Unmanned aerial vehicle airborne wide-area long-wave infrared polarization imaging system and method

Abstract

The invention discloses an airborne wide-area long-wave infrared polarization imaging system and method for an unmanned aerial vehicle, and the system comprises a display control unit which transmits an instruction to a signal processing unit and a servo unit, controls the flight of the unmanned aerial vehicle, controls the servo unit, and controls an imaging unit to move to a corresponding position and angle, and the imaging unit carries out the collection of a specified scene target. The collected image data is transmitted to the signal processing unit for processing; the signal processing unit is used for processing data acquired by the imaging unit, acquiring an ultra-large field-of-view infrared polarization image and an ultra-large field-of-view infrared image of the target, and realizing combined detection of the target. The field angle corresponding to the obtained polarized video image exceeds 120 degrees, the corresponding staring space domain exceeds 3.14 Sr, the proportion is more than 50% of the ground imaging hemisphere space domain, the requirement for low-altitude ground wide-area scene all-weather imaging can be met, and the detail features of a target scene can be remarkably improved through polarization information.

Description

Technical Field

[0001] The present invention belongs to the field of infrared polarization imaging, and in particular relates to an unmanned aerial vehicle (UAV)-borne wide-area long-wave infrared polarization imaging system and method. Background Art

[0002] The essence of radiation is electromagnetic waves, which contain the comprehensive properties of light, but traditional infrared imaging mainly focuses on the radiation intensity, that is, the square of the electric field vector modulus, while ignoring other light properties, especially polarization information. Polarization is not only a basic property of light, but also the key to in-depth exploration of the interaction between light and matter. By restoring this neglected property of light, the rich physical and chemical properties of objects, materials and internal structures can be revealed, which is a dimension that is difficult to reach with traditional optical technology. Therefore, the development of optical imaging hardware that can capture polarization information has become the basis for deepening the study of the interaction between light and matter, and is of great significance to promoting the development of infrared imaging technology.

[0003] Compared with traditional optical detection, polarization detection technology increases the effective information dimensions obtained from the three-dimensional information of intensity, frequency and phase to include degree of polarization (DoP), degree of linear polarization (DoLP), degree of circular polarization (DoCP), angle of polarization (AoP), ellipticity (AoE), etc. The physical and chemical properties, geometric shape and texture orientation of the target are all included in these polarization dimensions, which provides a basis for the complete description of optical properties. At present, camouflage methods such as camouflage nets, smoke shielding, confusion between real and fake targets, and application of camouflage coatings have greatly limited the performance of infrared detection. Because the polarization information of natural objects and artificial synthetic targets is generally very different. Therefore, infrared polarization imaging can well increase the contrast between targets with "same spectrum and same color" and multi-spectral camouflage and the environment, highlight the detected objects, and thus break through the limitations of infrared camouflage. In addition to being used for rapid identification of objects, it can also be used for tasks such as target detection.

[0004] Polarization detection can be divided into two types: active detection and passive detection. Active polarization mainly involves the development of detectors and the improvement of detection methods to improve detection accuracy and image quality. Passive detection is to change the material structure, modulate light through the interaction between light and the surface of the material, learn the special body structure of certain organisms in nature, and realize bionic structures. Studies have shown that different target materials have different material structures, chemical compositions, refractive indices, and roughness, which have a great influence on the polarization characteristics of reflected and scattered light. Therefore, the corresponding relationship between the natural properties of different materials and the polarization characteristics of their reflected and scattered light is obtained.

[0005] Traditional infrared polarization imaging technology is rooted in the principle of similar imaging, which assumes that there is an inherent similarity between the target and the imaging result. For a long-distance target, its ideal image height is determined by the product of the object focal length of the optical system and the tangent value of the object half-field angle. The infrared polarization imaging device designed based on this principle usually has a limited field of view, ranging from 45° to 60°. For infrared polarization imaging in a very large airspace, it is necessary to design an optical lens with a field of view greater than 80° or even beyond 180°. This type of lens needs to adopt non-similar imaging theory. This imaging theory breaks the Gaussian optical idea and uses compression mapping to image the object scene in a very large airspace on a limited infrared movement focal plane. Realizing infrared polarization imaging in a very large airspace not only enriches the amount of information obtained about the target, greatly improves the recognition ability of target detection, but also realizes large-area perception of the situation of the target to be detected. Summary of the invention

[0006] In view of the above problems, the object of the present invention is to provide a UAV-mounted wide-area long-wave infrared polarization imaging system and method, so as to realize air-to-ground ultra-large field-of-view long-wave infrared simultaneous polarization imaging and ultra-large field-of-view infrared imaging during movement.

