Photoelectric intrusion target tracking method, device and system based on relative position

Abstract

The invention discloses a method, a device and a system for photoelectric tracking of an intrusion target based on a relative position, belongs to the fields of communication technologies and protocols (http, websocket and the like), geographic information technologies and databases, and particularly relates to photoelectric tracking of the intrusion target. The problems that in the prior art, errors are large when traditional longitude and latitude are adopted for guiding an air target, invasion target movement is random, and the target is prone to being lost are solved. The method comprises the following steps: a guiding and tracking step: acquiring a pitch angle and an azimuth angle of the photoelectric equipment according to the installation position of the photoelectric equipment and the guiding longitude and latitude and the guiding height of a target; the system is also used for guiding the photoelectric equipment to track the target according to the pitch angle and the azimuth angle of the photoelectric equipment. The method, the device and the system for photoelectric tracking of the intrusion target based on the relative position are suitable for photoelectric tracking of the air intrusion target.

Description

Technical Field

[0001] The present invention relates to the fields of communication technology and protocol (HTTP and websocket, etc.) and geographic information technology and database, and in particular to photoelectric tracking of intrusion targets. Background Art

[0002] As the scale of airports continues to expand and their aviation business continues to improve, the number of flights is also gradually increasing. In order to ensure that each flight can operate safely and is not affected by intrusion targets, it is necessary to detect and identify intrusion targets.

[0003] The existing devices or methods for detecting and identifying intrusion targets often have the following problems:

[0004] (1) Some devices detect and identify by comparing the previous and next frames, which results in an alarm if the image is changed.

[0005] (2) Noise is prone to occur in the transmission channel of the device, which can lead to false alarms.

[0006] (3) When the tower or other supporting structure on which the equipment is located tilts, the alarm positioning error occurs.

[0007] (4) Since most of the invading targets are in the air, the traditional longitude and latitude guidance of aerial targets has large errors.

[0008] (5) The invading target moves randomly, and it is easy to lose the target if the equipment is guided directly by longitude and latitude.

[0009] Due to the existence of the above problems, there is an urgent need in the art for a method of photoelectrically tracking an intrusion target so as to track and view the intrusion target in real time. Summary of the invention

[0010] The present invention proposes a method, device and system for photoelectric tracking of intrusion targets based on relative position, which solves the problems in the prior art of large errors in guiding aerial targets using traditional longitude and latitude, and the intrusion targets moving randomly and easily losing the targets.

[0011] The method for photoelectric tracking of intruder targets based on relative position described in the present invention has the following technical solutions:

[0012] The method comprises the following steps:

[0013] Radar information acquisition step: used to acquire radar information, including target intrusion alarm and target unique identification;

[0014] Photoelectric information acquisition step: used to acquire photoelectric information, including the current position, height, speed, direction and acceleration of the target;

[0015] The photoelectric operation instruction sending step is used to send the photoelectric operation instruction, wherein the photoelectric operation instruction includes a start tracking instruction and a stop tracking instruction; and is also used to determine whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction:

[0016] If it is a stop tracking command, the guidance tracking will be terminated and the operation of the optoelectronic device will be stopped immediately;

[0017] If it is a start tracking instruction, the tracking device selection module and the guide tracking module are called to start the guide tracking;

[0018] Tracking device selection steps: used to determine whether to use a single photoelectric device or multiple photoelectric devices for guided tracking:

[0019] If a single optoelectronic device is used, only the nearest optoelectronic device is used for guidance and tracking;

[0020] If multiple optoelectronic devices are used, determine which optoelectronic devices are within the observable range of the target, and use these optoelectronic devices for guidance and tracking;

[0021] Guidance and tracking steps: used to create a timing thread according to the unique identifier of the target, and obtain the guidance longitude and latitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target; also used to obtain the pitch angle and azimuth of the optoelectronic device according to the installation position of the optoelectronic device and the guidance longitude and latitude and guidance altitude of the target; also used to guide the optoelectronic device to track the target according to the pitch angle and azimuth of the optoelectronic device;

[0022] Automatically stop the guidance tracking step: used to automatically stop the guidance tracking after the target is beyond the observation range of the optoelectronic device used for guidance tracking.

