Inertial navigation-based pod dual-band information detection and identification processing method

Abstract

The invention discloses a detection and identification pod dual-band information processing method based on inertial navigation, and particularly relates to the field of photoelectric detection. Comprising the following steps: a prism is arranged on an inertial navigation device, and the deviation of an inertial navigation axis and an optical axis is corrected by correcting coordinates of a target in a television image and coordinates of an infrared signal of the target in a long wave detector and a medium wave detector; acquiring image deviation pixels of the long-wave detector and the medium-wave detector, respectively determining geographical system angular positions of the target detected by the long-wave detector and the medium-wave detector, determining track waveband attributes according to relevance of each frame of position data of the target detected by the long-wave detector and the medium-wave detector, and establishing a target track; and determining the wave band of the tracking target according to the track wave band attribute, and switching the wave band of the tracking target according to the detection probability of the wave band of the tracking target when the target is tracked according to the target track. And the target reporting precision is improved.

Description

Technical Field

[0001] The present application relates to the field of photoelectric detection, and in particular to a dual-band information processing method for a detection and identification pod based on inertial navigation. Background Art

[0002] The photoelectric detection pod has the characteristics of strong anti-electronic interference ability, good concealment, high detection accuracy, and convenient mounting. It can detect, track, and coordinate the positioning of targets under complex electromagnetic environment conditions. It is generally believed that the long-wave band has better detection capability for aircraft targets than the medium-wave band. The medium-wave band has a more obvious advantage in detecting engines in the tail-back situation. The detection and identification pod that integrates long waves has expanded its detection capability. However, the introduction of dual-band makes the system information flow more complicated. The built-in inertial navigation allows the pod to be mounted without target calibration, but it also brings complexity to the information processing such as the calculation of the target position inside the pod. The existing dual-band detection system has a large optical axis deviation affected by the environment and cannot be monitored, which makes it difficult to judge the consistency of dual-band targets and difficult to integrate dual-band information. In addition, the existing detection system reports target information in a multi-link conversion process of product coordinate system-body coordinate system-inertial coordinate system, which introduces a large coordinate system conversion error and leads to low target reporting accuracy. Summary of the invention

[0003] The main purpose of this application is to provide a dual-band information processing method for detection and identification pod based on inertial navigation, aiming to solve the problem of low accuracy of reporting target position existing in the prior art.

[0004] To achieve the above-mentioned purpose, the present application provides a dual-band information processing method for a detection and identification pod based on inertial navigation, including: providing a correction target, imaging the visible light signal of the correction target at the center of the field of view of the TV through a prism set on the inertial navigation device, and obtaining the coordinates of the visible light signal of the correction target in the TV image; respectively obtaining the coordinates of the infrared signal of the correction target in the long-wave detector and the coordinates in the medium-wave detector; according to the coordinates of the visible light signal of the correction target in the TV image, the coordinates of the infrared signal of the correction target in the long-wave detector, and the coordinates of the medium-wave detector, respectively obtaining the coordinates of the inertial navigation axis in the long-wave detector and the coordinates of the inertial navigation axis in the wave detector; obtaining the actual coordinates of the target in the long-wave detector, and obtaining the image deviation pixels of the long-wave detector according to the coordinates of the inertial navigation axis in the long-wave detector and the actual coordinates of the target in the long-wave detector; obtaining the actual coordinates of the target in the medium-wave detector, and obtaining the image deviation pixels of the long-wave detector according to the coordinates of the inertial navigation axis in the medium-wave detector The invention relates to a method for obtaining a target tracking band according to the coordinates of the target detector and the actual coordinates of the target in the medium wave detector; obtaining the image deviation pixel of the medium wave detector according to the image deviation pixel of the long wave detector; obtaining the geographical angular position of the target detected by the medium wave detector according to the image deviation pixel of the medium wave detector; obtaining the continuous frame position data of the target detected by the long wave detector according to the geographical angular position of the target detected by the long wave detector; obtaining the continuous frame position data of the target detected by the medium wave detector according to the geographical angular position of the target detected by the medium wave detector; determining the track band attribute according to the correlation of each frame position data of the target detected by the long wave detector and the correlation of each frame position data of the target detected by the medium wave detector, and establishing the target track; determining the band of the target to be tracked according to the track band attribute, and switching the band of the target to be tracked according to the detection probability of the band of the target to be tracked when tracking the target according to the target track.

