A dual-band information processing method for detection and identification pod based on inertial navigation

Abstract

The present application discloses a dual-band information processing method for a detection and identification pod based on inertial navigation, specifically relating to the field of photoelectric detection. It includes: a prism set on the inertial navigation device, which corrects the deviation of the inertial navigation axis and the optical axis by correcting the coordinates of the target in the TV image and the coordinates of the target's infrared signal in the long-wave detector and the medium-wave detector; and obtains the image deviation pixels of the long-wave detector and the medium-wave detector, respectively determines the geographic angular position of the target detected by the long-wave detector and the medium-wave detector, determines the track band attributes based on the correlation of the position data of each frame of the target detected by the long-wave detector and the medium-wave detector, and establishes the target track; determines the track band based on the track band attributes, and when tracking the target based on the target track, switches the track target band based on the detection probability of the track target band. This improves the accuracy of target reporting.

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] Optoelectronic detection pods offer strong resistance to electronic interference, excellent concealment, high detection accuracy, and easy installation. They can detect, track, and coordinate the location of targets in complex electromagnetic environments. It is generally believed that the longwave band is superior to the mediumwave band for detecting aircraft targets, with the mediumwave band being more advantageous for detecting engines in a tail-and-behind situation. Detection and identification pods that integrate longwave and longwave have expanded their detection capabilities. However, the introduction of dual-band systems complicates the system information flow. While built-in inertial navigation eliminates the need for onboard calibration, it also complicates information processing, such as internal target position calculation. Existing dual-band detection systems suffer from significant and unmonitored optical axis deviation due to environmental influences, making it difficult to consistently interpret targets across the two bands and fusing information from the two bands. Furthermore, existing detection systems require a multi-step conversion process from the product coordinate system to the aircraft coordinate system to the inertial coordinate system, introducing significant coordinate system conversion errors and resulting in 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 pods based on inertial navigation, aiming to solve the problem of low accuracy in reporting target position in the existing technology.

[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, comprising: providing a correction target, imaging the visible light signal of the correction target at the center of the field of view of the television through a prism set on the inertial navigation device, and obtaining the coordinates of the visible light signal of the correction target in the television 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 television image, and the coordinates of the infrared signal of the correction target in the long-wave detector, and in 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 medium-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 coordinates of the detector and the actual coordinates of the target in the medium-wave detector are used to obtain the image deviation pixels of the medium-wave detector; the geographic angular position of the target detected by the long-wave detector is obtained according to the image deviation pixels of the long-wave detector; the geographic angular position of the target detected by the medium-wave detector is obtained according to the image deviation pixels of the medium-wave detector; the 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; the 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; the track band attributes are determined according to the correlation of the position data of each frame of the target detected by the long-wave detector and the correlation of the position data of each frame of the target detected by the medium-wave detector, and the target track is established; the band of the target to be tracked is determined according to the track band attributes, and when tracking the target 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.

[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 obtained as follows: the coordinates of the inertial navigation axis in the long-wave detector are determined based on 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; and the coordinates of the inertial navigation axis in the medium-wave detector are determined based on the pixel angle of the television, the pixel angle of the medium-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 medium-wave detector.

[0006] Optionally, the coordinates of the inertial navigation axis on the long-wave detector are (x1+x0* Q0 / Q1, y1+y0* Q0 / Q1);

[0007] 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 calibration target in the TV image, x1 and y1 are the coordinates of the infrared signal of the calibration target in the long-wave detector, x2 and y2 are the coordinates of the infrared signal of the calibration 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.

[0008] Optionally, the image deviation pixels include azimuth deviation pixels and pitch 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: using 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 using 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.

[0009] Optionally, the geographic angular position of the target includes the azimuth and pitch angles of the target. The method for determining the geographic angular position of the target detected by the long-wave detector is the same as that for 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 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 pitch directions respectively; and determining the azimuth and pitch angles of the target based on the direction cosines of the target pointing.

[0010] Optionally, the target's azimuth and elevation angles are calculated as follows:

[0011]

[0012] The target azimuth is: ;

[0013] The target pitch angle is: ;

[0014] in, is the azimuth deviation pixel, is the pitch direction deviation pixel, fov is the field of view angle, is the posture matrix.

[0015] Optionally, the track band attribute is determined in the following manner: based on 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 obtained; based on 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 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.

[0016] Optionally, after obtaining 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 correlation appears in the first continuous frame data of the long-wave detector and the medium-wave detector is less than a first preset threshold value, and the correlation probability of the second continuous frame data of the long-wave detector is greater than or equal to a second preset threshold value, determining that the track band attribute is long-wave; when it is determined that the number of frames in which correlation appears in the first continuous frame data of the long-wave detector and the medium-wave detector is less than the first preset threshold value, and the correlation probability of the second continuous frame data of the long-wave detector is less than the second preset threshold value, determining that the track band attribute is medium-wave.

