0078] Step 7: Move the electric cross scale of the infrared thermal imaging sensor of the calibrated optoelectronic system according to the deviation (4, -8), so as to realize the calibration of the infrared optical axis and the television optical axis.

[0079] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A TV sensor for dynamic joint axis calibration of optoelectronic systems of multi-axis aircraft, characterized in that: It includes an optical housing, a wide spectrum lens, a filter wheel assembly, a near-infrared enhanced CMOS detector and an axis alignment control device; A wide-spectrum lens, a filter wheel assembly, and a near-infrared enhanced CMOS detector are sequentially arranged in parallel in the optical housing; the wide-spectrum lens is used to obtain images of external scenes from visible to near-infrared bands; The filter wheel assembly includes a visible light filter, a near infrared filter and an axis correction filter arranged around the center thereof; when any one of the visible light filter, the near infrared filter and the axis correction filter is switched and located in the optical path of the television sensor, the filter coincides with the axis of the wide spectrum lens and the near infrared enhanced CMOS detector; The visible light filter is used to transmit light in the visible light band and cut off light in the ultraviolet and long-wave bands, and can be used in daytime when weather conditions are good; The near infrared filter is used to transmit light in the near infrared band and cut off light in the ultraviolet, visible and long wave bands, and can be used in the evening and under cloudy weather conditions; The alignment filter is used to transmit part of the light in the visible to near-infrared band and more light in the near-infrared band when aligning the axis of the optoelectronic device; The near-infrared enhanced CMOS detector is used to receive light from the visible to near-infrared bands to generate video images; The axis calibration control device can enable the television sensor to emit a laser pulse signal synchronized with the detection frequency or exposure frequency of the CMOS detector in the axis calibration mode, thereby realizing the joint axis calibration of the parallelism of the optical axes of the laser, television and infrared multi-sensors.

2. The TV sensor for dynamic joint axis calibration of the optoelectronic system of a multi-axis aircraft according to claim 1, characterized in that: The surface of each optical element in the wide spectrum lens is coated with a film layer that transmits visible light to near infrared wavelengths in the range of 0.4 μm to 1.1 μm.

3. The TV sensor for dynamic joint axis calibration of the optoelectronic system of a multi-axis aircraft according to claim 2, characterized in that: The surface of the visible light filter is plated with a bandpass film layer with a visible light band of 0.5 μm to 0.7 μm.

4. The TV sensor for dynamic joint axis calibration of the optoelectronic system of a multi-axis aircraft according to claim 3, characterized in that: The surface of the near-infrared filter is plated with a bandpass film layer with a near-infrared band of 0.7 μm to 0.9 μm.

5. The TV sensor for dynamic joint axis calibration of the optoelectronic system of a multi-axis aircraft according to claim 4, characterized in that: The surface of the alignment filter is plated with a customized film layer in the visible to near-infrared band of 0.5 μm to 0.8 μm with low transmittance and in the near-infrared band of 0.8 μm to 1.1 μm with high transmittance.

6. The TV sensor for dynamic joint axis calibration of the optoelectronic system of a multi-axis aircraft according to claim 1, characterized in that: The glass material of the visible light filter is JB490, the glass material of the near infrared filter is HB700, and the glass material of the axis correction filter is JB510.

7. A method for dynamic axis calibration using a television sensor for dynamic joint axis calibration of an optoelectronic system of a multi-axis aircraft according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: Aim the calibrated optoelectronic system at a building or reflector with a vertical surface; Step 2: Start the TV sensor, laser irradiator and infrared thermal imaging sensor, switch the TV sensor to the calibration mode, and ensure that the calibration filter is in the TV sensor optical path; Step 3: The laser irradiator emits laser light onto a building or reflector with a vertical surface. The near-infrared enhanced CMOS detector receives the reflected laser light and forms a laser spot image on the target surface. Step 4: The near-infrared enhanced CMOS detector performs image processing on the laser spot, obtains the centroid position of the laser spot, and obtains the deviation (X1, Y1) between the centroid position and the electrical cross-reticle line of the target surface of the near-infrared enhanced CMOS detector; the electrical cross-reticle line of the target surface of the near-infrared enhanced CMOS detector is calibrated when the TV sensor is installed; Step 5: Move the electric crosshairs of the TV sensor of the calibrated optoelectronic system according to the deviation (X1, Y1) to achieve calibration between the laser optical axis and the TV optical axis; Step 6: Align the calibrated photoelectric system TV sensor and infrared thermal imager to the obvious feature point of the same scene target, pitch or horizontally rotate the photoelectric system to make the calibrated electric cross-line of the TV sensor coincide with the obvious feature point, obtain the coordinate position of the obvious feature point of the infrared thermal imager, and obtain the deviation between the electric cross-line of the infrared thermal imager and the feature point as (X2, Y2), which is the deviation between the infrared optical axis and the TV optical axis; the electric cross-line of the infrared thermal imager is calibrated when the infrared thermal imager is installed; Step 7: Move the electric cross scale of the infrared thermal imaging sensor of the calibrated optoelectronic system according to the deviation (X2, Y2) to calibrate the infrared optical axis and the television optical axis.

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