[0005] Optionally, the coordinates of the inertial navigation axis in the long-wave detector and the coordinates of the inertial navigation axis in the medium-wave detector are acquired as follows: the coordinates of the inertial navigation axis in the long-wave detector are determined according to the pixel angle of the television, the pixel angle of the long-wave detector, the coordinates of the visible light signal of the correction target in the television image, and the coordinates of the infrared signal of the correction target in the long-wave detector; the coordinates of the inertial navigation axis in the medium-wave detector are determined according to the pixel angle of the television, the pixel angle of the medium-wave detector, the coordinates of the visible light signal of the correction target in the television image, and the coordinates of the infrared signal of the correction target in the medium-wave detector.

[0006] Optionally, the coordinates of the inertial navigation axis in the long-wave detector are (x1+x0* Q0 / Q1, y1+y0* Q0 / Q1); The coordinates of the inertial navigation axis in the medium wave detector are (x2+x0* Q0 / Q2, y2+y0* Q0 / Q2); among them, x0 and y0 are the coordinates of the visible light signal of the correction target in the TV image, x1 and y1 are the coordinates of the infrared signal of the correction target in the long wave detector, x2 and y2 are the coordinates of the infrared signal of the correction target in the medium wave detector, Q0 is the pixel angle of the TV, Q1 is the pixel angle of the long wave detector, and Q2 is the pixel angle of the medium wave detector.

[0007] Optionally, the image deviation pixels include azimuth deviation pixels and pitch direction deviation pixels. The methods for determining the image deviation pixels of the long-wave detector and the medium-wave detector are the same. The method for determining the image deviation pixels of the long-wave detector includes: taking the difference between the actual x-axis coordinate of the target in the long-wave detector and the x-axis coordinate of the inertial navigation axis in the long-wave detector as the deviation pixel of the long-wave detector in the azimuth direction, and taking the difference between the actual y-axis coordinate of the target in the long-wave detector and the y-axis coordinate of the inertial navigation axis in the long-wave detector as the deviation pixel of the long-wave detector in the pitch direction.

[0008] Optionally, the geographic angular position of the target includes the azimuth and pitch angle of the target. The method of determining the geographic angular position of the target detected by the long-wave detector is the same as the method of determining the target position detected by the medium-wave detector. Determining the geographic angular position of the target detected by the long-wave detector includes: determining the direction cosines of the target pointing according to the attitude matrix of the geographic system and the platform system, the field of view angle of the long-wave detector, and the deviation pixels of the long-wave detector in the azimuth and pitch directions respectively; determining the azimuth and pitch angle of the target according to the direction cosines of the target pointing.

[0009] Optionally, the target's azimuth and elevation angles are calculated as follows:

[0010] The target azimuth is: ; The target pitch angle is: ; in, is the azimuth deviation pixel, is the deviation pixel in the pitch direction, fov is the field of view angle, is the attitude matrix.

[0011] Optionally, the track band attribute is determined in the following manner: according to the target position detected by the long-wave detector, the first continuous frame data and the second continuous frame data of the target detected by the long-wave detector are obtained; according to the target position detected by the medium-wave detector, the first continuous frame data and the second continuous frame data of the target detected by the medium-wave detector are obtained, and the length of the first continuous frame data is less than the length of the second continuous frame data; when it is determined that the number of associated frames in the first continuous frame data of the long-wave detector is greater than or equal to a first preset threshold, the track band attribute is determined to be long wave; when it is determined that the number of associated frames in the first continuous frame data of the long-wave detector is less than the first preset threshold, and the number of associated frames in the first continuous frame data of the medium-wave image is greater than or equal to the first preset threshold, the track band attribute is determined to be medium wave.