[0023] Further, a preferred embodiment is provided, wherein the step of determining whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction comprises:

[0024] When it is determined based on the optoelectronic information that the target intrusion alarm is a false alarm, it is determined that there are given subjective and objective reasons that require the guidance and tracking to be stopped, and the optoelectronic information cannot be obtained, the optoelectronic operation command sent is a stop tracking command;

[0025] Otherwise, the photoelectric operation instruction sent is a start tracking instruction.

[0026] Further, a preferred implementation is provided, wherein the method further comprises a rights management method;

[0027] The permission management method is used to attach permissions when acquiring radar information or optoelectronic information, and match optoelectronic devices under the permissions.

[0028] Further, a preferred embodiment is provided, wherein obtaining the guidance latitude and longitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target comprises:

[0029] Let the target acceleration be acceleration; the target current velocity be velocityN; the target previous velocity be velocityO; the target displacement be distance; the original target longitude be lng; the original target latitude be lat; the guidance longitude be elng; the guidance latitude be elat; the target current altitude be altitudeN; the target previous altitude be altitudeO; the guidance altitude be ealtitude;

[0030] The target acceleration is calculated as follows:

[0031] acceleration=(velocityN-velocityO) / 1.2;

[0032] The target displacement is calculated as follows:

[0033] distance=velocityN*1.2+0.72*accaleration;

[0034] The target guidance latitude and longitude are calculated as follows:

[0035] When distance>0:

[0036] elng=lng+distance*sin(direction*π / 180)*180 / (π*6371229*cos(lat*π / 180));

[0037] elat=lat+distance*cos(direction*π / 180) / (π*6371229 / 180);

[0038] When distance <= 0:

[0039] elng=lng;

[0040] elat=lat;

[0041] The target guidance altitude is calculated as follows:

[0042] ealtitude=altitudeN+(altitudeN-altitudeO) / 1.2.

[0043] Further, a preferred embodiment is provided, wherein obtaining the pitch angle and azimuth angle of the optoelectronic device according to the installation position of the optoelectronic device and the guiding longitude and latitude and the guiding altitude of the target comprises:

[0044] Assume that the installation altitude of the photoelectric device is cAltitude; the installation longitude of the photoelectric device is cLongitude; the installation latitude of the photoelectric device is cLatitude; the azimuth of the photoelectric device is p; the pitch angle of the photoelectric device is t;

[0045] The distance between the photoelectric device and the target point is calculated as follows:

[0046] S=6378.137*2*arcsin((sin((π*cLatitude / 180-π*elat / 180) / 2)*sin((π*cLatitude / 180-π*elat / 180) / 2)+cos(π*cLati tude / 180)*cos(π*elat / 180)*sin((π*cLatitude / 180-π*elng / 180) / 2)*sin((π*cLatitude / 180-π*elng / 180) / 2))^1 / 2);

[0047] The pitch angle is calculated as follows:

[0048] t=(ealtitude-cAltitude) / S;

[0049] The azimuth angle is calculated as follows:

[0050] p=sin(elat)*sin(cLatitude)+cos(elat)*cos(cLatitude)*cos(elng-cLongitude).

