Single-soldier multifunctional reconnaissance system

Abstract

The invention discloses an individual multifunctional reconnaissance system, which is characterized by comprising an infrared detection module, a laser ranging module, a visible light module, a positioning module, an attitude measurement module and a comprehensive information processing module, the infrared detection module, the laser ranging module, the visible light module, the positioning module and the attitude measurement module are all connected with the comprehensive information processing module; the comprehensive information processing module is used for receiving detection data of each module, carrying out target calculation and estimating a target motion state by adopting Kalman filtering; the method has the advantages that the target positioning method is simple in calculation and high in positioning precision.

Description

Technical Field

[0001] The invention relates to the field of individual soldier reconnaissance, and in particular to an individual soldier multifunctional reconnaissance system. Background Art

[0002] The modern military reconnaissance environment is becoming increasingly complex, which places higher demands on individual reconnaissance capabilities. Existing individual reconnaissance equipment usually has a single function and is complex to operate, and cannot meet the multi-functional, rapid response and high-precision requirements of the modern battlefield. Therefore, the development of an individual multi-functional reconnaissance system is of great practical significance.

[0003] Chinese patent publication number CN102749659A discloses a multifunctional photoelectric reconnaissance instrument and a method for observing and determining the target position. The multifunctional photoelectric reconnaissance instrument includes a cooling infrared sensor, a laser rangefinder, a visible light channel, a GPS module and a magnetic compass; there is also an integrated information processing unit, a power module and a control panel; the target is observed through the visible light channel and the cooling infrared sensor is used to observe and determine the target orientation; the position coordinates of the target are automatically calculated. It is used for a single person to conduct reconnaissance and positioning of the target, and provide the image, orientation, distance and position information of the target in real time and accurately. It integrates multiple sensors and adopts a miniaturized design, which is highly portable and improves the single-person reconnaissance ability and information acquisition ability. However, the target positioning method of the patent application is complex in calculation, and is easily interfered by other signals during the actual observation process, and the interference is not processed, resulting in low target positioning accuracy. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the target positioning method of the prior art single-soldier multifunctional reconnaissance system is complex in calculation and has low positioning accuracy.

[0005] The present invention solves the above technical problems through the following technical means: a single-soldier multifunctional reconnaissance system, comprising an infrared detection module, a laser ranging module, a visible light module, a positioning module, a posture measurement module and a comprehensive information processing module, wherein the infrared detection module, the laser ranging module, the visible light module, the positioning module and the posture measurement module are all connected to the comprehensive information processing module; the comprehensive information processing module receives the detection data of each module, performs target solution, and uses Kalman filtering to estimate the target motion state.

[0006] Furthermore, the single-soldier multifunctional reconnaissance system also includes a display module, which is an OLED screen. The OLED screen is connected to the comprehensive information processing module to display self-positioning information, target information, image mode, and network status. The image mode includes infrared mode and visible light mode.

[0007] Furthermore, the single-soldier multi-functional reconnaissance system also includes a communication module, and the communication module is connected to the comprehensive information processing module.

[0008] Furthermore, the single-soldier multifunctional reconnaissance system also includes a power module, and the power module supplies power to the entire single-soldier multifunctional reconnaissance system.

[0009] Furthermore, the positioning module is a multi-star multi-frequency GNSS antenna, which includes an antenna base and an antenna body. The antenna base is a cylindrical structure, the antenna body is a hemispherical structure, and the bottom of the antenna body is snapped onto the upper surface of the antenna base.

[0010] Furthermore, the single-soldier multifunctional reconnaissance system also includes a character superposition module. The visible light module and the infrared detection module are respectively connected to the input end of the character superposition module through the selection switch U7 and the operational amplifier U6. The storage module, the display module, and the communication module are respectively connected to the selection switch U4 through the operational amplifier U2, the operational amplifier U5, and the operational amplifier U8. The selection switch U4 is connected to the input end of the character superposition module. The output end of the character superposition module is connected to the comprehensive information processing module through the voltage conversion module.

[0011] Furthermore, the main chip of the character overlay module is a character overlay chip.

