Small target detection, tracking and interference method, device, equipment, medium and program product

Abstract

The invention discloses a small target detection, tracking and interference method, device and equipment, a medium and a program product. Comprising the following steps that an infrared image and rotary table data are obtained according to infrared view field data, the infrared view field data are obtained through a rotary table, and the rotary table data comprise azimuth pitch angle information and view field angle information; the infrared image is segmented, multiple sets of azimuth pitching coordinates of each suspected small target in the sub-images are determined, and each set of azimuth pitching coordinates are obtained through circumferential scanning on a current pitching angle base line through a rotary table; when the difference value between each group of azimuth pitch coordinates corresponding to the suspected small target meets a threshold condition, determining the corresponding suspected small target as a mobile small target; and locking the moving small target at the center of the field of view, and performing tracking and interference. By segmenting the infrared image and combining the circumferential scanning angle of the turntable, the positions of a plurality of small targets can be quickly judged, and subsequent tracking and interference operations can be better performed by locking the small targets.

Description

Technical Field

[0001] The present invention relates to the field of target detection and tracking technology, and in particular to small target detection, tracking and interference methods, devices, equipment, media and program products. Background Art

[0002] At present, most of the photoelectric detection methods on the market use visible light or near-infrared imaging. In low-altitude environments, due to the influence of atmospheric turbulence, the image quality is poor and good recognition effect cannot be achieved. The use of high-precision infrared sensors for detection can effectively solve the above problems, but due to the limitations of sensor performance (resolution) and cost reasons, it can usually only detect large targets within a certain range. For some smaller targets (for example, small drones), it is difficult to accurately locate and track them, which in turn affects subsequent confrontation actions.

[0003] Therefore, how to improve the detection rate of small targets is an urgent problem to be solved. Summary of the invention

[0004] In view of this, the present invention provides a small target detection, tracking and interference method, device, equipment, medium and program product, aiming to solve the technical problem that small targets are difficult to be detected in the prior art.

[0005] In a first aspect, the present invention provides a small target detection, tracking and jamming method, comprising the following steps:

[0006] Acquire an infrared image and turntable data according to the infrared field of view data, wherein the infrared field of view data is acquired through a turntable, and the turntable data includes azimuth pitch angle information and field of view angle information;

[0007] Segmenting the infrared image to determine multiple groups of azimuth and elevation coordinates of each suspected small target in the sub-image, wherein each group of azimuth and elevation coordinates is obtained by performing a circumferential scan of the turntable on a current elevation angle baseline;

[0008] When the differences between the groups of azimuth and elevation coordinates corresponding to the suspected small target meet the threshold condition, the corresponding suspected small target is determined as a moving small target;

[0009] The small moving target is locked in the center of the field of view for tracking and interference.

[0010] Preferably, the step of acquiring the infrared image and turntable data according to the infrared field of view data specifically includes:

[0011] Acquire infrared field of view data and turntable data of the current viewing angle, wherein the infrared field of view data and the turntable data are both acquired in real time through the turntable;

[0012] The infrared field data is visualized according to a 14-bit to 8-bit algorithm to generate the infrared image.

[0013] Preferably, segmenting the infrared image to determine multiple sets of azimuth and elevation coordinates of each suspected small target in the sub-image specifically includes:

[0014] Segmenting the infrared image to obtain N sub-images, where N is an integer and N>1, and all sub-images include at least one suspected small target;

[0015] According to the preset small target detection algorithm, the coordinate information of each suspected small target is determined;

[0016] Calculating the pixel difference between the coordinate information and the coordinate of the center point of the infrared image, and determining the azimuth and elevation coordinates of the suspected small target in the turntable coordinate system by comparing the pixel difference with the field of view angle information and the corresponding azimuth and elevation angle information;

[0017] After the turntable continuously scans the current pitch baseline, multiple sets of azimuth and pitch coordinates of the suspected small target are obtained.