[0007] The specific technical solution for achieving the purpose of the present invention is:

[0008] An unmanned aerial vehicle airborne wide-area long-wave infrared polarization imaging system, comprising an imaging unit, a servo unit, a signal processing unit, and a display and control unit;

[0009] The imaging unit, servo unit, and signal processing unit are arranged on the drone and are wirelessly connected to the display and control unit;

[0010] The imaging unit is used to realize infrared polarization imaging and generate imaging data. The servo unit realizes the position and angle of the imaging module under the control of the display and control unit. The signal processing unit receives the imaging data and performs signal processing on the data to generate infrared imaging data and infrared polarization imaging data. The display and control unit receives the processed imaging data and displays it.

[0011] Furthermore, the imaging unit includes an ultra-large field-of-view infrared staring lens, a focal plane-type micro-polarization array, and an infrared core imaging focal plane;

[0012] The ultra-large field of view infrared staring lens, the split focal plane type micro-polarization array, and the infrared core imaging focal plane are set in a coaxial state, and the setting distance between the ultra-large field of view infrared staring lens and the infrared core imaging focal plane meets the imaging focusing condition of the selected ultra-large field of view infrared staring lens.

[0013] Furthermore, the split-focus plane type micro-polarization array comprises a plurality of polarization array units, and the plurality of polarization array units are arranged in an array;

[0014] Each polarization array unit includes four micro-metal gratings, whose transmission directions are respectively set to 0°, 45°, 90° and 135°.

[0015] Furthermore, when the imaging unit collects images, each polarization array unit in the focal plane micro-polarization array simultaneously collects four ultra-large field-of-view long-wave infrared polarization images with different polarization directions based on micro-metal gratings in four different directions. The four ultra-large field-of-view long-wave infrared polarization images with different polarization directions are transmitted to the signal processing unit and processed to obtain the Stokes parameters S0, S1, S2, and S3 of each polarization array unit:

[0016]

[0017] Where I0 represents the light intensity value of the corresponding pixel on the image when the micro metal grating is 0°, I 45 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 45°, I 90 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 90°, I 135 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 135°.

[0018] Furthermore, the signal processing unit determines polarization information of each polarization array unit based on the Stokes parameters of the polarization array unit, thereby completing infrared polarization imaging of each polarization array unit;

[0019] The signal processing unit calculates and obtains the equivalent infrared intensity information of each polarization array unit based on the light intensity value obtained by the polarization array unit, thereby completing the infrared intensity imaging of each polarization array unit:

[0020] .

[0021] Furthermore, the polarization information includes degree of polarization DoP, degree of linear polarization DoLP, degree of circular polarization DoCP, angle of polarization AoP, and angle of ellipsoid AoE:

[0022] .

[0023] Furthermore, an optical image stabilizer is provided on the imaging unit to achieve physical shock reduction and anti-shake;

[0024] The signal processing unit is integrated with an electronic image stabilizer to achieve image cropping, translation or rotation, thereby reducing image jitter.

[0025] The present invention also provides a method for UAV-borne wide-area long-wave infrared polarization imaging based on the above system, comprising the following steps:

[0026] Step 1: The display and control unit sends instructions to the signal processing unit and the servo unit to control the flight of the drone and the servo unit, and manipulate the imaging unit to move to the corresponding position and angle;

[0027] Step 2: The imaging unit collects the designated scene target and transmits the collected image data to the signal processing unit for processing;

[0028] Step 3: The signal processing unit processes the data acquired by the imaging unit to acquire an ultra-large field-of-view infrared polarization image and an ultra-large field-of-view infrared image of the target, thereby realizing joint detection of the target.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The present invention utilizes four sub-focal plane micro-polarization arrays of each polarization array unit in the sub-focal plane micro-polarization array to simultaneously collect images at 0°, 45°, 90° and 135°. The imaging unit adopts an ultra-large field of view infrared lens, and the detection field of view covers a larger scene, which can detect more targets and meet the requirements of full spatial domain inclusion and full temporal domain information acquisition. Polarization parameter calculation is performed while data processing is performed, which not only meets the requirements of detecting moving targets, but also ensures high imaging quality, solves the problem of insufficient detection accuracy, makes the target's polarization information richer and more accurate, and makes it easier to achieve the purpose of identifying the target.