[0012] Furthermore, the peripheral circuit of the selection switch U7 includes a resistor R33, a resistor R38, a capacitor C42, a resistor R41, a resistor B2 and a capacitor C41; one end of the resistor R33 and the eighth pin of the selection switch U7 are connected to the infrared detection module; one end of the resistor R38 and the second pin of the selection switch U7 are connected to the visible light module; one end of the capacitor C42 and the fourth pin of the selection switch U7 are both connected to the power supply VCC_5VA; one end of the resistor R41 and one end of the resistor B2 are connected to the sixth pin of the selection switch U7; one end of the capacitor C41 and the seventh pin of the selection switch U7 are connected to the power supply VCC_-5VA; the other end of the resistor R33, the other end of the resistor R38, the other end of the capacitor C42, the other end of the capacitor C41 and the other end of the resistor R41 are all grounded; and the other end of the resistor B2 is connected to the IO port of the comprehensive information processing module.

[0013] Furthermore, the peripheral circuit of the operational amplifier U6 includes a resistor R35, a capacitor C39, a resistor R36, a capacitor C38, a capacitor C40, a resistor R34, a resistor R37, a resistor R32, a resistor R24 ​​and a capacitor C34, one end of the resistor R35 and one end of the capacitor C39 are connected to the first pin of the selection switch U7, the other end of the capacitor C39, one end of the resistor R36 and the third pin of the operational amplifier U6 are connected, the second pin of the operational amplifier U6 and one end of the capacitor C38 are connected to the power supply VCC_-5VA, the first pin of the operational amplifier U6, one end of the resistor R32 and the resistor One end of resistor R34 is connected, the other end of resistor R34, one end of resistor R37 and the fourth pin of operational amplifier U6 are connected, the fifth pin of operational amplifier U6 and one end of capacitor C40 are all connected to the power supply VCC_5VA, the other end of resistor R32, one end of resistor R24 ​​and one end of capacitor C34 are connected, and the other end of capacitor C34 is connected to the twenty-second pin of the main chip of the character overlay module; the other end of resistor R35, the other end of resistor R36, the other end of capacitor C38, the other end of capacitor C40, the other end of resistor R37 and the other end of resistor R24 ​​are all grounded.

[0014] Furthermore, the circuit structure of the selection switch U4 is the same as that of the selection switch U7, the circuit structure of the operational amplifier U2, the operational amplifier U5, and the operational amplifier U8 are the same as that of the operational amplifier U6, and the second pin of the selection switch U4 is connected to the twenty-sixth pin of the main chip of the character overlay module.

[0015] Furthermore, the voltage conversion module is a step-down module that converts a 5V voltage into a 3.3V voltage.

[0016] Furthermore, the voltage conversion module includes a step-down chip U12, a capacitor C58, a capacitor C59, a capacitor C60 and a capacitor C61, one end of the capacitor C60, one end of the capacitor C61 and the eleventh pin of the step-down chip U12 are connected, one end of the capacitor C58, one end of the capacitor C59 and the first pin of the step-down chip U12 are connected, the output power supply VCC_3V3, the other end of the capacitor C58, the other end of the capacitor C59, the other end of the capacitor C60 and the other end of the capacitor C61 are grounded; the twelfth pin of the step-down chip U12 is connected to the power supply VCC_3V3, the seventh pin to the tenth pin of the step-down chip U12 are respectively connected to the eleventh pin, the tenth pin, the ninth pin and the eighth pin of the main chip of the character overlay module, and the second pin to the fifth pin of the step-down chip U12 are respectively connected to the twentieth pin, the thirty-second pin, the thirtieth pin and the thirty-first pin of the comprehensive information processing module.

[0017] Furthermore, the target solution includes:

[0018] The positioning module obtains self-positioning information through Beidou and north direction positioning information, including accurate values ​​of latitude and longitude, altitude, azimuth and pitch. When a target is found, it measures the distance to it. The distance fed back to the system is assumed to be L, then

[0019] Long2=Long1+tan -1 (L·sinθ / ARC])

[0020] Lat2=Lat1+tan -1 (L·sinω / ARC)

[0021] H′=HL·sinω

[0022] Among them, H′ is the altitude of the target, Long1 represents the self-positioning longitude, Lat1 represents the self-positioning latitude, H is the self-positioning altitude of the device, L is the distance, ω is the pitch angle, θ is the azimuth angle, Long2 represents the target longitude, Lat2 represents the target latitude, and ARC is the radius of the earth.