[0018] Preferably, when the difference between the groups of azimuth and elevation coordinates corresponding to the suspected small target meets a threshold condition, determining the corresponding suspected small target as a moving small target specifically includes:

[0019] Determine the difference between each group of azimuth and elevation coordinates of the suspected small target;

[0020] When the difference is greater than 0.5° azimuth and elevation, the suspected small target is determined to be a moving small target.

[0021] Preferably, the step of locking the small moving target at the center of the field of view for tracking and interference includes:

[0022] Determine the miss distance between the center point coordinates of the small moving target and the center point coordinates of the infrared image according to a preset tracking algorithm;

[0023] According to the miss distance and the preset tracking algorithm, the small moving target is locked in the center of the field of view and interfered with by infrared interference laser.

[0024] In a second aspect, the present invention further provides a small target detection, tracking and jamming device, comprising:

[0025] An acquisition module, used to acquire infrared images and turntable data according to the infrared field of view data, wherein the infrared field of view data is acquired through a turntable, and the turntable data includes azimuth and elevation angle information;

[0026] A segmentation module, used to segment the infrared image and determine multiple groups of azimuth and elevation coordinates of each suspected small target in the sub-image, wherein each group of azimuth and elevation coordinates is obtained by scanning the turntable on the current elevation angle baseline;

[0027] A determination module, configured to determine the corresponding suspected small target as a moving small target when the difference between the azimuth and elevation coordinates of the suspected small target meets a threshold condition;

[0028] The locking module is used to lock the small moving target in the center of the field of view for tracking and interference.

[0029] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory, wherein the processor is used to call a program in the memory so that the electronic device executes any one of the small target detection, tracking and interference methods.

[0030] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, which, when executed, enable a computer to execute any one of the small target detection, tracking and interference methods.

[0031] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program, which implements any small target detection, tracking and interference method when executed.

[0032] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: the present application can quickly determine the positions of multiple small targets by segmenting the infrared image and combining the turntable's circumferential scanning angle, and by locking the small targets, subsequent tracking and interference operations can be better performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A flowchart of a small target detection, tracking and interference method provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of an infrared image provided in an embodiment of the present application;

[0035] Figure 3 A tracking schematic diagram provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of a process for obtaining infrared images and turntable data in a small target detection, tracking and jamming method provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of a process for obtaining azimuth and elevation coordinates in a small target detection, tracking and interference method provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of a process for determining a small moving target in a small target detection, tracking and interference method provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of a process of small target tracking and interference in a small target detection, tracking and interference method provided in an embodiment of the present application;

[0040] Figure 8 A schematic block diagram of a small target detection, tracking and jamming device provided in an embodiment of the present application;

[0041] Fig. 9 A schematic block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0043] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0044] The small target detection, tracking and interference method provided in the embodiments of the present application is applicable to vehicles equipped with photoelectric detection systems, such as vehicles, aircraft, etc.

[0045] The small target detection, tracking and interference method provided in the embodiments of the present application can be implemented in any suitable manner, such as software, hardware, or a combination of software and hardware.

[0046] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0047] Embodiment 1

[0048] With the rapid development of the drone industry in recent years, drones have gradually become one of the important means of reconnaissance in the military field. At the same time, drones are increasingly being used in the civilian field to complete various tasks, such as logistics distribution, aerial photography, etc. However, the widespread use of drones also brings some security risks. Therefore, how to effectively prevent drone intrusion has become an urgent problem to be solved.

[0049] At present, most optoelectronic detection methods for small drones on the market use visible light or near-infrared imaging. In low-altitude environments, due to the influence of atmospheric turbulence, the image quality is poor and good recognition effect cannot be achieved. The use of high-precision infrared sensors for detection can effectively solve the above problems, but due to the limitations of sensor performance (resolution) and cost reasons, it can usually only detect large targets within a certain range. For some smaller targets (such as small drones), it is difficult to accurately locate and track them, which in turn affects subsequent confrontation actions.

