Radar guiding method and device of photoelectric tracking system

Abstract

The invention discloses a radar guiding method and device of a photoelectric tracking system, and belongs to the field of target tracking. The method comprises the following steps: guiding the optoelectronic equipment according to a target position detected by a radar; judging whether a target exists in the field of view of the photoelectric equipment or not; and if the target does not appear in the field of view of the photoelectric equipment under continuous guidance for several times, estimating the moving track of the target, and guiding the photoelectric equipment to rotate according to the moving track. According to the method, when radar guiding fails, the target moving track can be automatically estimated according to the target position information given by the radar, adaptive self-guiding is carried out according to the target moving track, and the probability of successful guiding of the photoelectric equipment and the error-tolerant rate are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of target tracking, and in particular to a radar guidance method and device for an optoelectronic tracking system. Background Art

[0002] Among the related technologies, radar-guided optoelectronic tracking plays an important role in the field of target detection and tracking. The detection methods of radar systems and optoelectronic systems have their own advantages and limitations. Radar technology can obtain accurate location information of the target, but it cannot further identify the details and morphology of the target object. The application of optoelectronic technology can make up for this problem. The optoelectronic system can realize imaging and morphological recognition of the target object, but the field of view of the optoelectronic system is very small and cannot search for targets over a large range. By continuously sending the location information of the target object to the optoelectronic system through radar, the optoelectronic system can adjust the suitability of the target object in imaging, and the two systems complement each other. The combination of radar guidance and optoelectronic tracking technology has realized a new technology with breakthroughs in accuracy, efficiency, and real-time performance.

[0003] For example, the radar scans a target object at a distance of 3,000 meters, and after the trajectory is determined, the target position information is reported to the optoelectronic system. The optoelectronic system guides the target according to the position information given by the radar, so that the target enters the field of view. After the optoelectronic system captures and locks the target, it automatically tracks the target object. On the one hand, it can further confirm whether the radar has successfully found the expected target, and on the other hand, it can observe the status of the target in real time, which is convenient for the observer to take the next step.

[0004] The conventional guidance logic of radar-guided optoelectronic tracking is as follows: the radar system reports the target's position information to the optoelectronic system once, and the optoelectronic system performs guidance based on this information, rotating the optoelectronic equipment to identify, lock and automatically track the target. If the guidance is unsuccessful, it is necessary to wait for the radar to report the target's position information for the second time. Before the radar reports the target's position information for the second time, the subsequent process cannot be carried out. Summary of the invention

[0005] The present invention provides a radar guidance method and device for an optoelectronic tracking system, which can solve the problem that optoelectronic tracking in related technologies can only rely on radar guidance, and if the radar guidance is unsuccessful, the subsequent process cannot be carried out. The technical solution is as follows:

[0006] On the one hand, a radar guidance method for an optoelectronic tracking system is provided, the method comprising: guiding an optoelectronic device according to a target position detected by a radar; determining whether a target exists in the field of view of the optoelectronic device; and if no target appears in the field of view of the optoelectronic device after several consecutive guidances, estimating a moving trajectory of the target, and guiding the optoelectronic device to rotate according to the moving trajectory.

[0007] Optionally, estimating the moving trajectory of the target includes: estimating the moving trajectory of the target according to the target position detected twice consecutively by a radar.

[0008] Optionally, estimating the moving trajectory of the target includes: estimating the moving trajectory of the target based on the target position and detection time detected by the radar three times in succession.

[0009] Optionally, guiding the optoelectronic device to rotate according to the movement trajectory includes: determining a compensation direction according to the movement trajectory; and guiding the optoelectronic device to rotate along the compensation direction by a field of view angle.

[0010] Optionally, guiding the optoelectronic device to rotate according to the movement trajectory further includes: if no target appears in the field of view of the optoelectronic device, guiding the optoelectronic device to rotate again along the compensation direction by a field of view angle.

[0011] Optionally, the method further includes: leveling and northing the radar and the optoelectronic device so that the radar and the optoelectronic device are located in the same coordinate system.