[0012] Optionally, after acquiring the first continuous frame data and the second continuous frame data of the target detected by the long-wave detector and the first continuous frame data and the second continuous frame data of the target detected by the medium-wave detector, the method further includes: when it is determined that the number of associated frames in the first continuous frame data of the long-wave detector and the medium-wave detector is less than a first preset threshold, and the association probability of the second continuous frame data of the long-wave detector is greater than or equal to a second preset threshold, determining that the track band attribute is long wave; when it is determined that the number of associated frames in the first continuous frame data of the long-wave detector and the medium-wave detector is less than the first preset threshold, and the association probability of the second continuous frame data of the long-wave detector is less than the second preset threshold, determining that the track band attribute is medium wave.

[0013] Optionally, before setting the correction target, the method also includes calibrating the long-wave detector and the medium-wave detector, and the correction method includes: controlling the long-wave detector and the medium-wave detector to collect the response coefficient of the radiation source in a preset temperature section, and establishing a response curve according to the response coefficient, and correcting the response curve; wherein the preset temperature section is a combination of temperature points of the long-wave detector and the medium-wave detector, and for each temperature point in the preset temperature section, the long-wave detector and the medium-wave detector collect the response coefficient in turn.

[0014] Optionally, switching the band of the tracking target according to the detection probability of the band of the tracking target includes: when it is determined that the detection probability of the band of the current tracking target decreases and the detection probability of the band of another tracking target is greater than a third preset threshold, switching the band of the current tracking target.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The dual-band information processing method of the detection and identification pod based on inertial navigation of the present invention adopts a temperature set to collect the response coefficients of the long-wave detector and the medium-wave detector at the same time, which can save the calibration time; the inertial navigation axis is made visible through a prism, and the television is used as a calibration reference, so that the deviation between the optical axis and the inertial navigation axis of the medium- and long-wave detection system can be effectively detected and corrected in real time, and the high-precision consistency of the optical axis under a complex environment is achieved, which is conducive to the high fusion of dual-band information, improves the stability of target detection, and effectively reduces the false alarm rate of the system; at the same time, due to the strapdown design of the medium- and long-wave optical axis and the inertial navigation axis, the detection and identification pod directly uses the inertial navigation information to report the target inertial coordinate system information, reduces the conversion link between the product coordinate and the body coordinate system, and greatly improves the reporting target accuracy; when establishing the track, the track band attribute is determined according to the correlation of the continuous frame target position data detected by the long-wave detector and the medium-wave detector, and the corresponding band is used for tracking in the subsequent tracking, and the band is switched in real time, and the band with a higher detection rate is selected for tracking, so as to give full play to the advantages of dual-band detection and improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of a dual-band information processing method for detecting and identifying a pod based on inertial navigation is provided for this application; Figure 2 for Figure 1 Schematic diagram of the detailed process of determining track attributes in .

[0017] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] The present invention provides a dual-band information processing method for a detection and identification pod based on inertial navigation, wherein the detection and identification pod comprises a long-wave detector, a medium-wave detector and a television; Figure 1 As shown, the specific steps include: Step S1, calibrating the long-wave detector and the medium-wave detector; specifically, the following steps may be included.

[0020] Step S11, determining the wavelength interval according to the working wavelength range of the long-wave detector and the required accuracy, and dividing the working bands of the long-wave detector and the medium-wave detector into a plurality of band intervals according to the wavelength interval; Step S12, adjusting the temperature of the black body component (radiation source) so that radiation of appropriate intensity can be generated in each band interval, thereby determining the temperature point corresponding to the medium wave and the temperature point corresponding to the long wave in each band interval; illustratively, for example, the temperature point of the long wave is {-30, -10, 15, 30}, and the temperature point of the medium wave is {-20, -10, 15, 40}; Step S13, merging the temperature points corresponding to the medium wave and the temperature points corresponding to the long wave to obtain a temperature point set, {-30, -20, -10, 15, 30, 40}; Step S14, aiming the long-wave detector and the medium-wave detector at the blackbody radiation source, collecting the response coefficient of each temperature point in the temperature point set in turn, plotting the response coefficient of each detector in its respective band interval into a curve, obtaining the actual response curve of the detector, and using the ideal response curve of the detector for correction.