[0051] The present invention also proposes a device for photoelectrically tracking an intrusion target based on relative position, and its technical solution is as follows:

[0052] The device comprises the following modules:

[0053] Radar information acquisition module: used to obtain radar information, including target intrusion alarm and target unique identification;

[0054] Photoelectric information acquisition module: used to obtain photoelectric information, including the current position, height, speed, direction and acceleration of the target;

[0055] Photoelectric operation instruction sending module: used to send photoelectric operation instructions, the photoelectric operation instructions include start tracking instructions and stop tracking instructions; also used to determine whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction:

[0056] If it is a stop tracking command, the guidance tracking will be terminated and the operation of the optoelectronic device will be stopped immediately;

[0057] If it is a start tracking instruction, the tracking device selection module and the guide tracking module are called to start the guide tracking;

[0058] Tracking device selection module: used to determine whether to use a single photoelectric device or multiple photoelectric devices for guided tracking:

[0059] If a single optoelectronic device is used, only the nearest optoelectronic device is used for guidance and tracking;

[0060] If multiple optoelectronic devices are used, determine which optoelectronic devices are within the observable range of the target, and use these optoelectronic devices for guidance and tracking;

[0061] Guidance and tracking module: used to create a timing thread according to the unique identification of the target, and obtain the guidance longitude and latitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target; also used to obtain the pitch angle and azimuth of the optoelectronic device according to the installation position of the optoelectronic device and the guidance longitude and latitude and guidance altitude of the target; also used to guide the optoelectronic device to track the target according to the pitch angle and azimuth of the optoelectronic device;

[0062] Automatic stop guidance and tracking module: used to automatically stop guidance and tracking after the target exceeds the observation range of the optoelectronic equipment used for guidance and tracking.

[0063] The present invention also proposes a system for photoelectrically tracking intrusion targets based on relative position, and its technical solution is as follows:

[0064] The system includes: multiple radars, multiple optoelectronic devices and a guidance, tracking and control platform;

[0065] The multiple radars are used to collect radar information, and if an intrusion target is detected, a target intrusion alarm is issued, and a unique target identifier is assigned to the intrusion target;

[0066] The plurality of optoelectronic devices are used to collect optoelectronic information, including the current position, height, speed, direction and acceleration of the target;

[0067] The guidance and tracking control platform is used to receive the collected radar information and optoelectronic information, and execute the above-mentioned method of optoelectronic tracking of intrusion targets based on relative position according to the collected radar information and optoelectronic information, so as to guide the multiple optoelectronic devices to track or stop tracking the intrusion targets.

[0068] The present invention also proposes a computer device, and its technical solution is as follows:

[0069] A computer device comprises: a processor and a memory, wherein the memory is used to store executable instructions of the processor, and the processor is configured to execute the above-mentioned method of photoelectric tracking of an intrusion target based on relative position by executing the executable instructions.

[0070] The present invention also proposes a computer storage medium, and its technical solution is as follows:

[0071] A computer storage medium stores a computer program, and when the computer program is run, the above-mentioned method of photoelectric tracking of an intrusion target based on relative position is executed.

[0072] The present invention also proposes a computer program product, and its technical solution is as follows:

[0073] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned method for photoelectric tracking of an intrusion target based on relative position.

[0074] The present invention has the following beneficial effects:

[0075] 1. The method for photoelectric tracking of an intruding target based on relative position described in the present invention calculates the guiding position of the target and performs photoelectric real-time tracking on it through the real-time motion state of the intruding target and the installation position of the photoelectric device; wherein, after the user selects the intruding target, the nearest photoelectric device can be automatically selected for guidance, or one or more photoelectric devices can be selected for guidance according to actual needs.

[0076] 2. The method of photoelectric tracking of intrusion targets based on relative position described in the present invention is different from the traditional longitude and latitude guidance. The longitude and latitude guidance is mostly used to set up photoelectric equipment on high towers to guide the observation of ground targets; however, it is forbidden to set up high towers at airports, so the longitude and latitude guidance is not suitable for tracking intrusion targets at airports (in the air). The present invention calculates the pitch and azimuth by the intrusion target and the photoelectric position and their relative height for indirect guidance, which solves the problem of large errors in the traditional longitude and latitude guidance of aerial targets, and the intrusion target's more random movement and easy loss of the target.

[0077] 3. The method of photoelectric tracking of intrusion targets based on relative position described in the present invention provides a real-time, accurate and efficient method for monitoring and tracking intrusion targets to solve the safety problems existing in flight operations.