[0023] Furthermore, the estimation of the target motion state by using Kalman filtering includes:

[0024] 1) Status prediction

[0025] Assume that the state matrix and covariance matrix at time k are X k|k and P k|k , F k is the state transfer matrix, Q k is the process noise covariance matrix, and calculates the k+1 time state prediction matrix X k+1|k With the covariance prediction matrix P k+1|k As shown in formula (1) and formula (2)

[0026] X k+1|k =F k X k|k (1)

[0027] P k+1|k =F k P k|k F k '+Q k (2)

[0028] 2) Measurement prediction

[0029] H k+1 is the measurement matrix at time k+1, and the measurement prediction vector is calculated by multiplying the state prediction matrix on the right as shown in formula (3):

[0030] Z k+1|k =H k+1 X k+1|k (3)

[0031] 3) Status Update

[0032] Calculate the innovation v k+1 and the innovation covariance S k+1 As shown in formula (4) and formula (5)

[0033] v k+1 =Z k+1 -Z k+1|k (4)

[0034] S k+1 =H k+1 P k+1|k H' k+1 +R k+1 (5)

[0035] Among them, H k+1 is the measurement matrix at time k+1, R k+1 is the measurement noise covariance matrix at time k+1, Z k+1 is the measurement vector at time k+1;

[0036] The Kalman gain is shown in formula (6):

[0037] K k+1 =P k+1|k H' k+1 S -1 k+1 (6)

[0038] The state estimation update is shown in formula (7):

[0039] X k+1|k+1 =X k+1|k +K k+1 v k+1 (7)

[0040] The covariance update is shown in formula (8):

[0041] P k+1|k+1 =[IK k+1 H k+1 ]P k+1|k (8)

[0042] Where I is the identity matrix.

[0043] The advantages of the present invention are:

[0044] (1) The present invention receives data from infrared detection modules, laser ranging modules, visible light modules and other modules to perform target resolution, and uses Kalman filtering to estimate the target motion state. Kalman filtering uses a recursive method to solve linear filtering problems. It only needs the current measurement value and the predicted value of the previous cycle to perform state estimation. It does not require a large amount of storage space, so the calculation amount is small and the calculation method is simple. In addition, Kalman filtering can also filter out noise interference, thereby effectively improving the target positioning accuracy.

[0045] (2) The system provided by the present invention integrates multiple sensor modules, has stronger target recognition capability, more accurate and reliable recognition effect, and can flexibly adapt to reconnaissance tasks in complex military environments. In addition, the entire system can be integrated into a gun-type individual reconnaissance device, which is compact and portable, easy to carry, has high system integration, and has stronger real-time information transmission capability.

[0046] (3) The present invention adopts a positioning method combining target solution and Kalman filtering, which has higher positioning accuracy. The target solution method calculates the target longitude, target latitude and altitude according to the self-positioning longitude, self-positioning latitude and detected target distance. The calculation method is simple and the calculation process is fast, thereby improving the speed of target positioning.

[0047] (4) The system of the present invention is a lightweight comprehensive reconnaissance system that integrates imaging, night vision (infrared detection), laser ranging, coordinate north direction measurement (positioning module), attitude measurement, Beidou positioning and orientation, short message information and wireless communication. It can achieve the purpose of multi-functional reconnaissance and is suitable for nighttime environments, daytime environments and all-weather reconnaissance environments day and night, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A structural block diagram of a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of the optical path of a visible light module in a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0050] Figure 3 A structural diagram of a positioning module in a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0051] Figure 4 A hardware design schematic diagram of a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0052] Figure 5 A schematic diagram of input and output signal interaction of a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0053] Figure 6This is a schematic diagram of an interface of a display module in a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0054] Figure 7 This is a schematic diagram of the peripheral circuits of the main chip U3, the selection switch U7, the operational amplifier U6, and the selection switch U4 of the character superimposition module in the single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0055] Figure 8 A schematic diagram of the peripheral circuit of a selection switch U4, an operational amplifier U2, an operational amplifier U5, and an operational amplifier U8 in a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0056] Fig. 9 A schematic diagram of a voltage conversion module in a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention;