[0012] On the other hand, a radar guidance device of an optoelectronic tracking system is provided, the device comprising: a radar guidance unit, suitable for guiding the optoelectronic device according to the target position detected by the radar; a judgment unit, suitable for judging whether there is a target in the field of view of the optoelectronic device; and a trajectory guidance unit, suitable for estimating the moving trajectory of the target if no target appears in the field of view of the optoelectronic device after several consecutive guidances, and guiding the optoelectronic device to rotate according to the moving trajectory.

[0013] On the other hand, a computer device is provided, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the radar guidance method of the optoelectronic tracking system described above.

[0014] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the radar guidance method of the above-mentioned optoelectronic tracking system are implemented.

[0015] On the other hand, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the radar guidance method of the optoelectronic tracking system described above.

[0016] The technical solution provided by the present invention can at least bring about the following beneficial effects: when radar guidance fails, the target movement trajectory can be automatically estimated based on the target position information given by the radar, and adaptive self-guidance can be performed based on the target movement trajectory, thereby improving the probability of successful guidance of the optoelectronic device and the fault tolerance rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of a radar guidance method of an optoelectronic tracking system provided by one embodiment of the present invention;

[0019] Figure 2 It is a structural diagram of a radar guidance device of an optoelectronic tracking system provided by one embodiment of the present invention;

[0020] Figure 3 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] As mentioned above, the existing optoelectronic tracking system has a single guidance method, which only relies on radar for guidance. If the radar guidance fails, the subsequent process cannot be carried out. To this end, the embodiment of the present application provides a radar guidance method for an optoelectronic tracking system, which can solve or alleviate the above problems.

[0023] The specific implementation of the above concept is described below.

[0024] Please refer to Figure 1 , an embodiment of the present invention provides a radar guidance method for an optoelectronic tracking system, the method comprising:

[0025] Step 101, guiding the optoelectronic device according to the target position detected by the radar;

[0026] Step 102, determining whether there is a target in the field of view of the optoelectronic device;

[0027] Step 103: If the target does not appear in the field of view of the optoelectronic device after several consecutive guidances, the moving trajectory of the target is estimated, and the optoelectronic device is guided to rotate according to the moving trajectory.

[0028] In the embodiment of the present invention, the optoelectronic tracking system can communicate with the radar system and guide the turntable of the optoelectronic tracking device in the optoelectronic tracking system to rotate according to the target position information sent by the radar system.

[0029] Described below Figure 1 How the various steps are performed.

[0030] First, with respect to step 101 , the optoelectronic device is guided according to the target position detected by the radar.

[0031] The embodiment of the present application uses radar to detect targets and uses an optoelectronic system to identify and track targets. The radar scans at a fixed scanning frequency and gives the position of the target after detecting the target. The target position is expressed in latitude and longitude or azimuth and elevation angles.

[0032] To facilitate guidance, the radar system and the optoelectronic system may be calibrated first. Specifically, the radar system and the optoelectronic system may be leveled and northed to ensure that the radar system and the optoelectronic system are in the same coordinate system.

[0033] The optoelectronic system adjusts the azimuth and elevation angles of the turntable according to the latitude and longitude or azimuth and elevation angles of the target given by the radar, so that the field of view of the lens on the turntable covers the area where the target is located, thus completing a position guidance. Next, enter step 102.

[0034] It should be noted that each time the radar sends target position information to the optoelectronic system, the optoelectronic system will record the target position information for use in predicting the target trajectory in subsequent steps.

[0035] Then, for step 102, it is determined whether there is a target in the field of view of the optoelectronic device.

[0036] After the position is guided once, check whether there is a target in the field of view of the optoelectronic device.

[0037] If there is a target in the field of view of the optoelectronic device, the target will be detected to determine whether it needs to be tracked. If it is a target of interest to the user, the tracking state will be entered. If the target is not a target of interest to the user, the target will be abandoned and the next radar guidance will be waited for.