[0017] Optionally, before setting the correction target, the method further 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 based on 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.

[0018] 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.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] The invention discloses a dual-band information processing method for a detection and identification pod based on inertial navigation, which adopts a temperature set to simultaneously collect the response coefficients of a long-wave detector and a medium-wave detector, thereby saving calibration time; the inertial navigation axis is made visible through a prism, and 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, thereby achieving high-precision consistency of the optical axis under complex environments, being conducive to high integration of dual-band information, improving the stability of target detection, and effectively reducing 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 inertial navigation information to report the target inertial coordinate system information, thereby reducing the conversion link between the product coordinate and the body coordinate system, and greatly improving the accuracy of target reporting; when establishing a track, the track band attribute is determined according to the correlation between 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 subsequent tracking, and the band is switched in real time to select the band with a higher detection rate for tracking, thereby giving full play to the advantages of dual-band detection and improving detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a flowchart of a dual-band information processing method for detecting and identifying pods based on inertial navigation in this application;

[0022] Figure 2 for Figure 1 Schematic diagram of the detailed process of determining track attributes in .

[0023] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0025] 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 includes a long-wave detector, a medium-wave detector and a television; Figure 1 As shown, the specific steps include:

[0026] Step S1, calibrating the long-wave detector and the medium-wave detector; specifically, the following steps may be included.

[0027] Step S11, determining the wavelength interval according to the operating wavelength range of the long-wave detector and the required accuracy, and dividing the operating wavelength bands of the long-wave detector and the medium-wave detector into a plurality of wavelength intervals according to the wavelength interval;

[0028] Step S12: Adjust the temperature of the blackbody component (radiation source) so that radiation of appropriate intensity can be generated within each wavelength range. This can determine the temperature points corresponding to the medium wave and the long wave within each wavelength range. For example, the long wave temperature points are {-30, -10, 15, 30}, and the medium wave temperature points are {-20, -10, 15, 40}.

[0029] 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};

[0030] In step S14, the long-wave detector and the medium-wave detector are aligned with the blackbody radiation source. For each temperature point in the temperature point set, the long-wave detector and the medium-wave detector collect the response coefficient in turn, and the response coefficient of each detector in its respective band interval is plotted into a curve to obtain the actual response curve of the detector, which is then corrected using the ideal response curve of the detector.

[0031] Step S2: Setting a calibration target, correcting the deviation between the infrared optical axis and the inertial navigation axis, and obtaining the coordinates of the inertial navigation axis on the long-wave detector and the inertial navigation axis on the medium-wave detector respectively;

[0032] Specifically, a calibration target is set, a visible light signal of the calibration target is imaged at the center of a television field of view 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; based on 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 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;

[0033] 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, medium wave detector, and long wave detector at the same time. At this time, the television optical axis represents the inertial navigation axis;

[0034] Step S22: The medium-wave detector and the long-wave detector receive the corresponding band information of the target radiation and form an image; the television receives the target visible light signal reflected by the prism provided on the inertial navigation unit and forms an image; the target position is moved so that the target image is positioned at the center of the television field of view;

[0035] Step S23, obtaining the coordinates (x0, y0) of the visible light signal of the calibration target after position adjustment in step 2 relative to the center (positive in the lower right) of the television image, 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;

[0036] Step S24 determines the imaging deviation of the calibration target in the medium-wave infrared and long-wave infrared, based on the television pixel angle Q0, the coordinates (x0, y0) of the calibration target's visible light signal in the television image, and the pixel angles Q1 and Q2 of the long-wave and medium-wave detectors. This deviation is the deviation between the medium-wave infrared and long-wave infrared optical axes and the inertial navigation axis. The coordinates of the inertial navigation axis in the long-wave and medium-wave detectors are then derived using this deviation and the coordinates of the medium-wave infrared and long-wave infrared signals in the corresponding detectors. The specific formula is as follows:

[0037] 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);

[0038] 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).

[0039] Step S3, obtaining the image deviation pixels of the long-wave detector and the image deviation pixels of the medium-wave detector according to the coordinates of the inertial navigation axis in the long-wave detector and the medium-wave detector;

[0040] 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 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 image deviation pixel determination formula of the long-wave detector is:

[0041]

[0042] The image deviation pixel determination formula of the medium wave detector is:

[0043]

[0044] 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.