[0050] To this end, the present invention proposes a small target detection, tracking and interference method, such as Figure 1 As shown, the method comprises the following steps:

[0051] Embodiment 2

[0052] S10. Acquire an infrared image and turntable data according to the infrared field of view data, wherein the infrared field of view data is acquired through a turntable, and the turntable data includes azimuth and elevation angle information.

[0053] Specifically, the user can send a control signal to the photoelectric detection system through the server to control the photoelectric detection system to start working. At this time, the turntable in the photoelectric detection system will rotate, and then the infrared field of view data can be obtained through the turntable. The infrared field of view data includes infrared images, temperature data, and video data. According to the 14-bit to 8-bit algorithm, the infrared field of view data is visualized to generate an infrared image, where the infrared image data refers to the infrared image at the current viewing angle, and the turntable data includes the azimuth and pitch angle information and field of view angle information at the current viewing angle.

[0054] S20, segmenting the infrared image, and determining multiple groups of azimuth and elevation coordinates of each suspected small target in the sub-image, wherein each group of azimuth and elevation coordinates is obtained by performing a circumferential scan of the turntable on a current elevation angle baseline.

[0055] Specifically, since the monitoring range of a single infrared image is large, the speed, accuracy and precision of detection can be improved by segmenting the infrared image and performing suspected small target detection in different threads.

[0056] By determining the pixel difference between the center point coordinates of the suspected small target and the center point coordinates of the infrared image, and by comparing the field of view angle information with the pixel difference, the azimuth pitch angle deviation value can be obtained. According to the azimuth pitch angle deviation value and the azimuth pitch angle information, the azimuth pitch angle coordinates of the suspected small target in the turntable coordinate system can be obtained. The turntable can determine multiple sets of azimuth pitch coordinates of the suspected small target by continuously scanning on the current pitch angle baseline. Specifically, the number of continuous scanning circles is not greater than 3, and the current pitch angle baseline is determined by the azimuth pitch angle information.

[0057] S30: When the differences between the groups of azimuth and elevation coordinates corresponding to the suspected small target meet a threshold condition, the corresponding suspected small target is determined as a moving small target.

[0058] Specifically, due to the mobility of the target, when the difference is greater than a threshold condition, the suspected small target is determined to be a moving small target, and the turntable enters a tracking state. Exemplarily, the threshold condition is a 0.5° azimuth and pitch value.

[0059] S40, lock the small moving target in the center of the field of view, and perform tracking and interference.

[0060] Specifically, in order to prevent the small moving target from leaving the field of view and becoming unable to be tracked, it is necessary to lock the small moving target in the center of the field of view before tracking and interfering. To this end, the miss distance between the center point coordinates of the small moving target and the center point coordinates of the infrared image can be determined according to a preset tracking algorithm. Then, based on the miss distance and the preset tracking algorithm, the small moving target can be locked in the center of the field of view and interfered with by an infrared interference laser. Of course, in addition to the infrared interference laser, other forms of interference sources can also be used, which are not limited here.

[0061] Exemplarily, the preset tracking algorithm adopts the TopHat background preprocessing method. By defining different structural elements, the input sky image is subjected to top-hat transformation, and combined with brightness enhancement processing, the pixel values ​​that meet the preset threshold are amplified, thereby enhancing the brightness effect. This method can effectively remove the interference of background clouds and retain the characteristic information of small moving targets. By adopting the CSRT algorithm in OpenCV and adding a re-detection tracking strategy in the tracking process, the accuracy of the tracking algorithm is improved, and real-time tracking of small moving targets is completed.

[0062] In summary, the method provided in the embodiment of the present application achieves faster and more accurate detection results by segmenting the infrared image and performing suspected small target detection on the segmented image in different threads respectively. The mobile small target is tracked by a preset tracking algorithm and locked in the center of the field of view to achieve interference.

[0063] For ease of understanding, this application is further elaborated in detail below in conjunction with specific application scenarios.