[0038] Due to problems such as radar detection accuracy and optoelectronic system accuracy, after the position guidance is completed, the field of view of the optoelectronic device lens may not be turned to the target position. In this case, the target detected by the radar will not appear in the field of view of the optoelectronic device. Next, enter step 103.

[0039] Then, for step 103, if the target does not appear in the field of view of the optoelectronic device after several consecutive guidances, the moving trajectory of the target is estimated, and the optoelectronic device is guided to rotate according to the moving trajectory.

[0040] Usually, "several times" can be two or three times. Each time the radar guides the optoelectronic device, it is necessary to check whether the target appears in the field of view of the optoelectronic device. If the target does not appear in the field of view of the optoelectronic device after two or three consecutive position guidances, it is necessary to estimate the target's moving trajectory based on the target position information sent by the radar each time, and then guide the optoelectronic device turntable to rotate according to the moving trajectory.

[0041] In one implementation, if the target does not appear in the field of view of the optoelectronic device during two consecutive guidances, the moving trajectory of the target is estimated, and the optoelectronic device is guided to rotate according to the moving trajectory.

[0042] In this implementation, the target movement trajectory is estimated based on the target position information used by the radar for the second guidance. Specifically, assuming that the target position used by the radar for the first guidance is , the target position used by the radar for the second guidance is , then the target’s moving direction is .

[0043] The target movement trajectory estimated based on the target position information used by the radar for two guidances is a straight line, while the target movement trajectory estimated based on the target position information used by the radar for three guidances is likely to be a curve.

[0044] In another implementation, if the target does not appear in the field of view of the optoelectronic device after three consecutive guidances, the moving trajectory of the target is estimated, and the optoelectronic device is guided to rotate according to the moving trajectory.

[0045] In this implementation, the target movement trajectory is estimated based on the target position information used by the radar for the third guidance. Specifically, assuming that the target position used by the radar for the first guidance is , the target position used by the radar for the second guidance is , the target position used by the radar for the third guidance is , then and Perform curve fitting to estimate the target's movement trajectory .

[0046] After estimating the moving trajectory of the target, the turntable of the optoelectronic device is guided to rotate according to the moving trajectory. Specifically, the moving direction of the target is determined according to the moving trajectory, and the turntable of the optoelectronic device is guided to rotate a certain angle according to the moving direction of the target (also called the compensation direction). Specifically, the rotation angle can be the field of view angle of the optoelectronic device at the current distance (the distance between the optoelectronic device and the target at the current moment). After the turntable rotates a field of view angle, continue to check whether the target appears in the field of view of the optoelectronic device. If the target appears, the target is detected to determine whether it needs to be tracked. If it is a target of interest to the user, the tracking state is entered. If it is not a target of interest to the user, or the target does not appear in the field of view, the turntable of the optoelectronic device is guided to rotate a certain angle again according to the compensation direction. Specifically, the rotation angle can still be the field of view angle of the optoelectronic device at the current distance. Here, one field of view angle is selected each time because one field of view angle is the maximum rotation angle that can ensure that the target is not missed. If the target still does not appear in the field of view of the optoelectronic device after two rotations, wait for the next position guidance of the radar until the target is locked or the user actively stops.

[0047] The radar guidance method of the optoelectronic tracking system of the embodiment of the present application is based on radar data, combined with spatial calibration technology, intelligent recognition technology, and automatic tracking technology to achieve accurate and sustainable tracking of Shanghai targets (such as ships), facilitate the back-end intelligent recognition system to accurately identify the target, and at the same time, can provide stable and clear visual information for human intervention depth identification of targets.

[0048] Please refer to Figure 2 , an embodiment of the present invention provides a radar guidance device of an optoelectronic tracking system, the device comprising:

[0049] A radar guidance unit 201, adapted to guide the optoelectronic device according to the target position detected by the radar;

[0050] A determination unit 202, adapted to determine whether there is a target in the field of view of the optoelectronic device; and

[0051] The trajectory guiding unit 203 is adapted to estimate the moving trajectory of the target and guide the optoelectronic device to rotate according to the moving trajectory if no target appears in the field of view of the optoelectronic device after several consecutive guidances.