[0031] (2) The present invention can obtain infrared polarization information of targets in moving scenes. It uses a servo unit and a signal processing unit to perform real-time identification, tracking, and positioning imaging of targets of interest. In addition, an optical image stabilizer and an electronic image stabilizer are provided during the imaging process, which greatly alleviates the shaking of the camera or equipment during rotation or in a complex detection environment, reduces jitter and blur, improves image quality, and reduces the errors in the Stokes parameters and distance data of each imaging unit in the imaging channel calculation image, further improving the reliability of subsequent DoP, DoLP, DoCP, AoP, AoE and other polarization parameters for imaging data;

[0032] (3) The solution of the present invention integrates ultra-large field of view technology into long-wave infrared polarization technology and integrates it into the UAV device, and cooperates with the enhancement algorithm to realize air-to-ground and large-maneuver infrared polarization imaging in an ultra-large airspace. It not only enriches the amount of information obtained from the target and greatly improves the recognition ability of target detection, but also realizes the large-airspace perception of the situation of the target to be detected.

[0033] The present invention is further described below in conjunction with specific implementation modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1Schematic diagram of the architecture of a wide-area long-wave infrared polarization imaging system carried by a UAV in an embodiment of the present invention.

[0035] Figure 2 Schematic diagram of the optical path propagation of the ultra-large field of view infrared staring lens imaging in an embodiment of the present invention

[0036] Figure 3 FIG. 1 is a schematic diagram of a wide-area long-wave infrared polarization imaging system carried by a UAV in an embodiment of the present invention, wherein Figure 3 (a) is a schematic diagram of a UAV equipped with a UAV-mounted wide-area long-wave infrared polarization imaging system. Figure 3 (b) is a partial schematic diagram of the UAV-mounted wide-area long-wave infrared polarization imaging system.

[0037] Figure 4 Schematic diagram of ultra-large field of view infrared image and ultra-large field of view infrared polarization image synthesized in an embodiment of the present invention, wherein Figure 4 (a) is a synthetic ultra-large field-of-view long-wave infrared intensity image; Figure 4 (b) is a long-wave infrared DoLP image with a very large field of view; Figure 4 (c) is an ultra-large field-of-view long-wave infrared AoP image. DETAILED DESCRIPTION

[0038] Example

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. 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.

[0040] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an kind" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0041] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0042] Combination Figure 1 , a UAV-mounted wide-area long-wave infrared polarization imaging system, comprising an imaging unit, a servo unit, a signal processing unit, and a display and control unit 5;

[0043] The imaging unit, servo unit, and signal processing unit are arranged on the drone, generally mounted on the belly of the drone through integration, and connected to the display and control unit 5 through wireless transmission. Figure 1 The 4 in the figure refers to the integrated servo unit and signal processing unit;

[0044] The imaging unit is used to realize infrared polarization imaging and generate imaging data. The servo unit realizes the position and angle of the imaging module under the control of the display and control unit 5. The signal processing unit receives the imaging data and performs signal processing on the data to generate infrared imaging data and infrared polarization imaging data. The display and control unit 5 receives the processed imaging data and displays it.

[0045] The imaging unit comprises an ultra-large field of view infrared staring lens 1, a focal plane type micro-polarization array 2, and an infrared core imaging focal plane 3;

[0046] The ultra-large field of view infrared staring lens 1, the split focal plane type micro-polarization array 2, and the infrared core imaging focal plane 3 are set in a coaxial state, and the setting distance between the ultra-large field of view infrared staring lens and the infrared core imaging focal plane 3 meets the imaging focusing condition of the selected ultra-large field of view infrared staring lens 1.