[0064] See also Figure 2 , when a suspected small target appears in an infrared image, the suspected small target will be divided into one of the sub-images. Next, we can analyze the sub-image through the small target detection algorithm to obtain the coordinate information (x, y) of the suspected small target in the infrared image. Because the coordinates of the center point of the infrared image are also known, we can easily calculate the azimuth and pitch angle deviation values ​​(α0, β0) of the suspected small target in the turntable coordinate system from the center point of the turntable. It should be noted that the azimuth angle deviation value here refers to the horizontal deviation value of the suspected small target relative to the center point of the infrared image, and the pitch angle deviation value refers to the vertical deviation value of the suspected small target relative to the center point of the infrared image.

[0065] By obtaining the azimuth and pitch angles (α, β) of the current turntable, the azimuth and pitch angle coordinates of the suspected small target in the turntable coordinate system can be determined, that is, (α+α0, β+β0). After that, we rotate the turntable clockwise by a certain angle (the turntable scanning rate is 480° / s and the frame rate is 100fps), and perform small target detection in the azimuth field of view after rotation (the pitch angle remains unchanged), and repeat the above detection process to determine a set of azimuth and pitch angle coordinates of the suspected small target in the field of view. At this pitch angle, let the turntable complete a maximum of 1080°, that is, three rounds of scanning, and compare up to three sets of azimuth and pitch angle coordinates of each suspected small target, so as to roughly estimate the speed and position of the suspected small target. Generally speaking, as long as the suspected small target is not stationary, its coordinates in azimuth and pitch angles will change numerically. If we observe that this change continues for a period of time, then we can determine that this is a moving small target. If there is no small moving target under the pitch angle baseline, the turntable will be raised to a certain pitch angle and the above-mentioned scanning search task will be repeated; if the above-mentioned detection and interference work of a small moving target is completed, the turntable will continue to scan at the pitch angle and complete the detection and interference work of all small moving targets. After completion, the turntable will be raised to a certain pitch angle and the above-mentioned scanning search task will be repeated.

[0066] In addition, we also need to note that the posture of the suspected small target may not be completely fixed, but may change slightly due to external environmental factors. Therefore, we also need to take this into account in our algorithm to avoid misjudgment. For example, we can detect and judge the suspected small target multiple times by increasing the number of weekly scans and the field of view of the infrared camera. At the same time, in order to avoid misjudgment caused by measurement errors, we can also set a reasonable threshold range. Only when the position deviation of the drone exceeds this range, it is considered to be a moving target.

[0067] At this point, we have achieved effective detection and tracking of small targets in infrared images, so that we can detect potential threats in a timely manner and take countermeasures. In practical applications, we can also use data from other sensors to make comprehensive analysis and decisions, such as radar, GPS, etc., in order to more accurately grasp the status information of the drone. Tracking results are as follows Figure 3 shown.

[0068] In summary, the present application can quickly determine the positions of multiple small targets by segmenting the infrared image and combining it with the turntable's circumferential scanning angle, and by locking the small targets, it can better perform subsequent tracking and interference operations.

[0069] See also Figure 4 S10, according to the infrared field data, obtain infrared images and turntable data, wherein the infrared field data is obtained through the turntable, and the turntable data includes azimuth and elevation angle information. Specifically including:

[0070] S11, obtaining infrared field of view data and turntable data of the current viewing angle, wherein the infrared field of view data and the turntable data are both obtained in real time through the turntable.

[0071] S12, according to the 14-bit to 8-bit algorithm, the infrared field data is visualized and processed to generate an infrared image.

[0072] Specifically, the user can control the photoelectric detection system to start working by sending a control signal to the photoelectric detection system. At this time, the turntable in the photoelectric detection system will rotate, and then the infrared field of view data can be obtained through the turntable. The infrared field of view data mainly includes infrared images, temperature data, and video data, among which the video data includes the azimuth and pitch angle information and field of view angle information under the current viewing angle. Infrared images are used for suspected small target detection.