[0057] Fig.10 The present invention is a schematic diagram showing the principle of target resolution by a comprehensive information processing module in a single-soldier multifunctional reconnaissance system disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] like Figure 1As shown, the present invention provides a single-soldier multifunctional reconnaissance system, which integrates a visible light observation system, a thermal infrared detection system, a laser ranging system, a Beidou positioning system (or satellite combined positioning) and sensor modules such as an electronic compass / attitude measurement, so as to realize the positioning of the reconnaissance target and provide the image, orientation, distance and position information of the target in real time and accurately. Specifically, the single-soldier multifunctional reconnaissance system includes an infrared detection module, a laser ranging module, a visible light module, a positioning module, a posture measurement module, a display module, a communication module, a power module and a comprehensive information processing module, wherein the infrared detection module, the laser ranging module, the visible light module, the positioning module and the posture measurement module are all connected to the comprehensive information processing module; the display module is an OLED screen, which is connected to the comprehensive information processing module to display self-positioning information, target information, image mode and network status, and the image mode includes an infrared mode and a visible light mode. The communication module is connected to the comprehensive information processing module. The power module supplies power to the entire single-soldier multifunctional reconnaissance system. The comprehensive information processing module receives the detection data of each module, performs target solution, and uses Kalman filtering to estimate the target motion state.

[0060] Among them, the visible light module is also known as the visible light observation system. Figure 2 As shown, visible light components and long-wave infrared components are used to achieve 3km identification of personnel during the day and at night. The collected images are then transmitted to the OLED screen, and the image on the OLED screen is projected at the entrance pupil of the human eye through the eyepiece. Electronic compass information, azimuth information, image conversion, image mode, image polarity, WIFI information, power display, etc. can be superimposed on the OLED screen to facilitate real-time display of information, which can be partially added or deleted according to customer needs. The superposition of information on the OLED screen is mainly realized by the character superposition module below. I will not go into details here.

[0061] like Figure 3 As shown, the positioning module is a multi-star multi-frequency GNSS antenna, which includes an antenna base 1 and an antenna body 2. The antenna base 1 is a cylindrical structure, the antenna body 2 is a hemispherical structure, and the bottom of the antenna body 2 is snapped onto the upper surface of the antenna base 1. The multi-star multi-frequency GNSS antenna adopts a double-layer multi-feed point design and supports the reception of satellite navigation signals of Beidou II, military code, GPS, GLONASS and GALILEO systems.

[0062] Hardware system design such as Figure 4 As shown in the figure, it includes the circuit design of the main control board and the circuit design of other peripheral modules. The battery powers the entire system. The main control board controls the laser ranging module, infrared component, lens, visible light component, etc. Each module is appropriately selected to complete the given function. The signals that each module interacts with the main control board are as follows Figure 5As shown, according to the internal program communication of the main control, various information such as video switching, orientation information, position information, etc. are collected for interface display. For example, the main control board in Figure 4 is the main control board of the comprehensive information processing module, the Beidou positioning and north-seeking module is the positioning module, the WiFi module is the communication module, the infrared lens control module and the infrared imaging component together constitute the infrared detection module mentioned above, and the visible light imaging component and the visible light lens control module together constitute the visible light module mentioned above.

[0063] The visual interface displays as follows Figure 6 As shown, you can choose to turn the WIFI function on and off, load and blank the crosshairs, choose black hot and white hot, and display the distance of the laser rangefinder.

[0064] See also Figures 7 to 9 As shown, the single-soldier multifunctional reconnaissance system also includes a character superposition module. The visible light module and the infrared detection module are connected to the input end of the character superposition module through the selection switch U7 and the operational amplifier U6 respectively. The storage module, the display module, and the communication module are connected to the selection switch U4 through the operational amplifier U2, the operational amplifier U5, and the operational amplifier U8 respectively. The selection switch U4 is connected to the input end of the character superposition module. The output end of the character superposition module is connected to the comprehensive information processing module through the voltage conversion module.

[0065] See also Figure 7 , the main chip of the character superposition module is a character superposition chip. The peripheral circuit of the selection switch U7 includes a resistor R33, a resistor R38, a capacitor C42, a resistor R41, a resistor B2 and a capacitor C41, one end of the resistor R33 and the eighth pin of the selection switch U7 are connected to the infrared detection module, one end of the resistor R38 and the second pin of the selection switch U7 are connected to the visible light module, one end of the capacitor C42 and the fourth pin of the selection switch U7 are connected to the power supply VCC_5VA, one end of the resistor R41 and one end of the resistor B2 are connected to the sixth pin of the selection switch U7, one end of the capacitor C41 and the seventh pin of the selection switch U7 are connected to the power supply VCC_-5VA, the other end of the resistor R33, the other end of the resistor R38, the other end of the capacitor C42, the other end of the capacitor C41, and the other end of the resistor R41 are all grounded, and the other end of the resistor B2 is connected to the IO port of the comprehensive information processing module.