[0052] As a preferred embodiment of the present application, the estimating the moving trajectory of the target includes:

[0053] The moving trajectory of the target is estimated according to the target position detected twice continuously by the radar.

[0054] As a preferred embodiment of the present application, the estimating the moving trajectory of the target includes:

[0055] The moving trajectory of the target is estimated based on the target position and detection time detected by the radar three times in succession.

[0056] As a preferred embodiment of the present application, guiding the optoelectronic device to rotate according to the movement trajectory includes:

[0057] Determining a compensation direction according to the movement trajectory; and

[0058] The optoelectronic device is guided to rotate along the compensation direction by a field angle.

[0059] As a preferred embodiment of the present application, guiding the optoelectronic device to rotate according to the movement trajectory includes:

[0060] If the target does not appear in the field of view of the optoelectronic device, the optoelectronic device is guided to rotate along the compensation direction by a field of view angle again.

[0061] As a preferred embodiment of the present application, the device further includes:

[0062] The calibration unit is suitable for leveling and calibrating the radar and the optoelectronic device so that the radar and the optoelectronic device are located in the same coordinate system.

[0063] It should be noted that the radar guidance device of the optoelectronic tracking system provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the radar guidance device of the optoelectronic tracking system provided in the above embodiment and the radar guidance method embodiment of the optoelectronic tracking system belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0064] The embodiment of the present application also provides a computer device, please refer to Figure 3 The computer device includes a processor and a memory, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the radar guidance method of the optoelectronic tracking system provided by the above-mentioned method embodiments.

[0065] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the radar guidance method of the optoelectronic tracking system provided by the above-mentioned method embodiments.

[0066] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the radar guidance method of the optoelectronic tracking system described in any of the above embodiments.

[0067] For the convenience of description, the above system or device is described by dividing it into various modules or units according to its functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0068] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0069] Finally, it should be noted that, in this article, relational terms such as first, second, third and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0070] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A radar guidance method for an optoelectronic tracking system, characterized in that: The method comprises: Guiding optoelectronic equipment according to the target position detected by radar; Determining whether there is a target within the field of view of the optoelectronic device; and If the target does not appear in the field of view of the optoelectronic device after several consecutive guidances, the moving trajectory of the target is estimated, and the optoelectronic device is guided to rotate according to the moving trajectory.

2. The method according to claim 1, characterized in that The estimating the moving trajectory of the target comprises: The moving trajectory of the target is estimated according to the target position detected twice continuously by the radar.

3. The method according to claim 1, characterized in that The estimating the moving trajectory of the target comprises: The moving trajectory of the target is estimated based on the target position and detection time detected by the radar three times in succession.

4. The method according to claim 1, characterized in that The step of guiding the optoelectronic device to rotate according to the movement trajectory comprises: Determining a compensation direction according to the movement trajectory; and The optoelectronic device is guided to rotate along the compensation direction by a field angle.

5. The method according to claim 4, characterized in that The step of guiding the optoelectronic device to rotate according to the movement trajectory further comprises: If the target does not appear in the field of view of the optoelectronic device, the optoelectronic device is guided again to rotate along the compensation direction by a field of view angle.

6. The method according to claim 1, characterized in that Also includes: The radar and the optoelectronic device are leveled and northed so that the radar and the optoelectronic device are located in the same coordinate system.

7. A radar guidance device for an optoelectronic tracking system, characterized in that: The device comprises: A radar guidance unit adapted to guide the optoelectronic device according to the target position detected by the radar; a determination unit, adapted to determine whether there is a target within the field of view of the optoelectronic device; and The trajectory guiding unit is adapted to estimate the moving trajectory of the target if no target appears in the field of view of the optoelectronic device after several consecutive guidances, and guide the optoelectronic device to rotate according to the moving trajectory.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-6.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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