[0073] See also Figure 5 S20, segmenting the infrared image, determining multiple sets of azimuth and elevation coordinates of each suspected small target in the sub-image, wherein each set of azimuth and elevation coordinates is obtained by scanning the turntable around the current elevation angle baseline. Specifically including:

[0074] S21, segmenting the infrared image to obtain N sub-images, where N is an integer and N>1, and all sub-images include at least one suspected small target.

[0075] S22, determining the coordinate information of each suspected small target according to a preset small target detection algorithm.

[0076] S23, calculating the pixel difference between the coordinate information and the coordinate of the center point of the infrared image, and determining the azimuth and elevation coordinates of the suspected small target in the turntable coordinate system by comparing the pixel difference with the field of view angle information and the corresponding azimuth and elevation angle information.

[0077] S24, after the turntable continuously scans the current pitch baseline, multiple sets of azimuth and pitch coordinates of the suspected small target are obtained.

[0078] Specifically, the coordinate information refers to the coordinate information of the suspected small target in the infrared image. Since the monitoring range of a single infrared image is large, the accuracy and precision of the detection can be improved by dividing the infrared image and performing suspected small target detection in different threads. For example, the infrared image can be divided into 8 equal parts, and all sub-images include at least one suspected small target.

[0079] Through the pre-set small target detection algorithm, the small target detection algorithm is performed on each sub-image in different threads to determine the suspected small target, and the coordinate information of each suspected small target is determined by extracting the coordinate information of the suspected small target. Exemplarily, the preset small target detection algorithm is one of the YOLO algorithm or the SSD algorithm, and the coordinate information of the suspected small target can be realized by algorithms such as the Hough transform method, the edge detection method, and the template matching method.

[0080] Since the coordinate information is only a relative coordinate and cannot directly reflect the specific position of the small target, a coordinate transformation is required, that is, the coordinate information is converted into an absolute coordinate. To this end, the pixel difference between the coordinate information and the coordinate of the center point of the infrared image can be calculated first, and then the azimuth and elevation coordinates of the suspected small target in the turntable coordinate system can be determined by comparing the pixel difference with the field of view angle information and the corresponding azimuth and elevation angle information. For example, it can be calculated by the following formula:

[0081]

[0082] Where X represents the azimuth coordinate (unit: degree), Y represents the elevation coordinate (unit: degree), and P x Indicates the lateral miss distance (unit: pixel), P y Indicates the longitudinal miss distance (unit: pixel), V x Indicates the horizontal field of view (unit: degree), V x Represents the longitudinal field of view angle (unit: degree), W represents the width of the infrared camera resolution (unit: pixel), H represents the height of the infrared camera resolution (unit: pixel), α represents the current azimuth angle of the turntable (unit: degree), and β represents the current pitch angle of the turntable (unit: degree).

[0083] By continuously scanning the current pitch angle baseline, multiple sets of azimuth and pitch coordinates of the suspected small target can be determined. The number of continuous scanning circles is no more than 3, and the current pitch angle baseline is determined by the azimuth and pitch angle information.

[0084] See also Figure 6S30: When the difference between the azimuth and elevation coordinates of the suspected small target meets the threshold condition, the corresponding suspected small target is determined as a moving small target. Specifically, the following steps are performed:

[0085] S31, determining the difference between each group of azimuth and elevation coordinates of the suspected small target.

[0086] S32: When the difference is greater than 0.5° of the azimuth and elevation values, the suspected small target is determined to be a moving small target.

[0087] Specifically, by determining the difference between each group of azimuth and elevation coordinates of the suspected small target and the conditions satisfied by the difference, it is possible to determine whether the suspected small target is in a moving state.

[0088] See also Figure 7 , S40, lock the small moving target in the center of the field of view, and track and interfere with it. Specifically include:

[0089] S41, determining the miss distance between the center point coordinates of the small moving target and the center point coordinates of the infrared image according to a preset tracking algorithm.

[0090] S42, based on the miss distance and the preset tracking algorithm, locks the small moving target in the center of the field of view and interferes with it through infrared jamming laser.