[0066] The peripheral circuit of the operational amplifier U6 includes a resistor R35, a capacitor C39, a resistor R36, a capacitor C38, a capacitor C40, a resistor R34, a resistor R37, a resistor R32, a resistor R24 ​​and a capacitor C34. One end of the resistor R35 and one end of the capacitor C39 are connected to the first pin of the selection switch U7, the other end of the capacitor C39, one end of the resistor R36 and the third pin of the operational amplifier U6 are connected, the second pin of the operational amplifier U6 and one end of the capacitor C38 are connected to the power supply VCC_-5VA, the first pin of the operational amplifier U6, one end of the resistor R32 and the resistor R34 are connected One end of the resistor R35, the other end of the resistor R36, the other end of the capacitor C38, the other end of the capacitor C40, the other end of the resistor R37 and the fourth pin of the operational amplifier U6 are connected, the fifth pin of the operational amplifier U6 and one end of the capacitor C40 are connected to the power supply VCC_5VA, the other end of the resistor R32, the other end of the resistor R24 ​​and the one end of the capacitor C34 are connected, and the other end of the capacitor C34 is connected to the twenty-second pin of the main chip of the character overlay module; the other end of the resistor R35, the other end of the resistor R36, the other end of the capacitor C38, the other end of the capacitor C40, the other end of the resistor R37 and the other end of the resistor R24 ​​are all grounded.

[0067] See also Figure 8 The circuit structure of the selection switch U4 is the same as that of the selection switch U7, and the circuit structure of the operational amplifier U2, the operational amplifier U5, and the operational amplifier U8 are the same as that of the operational amplifier U6. The second pin of the selection switch U4 is connected to the twenty-sixth pin of the main chip of the character superposition module.

[0068] See also Fig. 9 , the voltage conversion module is a step-down module that converts 5V voltage into 3.3V voltage. The voltage conversion module includes a step-down chip U12, a capacitor C58, a capacitor C59, a capacitor C60 and a capacitor C61, one end of the capacitor C60, one end of the capacitor C61 and the eleventh pin of the step-down chip U12 are connected, one end of the capacitor C58, one end of the capacitor C59 and the first pin of the step-down chip U12 are connected, the output power supply VCC_3V3, the other end of the capacitor C58, the other end of the capacitor C59, the other end of the capacitor C60 and the other end of the capacitor C61 are grounded; the twelfth pin of the step-down chip U12 is connected to the power supply VCC_3V3, the seventh pin to the tenth pin of the step-down chip U12 are respectively connected to the eleventh pin, the tenth pin, the ninth pin and the eighth pin of the main chip of the character superposition module, and the second pin to the fifth pin of the step-down chip U12 are respectively connected to the twentieth pin, the thirty-second pin, the thirtieth pin and the thirty-first pin of the comprehensive information processing module.

[0069] The visible light module and the infrared detection module are connected to the input end of the character superposition module through the selection switch U7 and the operational amplifier U6 respectively. The information of the visible light module and / or the infrared detection module can be selected and superimposed through the selection switch U7. The operational amplifier U6 amplifies the collected visible light information and infrared detection data for subsequent processing. The storage module, the display module, and the communication module are respectively amplified by the operational amplifier U2, the operational amplifier U5, and the operational amplifier U8 for subsequent processing, and then these collected inputs are connected to the selection switch U4. The data of the storage module and / or the display module and / or the communication module can be selected and superimposed through the selection switch U4. The character superposition module superimposes the received data, and after superposition, it is given to the comprehensive information processing module through the voltage conversion module, and the comprehensive information processing module then displays it through the OLED screen.