[0078] The method, device and system for photoelectric tracking of intrusion targets based on relative position described in the present invention are suitable for photoelectric tracking of intrusion targets in the air. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0080] Figure 1 The figure is a flowchart of a method for photoelectric tracking of an intruder target based on relative position in one embodiment of the present invention. DETAILED DESCRIPTION

[0081] In order to make the technical solutions and advantages of the present invention more clearly described, the specific implementation methods of the present invention will be further described in detail and completely in conjunction with the accompanying drawings. The various implementation methods described below are only part of the preferred solutions of the present invention, rather than all implementation methods; the various implementation methods described below are intended to explain the present invention and cannot be understood as limitations on the present invention; the reasonable combination of technical features defined in the various implementation methods of the present invention, and all other implementation methods obtained by ordinary technicians in the field without creative work based on the implementation methods of the present invention, are within the scope of protection of the present invention.

[0082] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention can be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details that hinder the description of the present invention.

[0083] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0084] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0085] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0086] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0087] In one embodiment, a method for photoelectrically tracking an intruder target based on relative position is provided:

[0088] The method comprises the following steps:

[0089] Radar information acquisition step: used to acquire radar information, including target intrusion alarm and target unique identification;

[0090] Photoelectric information acquisition step: used to acquire photoelectric information, including the current position, height, speed, direction and acceleration of the target;

[0091] The photoelectric operation instruction sending step is used to send the photoelectric operation instruction, wherein the photoelectric operation instruction includes a start tracking instruction and a stop tracking instruction; and is also used to determine whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction:

[0092] If it is a stop tracking command, the guidance tracking will be terminated and the operation of the optoelectronic device will be stopped immediately;

[0093] If it is a start tracking instruction, the tracking device selection module and the guide tracking module are called to start the guide tracking;

[0094] Tracking device selection steps: used to determine whether to use a single photoelectric device or multiple photoelectric devices for guided tracking:

[0095] If a single optoelectronic device is used, only the nearest optoelectronic device is used for guidance and tracking;

[0096] If multiple optoelectronic devices are used, determine which optoelectronic devices are within the observable range of the target, and use these optoelectronic devices for guidance and tracking;

[0097] Guidance and tracking steps: used to create a timing thread according to the unique identifier of the target, and obtain the guidance longitude and latitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target; also used to obtain the pitch angle and azimuth of the optoelectronic device according to the installation position of the optoelectronic device and the guidance longitude and latitude and guidance altitude of the target; also used to guide the optoelectronic device to track the target according to the pitch angle and azimuth of the optoelectronic device;

[0098] Automatically stop the guidance tracking step: used to automatically stop the guidance tracking after the target is beyond the observation range of the optoelectronic device used for guidance tracking.

[0099] In this embodiment, the current location of the target includes the longitude and latitude of the target.

[0100] In this embodiment, the installation position of the optoelectronic device includes the longitude, latitude and altitude at which the optoelectronic device is installed.

[0101] In this embodiment, if the intrusion target is within the observation range of multiple optoelectronic devices, the multiple optoelectronic devices can be guided to track the target from different angles.

[0102] This implementation is different from the traditional latitude and longitude guidance, which is mostly used to set up optoelectronic equipment on a high tower to guide and observe ground targets; however, it is prohibited to set up high towers at airports, so the traditional latitude and longitude guidance is not suitable for guiding and tracking intrusion targets. This implementation calculates the pitch and azimuth through the intrusion target and the optoelectronic position and their relative height to perform indirect guidance.

[0103] In this implementation manner, the target refers to the intrusion target.

[0104] In this embodiment, the photoelectric information also includes photoelectric video information, which is used for the user to watch the tracking video of the intrusion target in real time.

[0105] In this implementation, when tracking is stopped, the timing thread is destroyed.