[0091] Specifically, in order to prevent the small moving target from leaving the field of view and becoming unable to be tracked, it is necessary to lock the small moving target in the center of the field of view before tracking and interfering. To this end, the miss distance between the center point coordinates of the small moving target and the center point coordinates of the infrared image can be determined according to a preset tracking algorithm. Then, based on the miss distance and the preset tracking algorithm, the small moving target can be locked in the center of the field of view and interfered with by an infrared interference laser. Of course, in addition to the infrared interference laser, other forms of interference sources can also be used, which are not limited here.

[0092] Embodiment 2

[0093] Corresponding to the above method embodiment, the present invention also provides a small target detection, tracking and jamming device, such as Figure 8 As shown, the device comprises:

[0094] An acquisition module 400 is used to acquire an infrared image and turntable data according to the infrared field of view data, wherein the infrared field of view data is acquired through a turntable, and the turntable data includes azimuth and elevation angle information;

[0095] The segmentation module 500 is used to segment the infrared image and determine multiple groups of azimuth and elevation coordinates of each suspected small target in the sub-image, wherein each group of azimuth and elevation coordinates is obtained by scanning the turntable around the current elevation angle baseline;

[0096] A determination module 600 is used to determine the corresponding suspected small target as a moving small target when the difference between the azimuth and elevation coordinates of each group corresponding to the suspected small target meets a threshold condition;

[0097] The locking module 700 is used to lock the small moving target in the center of the field of view for tracking and interference.

[0098] Furthermore, the acquisition module 400 is specifically used for:

[0099] Obtain infrared field of view data and turntable data of the current viewing angle, wherein the infrared field of view data and turntable data are both obtained in real time through the turntable;

[0100] According to the 14-bit to 8-bit algorithm, the infrared field of view data is visualized and an infrared image is generated.

[0101] Furthermore, the segmentation module 500 is specifically used for:

[0102] Segment the infrared image to obtain N sub-images, where N is an integer and N>1, and all sub-images contain at least one suspected small target;

[0103] According to the preset small target detection algorithm, the coordinate information of each suspected small target is determined;

[0104] Calculate the pixel difference between the coordinate information and the coordinate of the center point of the infrared image, and determine the azimuth and elevation coordinates of the suspected small target in the turntable coordinate system by comparing the pixel difference with the field of view angle information and the corresponding azimuth and elevation angle information;

[0105] After the turntable continuously scans the current pitch baseline, multiple sets of azimuth and pitch coordinates of suspected small targets are obtained.

[0106] Further, the determination module 600 is specifically configured to:

[0107] Determine the difference between each group of azimuth and elevation coordinates of the suspected small target;

[0108] When the difference is greater than 0.5° azimuth and elevation, the suspected small target is determined to be a moving small target.

[0109] Furthermore, the locking module 700 is specifically used for:

[0110] According to a preset tracking algorithm, the miss distance between the center point coordinates of the small moving target and the center point coordinates of the infrared image is determined;

[0111] According to the miss distance and the preset tracking algorithm, the small moving target is locked in the center of the field of view and interfered with by infrared jamming laser.

[0112] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0113] Embodiment 3

[0114] Reference Fig. 9 The embodiment of the present application further provides an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus.

[0115] Memory, used to store computer programs;

[0116] In one embodiment of the present application, the processor is used to execute the program stored in the memory to implement the small target detection, tracking and interference method provided by any of the aforementioned method embodiments, and the role it plays is similar and will not be repeated here.

[0117] It should be understood by those skilled in the art that part or all of the above-mentioned mechanisms can be implemented by circuit hardware structures. Similarly, part or all of the above-mentioned methods can also be implemented by software function units executed by circuit hardware structures. The circuit hardware structure provided in the embodiment of the present application can be implemented in the form of transistors, integrated circuit chips, and systems on chips (SoC, System On Chip). If the functions described in the embodiment of the present application are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or part of the technical solution that contributes to the prior art or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0118] Embodiment 4

[0119] The embodiment of the present application also provides a non-volatile computer-readable storage medium, on which a computer program is stored, and when the program is executed by the processor, the small target detection, tracking and interference method provided in any embodiment of the present application is implemented. The computer-readable storage medium can be a flash memory, a hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a disk, an optical disk, a server, an App application store, etc.