[0070] like Fig.10 As shown, the specific process of the comprehensive information processing module to solve the target is:

[0071] The positioning module obtains self-positioning information through Beidou and north direction positioning information, including accurate values ​​of latitude and longitude, altitude, azimuth and pitch. When a target is found, it measures the distance to it. The distance fed back to the system is assumed to be L, then

[0072] Long2=Long1+tan -1 (L·sinθ / ARC])

[0073] Lat2=Lat1+tan -1 (L·sinω / ARC)

[0074] H′=HL·sinω

[0075] Among them, H′ is the altitude of the target, Long1 represents the self-positioning longitude, Lat1 represents the self-positioning latitude, H is the self-positioning altitude of the device, L is the distance, ω is the pitch angle, θ is the azimuth angle, Long2 represents the target longitude, Lat2 represents the target latitude, and ARC is the radius of the earth.

[0076] Through calculation, it can be obtained that the positioning longitude of the target mainly depends on the accuracy of the device's self-positioning and the measurement distance. According to the calculation of 0.08° error in the north direction, 0.12° longitude and latitude, and 3km distance, the maximum error is:

[0077] ΔLong2=1.2+3000·sin0.08=5.4m

[0078] ΔLat2=2.5+3000×sin0.16=10.9m

[0079] If single-point positioning is selected, the elevation accuracy will exceed 10m at a lateral accuracy of 1m antenna distance, which does not meet the technical requirements. DGNSS positioning is planned to be selected, which can achieve 9m elevation positioning.

[0080] The comprehensive information processing module uses Kalman filtering to estimate the target motion state. The specific process is as follows:

[0081] 1) Status prediction

[0082] Assume that the state matrix and covariance matrix at time k are X k|k and P k|k , F k is the state transfer matrix, Q k is the process noise covariance matrix, and calculates the k+1 time state prediction matrix X k+1|k With the covariance prediction matrix P k+1|k As shown in formula (1) and formula (2)

[0083] X k+1|k =F k X k|k (1)

[0084] P k+1|k =F k P k|k F k '+Q k (2)

[0085] 2) Measurement prediction

[0086] H k+1 is the measurement matrix at time k+1, and the measurement prediction vector is calculated by multiplying the state prediction matrix on the right as shown in formula (3):

[0087] Z k +1|k = H k +1 X k +1|k (3)

[0088] 3) Status Update

[0089] Calculate the innovation v k+1 and the innovation covariance S k+1 As shown in formula (4) and formula (5)

[0090] v k +1 = Z k +1 -Z k +1|k (4)

[0091] S k+1 = H k +1 P k+1|k H' k +1 + R k +1 (5)

[0092] Among them, H k+1 is the measurement matrix at time k+1, R k+1 is the measurement noise covariance matrix at time k+1, Z k+1 is the measurement vector at time k+1;

[0093] The Kalman gain is shown in formula (6):

[0094] K k +1 = P k+1|k H' k +1 S -1 k +1 (6)

[0095] The state estimation update is shown in formula (7):

[0096] X k +1|k +1 = X k +1|k + K k +1 v k +1 (7)

[0097] The covariance update is shown in formula (8):

[0098] P k+1|k +1 = [I - K k +1 H k +1 ]P k+1|k (8)

[0099] Where I is the identity matrix.

[0100] Through the above technical scheme, the present invention adopts visible light and infrared (including micro-light enhancement) image integration mode, and the designed and selected image integration module can realize continuous reconnaissance during the day and at night under the condition of visibility not more than 0.05lx. It can identify upright adult targets (higher than 1.6 meters) within a range of 3 kilometers. A laser ranging module is used for accurate target distance measurement. The designed and selected laser ranging module has a ranging error of ±5 meters within a range of 3 kilometers, and the ranging range is better than: minimum range ≤100 meters, maximum range ≥3 kilometers. Beidou positioning or GNSS dual-mode (GPS+Beidou) positioning solution is adopted, and the designed and selected satellite north-seeking and positioning system startup time is within 1 minute, the horizontal positioning accuracy is ≤5 meters (CEP), and the elevation positioning is ≤10 meters (PE). The coordinate north direction orientation system can adopt comprehensive positioning technologies such as satellite, compass, and attitude, or a better orientation solution. The overall design of the target positioning accuracy system is carried out, and the imaging module (visible light and infrared), laser ranging module, positioning module, coordinate north measurement and other systems are comprehensively evaluated. The target coordinate positioning accuracy after the final system integration is ≤10m (CEP), and the elevation positioning is ≤10m (PE). The system design has information display, storage and transmission functions, with corresponding function keys, display target coordinates, store no less than 20 sets of target data, with information transmission ports, reserved wireless access functions, and can transmit target and image information according to certain protocols. The system is designed with low power consumption. According to the overall design of the signal system and the power consumption estimation of each sensor module, a reasonable power supply system selection plan is proposed, and the system is required to work continuously for more than 8 hours in the actual natural environment. The overall system mechanical structure design adopts a gun-type portable structure. The structural adjustment requirements of the lens focusing, laser and positioning, directional module and target position information acquisition require single-handed convenient operation, and the structure is compact and reasonable.