[0106] In addition, in one embodiment, the determining whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction includes:

[0107] When it is determined based on the optoelectronic information that the target intrusion alarm is a false alarm, it is determined that there are given subjective and objective reasons that require the guidance and tracking to be stopped, and the optoelectronic information cannot be obtained, the optoelectronic operation command sent is a stop tracking command;

[0108] Otherwise, the photoelectric operation instruction sent is a start tracking instruction.

[0109] In this implementation manner, the given subjective and objective reasons are determined by the user according to actual conditions, such as subjective and objective conditions involving privacy, natural disasters, etc.

[0110] In this embodiment, the user can obtain the optoelectronic information through the browser. After refreshing the page and closing the browser, it is necessary to stop guiding and tracking and send a stop tracking instruction.

[0111] Additionally, in one embodiment, the method further includes a rights management method;

[0112] The permission management method is used to attach permissions when acquiring radar information or optoelectronic information, and match optoelectronic devices under the permissions.

[0113] In this implementation, different permissions can control different optoelectronic devices for guiding and tracking.

[0114] In this implementation, permissions can be matched according to the department to which the optoelectronic device belongs; only users in the department to which the optoelectronic device belongs have the permission to use the corresponding optoelectronic device to view or control it.

[0115] In this implementation, the departments described by the user can be intuitively displayed in the form of a directory tree based on their organizational structure, which is convenient for user management and authority matching.

[0116] In addition, in one embodiment, obtaining the guidance longitude and latitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target includes:

[0117] Let the target acceleration be acceleration; the target current velocity be velocityN; the target previous velocity be velocityO; the target displacement be distance; the original target longitude be lng; the original target latitude be lat; the guidance longitude be elng; the guidance latitude be elat; the target current altitude be altitudeN; the target previous altitude be altitudeO; the guidance altitude be ealtitude;

[0118] The target acceleration is calculated as follows:

[0119] acceleration=(velocityN-velocityO) / 1.2;

[0120] The target displacement is calculated as follows:

[0121] distance=velocityN*1.2+0.72*accaleration;

[0122] The target guidance latitude and longitude are calculated as follows:

[0123] When distance>0:

[0124] elng=lng+distance*sin(direction*π / 180)*180 / (π*6371229*cos(lat*π / 180));

[0125] elat=lat+distance*cos(direction*π / 180) / (π*6371229 / 180);

[0126] When distance <= 0:

[0127] elng=lng;

[0128] elat=lat;

[0129] The target guidance altitude is calculated as follows:

[0130] ealtitude=altitudeN+(altitudeN-altitudeO) / 1.2.

[0131] In this embodiment, the unit of target acceleration is m / s. 2 ; The unit of the target's current velocity velocityN is m / s; the unit of the target's previous velocity velocityO is m / s; the unit of the target's displacement distance is m.

[0132] In this embodiment, "*" is a multiplication sign, which is equivalent to "×".

[0133] In addition, in one embodiment, obtaining the pitch angle and azimuth angle of the optoelectronic device according to the installation position of the optoelectronic device and the guiding longitude and latitude and the guiding altitude of the target includes:

[0134] Assume that the installation altitude of the photoelectric device is cAltitude; the installation longitude of the photoelectric device is cLongitude; the installation latitude of the photoelectric device is cLatitude; the azimuth of the photoelectric device is p; the pitch angle of the photoelectric device is t;

[0135] The distance between the photoelectric device and the target point is calculated as follows:

[0136] S=6378.137*2*arcsin((sin((π*cLatitude / 180-π*elat / 180) / 2)*sin((π*cLatitude / 180-π*elat / 180) / 2)+cos(π*cLati tude / 180)*cos(π*elat / 180)*sin((π*cLatitude / 180-π*elng / 180) / 2)*sin((π*cLatitude / 180-π*elng / 180) / 2))^1 / 2);

[0137] The pitch angle is calculated as follows:

[0138] t=(ealtitude-cAltitude) / S;

[0139] The azimuth angle is calculated as follows:

[0140] p=sin(elat)*sin(cLatitude)+cos(elat)*cos(cLatitude)*cos(elng-cLongitude).