[0120] Embodiment 5

[0121] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the small target detection, tracking and interference method provided by any embodiment of the present application.

[0122] In short, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0123] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A small target detection, tracking and jamming method, characterized in that: The steps include: Acquire an infrared image and turntable data according to the infrared field of view data, wherein the infrared field of view data is acquired through a turntable, and the turntable data includes azimuth pitch angle information and field of view angle information; Segmenting the infrared image to determine multiple groups of azimuth and elevation coordinates of each suspected small target in the sub-image, wherein each group of azimuth and elevation coordinates is obtained by performing a circumferential scan of the turntable on a current elevation angle baseline; When the differences between the groups of azimuth and elevation coordinates corresponding to the suspected small target meet the threshold condition, the corresponding suspected small target is determined as a moving small target; The small moving target is locked in the center of the field of view for tracking and interference.

2. The method according to claim 1, characterized in that The step of obtaining the infrared image and the turntable data according to the infrared field of view data specifically includes: Acquire infrared field of view data and turntable data of the current viewing angle, wherein the infrared field of view data and the turntable data are both acquired in real time through the turntable; The infrared field data is visualized according to a 14-bit to 8-bit algorithm to generate the infrared image.

3. The method according to claim 2, characterized in that The step of segmenting the infrared image to determine multiple sets of azimuth and elevation coordinates of each suspected small target in the sub-image specifically includes: Segmenting the infrared image to obtain N sub-images, where N is an integer and N>1, and all sub-images include at least one suspected small target; According to the preset small target detection algorithm, the coordinate information of each suspected small target is determined; Calculating the pixel difference between the coordinate information and the coordinate of the center point of the infrared image, and determining the azimuth and elevation coordinates of the suspected small target in the turntable coordinate system by comparing the pixel difference with the field of view angle information and the corresponding azimuth and elevation angle information; After the turntable continuously scans the current pitch baseline, multiple sets of azimuth and pitch coordinates of the suspected small target are obtained.

4. The method according to claim 1, characterized in that: When the difference between the groups of azimuth and elevation coordinates corresponding to the suspected small target meets the threshold condition, determining the corresponding suspected small target as a moving small target specifically includes: Determine the difference between each group of azimuth and elevation coordinates of the suspected small target; When the difference is greater than 0.5° azimuth and elevation, the suspected small target is determined to be a moving small target.

5. The method according to claim 1, characterized in that The step of locking the small moving target at the center of the field of view, tracking and interfering the small moving target includes: Determine the miss distance between the center point coordinates of the small moving target and the center point coordinates of the infrared image according to a preset tracking algorithm; According to the miss distance and the preset tracking algorithm, the small moving target is locked in the center of the field of view and interfered with by infrared interference laser.

6. A small target detection, tracking and jamming device, characterized in that: include: An acquisition module, used to acquire infrared images and turntable data according to the infrared field of view data, wherein the infrared field of view data is acquired through a turntable, and the turntable data includes azimuth and elevation angle information; A segmentation module, used to segment the infrared image and determine multiple groups of azimuth and elevation coordinates of each suspected small target in the sub-image, wherein each group of azimuth and elevation coordinates is obtained by scanning the turntable on the current elevation angle baseline; A determination module, configured to determine the corresponding suspected small target as a moving small target when the difference between the azimuth and elevation coordinates of the suspected small target meets a threshold condition; The locking module is used to lock the small moving target in the center of the field of view for tracking and interference.

7. An electronic device, characterized in that: include: A processor and a memory, wherein the processor is used to call a program in the memory to enable the electronic device to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the computer executes the method according to any one of claims 1 to 5.

9. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 5 when being executed.

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