[0101] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A single-soldier multifunctional reconnaissance system, characterized in that: It includes an infrared detection module, a laser ranging module, a visible light module, a positioning module, a posture measurement module and a comprehensive information processing module. The infrared detection module, the laser ranging module, the visible light module, the positioning module and the posture measurement module are all connected to the comprehensive information processing module; the comprehensive information processing module receives the detection data of each module, performs target solution, and uses Kalman filtering to estimate the target motion state.

2. The single-soldier multifunctional reconnaissance system according to claim 1, characterized in that: It also includes a display module, which is an OLED screen. The OLED screen is connected to the comprehensive information processing module to display self-positioning information, target information, image mode, and network status. The image mode includes an infrared mode and a visible light mode.

3. The single-soldier multifunctional reconnaissance system according to claim 1, characterized in that: It also includes a communication module, which is connected to the comprehensive information processing module.

4. The single-soldier multifunctional reconnaissance system according to claim 1, characterized in that: It also includes a power module, which supplies power to the entire individual multi-functional reconnaissance system.

5. The single-soldier multifunctional reconnaissance system according to claim 1, characterized in that: The positioning module is a multi-star multi-frequency GNSS antenna, which includes an antenna base and an antenna body. The antenna base is a cylindrical structure, the antenna body is a hemispherical structure, and the bottom of the antenna body is snapped onto the upper surface of the antenna base.

6. The single-soldier multifunctional reconnaissance system according to claim 1, characterized in that: It also includes a character superposition module, wherein the visible light module and the infrared detection module are connected to the input end of the character superposition module through the selection switch U7 and the operational amplifier U6 respectively, the storage module, the display module and the communication module are connected to the selection switch U4 through the operational amplifier U2, the operational amplifier U5 and the operational amplifier U8 respectively, the selection switch U4 is connected to the input end of the character superposition module, and the output end of the character superposition module is connected to the comprehensive information processing module through the voltage conversion module.

7. The single-soldier multifunctional reconnaissance system according to claim 6, characterized in that: The main chip of the character superposition module is a character superposition chip; the peripheral circuit of the selection switch U7 includes a resistor R33, a resistor R38, a capacitor C42, a resistor R41, a resistor B2 and a capacitor C41, one end of the resistor R33 and the eighth pin of the selection switch U7 are connected to the infrared detection module, one end of the resistor R38 and the second pin of the selection switch U7 are connected to the visible light module, one end of the capacitor C42 and the fourth pin of the selection switch U7 are connected to the power supply VCC_5VA, one end of the resistor R41 and one end of the resistor B2 are connected to the sixth pin of the selection switch U7, one end of the capacitor C41 and the seventh pin of the selection switch U7 are connected to the power supply VCC_-5VA, the other end of the resistor R33, the other end of the resistor R38, the other end of the capacitor C42, the other end of the capacitor C41, and the other end of the resistor R41 are all grounded, and the other end of the resistor B2 is connected to the IO port of the comprehensive information processing module; The peripheral circuit of the operational amplifier U6 includes a resistor R35, a capacitor C39, a resistor R36, a capacitor C38, a capacitor C40, a resistor R34, a resistor R37, a resistor R32, a resistor R24 ​​and a capacitor C34. One end of the resistor R35 and one end of the capacitor C39 are connected to the first pin of the selection switch U7, the other end of the capacitor C39, one end of the resistor R36 and the third pin of the operational amplifier U6 are connected, the second pin of the operational amplifier U6 and one end of the capacitor C38 are connected to the power supply VCC_-5VA, the first pin of the operational amplifier U6, one end of the resistor R32 and one end of the resistor R34 are connected, the other end of the resistor R34, one end of the resistor R37 and the fourth pin of the operational amplifier U6 are connected, and the operational amplifier U6 The fifth pin and one end of capacitor C40 are connected to the power supply VCC_5VA, the other end of resistor R32, one end of resistor R24 ​​and one end of capacitor C34 are connected, and the other end of capacitor C34 is connected to the twenty-second pin of the main chip of the character overlay module; the other end of resistor R35, the other end of resistor R36, the other end of capacitor C38, the other end of capacitor C40, the other end of resistor R37 and the other end of resistor R24 ​​are all grounded; the circuit structure of selection switch U4 is the same as that of selection switch U7, the circuit structure of operational amplifier U2, operational amplifier U5 and operational amplifier U8 are the same as that of operational amplifier U6, and the second pin of selection switch U4 is connected to the twenty-sixth pin of the main chip of the character overlay module.