[0047] The parameters of each unit in this embodiment are:

[0048] The ultra-large field of view infrared staring lens 1 satisfies the field of view of 120°;

[0049] The detection wavelength range of the infrared core imaging focal plane 3 meets 8-14 μm;

[0050] The resolution of the infrared core imaging focal plane 3 is 640*512;

[0051] The ultra-large field-of-view infrared polarization parameter imaging resolution is 320*256.

[0052] The split-focus plane type micro-polarization array 2 comprises a plurality of polarization array units, and the plurality of polarization array units are arranged in an array;

[0053] Each polarization array unit includes four micro-metal gratings, whose transmission directions are set to 0°, 45°, 90° and 135° respectively. After passing through the focal plane micro-polarization array 2, the image is formed on the imaging focal plane 3 of the infrared core, and four ultra-large field-of-view long-wave infrared polarization basic image data to be processed are obtained at the same time;

[0054] When the imaging unit collects images, each polarization array unit in the focal plane type micro-polarization array 2 simultaneously collects four ultra-large field-of-view long-wave infrared polarization images with different polarization directions based on micro-metal gratings in four different directions. The four ultra-large field-of-view long-wave infrared polarization images with different polarization directions are transmitted to the signal processing unit and processed to obtain the Stokes parameters S0, S1, S2, S3 of each polarization array unit:

[0055]

[0056] Where I0 represents the light intensity value of the corresponding pixel on the image when the micro metal grating is 0°, I 45 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 45°, I 90 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 90°, I 135 It indicates the light intensity value of the corresponding pixel on the image when the micro-metal grating is 135°. The four Stokes parameters are all real numbers. S0 reflects the total intensity in the light wave, S1 reflects the intensity difference between the horizontal and vertical linear polarized light in the light field, S2 represents the intensity difference of the linear polarized light at an angle of ±45° to S1 in the light field, and S3 reflects the intensity difference of the left-handed and right-handed circularly polarized light in the light field. The intensity of S3 is generally weak and can be ignored.

[0057] The signal processing unit determines polarization information of each polarization array unit based on the Stokes parameters of the polarization array unit, thereby completing infrared polarization imaging of each polarization array unit;

[0058] The signal processing unit calculates and obtains the equivalent infrared intensity information of each polarization array unit based on the light intensity value obtained by the polarization array unit, thereby completing the infrared intensity imaging of each polarization array unit:

[0059] .

[0060] Furthermore, the polarization information includes degree of polarization DoP, degree of linear polarization DoLP, degree of circular polarization DoCP, angle of polarization AoP, and angle of ellipsoid AoE:

[0061] .

[0062] In addition, an optical image stabilizer is provided on the imaging unit to counteract the shaking of the camera or device by using mechanical or optical elements on the imaging unit, thereby achieving physical shock reduction and anti-shake;

[0063] The signal processing unit integrates an electronic image stabilizer to process image data in real time in an image sensor or video stream to achieve image cropping, translation or rotation to offset the shaking of the camera or device, thereby reducing image jitter.

[0064] In addition, the imaging optical path transmission process of the ultra-large field of view infrared staring lens 1 of this system is as follows:

[0065] The lens is based on an equidistant projection model, such as Figure 2 As shown, the object-image relationship strictly follows the established mathematical model:

[0066]

[0067] Where y ՛ represents the object focal length of the optical system. ω is the object half field angle. The visual model is the key to constructing ultra-large field long-wave infrared staring imaging. The target is in the world coordinate system O W -X W Y W Z W In the camera coordinate system, O C -X C Y C Z C , the image plane coordinate system is O i -U ՛V ՛, and the image coordinate system is O I -UV; In the isometric projection model, the image plane coordinates of the object space point P corresponding to the image point p are:

[0068]

[0069] φ is the angle between the image point and the U axis. If the image plane coordinates of the distortion center o of the image are (u o ,v o ), when the focal plane pixel size is a, the image coordinates (u, v) of the image point p are:

[0070]

[0071] Mode Here is the mapping relationship between the object point and the image point. However, in the camera coordinate system, the ω and φ of the object point spherical coordinates can be obtained through the image coordinates (u, v):

[0072]

[0073] In view of the fact that the transmission lens has better imaging quality due to the absence of central occlusion, the present invention chooses the transmission type as the design scheme of the ultra-large field of view long-wave infrared staring imaging lens. r0 =(dy՛ 0·dθ0) / r0, then the image B ՛C ՛ on the spherical image plane has a tangential magnification β t0 for:

[0074] (7)

[0075] Then the radial magnification β r0 and tangential magnification β t0 The relationship can be described as:

[0076] (8)

[0077] Formula (8) reveals the characteristics of irregular spherical objects when imaging: its radial magnification is inversely proportional to the change of the target curvature radius. Specifically, when there are tiny facets on the surface of a spherical object, the image formed on the image plane appears as an ellipse. It is worth noting that as the half-field angle ω0 increases, the flattening of the ellipse intensifies, while in the center of the field of view, the standard imaging morphology is maintained.

[0078] The present invention also provides a method for UAV-borne wide-area long-wave infrared polarization imaging based on the above system, comprising the following steps:

[0079] Step 1, the display control unit 5 sends instructions to the signal processing unit and the servo unit to control the flight of the drone and the servo unit, and manipulate the imaging unit to move to a corresponding position and angle;

[0080] Step 2: The imaging unit collects the designated scene target and transmits the collected image data to the signal processing unit for processing;

[0081] Step 3: The signal processing unit processes the data acquired by the imaging unit to acquire an ultra-large field-of-view infrared polarization image and an ultra-large field-of-view infrared image of the target, thereby realizing joint detection of the target:

[0082] Step 3-1: Determine polarization information of each polarization array unit based on the Stokes parameters of the polarization array unit, thereby completing infrared polarization imaging of each polarization array unit:

[0083]

[0084] Where I0 represents the light intensity value of the corresponding pixel on the image when the micro metal grating is 0°, I 45 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 45°, I 90 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 90°, I 135 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 135°;

[0085] The polarization information includes the degree of polarization DoP, the degree of linear polarization DoLP, the angle of polarization AoP, and the angle of ellipsoid AoE:

[0086]

[0087] Based on the infrared polarization imaging of each polarization array unit in the split-focus plane micro-polarization array 2, a complete infrared polarization parameter imaging of the target is obtained;

[0088] Step 3-2: Calculate the equivalent infrared intensity information of each polarization array unit based on the light intensity value obtained by the polarization array unit, thereby completing the infrared imaging of each polarization array unit:

[0089]

[0090] Based on the infrared imaging of each polarization array unit in the split-focus plane type micro-polarization array 2, the complete infrared intensity imaging of the target is obtained.

[0091] Based on the solution of the present invention, in some environments, infrared imaging cannot observe the target, or infrared intensity imaging fails. However, infrared polarization imaging may be able to detect the target well, forming complementary optimized imaging.

[0092] Combination Figure 3 , is the UAV-borne wide-area long-wave infrared polarization imaging system of this scheme. The synthetic long-wave infrared intensity image, long-wave infrared degree of polarization image (DoLP) and long-wave infrared angle of polarization (AoP) image obtained by this system are shown in Figure 4 As shown;

[0093] in Figure 4 (a) is a synthetic ultra-large field-of-view long-wave infrared intensity image; Figure 4 (b) is a long-wave infrared DoLP image with a very large field of view; Figure 4(c) is an ultra-large field-of-view long-wave infrared AoP image. From the close-up shot, it can be clearly seen that the DoLP image has excellent performance in highlighting details, textures and other information, taking into account the two major requirements of ultra-large spatial domain perception of the forward-looking situation and polarization recognition of scene targets, proving the correctness of this scheme and the rationality of the system design.

[0094] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A UAV-mounted wide-area long-wave infrared polarization imaging system, characterized in that: It includes imaging unit, servo unit, signal processing unit and display and control unit; The imaging unit, servo unit, and signal processing unit are arranged on the drone and are wirelessly connected to the display and control unit; The imaging unit is used to realize infrared polarization imaging and generate imaging data. The servo unit realizes the position and angle of the imaging module under the control of the display and control unit. The signal processing unit receives the imaging data and performs signal processing on the data to generate infrared imaging data and infrared polarization imaging data. The display and control unit receives the processed imaging data and displays it.