[0021] Step S2, setting a correction target, correcting the deviation between the infrared optical axis and the inertial navigation axis, and obtaining the coordinates of the inertial navigation axis in the long-wave detector and the coordinates of the inertial navigation axis in the medium-wave detector respectively; Specifically, a calibration target is set, and a visible light signal of the calibration target is imaged at the center of the field of view of a television through a prism provided on the inertial navigation device, and the coordinates of the visible light signal of the calibration target in the television image are obtained; the coordinates of the infrared signal of the calibration target in the long-wave detector and the coordinates of the infrared signal of the calibration target in the medium-wave detector are respectively obtained; according to the coordinates of the visible light signal of the calibration target in the television image, the coordinates of the infrared signal of the calibration target in the long-wave detector, and the coordinates of the infrared signal of the calibration target in the medium-wave detector, the coordinates of the inertial navigation axis in the long-wave detector and the coordinates of the inertial navigation axis in the medium-wave detector are respectively obtained; Step S21, by setting a prism on the inertial navigation device to make the inertial navigation axis visible, so that the calibration target appears in the field of view of the television, the medium wave detector, and the long wave detector at the same time, and the television optical axis represents the inertial navigation axis; Step S22, the medium wave detector and the long wave detector receive the corresponding band information of the target radiation to form an image, and the television receives the target visible light signal reflected by the prism set on the inertial navigation device to form an image; the target position is moved so that the target image is placed at the center of the television field of view; Step S23, obtaining the coordinates (x0, y0) of the visible light signal of the calibration target after position adjustment in step 2 in the television image relative to the center (lower right is positive), the coordinates (x1, y1) of the infrared signal of the calibration target in the long-wave image of the long-wave detector, and the coordinates (x2, y2) of the infrared signal of the calibration target in the medium-wave image of the medium-wave detector; Step S24, according to the pixel angle Q0 of the TV, the coordinates (x0, y0) of the visible light signal of the calibration target in the TV image and the pixel angles Q1 and Q2 of the long-wave detector and the medium-wave detector, determine the imaging deviation of the calibration target in the medium-wave infrared and long-wave infrared, that is, the deviation between the medium-wave infrared and long-wave infrared optical axes and the inertial navigation axis; and through the deviation and the coordinates of the medium-wave infrared and long-wave infrared signals in the corresponding detectors, the coordinates of the inertial navigation axis in the long-wave detector and the medium-wave detector can be obtained. The specific formula is as follows: The coordinates of the inertial navigation axis in the field of view of the long-wave detector (i.e., the long-wave field of view) are (x1+x0* Q0 / Q1, y1+y0* Q0 / Q1); The coordinates of the inertial navigation axis in the field of view of the medium-wave detector (i.e., the long-wave field of view) are (x2+x0* Q0 / Q2, y2+y0* Q0 / Q2).

[0022] Step S3, according to the coordinates of the inertial navigation axis in the long-wave detector and the medium-wave detector, correspondingly obtaining the image deviation pixels of the long-wave detector and the image deviation pixels of the medium-wave detector; Specifically, the actual coordinates of the target in the long-wave detector are obtained, and the image deviation pixels of the long-wave detector are obtained according to the coordinates of the inertial navigation axis in the long-wave detector and the actual coordinates of the target in the long-wave detector; the actual coordinates of the target in the medium-wave detector are obtained, and the image deviation pixels of the medium-wave detector are obtained according to the coordinates of the inertial navigation axis in the medium-wave detector and the actual coordinates of the target in the medium-wave detector; wherein the image deviation pixels include the azimuth direction deviation pixels and pitch deviation pixels The calculation method of the image deviation pixel of the long-wave detector is the same as that of the medium-wave detector. Taking the long-wave detector as an example, the formula for determining the image deviation pixel of the long-wave detector is:

[0023] The image deviation pixel determination formula of the medium wave detector is:

[0024] Where x is the actual x-axis coordinate of the target in the long-wave detector, and y is the actual y-axis coordinate of the target in the long-wave detector.