8. The single-soldier multifunctional reconnaissance system according to claim 7, characterized in that: The voltage conversion module includes a step-down chip U12, a capacitor C58, a capacitor C59, a capacitor C60 and a capacitor C61. One end of the capacitor C60, one end of the capacitor C61 and the eleventh pin of the step-down chip U12 are connected, one end of the capacitor C58, one end of the capacitor C59 and the first pin of the step-down chip U12 are connected, and the output power supply VCC_3V3 is connected. The other ends of the capacitor C58, the other ends of the capacitor C59, the other ends of the capacitor C60 and the other ends of the capacitor C61 are grounded; the twelfth pin of the step-down chip U12 is connected to the power supply VCC_3V3, the seventh pin to the tenth pin of the step-down chip U12 are respectively connected to the eleventh pin, the tenth pin, the ninth pin and the eighth pin of the main chip of the character overlay module, and the second pin to the fifth pin of the step-down chip U12 are respectively connected to the twentieth pin, the thirty-second pin, the thirtieth pin and the thirty-first pin of the comprehensive information processing module.

9. The single-soldier multifunctional reconnaissance system according to claim 1, characterized in that: The target solution includes: The positioning module obtains self-positioning information through Beidou and north direction positioning information, including accurate values ​​of latitude and longitude, altitude, azimuth and pitch. When a target is found, it measures the distance to it. The distance fed back to the system is assumed to be L, then Long2=Long1+tan -1 (L·sinθ / ARC]) Lat2=Lat1+tan -1 (L·sinω / ARC) H′=HL·sinω Among them, H′ is the altitude of the target, Long1 represents the self-positioning longitude, Lat1 represents the self-positioning latitude, H is the self-positioning altitude of the device, L is the distance, ω is the pitch angle, θ is the azimuth angle, Long2 represents the target longitude, Lat2 represents the target latitude, and ARC is the radius of the earth.

10. The single-soldier multifunctional reconnaissance system according to claim 1, characterized in that: The method of estimating the target motion state by using Kalman filtering includes: Assume that the state matrix and covariance matrix at time k are X k|k and P k|k , F k is the state transfer matrix, Q k is the process noise covariance matrix, and calculates the k+1 time state prediction matrix X k+1|k With the covariance prediction matrix P k+1|k As shown in formula (1) and formula (2) X k+1|k =F k X k|k (1) P k+1|k =F k P k|k F k '+Q k (2) H k+1 is the measurement matrix at time k+1, and the measurement prediction vector is calculated by multiplying the state prediction matrix on the right as shown in formula (3): Z k+1|k =H k+1 X k+1|k (3) Calculate the innovation v k+1 and the innovation covariance S k+1 As shown in formula (4) and formula (5) in k+1 =Z k+1 -Z k+1|k (4) S k+1 =H k+1 P k+1|k H' k+1 +R k+1 (5) Among them, H k+1 is the measurement matrix at time k+1, R k+1 is the measurement noise covariance matrix at time k+1, Z k+1 is the measurement vector at time k+1; The Kalman gain is shown in formula (6): K k+1 =P k+1|k H' k+1 S -1 k+1 (6) The state estimation update is shown in formula (7): X k+1|k+1 =X k+1|k +K k+1 v k+1 (7) The covariance update is shown in formula (8): P k+1|k+1 =[I-K k+1 H k+1 ]P k+1|k (8) Where I is the identity matrix.

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