2. The UAV-mounted wide-area long-wave infrared polarization imaging system according to claim 1, characterized in that: The imaging unit includes an ultra-large field of view infrared staring lens, a focal plane-type micro-polarization array, and an infrared core imaging focal plane; The ultra-large field of view infrared staring lens, the split focal plane type micro-polarization array, and the infrared core imaging focal plane are set in a coaxial state, and the setting distance between the ultra-large field of view infrared staring lens and the infrared core imaging focal plane meets the imaging focusing condition of the selected ultra-large field of view infrared staring lens.

3. The UAV-mounted wide-area long-wave infrared polarization imaging system according to claim 2, characterized in that: The split-focus plane type micro-polarization array comprises a plurality of polarization array units, and the plurality of polarization array units are arranged in an array; Each polarization array unit includes four micro-metal gratings, whose transmission directions are respectively set to 0°, 45°, 90° and 135°.

4. The UAV-mounted wide-area long-wave infrared polarization imaging system according to claim 2, characterized in that: When the imaging unit collects images, each polarization array unit in the focal plane type micro-polarization array simultaneously collects four ultra-large field-of-view long-wave infrared polarization images with different polarization directions based on micro-metal gratings in four different directions. The four ultra-large field-of-view long-wave infrared polarization images with different polarization directions are transmitted to the signal processing unit and processed to obtain the Stokes parameters S0, S1, S2, S3 of each polarization array unit: ； Where I0 represents the light intensity value of the corresponding pixel on the image when the micro metal grating is 0°, I 45 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 45°, I 90 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 90°, I 135 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 135°.

5. The UAV-mounted wide-area long-wave infrared polarization imaging system according to claim 4, characterized in that: The signal processing unit determines polarization information of each polarization array unit based on the Stokes parameters of the polarization array unit, thereby completing infrared polarization imaging of each polarization array unit; The signal processing unit calculates and obtains the equivalent infrared intensity information of each polarization array unit based on the light intensity value obtained by the polarization array unit, thereby completing the infrared intensity imaging of each polarization array unit: 。 6. The UAV-mounted wide-area long-wave infrared polarization imaging system according to claim 5, characterized in that: The polarization information includes the degree of polarization DoP, the degree of linear polarization DoLP, the degree of circular polarization DoCP, the angle of polarization AoP, and the angle of ellipsoid AoE: 。 7. The UAV-mounted wide-area long-wave infrared polarization imaging system according to claim 1, characterized in that: An optical image stabilizer is provided on the imaging unit to achieve physical shock reduction and anti-shake; The signal processing unit is integrated with an electronic image stabilizer to achieve image cropping, translation or rotation, thereby reducing image jitter.

8. The method for wide-area long-wave infrared polarization imaging onboard an unmanned aerial vehicle according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: The display and control unit sends instructions to the signal processing unit and the servo unit to control the flight of the drone and the servo unit, and manipulate the imaging unit to move to the corresponding position and angle; Step 2: The imaging unit collects the designated scene target and transmits the collected image data to the signal processing unit for processing; Step 3: The signal processing unit processes the data acquired by the imaging unit to acquire an ultra-large field-of-view infrared polarization image and an ultra-large field-of-view infrared image of the target, thereby realizing joint detection of the target.

9. The method for wide-area long-wave infrared polarization imaging onboard a UAV according to claim 8, characterized in that: The joint detection in step 3 is specifically as follows: Step 3-1: Determine polarization information of each polarization array unit based on the Stokes parameters of the polarization array unit, thereby completing infrared polarization imaging of each polarization array unit: ； Where I0 represents the light intensity value of the corresponding pixel on the image when the micro metal grating is 0°, I 45 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 45°, I 90 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 90°, I 135 It indicates the light intensity value of the corresponding pixel point on the image when the micro metal grating is 135°; The polarization information includes the degree of polarization DoP, the degree of linear polarization DoLP, the degree of circular polarization DoCP, Polarization angle AoP, ellipsometric angle AoE: ； Based on the infrared polarization imaging of each polarization array unit in the split-focus plane micro-polarization array, the complete infrared polarization parameter imaging of the target is obtained; Step 3-2: Calculate the equivalent infrared intensity information of each polarization array unit based on the light intensity value obtained by the polarization array unit, thereby completing the infrared imaging of each polarization array unit: ； Based on the infrared imaging of each polarization array unit in the split-focus plane micro-polarization array, the complete infrared intensity imaging of the target is obtained.

Images