[0025] Step S4, determining the geographic coordinates of the target detected by the long-wave detector and the medium-wave detector according to the attitude matrix and the image deviation pixels of the long-wave detector and the medium-wave detector; wherein the geographic coordinates of the target include the azimuth and elevation of the target, and the specific method is as follows.

[0026] Define the geographic coordinate system n, "northeast ground"; platform coordinate system a, "front right bottom", and fixedly connected to the detector. Assume that the inertial navigation outputs the geographic system Euler angle heading , Pitch , Roll , then the attitude matrix from the geographic system to the platform system is It can be expressed as:

[0027] Assuming that the pixel angle of the detector represents the field of view angle fov, according to the attitude matrix of the geographic system and the platform system , the detector's field of view angle fov and the deviation pixels of each detector in the azimuth and pitch directions, determine the direction cosine of the target pointing to the corresponding detector, the formula is as follows:

[0028] Determine the azimuth and elevation of the target based on the direction cosines of the target's direction: The target azimuth is: ; The target pitch angle is: .

[0029] Step S5, respectively obtaining the continuous frame position data of the target detected by the long wave detector and the medium wave detector, determining the track band attribute according to the correlation of each frame data in the long wave detector and the medium wave detector, and establishing the target track; Specifically, continuous frame position data of the target detected by the long-wave detector is obtained according to the geographic angular position of the target detected by the long-wave detector; continuous frame position data of the target detected by the medium-wave detector is obtained according to the geographic angular position of the target detected by the medium-wave detector; according to the correlation of each frame position data of the target detected by the long-wave detector and the correlation of each frame position data of the target detected by the medium-wave detector, the track band attribute is determined, and the target track is established.

[0030] It is worth noting that the correlation refers to the position change of the target in each frame. For example, when the number of frames is small, it can be a preset number of frame correlations in consecutive frames, and when the number of frames is large, it can be a correlation probability.

[0031] Specifically, a sliding window of a track association algorithm is used to count first continuous frame position data and second continuous frame position data of a target detected by a long-wave detector, and first continuous frame position data and second continuous frame position data of a target detected by a medium-wave detector, wherein the length of the first continuous frame data is less than the length of the second continuous frame data; when it is determined that the number of associated frames in the first continuous frame data of the long-wave detector is greater than or equal to a first preset threshold, the track band attribute is determined to be long wave, and a target track is established according to the data of the long-wave detector; when it is determined that the number of associated frames in the first continuous frame data of the long-wave detector is less than the first preset threshold, and the number of associated frames in the first continuous frame data of the medium-wave detector is greater than or equal to the first preset threshold, the track band attribute is determined to be long wave, and a target track is established according to the data of the long-wave detector; value, determine that the track band attribute is medium wave, and establish the target track according to the data of the medium wave detector; when it is determined that the number of frames in which the association appears in the first continuous frame data of the long wave detector and the medium wave detector is less than the first preset threshold, and the association probability of the second continuous frame data of the long wave detector is greater than or equal to the second preset threshold, determine that the track band attribute is long wave, and establish the target track according to the data of the long wave detector; when it is determined that the number of frames in which the association appears in the first continuous frame data of the long wave detector and the medium wave detector is less than the first preset threshold, and the association probability of the second continuous frame data of the long wave detector is less than the second preset threshold, determine that the track band attribute is medium wave, and establish the target track according to the data of the medium wave detector.

[0032] Exemplarily, for example, the first continuous frame data may be the latest continuous 6 frames of data, and the second continuous frame data may be the latest continuous 200 frames of data. The method for identifying the track band of the target in step S5 is as follows.

[0033] like Figure 2 As shown in the figure, if the target is associated with 4 frames in the latest 6 frames of data of the long-wave detector, the track band attribute is determined to be long wave, otherwise, the target is judged to be in the latest 6 frames of data of the medium-wave detector; if 4 frames in the latest 6 frames of data are associated, the track band attribute is determined to be medium wave; otherwise, the target is judged to be in the latest 200 frames of data of the long-wave detector, and if the association probability is greater than or equal to 50%, the track band attribute is determined to be long wave, and when the association probability is less than 50%, the track band attribute is determined to be medium wave.