[0141] In addition, in one embodiment, a device for photoelectrically tracking an intruder target based on relative position is provided:

[0142] The device comprises the following modules:

[0143] Radar information acquisition module: used to obtain radar information, including target intrusion alarm and target unique identification;

[0144] Photoelectric information acquisition module: used to obtain photoelectric information, including the current position, height, speed, direction and acceleration of the target;

[0145] Photoelectric operation instruction sending module: used to send photoelectric operation instructions, the photoelectric operation instructions include start tracking instructions and stop tracking instructions; also used to determine whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction:

[0146] If it is a stop tracking command, the guidance tracking will be terminated and the operation of the optoelectronic device will be stopped immediately;

[0147] If it is a start tracking instruction, the tracking device selection module and the guide tracking module are called to start the guide tracking;

[0148] Tracking device selection module: used to determine whether to use a single photoelectric device or multiple photoelectric devices for guided tracking:

[0149] If a single optoelectronic device is used, only the nearest optoelectronic device is used for guidance and tracking;

[0150] If multiple optoelectronic devices are used, determine which optoelectronic devices are within the observable range of the target, and use these optoelectronic devices for guidance and tracking;

[0151] Guidance and tracking module: used to create a timing thread according to the unique identification of the target, and obtain the guidance longitude and latitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target; also used to obtain the pitch angle and azimuth of the optoelectronic device according to the installation position of the optoelectronic device and the guidance longitude and latitude and guidance altitude of the target; also used to guide the optoelectronic device to track the target according to the pitch angle and azimuth of the optoelectronic device;

[0152] Automatic stop guidance and tracking module: used to automatically stop guidance and tracking after the target exceeds the observation range of the optoelectronic equipment used for guidance and tracking.

[0153] In addition, in one embodiment, a system for photoelectrically tracking an intruder target based on relative position is provided:

[0154] The system includes: multiple radars, multiple optoelectronic devices and a guidance, tracking and control platform;

[0155] The multiple radars are used to collect radar information, and if an intrusion target is detected, a target intrusion alarm is issued, and a unique target identifier is assigned to the intrusion target;

[0156] The plurality of optoelectronic devices are used to collect optoelectronic information, including the current position, height, speed, direction and acceleration of the target;

[0157] The guidance and tracking control platform is used to receive the collected radar information and optoelectronic information, and execute the above-mentioned method of optoelectronic tracking of intrusion targets based on relative position according to the collected radar information and optoelectronic information, so as to guide the multiple optoelectronic devices to track or stop tracking the intrusion targets.

[0158] In addition, in one embodiment, a computer device is provided, comprising: a processor and a memory, wherein the memory is used to store executable instructions of the processor, and the processor is configured to execute the above-mentioned method of optoelectronic tracking of an intrusion target based on relative position by executing the executable instructions.

[0159] In addition, in one embodiment, a computer storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is run, the above-mentioned method of optoelectronic tracking of an intrusion target based on relative position is executed.

[0160] In addition, in one embodiment, a computer program product is provided, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned method for optoelectronic tracking of an intrusion target based on relative position.

[0161] It should be understood that in the embodiments of the present invention, the processor referred to may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0162] The memory may include a read-only memory, a flash memory, and a random access memory, and provides instructions and data to the processor. A part or all of the memory may also include a nonvolatile random access memory.

[0163] It should be understood that if the above-mentioned integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned implementation method, and can also be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method implementations when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0164] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest range consistent with the principles and novel features disclosed herein.

[0165] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0166] In the embodiments provided by the present invention, it should be understood that the disclosed device / terminal equipment and method can be implemented in other ways. For example, the device / equipment implementation described above is only illustrative, for example, the division of the above modules or units is only a logical function division, and in actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0167] The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above-mentioned embodiments, or replace some of the technical features therein by equivalents. 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 various embodiments of the present invention, and should all be included in the protection scope of the present invention.