[0045] Step S4, determining the geographic coordinates of the target detected by the long-wave detector and the medium-wave detector based on 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 angle of the target, and the specific method is as follows.

[0046] Define the geographic coordinate system n, "northeast ground"; platform coordinate system a, "front right bottom", and connect them to the detector. Assume that the inertial navigation outputs the geographic Euler angle heading , pitch and fall , Roll , then the attitude matrix from the geographic system to the platform system is It can be expressed as:

[0047]

[0048] 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:

[0049]

[0050] Determine the azimuth and elevation of the target based on the direction cosines of the target's direction:

[0051] The target azimuth is: ;

[0052] The target pitch angle is: .

[0053] 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 between the frame data of the long wave detector and the medium wave detector, and establishing the target track;

[0054] Specifically, continuous frame position data of the target detected by the long-wave detector is obtained based on 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 based on the geographic angular position of the target detected by the medium-wave detector; based on the correlation between the position data of each frame of the target detected by the long-wave detector and the correlation between the position data of each frame of the target detected by the medium-wave detector, the track band attribute is determined and the target track is established.

[0055] It is worth noting that correlation refers to the change in the position of the target in each frame. For example, when the number of frames is small, it can be a preset number of frames with correlation in consecutive frames, and when the number of frames is large, it can be the probability of correlation.

[0056] 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 the 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 the 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 correlation 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 correlation 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 correlation 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 correlation 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.

[0057] 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 target track band in step S5 is as follows.

[0058] like Figure 2 As shown in the figure, if the target is associated with 4 frames in the latest 6 frames of data from 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 from 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 from the long-wave detector. If the association probability is greater than or equal to 50%, the track band attribute is determined to be long wave. If the association probability is less than 50%, the track band attribute is determined to be medium wave.

[0059] 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.

[0060] Specifically, the track band attributes indicate whether the current target track is detected by a long-wave detector or a medium-wave detector. During the overall tracking process, the detection rate of medium- and long-wave images is determined 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 a third preset threshold, the current tracking band is switched.

[0061] A typical scenario involves tracking a target with a longwave detector. As the target moves farther away, the longwave detector's detection capability decreases, while the mediumwave detector has a higher detection probability. When the longwave detector fails to detect the target, switching to the mediumwave detector for tracking can improve the system's tracking capability. For example, a detection probability of 80% or above indicates feasible detection, while a probability of 30% or below indicates a low detection probability. A tracking band switch occurs when the detection probability of the current tracking band falls below a third preset threshold (30%) and the detection probability of another band exceeds 80%.

[0062] The above are only preferred embodiments of the present application and do not 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: Set a calibration target, image the visible light signal of the calibration target at the center of the television's field of view through a prism set on the inertial navigation unit, and obtain the coordinates of the visible light signal of the calibration target in the television image; Obtain the coordinates of the infrared signal of the calibration target in the long-wave detector and the coordinates in the medium-wave detector respectively; 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 medium wave detector, the image deviation pixels of the medium 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 pixels 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 detection and identification pod 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 on the long-wave detector are determined based on 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 on the long-wave detector; The coordinates of the inertial guidance 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 calibration target in the television image, and the coordinates of the infrared signal of the calibration 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 on 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 used 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 used as the deviation pixel of the long-wave detector in the pitch direction.

5. The dual-band information processing method for detection and identification pod 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 for determining the geographic angular position of the target detected by the long-wave detector is the same as that for determining the position of the target detected by the medium-wave detector. The method for determining the geographic angular position of the target detected by the long-wave detector includes: Determine the direction cosines 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 pitch 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 detection and identification pod 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 pitch direction deviation pixel, fov is the field of view angle, is the posture 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: acquiring, based on 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; acquiring, based on 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, wherein the length of the first continuous frame data is shorter than the length of the second continuous frame data; 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 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 detection and identification pod 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 correlation 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 correlation probability of the second continuous frame data of the long-wave detector is greater than or equal to a second preset threshold, the track band attribute is determined to be long-wave; When it is determined that the number of frames in which correlation 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 correlation probability of the second continuous frame data of the long wave detector is less than a second preset threshold, it is determined that the track band attribute is medium wave.

9. The dual-band information processing method for detection and identification pod based on inertial navigation according to claim 1 is characterized in that: Before setting the calibration target, the method further includes calibrating the long-wave detector and the medium-wave detector. The calibration 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 the response curve according to the response coefficient, and calibrate 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 sequence.

10. The dual-band information processing method for detection and identification pod 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 currently tracked target decreases and the detection probability of the band of another tracked target is greater than a third preset threshold, the band of the currently tracked target is switched.

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