[0034] Step S6, determining the band of the target to be tracked according to the track band attribute, and switching the band of the target to be tracked according to the detection probability of the band of the target to be tracked when tracking the target according to the target track.

[0035] Specifically, the track band attribute shows that the current target track is detected by a long-wave detector or a medium-wave detector; and in the overall tracking process, the detection rate of the medium- and long-wave images is judged in real time. When it is determined that the detection probability of the current tracking band decreases and the detection probability of another band is greater than the third preset threshold, the current tracking band is switched.

[0036] A typical scenario is, for example, when using a long-wave detector to track a target behind you, as the target gets farther and farther away, the detection capability of the long-wave detector continues to decrease, but the detection probability of the medium-wave detector is higher. When the long-wave detector cannot detect, switching to the medium-wave detector for tracking can improve the tracking capability of the system. Exemplarily, a detection probability of 80% or more is considered feasible, and a detection probability of 30% or less is considered low. When the detection probability of the current tracking band is lower than the third preset threshold (30%) and the detection probability of another band is higher than 80%, the tracking band is switched.

[0037] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A dual-band information processing method for detecting and identifying pods based on inertial navigation, characterized in that: include: A calibration target is set, and a visible light signal of the calibration target is imaged at the center of the field of view of the television through a prism set on the inertial navigation device, and the coordinates of the visible light signal of the calibration target in the television image are obtained; Respectively obtain the coordinates of the infrared signal of the calibration target in the long-wave detector and the coordinates in the medium-wave detector; According to the coordinates of the visible light signal of the calibration target in the television image, and the coordinates of the infrared signal of the calibration target in the long-wave detector and in the medium-wave detector, the coordinates of the inertial navigation axis in the long-wave detector and the coordinates of the inertial navigation axis in the medium-wave detector are obtained respectively; According to the coordinates of the inertial navigation axis on the long-wave detector, the image deviation pixels of the long-wave detector are obtained; According to the coordinates of the inertial navigation axis in the wave detector, the image deviation pixels of the long wave detector are obtained; According to the image deviation pixels of the long-wave detector, the geographic coordinate position of the target detected by the long-wave detector is obtained, and the continuous frame position data of the current target is obtained; According to the image deviation pixel of the medium wave detector, the geographic coordinate position of the target detected by the medium wave detector is obtained, and the continuous frame position data of the current target is obtained; According to the correlation of each frame position data of the target detected by the long-wave detector and the correlation of each frame position data of the target detected by the medium-wave detector, the track band attribute is determined and the target track is established; The band of the target to be tracked is determined according to the track band attribute, and when the target is tracked according to the target track, the band of the target to be tracked is switched according to the detection probability of the band of the target to be tracked.

2. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 1 is characterized in that: The coordinates of the inertial navigation axis in the long-wave detector and the coordinates of the inertial navigation axis in the medium-wave detector are obtained as follows: The coordinates of the inertial navigation axis in the long-wave detector are determined according to the pixel angle of the television, the pixel angle of the long-wave detector, the coordinates of the visible light signal of the calibration target in the television image, and the coordinates of the infrared signal of the calibration target in the long-wave detector; The coordinates of the inertial navigation axis in the medium wave detector are determined according to the pixel angle of the television, the pixel angle of the medium wave detector, the coordinates of the visible light signal of the correction target in the television image, and the coordinates of the infrared signal of the correction target in the medium wave detector.

3. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 2 is characterized in that: The coordinates of the inertial navigation axis in the long-wave detector are (x1+x0* Q0 / Q1, y1+y0* Q0 / Q1); The coordinates of the inertial navigation axis in the medium wave detector are (x2+x0* Q0 / Q2, y2+y0* Q0 / Q2); Among them, x0 and y0 are the coordinates of the visible light signal of the correction target in the TV image, x1 and y1 are the coordinates of the infrared signal of the correction target in the long-wave detector, x2 and y2 are the coordinates of the infrared signal of the correction target in the medium-wave detector, Q0 is the pixel angle of the TV, Q1 is the pixel angle of the long-wave detector, and Q2 is the pixel angle of the medium-wave detector.

4. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 1 is characterized in that: The image deviation pixels include azimuth deviation pixels and elevation deviation pixels. The method for determining the image deviation pixels of the long-wave detector and the medium-wave detector is the same. The method for determining the image deviation pixels of the long-wave detector includes: The difference between the actual x-axis coordinate of the target in the long-wave detector and the x-axis coordinate of the inertial navigation axis in the long-wave detector is taken as the deviation pixel of the long-wave detector in the azimuth direction, and the difference between the actual y-axis coordinate of the target in the long-wave detector and the y-axis coordinate of the inertial navigation axis in the long-wave detector is taken as the deviation pixel of the long-wave detector in the elevation direction.

5. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 1 is characterized in that: The geographic angular position of the target includes the azimuth and elevation of the target. The method of determining the geographic angular position of the target detected by the long-wave detector is the same as the method of determining the geographic angular position of the target detected by the medium-wave detector. The method of determining the geographic angular position of the target detected by the long-wave detector includes: Determine the direction cosine of the target pointing based on the attitude matrix of the geographic system and the platform system, the field of view angle of the long-wave detector, and the deviation pixels of the long-wave detector in the azimuth and elevation directions; The azimuth and elevation angles of the target are determined based on the direction cosines of the target's direction.

6. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 5 is characterized in that: The calculation formula of the target's azimuth and elevation angle is: The target azimuth is: ; The target pitch angle is: ; in, is the azimuth deviation pixel, is the deviation pixel in the pitch direction, fov is the field of view angle, is the attitude matrix.

7. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 1 is characterized in that: The track band properties are determined in the following way: According to the target position detected by the long-wave detector, first continuous frame data and second continuous frame data of the target detected by the long-wave detector are acquired; according to the target position detected by the medium-wave detector, first continuous frame data and second continuous frame data of the target detected by the medium-wave detector are acquired, wherein the length of the first continuous frame data is less than the length of the second continuous frame data; When it is determined that the number of associated frames in the first continuous frame data of the long-wave detector is greater than or equal to a first preset threshold, determining that the track band attribute is long-wave; When it is determined that the number of frames in which the association occurs in the first continuous frame data of the long wave detector is less than the first preset threshold, and the number of frames in which the association occurs in the first continuous frame data of the medium wave image is greater than or equal to the first preset threshold, the track band attribute is determined to be medium wave.

8. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 7 is characterized in that: After acquiring the first continuous frame data and the second continuous frame data of the target detected by the long-wave detector and the first continuous frame data and the second continuous frame data of the target detected by the medium-wave detector, the method further includes: When it is determined that the number of frames in which association occurs in the first continuous frame data of the long-wave detector and the medium-wave detector is less than a first preset threshold, and the association probability of the second continuous frame data of the long-wave detector is greater than or equal to a second preset threshold, it is determined that the track band attribute is long-wave; When it is determined that the number of frames in which association occurs in the first continuous frame data of the long wave detector and the medium wave detector is less than the first preset threshold, and the association probability of the second continuous frame data of the long wave detector is less than the second preset threshold, it is determined that the track band attribute is medium wave.

9. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 1 is characterized in that: Before setting the correction target, the method further includes calibrating the long-wave detector and the medium-wave detector, and the correction method includes: Control the long-wave detector and the medium-wave detector to collect the response coefficient of the radiation source in the preset temperature range, establish a response curve according to the response coefficient, and correct the response curve; The preset temperature section is a combination of temperature points of the long-wave detector and the medium-wave detector. For each temperature point in the preset temperature section, the long-wave detector and the medium-wave detector collect response coefficients in turn.

10. The dual-band information processing method for detecting and identifying pods based on inertial navigation according to claim 1 is characterized in that: The switching of the band of the tracking target according to the detection probability of the band of the tracking target includes: When it is determined that the detection probability of the band of the current tracking target decreases and the detection probability of the band of another tracking target is greater than a third preset threshold, the band of the current tracking target is switched.

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