[0168] The technical solution provided by the present invention is further described in detail above through several specific implementation modes in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific implementation modes described above are not intended to be used as limitations on the present invention. Any reasonable changes and improvements to the present invention, reasonable combinations of implementation modes and equivalent substitutions based on the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for photoelectric tracking of an intruder target based on relative position, characterized in that: The method comprises the following steps: Radar information acquisition step: used to acquire radar information, including target intrusion alarm and target unique identification; Photoelectric information acquisition step: used to acquire photoelectric information, including the current position, height, speed, direction and acceleration of the target; The photoelectric operation instruction sending step is used to send the photoelectric operation instruction, wherein the photoelectric operation instruction includes a start tracking instruction and a stop tracking instruction; and is also used to determine whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction: If it is a stop tracking command, the guidance tracking will be terminated and the operation of the optoelectronic device will be stopped immediately; If it is a start tracking instruction, the tracking device selection module and the guide tracking module are called to start the guide tracking; Tracking device selection steps: used to determine whether to use a single photoelectric device or multiple photoelectric devices for guided tracking: If a single optoelectronic device is used, only the nearest optoelectronic device is used for guidance and tracking; If multiple optoelectronic devices are used, determine which optoelectronic devices are within the observable range of the target, and use these optoelectronic devices for guidance and tracking; Guidance and tracking steps: used to create a timing thread according to the unique identifier of the target, and obtain the guidance longitude and latitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target; also used to obtain the pitch angle and azimuth of the optoelectronic device according to the installation position of the optoelectronic device and the guidance longitude and latitude and guidance altitude of the target; also used to guide the optoelectronic device to track the target according to the pitch angle and azimuth of the optoelectronic device; Automatically stop the guidance tracking step: used to automatically stop the guidance tracking after the target is beyond the observation range of the optoelectronic device used for guidance tracking.

2. The method for photoelectric tracking of intrusion targets based on relative position according to claim 1, characterized in that: The step of determining whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction comprises: When it is determined based on the optoelectronic information that the target intrusion alarm is a false alarm, it is determined that there are given subjective and objective reasons that require the guidance and tracking to be stopped, and the optoelectronic information cannot be obtained, the optoelectronic operation command sent is a stop tracking command; Otherwise, the photoelectric operation instruction sent is a start tracking instruction.

3. The method for photoelectric tracking of intrusion targets based on relative position according to claim 1, characterized in that: The method also includes a rights management method; The permission management method is used to attach permissions when acquiring radar information or optoelectronic information, and match optoelectronic devices under the permissions.

4. The method for photoelectric tracking of intrusion targets based on relative position according to claim 1, characterized in that: The step of obtaining the target's guidance latitude and longitude and guidance altitude according to the target's current position, altitude, speed, direction and acceleration includes: Let the target acceleration be acceleration; the target current velocity be velocityN; the target previous velocity be velocityO; the target displacement be distance; the original target longitude be lng; the original target latitude be lat; the guidance longitude be elng; the guidance latitude be elat; the target current altitude be altitudeN; the target previous altitude be altitudeO; the guidance altitude be ealtitude; The target acceleration is calculated as follows: acceleration=(velocityN-velocityO) / 1.2; The target displacement is calculated as follows: distance=velocityN*1.2+0.72*accaleration; The target guidance latitude and longitude are calculated as follows: When distance>0: elng=lng+distance*sin(direction*π / 180)*180 / (π*6371229*cos(lat*π / 180)); elat=lat+distance*cos(direction*π / 180) / (π*6371229 / 180); When distance <= 0: elng=lng; elat=lat; The target guidance altitude is calculated as follows: ealtitude=altitudeN+(altitudeN-altitudeO) / 1.

2.

5. The method for photoelectric tracking of intrusion targets based on relative position according to claim 1, characterized in that: The step of obtaining the pitch angle and azimuth angle of the optoelectronic device according to the installation position of the optoelectronic device and the guiding longitude and latitude and the guiding altitude of the target comprises: Assume that the installation altitude of the photoelectric device is cAltitude; the installation longitude of the photoelectric device is cLongitude; the installation latitude of the photoelectric device is cLatitude; the azimuth of the photoelectric device is p; the pitch angle of the photoelectric device is t; The distance between the photoelectric device and the target point is calculated as follows: S=6378.137*2*arcsin((sin((π*cLatitude / 180-π*elat / 180) / 2)*sin((π*cLatitude / 180-π*elat / 180) / 2)+cos(π*cLati tude / 180)*cos(π*elat / 180)*sin((π*cLatitude / 180-π*elng / 180) / 2)*sin((π*cLatitude / 180-π*elng / 180) / 2))^1 / 2); The pitch angle is calculated as follows: t=(ealtitude-cAltitude) / S; The azimuth angle is calculated as follows: p=sin(elat)*sin(cLatitude)+cos(elat)*cos(cLatitude)*cos(elng-cLongitude).

6. A device for photoelectrically tracking an intruder target based on relative position, characterized in that: The device comprises the following modules: Radar information acquisition module: used to obtain radar information, including target intrusion alarm and target unique identification; Photoelectric information acquisition module: used to obtain photoelectric information, including the current position, height, speed, direction and acceleration of the target; Photoelectric operation instruction sending module: used to send photoelectric operation instructions, the photoelectric operation instructions include start tracking instructions and stop tracking instructions; also used to determine whether the sent photoelectric operation instruction is a start tracking instruction or a stop tracking instruction: If it is a stop tracking command, the guidance tracking will be terminated and the operation of the optoelectronic device will be stopped immediately; If it is a start tracking instruction, the tracking device selection module and the guide tracking module are called to start the guide tracking; Tracking device selection module: used to determine whether to use a single photoelectric device or multiple photoelectric devices for guided tracking: If a single optoelectronic device is used, only the nearest optoelectronic device is used for guidance and tracking; If multiple optoelectronic devices are used, determine which optoelectronic devices are within the observable range of the target, and use these optoelectronic devices for guidance and tracking; Guidance and tracking module: used to create a timing thread according to the unique identification of the target, and obtain the guidance longitude and latitude and guidance altitude of the target according to the current position, altitude, speed, direction and acceleration of the target; also used to obtain the pitch angle and azimuth of the optoelectronic device according to the installation position of the optoelectronic device and the guidance longitude and latitude and guidance altitude of the target; also used to guide the optoelectronic device to track the target according to the pitch angle and azimuth of the optoelectronic device; Automatic stop guidance and tracking module: used to automatically stop guidance and tracking after the target exceeds the observation range of the optoelectronic equipment used for guidance and tracking.

7. A system for photoelectric tracking of intruder targets based on relative position, characterized in that: The system includes: multiple radars, multiple optoelectronic devices and a guidance, tracking and control platform; The multiple radars are used to collect radar information, and if an intrusion target is detected, a target intrusion alarm is issued, and a unique target identifier is assigned to the intrusion target; The plurality of optoelectronic devices are used to collect optoelectronic information, including the current position, height, speed, direction and acceleration of the target; The guidance and tracking control platform is used to receive the collected radar information and optoelectronic information, and execute the method of optoelectronic tracking of intrusion targets based on relative position as described in any one of claims 1 to 5 according to the collected radar information and optoelectronic information, so as to guide the multiple optoelectronic devices to track or stop tracking the intrusion targets.

8. A computer device comprising: A processor and a memory, characterized in that the memory is used to store executable instructions of the processor, and the processor is configured to execute the method for optoelectronic tracking of an intrusion target based on relative position as described in any one of claims 1 to 5 by executing the executable instructions.

9. A computer storage medium, characterized in that The storage medium stores a computer program, and when the computer program is run, the method for optoelectronic tracking of an intrusion target based on relative position as described in any one of claims 1 to 5 is executed.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method for optoelectronic tracking of an intrusion target based on relative position as described in any one of claims 1 to 5 are implemented.

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